version: 66.06
glider: 146
mission: 6
dive: 69
start: 5 19 111 20 0 1
data:
$ID,146
$MISSION,6
$DIVE,69
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-268791.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3090
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,195304,2250.051,-15758.733,9,2.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.4
$GPS2,195907,2250.059,-15758.797,9,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.012
$KALMAN_X,-51574.6,-81.0,-13.5,48251.1,-470.9
$KALMAN_Y,-96790.8,-828.6,144.7,108881.0,54.9
$MHEAD_RNG_PITCHd_Wd,82.9,3070,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.82,0.000,2,0.000,0.000,476,1750,3324,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.4,10,126,12.43,2.60,-2.95,0.000,4,0.163,0.041,2778,3348,3482,0,0,0,0,0,0
$GC,139,-0.41,-116.8,16.4,-34.1,14,149,1.02,2.55,0.00,0.000,6,0.107,0.028,2996,1785,3483,0,0,0,0,0,0
$GC,438,-0.63,-116.8,42.0,-6.5,48,443,0.17,2.72,0.00,0.000,4,0.054,0.061,2940,192,3484,0,0,0,0,0,0
$GC,462,-0.80,-116.8,43.8,-7.3,49,467,0.12,2.45,0.00,0.000,6,0.073,0.015,2900,1823,3484,0,0,0,0,0,0
$GC,730,-0.86,-116.8,72.4,-9.9,73,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1823,3485,0,0,0,0,0,0
$GC,993,-0.92,-116.8,99.4,-9.9,98,997,0.00,2.78,0.00,0.000,4,0.000,0.065,2899,192,3485,0,0,0,0,0,0
$GC,1022,-0.96,-116.8,102.4,-9.8,100,1026,0.00,2.45,0.00,0.000,6,0.000,0.015,2899,1817,3485,0,0,0,0,0,0
$GC,1286,-1.04,-116.8,129.2,-11.8,124,1291,0.15,2.33,0.00,0.000,4,0.070,0.027,2852,3310,3486,0,0,0,0,0,0
$GC,1308,-1.08,-116.8,132.6,-12.9,125,1314,0.00,2.47,0.00,0.000,6,0.000,0.028,2852,1762,3486,0,0,0,0,0,0
$GC,1572,-1.08,-116.8,169.1,-14.0,150,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1762,3486,0,0,0,0,0,0
$GC,1854,-1.08,-116.8,205.5,-11.3,174,1858,0.00,2.42,0.00,0.000,4,0.000,0.033,2853,3303,3486,0,0,0,0,0,0
$GC,1978,-1.13,-116.8,218.5,-10.6,176,1983,0.00,2.42,0.00,0.000,6,0.000,0.035,2852,1777,3486,0,0,0,0,0,0
$GC,2227,-1.13,-116.8,245.2,-10.7,183,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1777,3486,0,0,0,0,0,0
$GC,2472,-1.17,-116.8,269.7,-9.7,189,2476,0.00,2.45,0.00,0.000,4,0.000,0.038,2853,3306,3486,0,0,0,0,0,0
$GC,2493,-1.21,-116.8,271.6,-8.4,189,2498,0.12,2.47,0.00,0.000,6,0.078,0.038,2810,1777,3487,0,0,0,0,0,0
$GC,2750,-1.21,-116.8,298.5,-10.6,196,2754,0.00,2.45,0.00,0.000,4,0.000,0.035,2810,3305,3486,0,0,0,0,0,0
$GC,2805,-1.21,-116.8,305.2,-11.9,197,2809,0.00,2.50,0.00,0.000,6,0.000,0.044,2810,1785,3486,0,0,0,0,0,0
$GC,3072,-1.21,-116.8,336.2,-11.7,204,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1785,3486,0,0,0,0,0,0
$GC,3315,-1.21,-116.8,363.5,-11.3,210,3319,0.00,2.47,0.00,0.000,4,0.000,0.040,2810,3297,3485,0,0,0,0,0,0
$GC,3370,-1.21,-116.8,369.8,-10.9,211,3374,0.00,2.53,0.00,0.000,6,0.000,0.054,2810,1787,3484,0,0,0,0,0,0
$GC,3636,-1.21,-116.8,398.5,-10.8,218,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1787,3483,0,0,0,0,0,0
$GC,3881,-1.21,-116.8,422.4,-9.5,224,3885,0.00,2.53,0.00,0.000,4,0.000,0.047,2810,3292,3482,0,0,0,0,0,0
$GC,3920,-1.21,-116.8,426.4,-10.0,225,3925,0.00,2.55,0.00,0.000,6,0.000,0.060,2810,1798,3482,0,0,0,0,0,0
$GC,4204,-1.21,-116.8,457.1,-11.2,232,4208,0.00,2.53,0.00,0.000,4,0.000,0.056,2810,3290,3480,0,0,0,0,0,0
$GC,4237,-1.21,-116.8,460.9,-11.3,232,4243,0.00,2.58,0.00,0.000,6,0.000,0.060,2809,1797,3480,0,0,0,0,0,0
$GC,4487,-1.21,-116.8,486.8,-10.4,239,4491,0.00,2.53,0.00,0.000,4,0.000,0.057,2810,3291,3478,0,0,0,0,0,0
$GC,4508,-1.21,-116.8,489.1,-10.5,239,4512,0.00,2.53,0.00,0.000,6,0.000,0.064,2809,1809,3478,0,0,0,0,0,0
$STATE,4638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4639,begin apogee
$GC,4646,-0.31,0.0,502.8,10.3,243,4747,0.95,0.00,97.22,0.928,6,0.091,0.000,3018,1881,3001,0,0,0,0,0,0
$STATE,4747,end apogee,CONTROL_FINISHED_OK
$STATE,4747,begin climb
$GC,4750,1.38,116.8,506.0,0.0,245,4854,1.65,0.00,99.72,0.905,6,0.064,0.000,3388,1880,2524,0,0,0,0,0,0
$GC,5088,1.44,162.8,487.6,7.4,254,5133,0.00,2.83,39.45,0.883,4,0.000,0.059,3388,3488,2337,0,0,0,0,0,0
$GC,5185,1.50,182.8,479.4,8.9,256,5212,0.12,2.72,18.75,0.844,6,0.083,0.055,3421,1917,2255,0,0,0,0,0,0
$GC,5456,1.50,182.8,450.6,10.8,263,5461,0.00,2.62,0.00,0.000,4,0.000,0.048,3421,3489,2248,0,0,0,0,0,0
$GC,5541,1.52,191.2,442.1,9.6,265,5555,0.00,2.67,7.38,0.738,6,0.000,0.051,3421,1940,2221,0,0,0,0,0,0
$GC,5829,1.53,200.2,414.8,9.5,272,5840,0.00,0.00,9.50,0.779,6,0.000,0.000,3421,1939,2184,0,0,0,0,0,0
$GC,6073,1.53,200.2,390.0,10.1,278,6077,0.00,2.58,0.00,0.000,4,0.000,0.040,3421,3492,2180,0,0,0,0,0,0
$GC,6173,1.53,200.2,379.9,10.1,280,6178,0.00,2.60,0.00,0.000,6,0.000,0.045,3421,1935,2178,0,0,0,0,0,0
$GC,6441,1.54,212.7,354.6,9.3,287,6459,0.00,2.97,11.52,0.782,4,0.000,0.085,3421,337,2131,0,0,0,0,0,0
$GC,6477,1.54,212.7,350.6,10.6,287,6483,0.00,2.55,0.00,0.000,6,0.000,0.024,3421,1935,2131,0,0,0,0,0,0
$GC,6727,1.57,233.7,328.1,8.8,294,6749,0.00,0.00,19.65,0.811,6,0.000,0.000,3421,1935,2048,0,0,0,0,0,0
$GC,6971,1.58,239.9,304.7,9.7,300,6984,0.00,2.65,6.57,0.678,4,0.000,0.041,3421,3501,2021,0,0,0,0,0,0
$GC,7031,1.63,239.9,298.4,11.1,301,7037,0.10,2.62,0.00,0.000,6,0.101,0.043,3449,1927,2020,0,0,0,0,0,0
$GC,7298,1.63,239.9,267.0,11.8,308,7302,0.00,2.58,0.00,0.000,4,0.000,0.035,3448,3495,2019,0,0,0,0,0,0
$GC,7327,1.63,239.9,263.5,11.9,308,7331,0.00,2.55,0.00,0.000,6,0.000,0.039,3449,1938,2018,0,0,0,0,0,0
$GC,7576,1.63,239.9,236.3,10.7,314,7581,0.00,2.80,0.00,0.000,4,0.000,0.070,3449,336,2018,0,0,0,0,0,0
$GC,7592,1.63,239.9,234.5,10.3,314,7596,0.00,2.55,0.00,0.000,6,0.000,0.021,3448,1947,2017,0,0,0,0,0,0
$GC,7852,1.63,239.9,206.7,10.8,321,7857,0.00,2.50,0.00,0.000,4,0.000,0.036,3449,3489,2017,0,0,0,0,0,0
$GC,7893,1.63,239.9,202.1,11.9,322,7897,0.00,2.55,0.00,0.000,6,0.000,0.038,3449,1930,2015,0,0,0,0,0,0
$GC,8157,1.66,260.7,175.7,8.8,344,8182,0.00,2.58,18.42,0.693,4,0.000,0.035,3449,3495,1938,0,0,0,0,0,0
$GC,8221,1.66,260.7,170.1,10.1,349,8226,0.00,2.55,0.00,0.000,6,0.000,0.032,3448,1944,1936,0,0,0,0,0,0
$GC,8487,1.67,273.5,145.0,9.3,373,8505,0.00,0.00,12.27,0.637,6,0.000,0.000,3449,1944,1885,0,0,0,0,0,0
$GC,8765,1.71,273.5,114.2,12.2,399,8770,0.00,2.53,0.00,0.000,4,0.000,0.031,3449,3502,1883,0,0,0,0,0,0
$GC,8869,1.78,273.5,102.2,11.4,407,8874,0.12,2.50,0.00,0.000,6,0.082,0.037,3483,1965,1883,0,0,0,0,0,0
$GC,9132,1.78,273.5,72.1,10.5,431,9137,0.00,2.45,0.00,0.000,4,0.000,0.032,3483,3499,1882,0,0,0,0,0,0
$GC,9203,1.78,273.5,64.5,11.0,436,9207,0.00,2.47,0.00,0.000,6,0.000,0.031,3483,1971,1883,0,0,0,0,0,0
$GC,9471,1.79,284.1,38.4,9.4,460,9486,0.00,2.45,10.38,0.528,4,0.000,0.028,3483,3493,1843,0,0,0,0,0,0
$GC,9540,1.83,284.1,31.2,10.2,465,9550,0.00,2.47,0.00,0.000,6,0.000,0.030,3483,1980,1842,0,0,0,0,0,0
$STATE,9823,end climb,SURFACE_DEPTH_REACHED
$STATE,9823,begin surface coast
$FINISH,0.4,0.980128
$STATE,9874,end surface coast,CONTROL_FINISHED_OK
$STATE,9874,begin surface
$SM_CCo,9896,94.25,0.534,0,0,1370,400.08
$SM_GC,1.29,0.00,0.00,94.25,0.000,0.000,0.534,476,1751,1370,-12.02,-0.54,400.08
$IRIDIUM_FIX,2244.02,-15801.49,120800,171743
$TT8_MAMPS,0.026078
$HUMID,56.93
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,43
$24V_AH,23.5,8.993
$10V_AH,10.4,7.599
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.200,118.075,350.850,94.250,0.000,28.246,50.998,156.763,10.750,0.000,15.765,1031.681,6303.497,531.923,1983.245,508.639,33.357,1226.093,0.000,1993.046,0.000,0.534,0.000
$DEVICE_MAMPS,163.371,100.477,928.070,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.940,295.812,402.426,804.212,1216.588,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41665,513
$CAP_FILE_SIZE,102476,0
$CFSIZE,260165632,178606080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,224757,2250.045,-15757.491,24,2.2,43,10.1