version: 66.06
glider: 146
mission: 6
dive: 74
start: 5 20 111 9 35 38
data:
$ID,146
$MISSION,6
$DIVE,74
$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,-268900.06
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,092855,2246.829,-15800.344,5,1.5,10,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.3
$GPS2,093444,2246.834,-15800.331,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.172,0.159
$KALMAN_X,-53133.2,295.9,124.9,46675.9,-287.5
$KALMAN_Y,-101072.5,516.2,517.9,105470.9,-1454.7
$MHEAD_RNG_PITCHd_Wd,302.7,4567,-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,-79.00,0.000,2,0.000,0.000,482,1758,3329,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-5.8,10,126,12.38,2.62,-2.75,0.000,4,0.163,0.038,2779,3370,3480,0,0,0,0,0,0
$GC,254,-1.22,-116.8,43.1,-19.4,28,264,0.17,2.60,0.00,0.000,6,0.106,0.028,2819,1777,3482,0,0,0,0,0,0
$GC,522,-1.11,-116.8,83.5,-13.7,53,527,0.12,0.00,0.00,0.000,6,0.135,0.000,2842,1776,3483,0,0,0,0,0,0
$GC,785,-1.07,-116.8,115.9,-11.7,78,789,0.00,2.70,0.00,0.000,4,0.000,0.064,2842,196,3484,0,0,0,0,0,0
$GC,829,-0.99,-116.8,121.4,-13.6,81,834,0.15,2.47,0.00,0.000,6,0.123,0.021,2872,1837,3484,0,0,0,0,0,0
$GC,1097,-1.03,-116.8,149.3,-10.4,105,1101,0.00,2.83,0.00,0.000,4,0.000,0.068,2872,187,3485,0,0,0,0,0,0
$GC,1119,-1.03,-116.8,152.7,-10.9,106,1124,0.00,2.47,0.00,0.000,6,0.000,0.015,2872,1831,3485,0,0,0,0,0,0
$GC,1383,-1.08,-116.8,179.8,-10.2,131,1387,0.00,2.42,0.00,0.000,4,0.000,0.028,2872,3378,3485,0,0,0,0,0,0
$GC,1463,-1.16,-116.8,187.7,-9.2,137,1469,0.15,2.60,0.00,0.000,6,0.064,0.033,2823,1758,3485,0,0,0,0,0,0
$GC,1738,-1.16,-116.8,218.5,-11.2,152,1742,0.00,2.70,0.00,0.000,4,0.000,0.069,2823,190,3485,0,0,0,0,0,0
$GC,1777,-1.08,-116.8,223.3,-12.1,153,1782,0.15,2.45,0.00,0.000,6,0.110,0.023,2854,1795,3486,0,0,0,0,0,0
$GC,2061,-1.12,-116.8,252.2,-10.3,160,2065,0.00,2.42,0.00,0.000,4,0.000,0.034,2854,3331,3486,0,0,0,0,0,0
$GC,2134,-1.19,-116.8,260.1,-10.2,161,2139,0.10,2.53,0.00,0.000,6,0.087,0.036,2817,1772,3486,0,0,0,0,0,0
$GC,2384,-1.19,-116.8,288.1,-11.2,167,2388,0.00,2.50,0.00,0.000,4,0.000,0.038,2816,3330,3486,0,0,0,0,0,0
$GC,2424,-1.19,-116.8,292.6,-11.8,168,2428,0.00,2.55,0.00,0.000,6,0.000,0.036,2817,1775,3486,0,0,0,0,0,0
$GC,2707,-1.19,-116.8,325.1,-11.7,175,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1775,3485,0,0,0,0,0,0
$GC,2950,-1.19,-116.8,355.4,-12.6,181,2954,0.00,2.53,0.00,0.000,4,0.000,0.044,2816,3331,3484,0,0,0,0,0,0
$GC,2977,-1.19,-116.8,358.9,-12.7,181,2981,0.00,2.62,0.00,0.000,6,0.000,0.048,2816,1772,3484,0,0,0,0,0,0
$GC,3228,-1.19,-116.8,387.5,-11.3,187,3232,0.00,2.55,0.00,0.000,4,0.000,0.048,2816,3329,3482,0,0,0,0,0,0
$GC,3289,-1.23,-116.8,394.1,-10.0,188,3294,0.00,2.62,0.00,0.000,6,0.000,0.061,2816,1790,3482,0,0,0,0,0,0
$GC,3551,-1.23,-116.8,420.1,-9.9,195,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1790,3481,0,0,0,0,0,0
$GC,3794,-1.23,-116.8,444.2,-9.8,201,3798,0.00,2.55,0.00,0.000,4,0.000,0.054,2816,3330,3480,0,0,0,0,0,0
$GC,3833,-1.27,-116.8,448.0,-9.4,202,3838,0.00,2.62,0.00,0.000,6,0.000,0.063,2816,1798,3479,0,0,0,0,0,0
$GC,4118,-1.27,-116.8,474.2,-9.2,209,4122,0.00,2.55,0.00,0.000,4,0.000,0.051,2816,3318,3477,0,0,0,0,0,0
$GC,4141,-1.27,-116.8,476.4,-9.7,209,4145,0.00,2.60,0.00,0.000,6,0.000,0.061,2816,1809,3478,0,0,0,0,0,0
$STATE,4393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4393,begin apogee
$GC,4399,-0.31,0.0,501.6,9.9,216,4499,0.93,0.00,96.15,0.933,6,0.089,0.000,3020,1911,3001,0,0,0,0,0,0
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4500,begin climb
$GC,4503,1.38,116.8,505.2,0.0,218,4610,1.60,0.00,98.88,0.905,6,0.061,0.000,3386,1912,2522,0,0,0,0,0,0
$GC,4871,1.50,216.3,493.8,4.3,227,4965,0.12,2.75,84.38,0.900,4,0.086,0.057,3418,3486,2118,0,0,0,0,0,0
$GC,5004,1.54,246.0,484.6,8.3,230,5038,0.00,2.75,26.48,0.859,6,0.000,0.062,3418,1918,1997,0,0,0,0,0,0
$GC,5324,1.54,246.0,451.9,10.7,238,5328,0.00,2.65,0.00,0.000,4,0.000,0.048,3418,3497,1989,0,0,0,0,0,0
$GC,5363,1.58,246.0,447.2,12.1,239,5367,0.00,2.72,0.00,0.000,6,0.000,0.054,3418,1919,1988,0,0,0,0,0,0
$GC,5646,1.58,246.0,415.9,11.0,246,5650,0.00,2.62,0.00,0.000,4,0.000,0.046,3419,3495,1986,0,0,0,0,0,0
$GC,5673,1.58,246.0,412.7,11.7,246,5678,0.00,2.67,0.00,0.000,6,0.000,0.048,3418,1925,1985,0,0,0,0,0,0
$GC,5923,1.58,246.0,385.3,11.0,252,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1924,1984,0,0,0,0,0,0
$GC,6167,1.58,246.0,358.1,11.3,258,6171,0.00,2.58,0.00,0.000,4,0.000,0.035,3418,3490,1983,0,0,0,0,0,0
$GC,6217,1.63,246.0,352.0,12.5,259,6223,0.10,2.58,0.00,0.000,6,0.097,0.038,3445,1933,1982,0,0,0,0,0,0
$GC,6489,1.63,246.0,317.7,12.5,266,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1933,1981,0,0,0,0,0,0
$GC,6733,1.63,246.0,288.8,11.6,272,6737,0.00,2.58,0.00,0.000,4,0.000,0.040,3445,3500,1981,0,0,0,0,0,0
$GC,6778,1.63,246.0,284.2,10.5,273,6782,0.00,2.55,0.00,0.000,6,0.000,0.042,3445,1946,1980,0,0,0,0,0,0
$GC,7055,1.63,252.3,257.0,9.7,280,7060,0.00,2.55,0.00,0.000,4,0.000,0.042,3446,3501,1980,0,0,0,0,0,0
$GC,7116,1.63,252.3,250.4,10.7,281,7120,0.00,2.53,0.00,0.000,6,0.000,0.040,3445,1963,1978,0,0,0,0,0,0
$GC,7379,1.63,252.3,220.9,11.6,288,7383,0.00,2.47,0.00,0.000,4,0.000,0.034,3445,3490,1978,0,0,0,0,0,0
$GC,7456,1.63,252.3,211.4,12.1,289,7462,0.00,2.47,0.00,0.000,6,0.000,0.041,3445,1976,1978,0,0,0,0,0,0
$GC,7712,1.64,260.0,185.1,9.6,305,7728,0.00,2.88,9.98,0.662,4,0.000,0.066,3445,336,1941,0,0,0,0,0,0
$GC,7746,1.65,265.6,182.3,9.7,307,7760,0.00,2.62,6.62,0.595,6,0.000,0.019,3445,1994,1918,0,0,0,0,0,0
$GC,8022,1.65,265.6,154.2,10.2,333,8026,0.00,2.42,0.00,0.000,4,0.000,0.039,3445,3494,1916,0,0,0,0,0,0
$GC,8068,1.69,265.6,149.4,10.1,336,8077,0.00,2.47,0.00,0.000,6,0.000,0.031,3445,1988,1914,0,0,0,0,0,0
$GC,8333,1.69,265.6,121.3,10.7,361,8338,0.00,2.80,0.00,0.000,4,0.000,0.064,3445,338,1914,0,0,0,0,0,0
$GC,8367,1.69,265.6,117.7,11.5,363,8372,0.00,2.60,0.00,0.000,6,0.000,0.020,3445,2012,1914,0,0,0,0,0,0
$GC,8634,1.74,265.6,89.9,10.2,387,8639,0.10,2.88,0.00,0.000,4,0.088,0.058,3475,334,1914,0,0,0,0,0,0
$GC,8679,1.70,265.6,83.1,13.9,390,8689,0.00,2.62,0.00,0.000,6,0.000,0.023,3475,1998,1914,0,0,0,0,0,0
$GC,8947,1.70,265.6,53.6,10.6,415,8951,0.00,2.38,0.00,0.000,4,0.000,0.039,3475,3495,1914,0,0,0,0,0,0
$GC,8991,1.70,265.6,48.6,10.3,418,8995,0.00,2.42,0.00,0.000,6,0.000,0.029,3475,1986,1913,0,0,0,0,0,0
$GC,9275,1.75,271.8,21.2,9.7,448,9293,0.00,2.47,6.82,0.476,4,0.000,0.033,3475,3494,1891,0,0,0,0,0,0
$GC,9324,1.79,271.8,16.1,10.6,454,9334,0.00,2.45,0.00,0.000,6,0.000,0.029,3475,1990,1891,0,0,0,0,0,0
$STATE,9451,end climb,SURFACE_DEPTH_REACHED
$STATE,9451,begin surface coast
$FINISH,0.3,0.980135
$STATE,9511,end surface coast,CONTROL_FINISHED_OK
$STATE,9511,begin surface
$SM_CCo,9533,104.45,0.530,0,0,1369,400.08
$SM_GC,1.24,0.00,0.00,104.45,0.000,0.000,0.530,480,1750,1369,-12.01,-0.57,400.08
$IRIDIUM_FIX,2239.35,-15757.16,130800,060640
$TT8_MAMPS,0.025311
$HUMID,57.20
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.40
$XPDR_PINGS,45
$24V_AH,23.5,9.536
$10V_AH,10.4,8.111
$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,28.250,124.550,329.300,104.450,0.000,27.179,34.143,161.069,11.250,0.000,14.501,982.566,6160.476,502.916,1855.749,487.232,33.360,1204.439,0.000,1859.594,0.000,0.533,0.000
$DEVICE_MAMPS,162.604,101.244,932.672,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.564,273.714,373.441,711.807,1077.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38371,480
$CAP_FILE_SIZE,102007,0
$CFSIZE,260165632,178360320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,121800,2246.963,-15801.595,64,1.1,64,10.1