version: 66.06
glider: 146
mission: 6
dive: 86
start: 5 21 111 19 1 20
data:
$ID,146
$MISSION,6
$DIVE,86
$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,-269164.75
$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,3110
$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,46
$R_STBD_OVSHOOT,46
$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
$GPS1,184314,2246.672,-15757.504,9,2.0,9,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.1
$GPS2,190026,2246.641,-15757.727,15,1.8,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.040
$KALMAN_X,-61329.6,-159.6,-64.9,59966.6,-835.8
$KALMAN_Y,-110119.2,-750.5,-366.7,116310.5,-171.7
$MHEAD_RNG_PITCHd_Wd,269.8,9029,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,100,0.00,0.00,-78.60,0.000,2,0.000,0.000,474,1744,3356,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.2,-5.1,10,129,12.20,2.60,-2.30,0.000,4,0.153,0.040,2798,3341,3481,0,0,0,0,0,0
$GC,258,-1.24,-116.8,39.2,-19.5,29,263,0.17,2.50,0.00,0.000,6,0.119,0.029,2834,1780,3482,0,0,0,0,0,0
$GC,525,-1.16,-116.8,84.5,-15.9,53,530,0.10,0.00,0.00,0.000,6,0.137,0.000,2853,1780,3483,0,0,0,0,0,0
$GC,785,-1.16,-116.8,126.3,-15.7,78,790,0.00,2.47,0.00,0.000,4,0.000,0.025,2853,3345,3483,0,0,0,0,0,0
$GC,830,-1.16,-116.8,132.6,-15.5,81,834,0.00,2.53,0.00,0.000,6,0.000,0.028,2853,1773,3483,0,0,0,0,0,0
$GC,1091,-1.16,-116.8,169.3,-11.4,105,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1772,3484,0,0,0,0,0,0
$GC,1347,-1.16,-116.8,198.5,-11.9,129,1351,0.00,2.70,0.00,0.000,4,0.000,0.072,2853,197,3484,0,0,0,0,0,0
$GC,1368,-1.16,-116.8,200.7,-11.7,130,1373,0.00,2.42,0.00,0.000,6,0.000,0.023,2853,1803,3484,0,0,0,0,0,0
$GC,1629,-1.16,-116.8,230.2,-10.8,137,1634,0.00,2.40,0.00,0.000,4,0.000,0.029,2853,3319,3484,0,0,0,0,0,0
$GC,1653,-1.20,-116.8,232.4,-9.7,137,1657,0.00,2.50,0.00,0.000,6,0.000,0.036,2853,1768,3485,0,0,0,0,0,0
$GC,1908,-1.24,-116.8,259.1,-10.8,144,1913,0.00,2.78,0.00,0.000,4,0.000,0.080,2853,194,3485,0,0,0,0,0,0
$GC,1935,-1.24,-116.8,262.7,-13.2,144,1939,0.00,2.40,0.00,0.000,6,0.000,0.020,2853,1745,3485,0,0,0,0,0,0
$GC,2192,-1.28,-116.8,292.0,-11.3,151,2197,0.10,2.60,0.00,0.000,4,0.090,0.043,2817,3344,3484,0,0,0,0,0,0
$GC,2236,-1.28,-116.8,297.4,-11.7,152,2240,0.00,2.55,0.00,0.000,6,0.000,0.036,2817,1780,3484,0,0,0,0,0,0
$GC,2515,-1.28,-116.8,328.8,-11.2,159,2520,0.00,2.53,0.00,0.000,4,0.000,0.041,2817,3337,3482,0,0,0,0,0,0
$GC,2565,-1.28,-116.8,334.4,-10.8,160,2569,0.00,2.58,0.00,0.000,6,0.000,0.051,2817,1793,3483,0,0,0,0,0,0
$GC,2837,-1.28,-116.8,364.1,-11.0,167,2842,0.00,2.50,0.00,0.000,4,0.000,0.039,2817,3335,3481,0,0,0,0,0,0
$GC,2853,-1.28,-116.8,365.9,-11.1,167,2857,0.00,2.60,0.00,0.000,6,0.000,0.048,2817,1785,3481,0,0,0,0,0,0
$GC,3115,-1.28,-116.8,394.6,-11.1,174,3120,0.00,2.55,0.00,0.000,4,0.000,0.043,2817,3336,3479,0,0,0,0,0,0
$GC,3165,-1.32,-116.8,400.7,-11.4,175,3170,0.00,2.62,0.00,0.000,6,0.000,0.062,2817,1801,3479,0,0,0,0,0,0
$GC,3439,-1.32,-116.8,430.3,-10.8,182,3443,0.00,2.55,0.00,0.000,4,0.000,0.047,2817,3339,3477,0,0,0,0,0,0
$GC,3465,-1.32,-116.8,433.4,-10.9,182,3470,0.00,2.60,0.00,0.000,6,0.000,0.058,2817,1809,3477,0,0,0,0,0,0
$GC,3715,-1.32,-116.8,459.8,-10.8,188,3720,0.00,2.53,0.00,0.000,4,0.000,0.054,2817,3329,3475,0,0,0,0,0,0
$GC,3782,-1.37,-116.8,467.1,-10.8,189,3786,0.00,2.60,0.00,0.000,6,0.000,0.062,2817,1823,3474,0,0,0,0,0,0
$GC,4038,-1.37,-116.8,493.1,-10.5,196,4042,0.00,2.53,0.00,0.000,4,0.000,0.059,2817,3325,3473,0,0,0,0,0,0
$GC,4082,-1.42,-116.8,498.0,-10.5,197,4086,0.00,2.60,0.00,0.000,6,0.000,0.064,2817,1820,3473,0,0,0,0,0,0
$STATE,4100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4100,begin apogee
$GC,4108,-0.31,0.0,500.4,11.0,197,4208,0.98,0.00,96.28,0.925,6,0.087,0.000,3036,1915,3000,0,0,0,0,0,0
$STATE,4208,end apogee,CONTROL_FINISHED_OK
$STATE,4208,begin climb
$GC,4211,1.38,116.8,504.8,0.0,200,4319,1.62,0.00,100.32,0.899,6,0.054,0.000,3411,1915,2523,0,0,0,0,0,0
$GC,4563,1.49,200.4,492.6,5.2,209,4645,0.10,2.78,72.00,0.894,4,0.097,0.052,3437,3486,2182,0,0,0,0,0,0
$GC,4681,1.49,202.0,483.5,9.9,211,4686,0.00,2.75,0.00,0.000,6,0.000,0.059,3437,1915,2179,0,0,0,0,0,0
$GC,4931,1.49,202.0,458.4,10.0,217,4935,0.00,2.62,0.00,0.000,4,0.000,0.041,3437,3484,2174,0,0,0,0,0,0
$GC,4973,1.49,202.0,454.0,11.7,218,4977,0.00,2.70,0.00,0.000,6,0.000,0.057,3437,1915,2172,0,0,0,0,0,0
$GC,5255,1.49,202.0,421.5,11.5,225,5260,0.00,2.62,0.00,0.000,4,0.000,0.045,3437,3494,2170,0,0,0,0,0,0
$GC,5366,1.49,202.0,408.8,10.7,227,5371,0.00,2.65,0.00,0.000,6,0.000,0.049,3437,1928,2169,0,0,0,0,0,0
$GC,5623,1.49,202.0,381.8,10.7,234,5627,0.00,2.55,0.00,0.000,4,0.000,0.036,3437,3486,2168,0,0,0,0,0,0
$GC,5665,1.49,202.0,376.8,11.1,235,5670,0.00,2.55,0.00,0.000,6,0.000,0.041,3437,1943,2167,0,0,0,0,0,0
$GC,5949,1.49,202.0,347.1,10.2,242,5953,0.00,2.85,0.00,0.000,4,0.000,0.085,3437,338,2166,0,0,0,0,0,0
$GC,5966,1.49,205.4,345.3,9.8,242,5970,0.00,2.55,0.00,0.000,6,0.000,0.028,3437,1931,2165,0,0,0,0,0,0
$GC,6226,1.51,222.9,321.2,9.0,249,6250,0.00,2.65,17.67,0.796,4,0.000,0.041,3437,3495,2091,0,0,0,0,0,0
$GC,6317,1.51,222.9,312.6,10.1,251,6321,0.00,2.58,0.00,0.000,6,0.000,0.035,3437,1939,2088,0,0,0,0,0,0
$GC,6600,1.52,226.1,284.1,9.9,258,6604,0.00,2.80,0.00,0.000,4,0.000,0.074,3437,334,2087,0,0,0,0,0,0
$GC,6639,1.48,226.1,279.8,11.2,259,6643,0.00,2.58,0.00,0.000,6,0.000,0.021,3437,1957,2086,0,0,0,0,0,0
$GC,6924,1.48,226.1,250.0,10.6,266,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1958,2086,0,0,0,0,0,0
$GC,7167,1.49,238.8,226.6,9.3,272,7186,0.00,2.85,14.38,0.719,4,0.000,0.065,3437,341,2026,0,0,0,0,0,0
$GC,7236,1.49,238.8,219.6,10.8,273,7241,0.00,2.55,0.00,0.000,6,0.000,0.020,3437,1953,2024,0,0,0,0,0,0
$GC,7490,1.53,238.8,194.3,11.2,282,7494,0.00,2.50,0.00,0.000,4,0.000,0.041,3437,3497,2023,0,0,0,0,0,0
$GC,7513,1.57,238.8,192.1,11.6,283,7517,0.00,2.55,0.00,0.000,6,0.000,0.036,3437,1928,2022,0,0,0,0,0,0
$GC,7781,1.62,238.8,162.9,11.6,307,7786,0.10,2.72,0.00,0.000,4,0.094,0.063,3466,335,2022,0,0,0,0,0,0
$GC,7848,1.57,238.8,152.9,13.8,312,7857,0.00,2.53,0.00,0.000,6,0.000,0.025,3465,1941,2020,0,0,0,0,0,0
$GC,8116,1.60,261.4,127.1,8.7,337,8142,0.00,0.00,20.52,0.645,6,0.000,0.000,3466,1942,1933,0,0,0,0,0,0
$GC,8398,1.60,261.4,98.2,11.2,364,8403,0.00,2.45,0.00,0.000,4,0.000,0.032,3466,3481,1931,0,0,0,0,0,0
$GC,8428,1.60,261.4,94.8,10.8,366,8432,0.00,2.53,0.00,0.000,6,0.000,0.035,3466,1920,1930,0,0,0,0,0,0
$GC,8695,1.61,274.1,68.7,9.3,390,8713,0.00,2.58,12.05,0.561,4,0.000,0.036,3466,3479,1882,0,0,0,0,0,0
$GC,8824,1.67,281.1,56.7,9.6,400,8839,0.00,2.50,7.25,0.510,6,0.000,0.031,3466,1925,1855,0,0,0,0,0,0
$GC,9095,1.72,285.2,33.7,9.8,425,9109,0.00,2.72,5.18,0.440,4,0.000,0.055,3466,341,1838,0,0,0,0,0,0
$GC,9126,1.72,285.2,30.2,10.9,427,9131,0.00,2.47,0.00,0.000,6,0.000,0.018,3466,1939,1836,0,0,0,0,0,0
$STATE,9388,end climb,SURFACE_DEPTH_REACHED
$STATE,9388,begin surface coast
$FINISH,0.5,0.979962
$STATE,9437,end surface coast,CONTROL_FINISHED_OK
$STATE,9437,begin surface
$SM_CCo,9459,93.28,0.532,0,0,1369,400.08
$SM_GC,1.16,0.00,0.00,93.28,0.000,0.000,0.532,477,1708,1369,-12.12,-1.75,400.08
$IRIDIUM_FIX,2239.35,-15754.99,140800,191906
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,22.10
$XPDR_PINGS,50
$24V_AH,23.5,10.954
$10V_AH,10.5,9.393
$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,27.550,129.800,345.650,93.275,0.000,122.892,143.642,434.303,12.500,0.000,17.121,980.248,6255.593,526.036,1838.368,988.839,33.368,1207.333,0.000,1840.779,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,215.527,925.002,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.677,264.082,361.233,702.951,1063.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38274,471
$CAP_FILE_SIZE,111679,0
$CFSIZE,260165632,177741824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,214200,2246.524,-15759.435,40,1.4,45,10.1