version: 66.06
glider: 146
mission: 6
dive: 70
start: 5 19 111 22 54 33
data:
$ID,146
$MISSION,6
$DIVE,70
$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,-268808.97
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,224757,2250.045,-15757.491,24,2.2,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.7
$GPS2,225338,2250.073,-15757.516,14,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,-0.231
$KALMAN_X,-51950.8,-190.2,321.7,50588.7,-663.1
$KALMAN_Y,-97228.7,-505.8,404.7,108757.5,-343.7
$MHEAD_RNG_PITCHd_Wd,159.1,5713,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.50,0.000,2,0.000,0.000,476,1751,3335,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.4,-5.7,10,125,12.57,2.65,-2.67,0.000,4,0.169,0.065,2779,212,3481,0,0,0,0,0,0
$GC,228,-1.11,-116.8,38.7,-22.7,25,233,0.32,2.42,0.00,0.000,6,0.160,0.014,2844,1806,3482,0,0,0,0,0,0
$GC,494,-1.06,-116.8,79.7,-12.5,49,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1808,3483,0,0,0,0,0,0
$GC,756,-1.00,-116.8,113.8,-12.2,74,761,0.12,2.75,0.00,0.000,4,0.128,0.064,2869,212,3484,0,0,0,0,0,0
$GC,777,-0.96,-116.8,116.1,-12.4,75,781,0.00,2.35,0.00,0.000,6,0.000,0.017,2870,1794,3484,0,0,0,0,0,0
$GC,1045,-0.96,-116.8,149.5,-12.9,99,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1795,3485,0,0,0,0,0,0
$GC,1309,-0.96,-116.8,179.6,-11.0,124,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1795,3485,0,0,0,0,0,0
$GC,1590,-1.00,-116.8,207.9,-9.4,145,1594,0.00,2.35,0.00,0.000,4,0.000,0.034,2870,3295,3486,0,0,0,0,0,0
$GC,1663,-1.07,-116.8,214.9,-8.6,146,1667,0.00,2.40,0.00,0.000,6,0.000,0.028,2869,1796,3486,0,0,0,0,0,0
$GC,1914,-1.13,-116.8,237.2,-9.2,152,1920,0.12,2.78,0.00,0.000,4,0.077,0.072,2827,198,3486,0,0,0,0,0,0
$GC,1931,-1.13,-116.8,239.2,-9.7,152,1935,0.00,2.38,0.00,0.000,6,0.000,0.018,2827,1756,3486,0,0,0,0,0,0
$GC,2191,-1.13,-116.8,269.9,-11.8,159,2195,0.00,2.53,0.00,0.000,4,0.000,0.040,2827,3341,3486,0,0,0,0,0,0
$GC,2217,-1.13,-116.8,273.3,-12.3,159,2222,0.00,2.47,0.00,0.000,6,0.000,0.032,2827,1795,3486,0,0,0,0,0,0
$GC,2469,-1.13,-116.8,302.8,-11.9,165,2473,0.00,2.45,0.00,0.000,4,0.000,0.037,2827,3328,3486,0,0,0,0,0,0
$GC,2508,-1.13,-116.8,307.6,-11.9,166,2512,0.00,2.50,0.00,0.000,6,0.000,0.046,2828,1801,3486,0,0,0,0,0,0
$GC,2790,-1.13,-116.8,338.9,-10.7,173,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1801,3485,0,0,0,0,0,0
$GC,3035,-1.13,-116.8,365.0,-10.9,179,3040,0.00,2.53,0.00,0.000,4,0.000,0.046,2828,3331,3484,0,0,0,0,0,0
$GC,3068,-1.13,-116.8,369.0,-11.0,179,3074,0.00,2.55,0.00,0.000,6,0.000,0.049,2827,1805,3484,0,0,0,0,0,0
$GC,3318,-1.13,-116.8,396.5,-11.2,186,3322,0.00,2.53,0.00,0.000,4,0.000,0.048,2827,3325,3483,0,0,0,0,0,0
$GC,3374,-1.18,-116.8,402.7,-11.4,187,3379,0.00,2.60,0.00,0.000,6,0.000,0.057,2827,1804,3482,0,0,0,0,0,0
$GC,3640,-1.18,-116.8,430.9,-10.4,194,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1804,3481,0,0,0,0,0,0
$GC,3884,-1.18,-116.8,456.4,-10.3,200,3888,0.00,2.58,0.00,0.000,4,0.000,0.057,2828,3325,3480,0,0,0,0,0,0
$GC,3935,-1.25,-116.8,461.8,-10.6,201,3939,0.00,2.58,0.00,0.000,6,0.000,0.066,2827,1828,3479,0,0,0,0,0,0
$GC,4206,-1.25,-116.8,491.0,-10.7,208,4211,0.00,3.17,0.00,0.000,4,0.000,0.124,2827,186,3477,0,0,0,0,0,0
$GC,4233,-1.25,-116.8,494.2,-11.7,208,4238,0.00,2.65,0.00,0.000,6,0.000,0.040,2827,1796,3477,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4319,begin apogee
$GC,4326,-0.31,0.0,503.5,10.8,210,4427,0.88,0.00,97.28,0.927,6,0.089,0.000,3020,1930,3001,0,0,0,0,0,0
$STATE,4427,end apogee,CONTROL_FINISHED_OK
$STATE,4427,begin climb
$GC,4430,1.38,116.8,507.2,0.0,212,4534,1.62,0.00,100.00,0.902,6,0.058,0.000,3389,1930,2524,0,0,0,0,0,0
$GC,4768,1.47,184.6,492.7,6.1,221,4832,0.00,2.80,58.47,0.891,4,0.000,0.065,3389,3501,2247,0,0,0,0,0,0
$GC,4897,1.55,202.5,482.3,9.0,224,4922,0.15,2.70,16.58,0.832,6,0.077,0.058,3427,1935,2174,0,0,0,0,0,0
$GC,5184,1.55,202.5,452.5,10.4,231,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1935,2168,0,0,0,0,0,0
$GC,5427,1.55,202.5,427.7,10.0,237,5431,0.00,2.62,0.00,0.000,4,0.000,0.042,3426,3509,2166,0,0,0,0,0,0
$GC,5487,1.55,202.5,421.1,11.2,238,5491,0.00,2.67,0.00,0.000,6,0.000,0.056,3426,1937,2164,0,0,0,0,0,0
$GC,5749,1.55,202.9,394.5,10.0,245,5753,0.00,2.60,0.00,0.000,4,0.000,0.038,3426,3515,2163,0,0,0,0,0,0
$GC,5788,1.56,210.0,390.5,9.6,246,5799,0.00,2.62,5.93,0.683,6,0.000,0.044,3426,1943,2144,0,0,0,0,0,0
$GC,6072,1.57,221.2,363.3,9.4,253,6090,0.00,2.60,11.25,0.783,4,0.000,0.039,3426,3512,2098,0,0,0,0,0,0
$GC,6097,1.57,221.2,360.9,10.1,253,6102,0.00,2.62,0.00,0.000,6,0.000,0.038,3426,1940,2098,0,0,0,0,0,0
$GC,6352,1.61,249.7,339.0,8.4,260,6386,0.00,2.62,26.33,0.816,4,0.000,0.041,3426,3509,1983,0,0,0,0,0,0
$GC,6441,1.66,260.3,331.4,9.4,262,6458,0.10,2.58,11.00,0.748,6,0.094,0.042,3452,1957,1939,0,0,0,0,0,0
$GC,6725,1.66,260.3,300.2,11.3,269,6730,0.00,2.55,0.00,0.000,4,0.000,0.040,3452,3510,1934,0,0,0,0,0,0
$GC,6765,1.66,260.3,295.6,11.8,270,6769,0.00,2.55,0.00,0.000,6,0.000,0.036,3453,1969,1933,0,0,0,0,0,0
$GC,7049,1.66,260.3,264.2,11.3,277,7053,0.00,2.53,0.00,0.000,4,0.000,0.035,3452,3510,1932,0,0,0,0,0,0
$GC,7071,1.66,260.3,261.2,12.8,277,7076,0.00,2.55,0.00,0.000,6,0.000,0.035,3452,1961,1930,0,0,0,0,0,0
$GC,7327,1.66,260.3,229.3,12.4,284,7331,0.00,2.55,0.00,0.000,4,0.000,0.040,3452,3519,1930,0,0,0,0,0,0
$GC,7349,1.66,260.3,226.6,12.1,284,7353,0.00,2.53,0.00,0.000,6,0.000,0.036,3452,1984,1930,0,0,0,0,0,0
$GC,7604,1.66,260.3,199.0,10.9,291,7608,0.00,2.85,0.00,0.000,4,0.000,0.067,3453,341,1930,0,0,0,0,0,0
$GC,7644,1.62,260.3,194.5,12.0,294,7649,0.00,2.65,0.00,0.000,6,0.000,0.023,3453,2013,1929,0,0,0,0,0,0
$GC,7907,1.62,264.3,168.1,9.8,318,7911,0.00,2.42,0.00,0.000,4,0.000,0.035,3452,3516,1929,0,0,0,0,0,0
$GC,7975,1.62,265.7,161.0,10.0,323,7985,0.00,2.47,4.30,0.488,6,0.000,0.037,3452,1989,1917,0,0,0,0,0,0
$GC,8250,1.62,265.7,132.0,11.4,349,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1988,1917,0,0,0,0,0,0
$GC,8511,1.62,265.7,103.4,11.0,374,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1989,1916,0,0,0,0,0,0
$GC,8771,1.62,265.7,74.8,10.9,398,8775,0.00,2.45,0.00,0.000,4,0.000,0.038,3453,3513,1917,0,0,0,0,0,0
$GC,8805,1.66,265.7,70.5,11.2,400,8814,0.00,2.47,0.00,0.000,6,0.000,0.029,3453,1988,1916,0,0,0,0,0,0
$GC,9074,1.75,281.5,45.4,9.1,425,9093,0.00,0.00,15.43,0.556,6,0.000,0.000,3453,1988,1852,0,0,0,0,0,0
$GC,9373,1.85,296.6,19.0,9.2,460,9400,0.17,2.53,14.18,0.525,4,0.063,0.031,3501,3514,1789,0,0,0,0,0,0
$GC,9413,1.85,296.6,14.8,10.7,464,9424,0.00,2.50,0.00,0.000,6,0.000,0.030,3501,1988,1789,0,0,0,0,0,0
$STATE,9499,end climb,SURFACE_DEPTH_REACHED
$STATE,9499,begin surface coast
$FINISH,0.4,0.970798
$STATE,9542,end surface coast,CONTROL_FINISHED_OK
$STATE,9543,begin surface
$SM_CCo,9565,83.88,0.533,0,0,1370,400.08
$SM_GC,1.18,0.00,0.00,83.88,0.000,0.000,0.533,479,1751,1370,-12.01,-0.51,400.08
$IRIDIUM_FIX,2241.69,-15754.11,120800,202004
$TT8_MAMPS,0.026078
$HUMID,56.77
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.60
$XPDR_PINGS,43
$24V_AH,23.5,9.106
$10V_AH,10.4,7.707
$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,28.450,113.825,360.725,83.875,0.000,23.433,38.940,150.394,10.750,0.000,16.455,972.264,6234.992,513.271,1808.431,466.622,33.361,1195.519,0.000,1811.523,0.000,0.534,0.000
$DEVICE_MAMPS,168.740,152.633,927.303,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.758,273.962,372.503,709.356,1072.927,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38400,482
$CAP_FILE_SIZE,98831,0
$CFSIZE,260165632,178561024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,013627,2248.167,-15757.485,10,1.5,23,10.1