version: 66.06
glider: 146
mission: 6
dive: 76
start: 5 20 111 15 16 51
data:
$ID,146
$MISSION,6
$DIVE,76
$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,-268969.62
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,150936,2247.261,-15802.150,12,1.4,22,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.3
$GPS2,151558,2247.190,-15802.194,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.049,0.230
$KALMAN_X,-54188.3,59.6,-135.5,45044.2,-812.0
$KALMAN_Y,-102615.3,-307.2,-389.6,109396.3,-1067.0
$MHEAD_RNG_PITCHd_Wd,2.0,5383,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.55,0.000,2,0.000,0.000,478,1753,3306,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.3,-5.6,10,127,12.45,2.67,-3.22,0.000,4,0.165,0.067,2779,203,3480,0,0,0,0,0,0
$GC,179,-1.10,-116.8,26.6,-23.2,20,187,0.30,2.45,0.00,0.000,6,0.161,0.015,2843,1803,3481,0,0,0,0,0,0
$GC,455,-1.03,-116.8,68.5,-13.7,46,465,0.10,0.00,0.00,0.000,6,0.138,0.000,2863,1805,3483,0,0,0,0,0,0
$GC,721,-1.03,-116.8,101.1,-12.0,71,726,0.00,2.35,0.00,0.000,4,0.000,0.031,2863,3313,3484,0,0,0,0,0,0
$GC,738,-1.03,-116.8,103.9,-12.4,72,743,0.00,2.47,0.00,0.000,6,0.000,0.026,2863,1766,3484,0,0,0,0,0,0
$GC,1002,-1.03,-116.8,136.2,-12.2,96,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1766,3485,0,0,0,0,0,0
$GC,1253,-1.03,-116.8,166.7,-11.9,120,1258,0.00,2.42,0.00,0.000,4,0.000,0.029,2863,3312,3485,0,0,0,0,0,0
$GC,1347,-1.09,-116.8,177.1,-11.0,127,1353,0.00,2.47,0.00,0.000,6,0.000,0.031,2863,1768,3485,0,0,0,0,0,0
$GC,1629,-1.09,-116.8,204.5,-9.1,151,1633,0.00,2.42,0.00,0.000,4,0.000,0.030,2863,3313,3486,0,0,0,0,0,0
$GC,1651,-1.14,-116.8,206.4,-8.2,151,1655,0.00,2.45,0.00,0.000,6,0.000,0.028,2863,1778,3486,0,0,0,0,0,0
$GC,1907,-1.18,-116.8,228.8,-8.8,158,1912,0.12,2.45,0.00,0.000,4,0.075,0.034,2822,3312,3486,0,0,0,0,0,0
$GC,1947,-1.18,-116.8,233.3,-11.2,159,1951,0.00,2.42,0.00,0.000,6,0.000,0.036,2821,1793,3486,0,0,0,0,0,0
$GC,2231,-1.18,-116.8,267.7,-12.5,166,2235,0.00,2.42,0.00,0.000,4,0.000,0.037,2821,3310,3486,0,0,0,0,0,0
$GC,2246,-1.18,-116.8,269.9,-12.6,166,2250,0.00,2.42,0.00,0.000,6,0.000,0.038,2821,1800,3486,0,0,0,0,0,0
$GC,2513,-1.18,-116.8,302.0,-11.9,173,2517,0.00,2.42,0.00,0.000,4,0.000,0.033,2821,3309,3486,0,0,0,0,0,0
$GC,2551,-1.18,-116.8,306.6,-11.4,173,2557,0.00,2.45,0.00,0.000,6,0.000,0.043,2821,1804,3486,0,0,0,0,0,0
$GC,2803,-1.18,-116.8,334.9,-11.1,180,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1804,3485,0,0,0,0,0,0
$GC,3045,-1.18,-116.8,359.7,-10.1,186,3049,0.00,2.42,0.00,0.000,4,0.000,0.044,2821,3305,3484,0,0,0,0,0,0
$GC,3072,-1.18,-116.8,362.4,-9.8,186,3076,0.00,2.50,0.00,0.000,6,0.000,0.047,2821,1807,3484,0,0,0,0,0,0
$GC,3323,-1.18,-116.8,387.4,-10.1,192,3327,0.00,2.45,0.00,0.000,4,0.000,0.039,2821,3303,3482,0,0,0,0,0,0
$GC,3389,-1.22,-116.8,394.6,-10.4,193,3393,0.00,2.50,0.00,0.000,6,0.000,0.054,2821,1821,3482,0,0,0,0,0,0
$GC,3644,-1.22,-116.8,421.7,-11.1,200,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1821,3481,0,0,0,0,0,0
$GC,3889,-1.22,-116.8,449.7,-11.4,206,3893,0.00,2.45,0.00,0.000,4,0.000,0.055,2821,3304,3480,0,0,0,0,0,0
$GC,3955,-1.26,-116.8,457.7,-11.6,207,3959,0.00,2.53,0.00,0.000,6,0.000,0.059,2821,1833,3480,0,0,0,0,0,0
$GC,4210,-1.26,-116.8,485.9,-11.0,214,4215,0.00,3.17,0.00,0.000,4,0.000,0.123,2821,186,3478,0,0,0,0,0,0
$GC,4236,-1.26,-116.8,489.3,-12.3,214,4241,0.00,2.60,0.00,0.000,6,0.000,0.040,2821,1769,3478,0,0,0,0,0,0
$STATE,4362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4362,begin apogee
$GC,4370,-0.31,0.0,503.3,11.1,217,4470,0.90,0.00,96.72,0.921,6,0.088,0.000,3020,1932,3001,0,0,0,0,0,0
$STATE,4471,end apogee,CONTROL_FINISHED_OK
$STATE,4471,begin climb
$GC,4473,1.38,116.8,506.8,0.0,219,4577,1.62,0.00,99.75,0.899,6,0.058,0.000,3390,1932,2523,0,0,0,0,0,0
$GC,4810,1.45,168.3,489.8,7.1,228,4860,0.00,2.75,44.17,0.880,4,0.000,0.064,3390,3504,2313,0,0,0,0,0,0
$GC,4916,1.49,169.4,480.9,10.0,230,4922,0.10,2.70,0.00,0.000,6,0.092,0.059,3416,1936,2309,0,0,0,0,0,0
$GC,5172,1.50,173.6,455.9,9.8,237,5182,0.00,3.10,4.50,0.617,4,0.000,0.114,3417,334,2293,0,0,0,0,0,0
$GC,5216,1.45,173.6,451.2,11.5,238,5220,0.00,2.65,0.00,0.000,6,0.000,0.031,3416,1939,2291,0,0,0,0,0,0
$GC,5493,1.49,210.8,428.1,7.9,245,5534,0.00,2.70,33.75,0.884,4,0.000,0.050,3416,3511,2140,0,0,0,0,0,0
$GC,5558,1.52,232.2,422.9,8.8,246,5583,0.00,2.70,19.95,0.841,6,0.000,0.049,3417,1932,2054,0,0,0,0,0,0
$GC,5863,1.54,252.8,396.0,8.8,254,5884,0.00,0.00,18.85,0.841,6,0.000,0.000,3417,1932,1970,0,0,0,0,0,0
$GC,6106,1.55,259.1,373.0,9.7,260,6120,0.00,2.67,6.53,0.696,4,0.000,0.041,3416,3508,1943,0,0,0,0,0,0
$GC,6160,1.61,259.1,367.2,11.1,261,6165,0.10,2.62,0.00,0.000,6,0.094,0.044,3444,1928,1942,0,0,0,0,0,0
$GC,6433,1.61,259.1,336.4,11.4,268,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1928,1940,0,0,0,0,0,0
$GC,6675,1.61,259.1,308.2,11.7,274,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1928,1939,0,0,0,0,0,0
$GC,6919,1.61,259.1,279.8,11.5,280,6923,0.00,2.58,0.00,0.000,4,0.000,0.040,3444,3515,1938,0,0,0,0,0,0
$GC,6979,1.61,259.1,273.1,11.0,281,6984,0.00,2.60,0.00,0.000,6,0.000,0.035,3444,1933,1936,0,0,0,0,0,0
$GC,7242,1.63,277.5,249.1,9.0,288,7261,0.00,0.00,16.62,0.746,6,0.000,0.000,3444,1933,1869,0,0,0,0,0,0
$GC,7484,1.64,281.1,225.5,9.8,294,7494,0.00,2.62,3.88,0.492,4,0.000,0.035,3444,3519,1855,0,0,0,0,0,0
$GC,7551,1.69,281.1,219.0,10.3,295,7555,0.00,2.58,0.00,0.000,6,0.000,0.034,3444,1950,1854,0,0,0,0,0,0
$GC,7807,1.69,281.1,194.4,10.2,304,7812,0.00,2.78,0.00,0.000,4,0.000,0.068,3443,341,1853,0,0,0,0,0,0
$GC,7839,1.69,281.1,189.9,12.3,306,7849,0.00,2.60,0.00,0.000,6,0.000,0.021,3444,1979,1852,0,0,0,0,0,0
$GC,8107,1.69,281.1,160.8,11.7,331,8111,0.00,2.45,0.00,0.000,4,0.000,0.041,3444,3512,1852,0,0,0,0,0,0
$GC,8136,1.73,281.1,156.9,11.0,333,8141,0.10,2.58,0.00,0.000,6,0.090,0.033,3472,1928,1851,0,0,0,0,0,0
$GC,8401,1.73,281.1,123.7,12.9,357,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,1928,1852,0,0,0,0,0,0
$GC,8663,1.73,281.1,93.3,10.8,382,8667,0.00,2.53,0.00,0.000,4,0.000,0.031,3472,3515,1852,0,0,0,0,0,0
$GC,8777,1.73,281.1,81.3,10.4,391,8782,0.00,2.55,0.00,0.000,6,0.000,0.038,3472,1936,1851,0,0,0,0,0,0
$GC,9045,1.74,283.0,54.6,9.9,415,9049,0.00,2.50,0.00,0.000,4,0.000,0.031,3471,3513,1851,0,0,0,0,0,0
$GC,9152,1.81,298.7,44.4,9.1,423,9181,0.00,2.47,16.48,0.567,6,0.000,0.031,3472,1962,1781,0,0,0,0,0,0
$GC,9471,1.87,298.7,12.0,10.8,462,9481,0.10,2.55,0.00,0.000,4,0.087,0.035,3504,3514,1780,0,0,0,0,0,0
$GC,9492,1.87,302.5,9.9,9.8,464,9503,0.00,2.50,4.70,0.409,6,0.000,0.033,3503,1973,1765,0,0,0,0,0,0
$STATE,9538,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,0.4,0.976636
$STATE,9574,end surface coast,CONTROL_FINISHED_OK
$STATE,9574,begin surface
$SM_CCo,9598,79.28,0.539,0,0,1370,400.08
$SM_GC,1.24,0.00,0.00,79.28,0.000,0.000,0.539,478,1736,1370,-12.02,-0.96,400.08
$IRIDIUM_FIX,2239.35,-15800.20,130800,121226
$TT8_MAMPS,0.026078
$HUMID,57.32
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,45
$24V_AH,23.5,9.781
$10V_AH,10.4,8.328
$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,28.225,113.325,365.900,79.275,0.000,30.928,33.064,169.540,11.250,0.000,33.916,963.792,6294.806,534.333,1776.583,491.743,33.353,1190.977,0.000,1763.833,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,122.720,921.167,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.085,274.174,363.360,692.533,1047.467,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38492,475
$CAP_FILE_SIZE,97893,0
$CFSIZE,260165632,178257920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,175924,2247.860,-15802.714,35,1.8,35,10.1