version: 66.06
glider: 146
mission: 6
dive: 87
start: 5 21 111 21 49 8
data:
$ID,146
$MISSION,6
$DIVE,87
$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,-269179.62
$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,3120
$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,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,61
$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
$GPS1,214200,2246.524,-15759.435,40,1.4,45,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.5
$GPS2,214814,2246.556,-15759.500,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.220,0.083
$KALMAN_X,-61731.9,-626.8,77.9,57661.8,-606.7
$KALMAN_Y,-111329.1,-666.5,198.5,116715.0,-445.2
$MHEAD_RNG_PITCHd_Wd,280.6,6033,-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,-78.47,0.000,2,0.000,0.000,476,1708,3351,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.5,-6.0,10,127,12.55,2.62,-2.35,0.000,4,0.163,0.044,2810,3326,3481,0,0,0,0,0,0
$GC,198,-1.26,-116.8,28.9,-18.9,23,207,0.12,2.53,0.00,0.000,6,0.106,0.036,2840,1778,3482,0,0,0,0,0,0
$GC,468,-1.18,-116.8,72.7,-12.2,48,477,0.10,0.00,0.00,0.000,6,0.138,0.000,2859,1778,3483,0,0,0,0,0,0
$GC,732,-1.18,-116.8,105.9,-12.6,73,737,0.00,2.45,0.00,0.000,4,0.000,0.025,2859,3331,3484,0,0,0,0,0,0
$GC,791,-1.18,-116.8,113.1,-12.3,77,795,0.00,2.50,0.00,0.000,6,0.000,0.027,2859,1767,3484,0,0,0,0,0,0
$GC,1058,-1.18,-116.8,147.2,-11.6,101,1063,0.00,2.70,0.00,0.000,4,0.000,0.067,2859,194,3484,0,0,0,0,0,0
$GC,1124,-1.18,-116.8,156.2,-12.8,106,1129,0.00,2.40,0.00,0.000,6,0.000,0.019,2859,1782,3485,0,0,0,0,0,0
$GC,1392,-1.18,-116.8,186.8,-11.9,130,1396,0.00,2.40,0.00,0.000,4,0.000,0.025,2859,3326,3485,0,0,0,0,0,0
$GC,1401,-1.18,-116.8,188.8,-11.6,130,1407,0.00,2.47,0.00,0.000,6,0.000,0.025,2859,1750,3485,0,0,0,0,0,0
$GC,1666,-1.18,-116.8,220.1,-11.9,144,1670,0.00,2.65,0.00,0.000,4,0.000,0.071,2859,200,3485,0,0,0,0,0,0
$GC,1706,-1.18,-116.8,224.9,-12.8,145,1710,0.00,2.35,0.00,0.000,6,0.000,0.021,2859,1764,3486,0,0,0,0,0,0
$GC,1991,-1.22,-116.8,256.5,-10.8,152,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1765,3486,0,0,0,0,0,0
$GC,2233,-1.27,-116.8,280.5,-9.6,158,2238,0.00,2.72,0.00,0.000,4,0.000,0.079,2859,196,3486,0,0,0,0,0,0
$GC,2261,-1.27,-116.8,283.4,-10.4,158,2265,0.00,2.42,0.00,0.000,6,0.000,0.026,2858,1745,3486,0,0,0,0,0,0
$GC,2511,-1.33,-116.8,306.1,-9.1,164,2517,0.12,2.62,0.00,0.000,4,0.074,0.042,2818,3353,3486,0,0,0,0,0,0
$GC,2551,-1.33,-116.8,310.6,-11.8,165,2555,0.00,2.58,0.00,0.000,6,0.000,0.044,2818,1785,3485,0,0,0,0,0,0
$GC,2835,-1.33,-116.8,343.5,-11.7,172,2839,0.00,2.53,0.00,0.000,4,0.000,0.037,2818,3339,3485,0,0,0,0,0,0
$GC,2890,-1.33,-116.8,350.2,-11.2,173,2894,0.00,2.58,0.00,0.000,6,0.000,0.048,2818,1784,3485,0,0,0,0,0,0
$GC,3156,-1.33,-116.8,380.3,-11.2,180,3160,0.00,2.55,0.00,0.000,4,0.000,0.044,2818,3339,3483,0,0,0,0,0,0
$GC,3207,-1.37,-116.8,385.9,-10.7,181,3211,0.00,2.62,0.00,0.000,6,0.000,0.054,2818,1791,3483,0,0,0,0,0,0
$GC,3478,-1.37,-116.8,415.3,-10.6,188,3483,0.00,2.55,0.00,0.000,4,0.000,0.045,2818,3342,3481,0,0,0,0,0,0
$GC,3528,-1.37,-116.8,420.9,-11.5,189,3532,0.00,2.62,0.00,0.000,6,0.000,0.063,2818,1807,3481,0,0,0,0,0,0
$GC,3802,-1.37,-116.8,451.6,-11.6,196,3807,0.00,3.08,0.00,0.000,4,0.000,0.113,2818,179,3479,0,0,0,0,0,0
$GC,3817,-1.37,-116.8,453.8,-11.3,196,3822,0.00,2.62,0.00,0.000,6,0.000,0.038,2818,1787,3479,0,0,0,0,0,0
$GC,4078,-1.37,-116.8,483.2,-11.1,203,4083,0.00,2.67,0.00,0.000,4,0.000,0.069,2818,3358,3477,0,0,0,0,0,0
$GC,4140,-1.42,-116.8,490.2,-11.5,204,4145,0.00,2.67,0.00,0.000,6,0.000,0.065,2818,1803,3477,0,0,0,0,0,0
$STATE,4236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4236,begin apogee
$GC,4242,-0.31,0.0,501.5,11.4,207,4343,1.05,0.00,97.03,0.923,6,0.090,0.000,3049,2005,3001,0,0,0,0,0,0
$STATE,4343,end apogee,CONTROL_FINISHED_OK
$STATE,4343,begin climb
$GC,4347,1.38,116.8,505.3,0.0,209,4451,1.62,0.00,100.20,0.902,6,0.054,0.000,3423,2005,2524,0,0,0,0,0,0
$GC,4683,1.46,212.7,496.0,4.5,218,4772,0.00,3.17,83.12,0.897,4,0.000,0.112,3423,380,2132,0,0,0,0,0,0
$GC,4789,1.45,234.7,488.4,8.8,220,4814,0.00,2.62,20.08,0.839,6,0.000,0.035,3423,1948,2043,0,0,0,0,0,0
$GC,5082,1.45,234.7,456.6,11.4,228,5087,0.00,2.75,0.00,0.000,4,0.000,0.059,3423,3562,2036,0,0,0,0,0,0
$GC,5125,1.45,234.7,451.0,12.1,229,5130,0.00,2.72,0.00,0.000,6,0.000,0.051,3423,1968,2034,0,0,0,0,0,0
$GC,5403,1.45,234.7,418.3,11.9,236,5408,0.00,2.62,0.00,0.000,4,0.000,0.041,3423,3558,2033,0,0,0,0,0,0
$GC,5425,1.45,234.7,415.5,12.1,236,5429,0.00,2.67,0.00,0.000,6,0.000,0.044,3422,1975,2031,0,0,0,0,0,0
$GC,5680,1.45,234.7,386.0,11.4,243,5685,0.00,2.90,0.00,0.000,4,0.000,0.097,3423,385,2030,0,0,0,0,0,0
$GC,5701,1.45,234.7,383.3,12.3,243,5705,0.00,2.58,0.00,0.000,6,0.000,0.023,3422,1990,2029,0,0,0,0,0,0
$GC,5958,1.45,235.1,356.9,10.0,250,5962,0.00,2.55,0.00,0.000,4,0.000,0.040,3422,3544,2028,0,0,0,0,0,0
$GC,5974,1.45,236.3,355.0,10.0,250,5978,0.00,2.60,0.00,0.000,6,0.000,0.037,3423,1959,2027,0,0,0,0,0,0
$GC,6234,1.45,236.3,327.8,10.9,257,6238,0.00,2.60,0.00,0.000,4,0.000,0.035,3422,3548,2026,0,0,0,0,0,0
$GC,6262,1.45,236.3,324.6,11.6,257,6266,0.00,2.60,0.00,0.000,6,0.000,0.039,3423,1972,2026,0,0,0,0,0,0
$GC,6511,1.45,236.3,296.9,10.9,263,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1972,2025,0,0,0,0,0,0
$GC,6755,1.49,236.3,271.1,10.7,269,6760,0.00,2.58,0.00,0.000,4,0.000,0.036,3423,3546,2025,0,0,0,0,0,0
$GC,6789,1.53,236.3,267.4,11.1,269,6795,0.12,2.58,0.00,0.000,6,0.089,0.031,3456,1972,2024,0,0,0,0,0,0
$GC,7040,1.53,236.3,238.4,11.6,276,7045,0.00,2.72,0.00,0.000,4,0.000,0.072,3456,392,2023,0,0,0,0,0,0
$GC,7069,1.47,236.3,234.9,12.7,276,7073,0.00,2.50,0.00,0.000,6,0.000,0.021,3456,1988,2023,0,0,0,0,0,0
$GC,7320,1.47,236.3,208.0,10.4,282,7324,0.00,2.53,0.00,0.000,4,0.000,0.038,3456,3539,2023,0,0,0,0,0,0
$GC,7403,1.47,236.3,199.3,10.5,284,7408,0.00,2.50,0.00,0.000,6,0.000,0.032,3456,1982,2022,0,0,0,0,0,0
$GC,7666,1.47,236.3,172.8,10.1,308,7670,0.00,2.53,0.00,0.000,4,0.000,0.032,3456,3541,2022,0,0,0,0,0,0
$GC,7707,1.47,236.3,168.3,11.1,311,7711,0.00,2.50,0.00,0.000,6,0.000,0.035,3456,1979,2022,0,0,0,0,0,0
$GC,7973,1.50,260.4,143.2,8.6,335,7998,0.00,2.72,19.65,0.653,4,0.000,0.063,3456,395,1939,0,0,0,0,0,0
$GC,8012,1.51,264.3,139.1,9.8,338,8027,0.00,2.50,5.28,0.508,6,0.000,0.021,3456,1996,1922,0,0,0,0,0,0
$GC,8281,1.51,264.3,111.4,10.5,363,8285,0.00,2.72,0.00,0.000,4,0.000,0.059,3456,392,1920,0,0,0,0,0,0
$GC,8303,1.51,264.3,108.6,11.0,364,8312,0.00,2.50,0.00,0.000,6,0.000,0.019,3456,1973,1919,0,0,0,0,0,0
$GC,8569,1.51,264.3,79.6,11.4,389,8573,0.00,2.67,0.00,0.000,4,0.000,0.053,3456,386,1919,0,0,0,0,0,0
$GC,8589,1.51,264.3,77.2,11.4,390,8593,0.00,2.47,0.00,0.000,6,0.000,0.018,3456,1977,1918,0,0,0,0,0,0
$GC,8858,1.57,279.0,51.2,9.2,414,8877,0.00,2.50,13.95,0.552,4,0.000,0.035,3456,3530,1861,0,0,0,0,0,0
$GC,8943,1.68,295.3,43.6,9.1,420,8972,0.12,2.50,15.07,0.545,6,0.079,0.030,3491,1982,1795,0,0,0,0,0,0
$GC,9264,1.68,295.3,8.4,11.3,460,9273,0.00,2.67,0.00,0.000,4,0.000,0.058,3491,400,1794,0,0,0,0,0,0
$STATE,9303,end climb,SURFACE_DEPTH_REACHED
$STATE,9303,begin surface coast
$FINISH,2.3,0.980170
$STATE,9311,end surface coast,CONTROL_FINISHED_OK
$STATE,9311,begin surface
$SM_CCo,9336,85.80,0.533,0,0,1369,400.08
$SM_GC,1.22,0.00,0.00,85.80,0.000,0.000,0.533,476,1837,1369,-12.16,1.92,400.08
$IRIDIUM_FIX,2239.35,-15800.20,140800,191959
$TT8_MAMPS,0.026078
$HUMID,57.63
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,51
$24V_AH,23.5,11.069
$10V_AH,10.4,9.498
$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,28.250,140.475,354.375,85.800,0.000,23.034,44.943,179.467,12.750,0.000,14.252,960.331,6050.141,553.309,1726.695,508.553,33.364,1207.233,0.000,1733.825,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,112.749,922.701,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.708,279.455,359.212,682.979,1032.867,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38399,466
$CAP_FILE_SIZE,100597,0
$CFSIZE,260165632,177700864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,002731,2246.544,-15800.989,40,1.0,40,10.1