version: 66.06
glider: 146
mission: 6
dive: 89
start: 5 22 111 3 28 45
data:
$ID,146
$MISSION,6
$DIVE,89
$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,-269227.59
$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,49
$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
$GPS1,031753,2246.737,-15802.407,14,99.0,33,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.3
$GPS2,032752,2246.774,-15802.421,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.018,0.234
$KALMAN_X,-62687.2,-562.6,-39.2,53684.5,-45.5
$KALMAN_Y,-113734.9,192.1,-189.2,119050.7,-981.3
$MHEAD_RNG_PITCHd_Wd,345.5,6056,-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,-78.95,0.000,2,0.000,0.000,474,1742,3400,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.9,-7.1,10,126,12.35,2.55,-1.35,0.000,4,0.156,0.041,2810,3333,3480,0,0,0,0,0,0
$GC,388,-1.28,-116.8,65.3,-16.7,39,397,0.10,2.50,0.00,0.000,6,0.107,0.035,2834,1791,3482,0,0,0,0,0,0
$GC,652,-1.21,-116.8,103.0,-13.8,64,657,0.10,2.42,0.00,0.000,4,0.143,0.030,2853,3334,3483,0,0,0,0,0,0
$GC,687,-1.21,-116.8,108.1,-12.2,66,696,0.00,2.50,0.00,0.000,6,0.000,0.035,2853,1781,3484,0,0,0,0,0,0
$GC,953,-1.21,-116.8,141.8,-14.0,91,958,0.00,2.75,0.00,0.000,4,0.000,0.069,2853,190,3484,0,0,0,0,0,0
$GC,1033,-1.17,-116.8,153.8,-15.5,97,1037,0.00,2.38,0.00,0.000,6,0.000,0.021,2853,1794,3484,0,0,0,0,0,0
$GC,1300,-1.17,-116.8,188.7,-13.6,121,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1795,3485,0,0,0,0,0,0
$GC,1554,-1.17,-116.8,219.1,-11.2,134,1558,0.00,2.35,0.00,0.000,4,0.000,0.033,2853,3297,3485,0,0,0,0,0,0
$GC,1604,-1.23,-116.8,224.9,-11.9,135,1608,0.00,2.45,0.00,0.000,6,0.000,0.029,2853,1767,3485,0,0,0,0,0,0
$GC,1882,-1.23,-116.8,255.1,-11.0,142,1887,0.00,2.78,0.00,0.000,4,0.000,0.082,2853,192,3485,0,0,0,0,0,0
$GC,1903,-1.23,-116.8,257.6,-10.6,142,1907,0.00,2.35,0.00,0.000,6,0.000,0.019,2853,1727,3485,0,0,0,0,0,0
$GC,2165,-1.27,-116.8,284.2,-10.3,149,2169,0.00,2.60,0.00,0.000,4,0.000,0.042,2853,3341,3485,0,0,0,0,0,0
$GC,2266,-1.34,-116.8,294.9,-10.9,151,2271,0.10,2.55,0.00,0.000,6,0.089,0.041,2816,1775,3485,0,0,0,0,0,0
$GC,2533,-1.34,-116.8,326.7,-11.9,158,2537,0.00,2.53,0.00,0.000,4,0.000,0.035,2816,3338,3484,0,0,0,0,0,0
$GC,2565,-1.34,-116.8,330.5,-11.9,158,2571,0.00,2.58,0.00,0.000,6,0.000,0.044,2816,1777,3484,0,0,0,0,0,0
$GC,2816,-1.34,-116.8,356.5,-10.3,165,2820,0.00,2.53,0.00,0.000,4,0.000,0.043,2816,3339,3483,0,0,0,0,0,0
$GC,2900,-1.34,-116.8,364.8,-9.6,167,2905,0.00,2.58,0.00,0.000,6,0.000,0.050,2816,1792,3482,0,0,0,0,0,0
$GC,3184,-1.34,-116.8,392.3,-9.8,174,3188,0.00,2.50,0.00,0.000,4,0.000,0.046,2816,3329,3481,0,0,0,0,0,0
$GC,3234,-1.34,-116.8,397.4,-10.3,175,3239,0.00,2.60,0.00,0.000,6,0.000,0.057,2816,1794,3480,0,0,0,0,0,0
$GC,3506,-1.34,-116.8,425.2,-10.2,182,3511,0.00,3.03,0.00,0.000,4,0.000,0.114,2816,180,3479,0,0,0,0,0,0
$GC,3527,-1.34,-116.8,427.5,-10.7,182,3532,0.00,2.55,0.00,0.000,6,0.000,0.031,2816,1767,3478,0,0,0,0,0,0
$GC,3784,-1.34,-116.8,455.3,-11.0,189,3788,0.00,2.70,0.00,0.000,4,0.000,0.059,2816,3362,3477,0,0,0,0,0,0
$GC,3823,-1.38,-116.8,459.9,-12.0,190,3828,0.00,2.70,0.00,0.000,6,0.000,0.064,2816,1796,3477,0,0,0,0,0,0
$GC,4106,-1.38,-116.8,491.6,-11.3,197,4110,0.00,2.60,0.00,0.000,4,0.000,0.058,2816,3353,3475,0,0,0,0,0,0
$GC,4162,-1.42,-116.8,498.0,-11.7,198,4166,0.00,2.70,0.00,0.000,6,0.000,0.066,2816,1796,3474,0,0,0,0,0,0
$STATE,4182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4182,begin apogee
$GC,4188,-0.31,0.0,500.5,10.8,199,4288,1.08,0.00,96.40,0.924,6,0.091,0.000,3051,2002,3001,0,0,0,0,0,0
$STATE,4289,end apogee,CONTROL_FINISHED_OK
$STATE,4289,begin climb
$GC,4291,1.38,116.8,503.7,0.0,201,4403,1.58,2.67,99.53,0.897,4,0.054,0.061,3418,3526,2523,0,0,0,0,0,0
$GC,4415,1.49,206.5,501.4,4.9,204,4504,0.12,2.72,77.30,0.882,6,0.084,0.053,3450,1961,2158,0,0,0,0,0,0
$GC,4788,1.45,206.5,459.8,12.2,213,4792,0.00,2.62,0.00,0.000,4,0.000,0.044,3450,3526,2149,0,0,0,0,0,0
$GC,4815,1.41,206.5,456.4,11.8,213,4820,0.12,2.67,0.00,0.000,6,0.126,0.053,3426,1972,2148,0,0,0,0,0,0
$GC,5066,1.41,206.5,428.5,11.2,219,5070,0.00,2.60,0.00,0.000,4,0.000,0.044,3426,3532,2146,0,0,0,0,0,0
$GC,5098,1.41,206.5,424.7,10.9,219,5104,0.00,2.62,0.00,0.000,6,0.000,0.051,3426,1992,2145,0,0,0,0,0,0
$GC,5348,1.41,207.1,399.1,10.0,226,5353,0.00,2.95,0.00,0.000,4,0.000,0.097,3426,376,2143,0,0,0,0,0,0
$GC,5382,1.36,207.1,395.6,11.0,226,5388,0.00,2.58,0.00,0.000,6,0.000,0.031,3426,1966,2142,0,0,0,0,0,0
$GC,5632,1.38,224.1,372.4,9.1,233,5651,0.00,2.67,14.18,0.799,4,0.000,0.044,3425,3547,2086,0,0,0,0,0,0
$GC,5697,1.38,226.1,365.9,9.9,234,5701,0.00,2.62,0.00,0.000,6,0.000,0.039,3426,1979,2085,0,0,0,0,0,0
$GC,5959,1.41,245.6,342.3,8.9,241,5984,0.00,2.65,20.02,0.806,4,0.000,0.036,3426,3550,1998,0,0,0,0,0,0
$GC,6017,1.42,260.4,336.9,9.2,242,6039,0.00,2.58,14.48,0.772,6,0.000,0.042,3426,2004,1939,0,0,0,0,0,0
$GC,6284,1.45,280.4,313.1,8.9,249,6304,0.00,0.00,18.85,0.781,6,0.000,0.000,3426,2004,1857,0,0,0,0,0,0
$GC,6526,1.52,298.1,291.1,9.0,255,6548,0.10,2.58,16.05,0.755,4,0.092,0.039,3453,3550,1786,0,0,0,0,0,0
$GC,6566,1.52,298.1,287.0,10.5,256,6570,0.00,2.55,0.00,0.000,6,0.000,0.039,3453,2012,1785,0,0,0,0,0,0
$GC,6850,1.52,298.1,253.4,12.3,263,6854,0.00,2.83,0.00,0.000,4,0.000,0.070,3453,385,1782,0,0,0,0,0,0
$GC,6868,1.52,298.1,250.8,12.5,263,6872,0.00,2.58,0.00,0.000,6,0.000,0.026,3453,2020,1780,0,0,0,0,0,0
$GC,7128,1.52,298.1,216.5,13.3,270,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2021,1780,0,0,0,0,0,0
$GC,7377,1.52,298.1,187.4,11.4,282,7381,0.00,2.45,0.00,0.000,4,0.000,0.041,3453,3538,1779,0,0,0,0,0,0
$GC,7406,1.55,298.1,184.1,11.6,284,7410,0.00,2.47,0.00,0.000,6,0.000,0.035,3453,1997,1777,0,0,0,0,0,0
$GC,7668,1.55,298.1,155.7,11.4,308,7672,0.00,2.75,0.00,0.000,4,0.000,0.061,3453,388,1777,0,0,0,0,0,0
$GC,7702,1.55,298.1,152.1,12.5,310,7706,0.00,2.53,0.00,0.000,6,0.000,0.025,3453,2022,1776,0,0,0,0,0,0
$GC,7965,1.59,298.1,122.0,11.4,334,7969,0.00,2.78,0.00,0.000,4,0.000,0.059,3452,390,1777,0,0,0,0,0,0
$GC,8012,1.59,298.1,115.6,13.6,337,8018,0.00,2.53,0.00,0.000,6,0.000,0.019,3453,2012,1776,0,0,0,0,0,0
$GC,8275,1.63,298.1,83.9,12.7,362,8277,0.10,0.00,0.00,0.000,6,0.089,0.000,3482,2013,1776,0,0,0,0,0,0
$GC,8532,1.63,298.1,51.7,12.0,386,8536,0.00,2.42,0.00,0.000,4,0.000,0.033,3482,3530,1776,0,0,0,0,0,0
$GC,8564,1.63,298.1,47.8,11.7,388,8568,0.00,2.47,0.00,0.000,6,0.000,0.032,3482,1999,1776,0,0,0,0,0,0
$GC,8857,1.68,298.1,16.5,10.4,422,8868,0.00,2.72,0.00,0.000,4,0.000,0.061,3482,393,1776,0,0,0,0,0,0
$GC,8878,1.68,298.1,13.9,10.7,424,8887,0.00,2.50,0.00,0.000,6,0.000,0.020,3482,1990,1776,0,0,0,0,0,0
$STATE,8976,end climb,SURFACE_DEPTH_REACHED
$STATE,8976,begin surface coast
$FINISH,0.5,0.979450
$STATE,9041,end surface coast,CONTROL_FINISHED_OK
$STATE,9041,begin surface
$SM_CCo,9064,82.40,0.535,0,0,1370,400.08
$SM_GC,1.36,0.00,0.00,82.40,0.000,0.000,0.535,477,1735,1370,-12.16,-0.99,400.08
$IRIDIUM_FIX,2237.01,-15803.24,150800,030344
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.20
$XPDR_PINGS,48
$24V_AH,23.5,11.320
$10V_AH,10.4,9.711
$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,28.000,130.550,356.800,82.400,0.000,55.979,73.736,255.299,12.000,0.000,35.096,933.044,5874.153,514.062,1781.589,645.076,33.366,1198.720,0.000,1757.144,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,114.283,924.235,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.204,254.639,339.755,654.201,989.687,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,35260,447
$CAP_FILE_SIZE,103924,0
$CFSIZE,260165632,177594368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,060255,2247.604,-15802.911,63,1.1,63,10.1