version: 66.06
glider: 146
mission: 6
dive: 90
start: 5 22 111 6 14 14
data:
$ID,146
$MISSION,6
$DIVE,90
$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,-269240.72
$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,51
$R_STBD_OVSHOOT,52
$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
$GPS1,060255,2247.604,-15802.911,63,1.1,63,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.1
$GPS2,061320,2247.590,-15802.936,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,0.235
$KALMAN_X,-63677.2,-68.9,-237.9,53504.1,-103.9
$KALMAN_Y,-114711.9,569.5,-414.0,121383.3,-494.0
$MHEAD_RNG_PITCHd_Wd,351.3,4466,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.22,0.000,2,0.000,0.000,476,1735,3341,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.5,-6.3,10,127,12.38,2.60,-2.50,0.000,4,0.157,0.041,2808,3335,3481,0,0,0,0,0,0
$GC,279,-1.27,-116.8,47.9,-20.1,30,284,0.15,2.45,0.00,0.000,6,0.125,0.027,2838,1788,3482,0,0,0,0,0,0
$GC,543,-1.21,-116.8,91.9,-15.5,54,547,0.00,2.45,0.00,0.000,4,0.000,0.027,2838,3344,3483,0,0,0,0,0,0
$GC,573,-1.17,-116.8,97.0,-15.3,56,578,0.12,2.50,0.00,0.000,6,0.123,0.032,2863,1765,3484,0,0,0,0,0,0
$GC,836,-1.17,-116.8,131.2,-13.1,80,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1766,3484,0,0,0,0,0,0
$GC,1088,-1.17,-116.8,163.0,-11.8,104,1092,0.00,2.67,0.00,0.000,4,0.000,0.071,2863,200,3485,0,0,0,0,0,0
$GC,1109,-1.17,-116.8,165.6,-11.9,105,1118,0.00,2.42,0.00,0.000,6,0.000,0.016,2863,1802,3484,0,0,0,0,0,0
$GC,1376,-1.17,-116.8,192.3,-10.3,130,1381,0.00,2.78,0.00,0.000,4,0.000,0.067,2863,197,3485,0,0,0,0,0,0
$GC,1404,-1.17,-116.8,196.2,-12.1,132,1408,0.00,2.33,0.00,0.000,6,0.000,0.020,2863,1749,3485,0,0,0,0,0,0
$GC,1686,-1.21,-116.8,224.3,-9.6,141,1690,0.00,2.45,0.00,0.000,4,0.000,0.035,2864,3311,3485,0,0,0,0,0,0
$GC,1743,-1.30,-116.8,229.5,-9.0,142,1748,0.12,2.47,0.00,0.000,6,0.073,0.030,2821,1772,3485,0,0,0,0,0,0
$GC,2009,-1.30,-116.8,258.7,-11.1,149,2013,0.00,2.45,0.00,0.000,4,0.000,0.031,2821,3317,3485,0,0,0,0,0,0
$GC,2030,-1.30,-116.8,261.0,-10.6,149,2034,0.00,2.50,0.00,0.000,6,0.000,0.035,2821,1769,3485,0,0,0,0,0,0
$GC,2286,-1.30,-116.8,288.9,-11.1,156,2290,0.00,2.47,0.00,0.000,4,0.000,0.032,2821,3308,3485,0,0,0,0,0,0
$GC,2312,-1.30,-116.8,292.1,-11.4,156,2317,0.00,2.47,0.00,0.000,6,0.000,0.041,2821,1780,3485,0,0,0,0,0,0
$GC,2562,-1.30,-116.8,320.2,-11.3,162,2566,0.00,2.47,0.00,0.000,4,0.000,0.040,2821,3312,3484,0,0,0,0,0,0
$GC,2607,-1.30,-116.8,325.2,-10.5,163,2612,0.00,2.50,0.00,0.000,6,0.000,0.046,2821,1791,3484,0,0,0,0,0,0
$GC,2885,-1.30,-116.8,354.7,-10.4,170,2889,0.00,2.45,0.00,0.000,4,0.000,0.044,2821,3304,3483,0,0,0,0,0,0
$GC,2911,-1.30,-116.8,357.5,-9.9,170,2916,0.00,2.53,0.00,0.000,6,0.000,0.051,2821,1795,3483,0,0,0,0,0,0
$GC,3163,-1.30,-116.8,381.5,-9.7,176,3167,0.00,2.45,0.00,0.000,4,0.000,0.041,2821,3302,3481,0,0,0,0,0,0
$GC,3258,-1.34,-116.8,391.1,-9.7,178,3262,0.00,2.55,0.00,0.000,6,0.000,0.055,2821,1805,3481,0,0,0,0,0,0
$GC,3531,-1.34,-116.8,417.6,-10.0,185,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1806,3479,0,0,0,0,0,0
$GC,3773,-1.34,-116.8,442.8,-10.4,191,3777,0.00,2.50,0.00,0.000,4,0.000,0.049,2821,3308,3478,0,0,0,0,0,0
$GC,3812,-1.39,-116.8,447.1,-11.1,192,3817,0.00,2.55,0.00,0.000,6,0.000,0.066,2821,1815,3478,0,0,0,0,0,0
$GC,4096,-1.39,-116.8,477.0,-10.5,199,4100,0.00,2.47,0.00,0.000,4,0.000,0.051,2821,3299,3476,0,0,0,0,0,0
$GC,4135,-1.45,-116.8,481.5,-10.8,200,4140,0.00,2.53,0.00,0.000,6,0.000,0.064,2821,1826,3476,0,0,0,0,0,0
$STATE,4335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4335,begin apogee
$GC,4341,-0.31,0.0,504.3,11.3,205,4442,1.02,0.00,96.95,0.927,6,0.088,0.000,3049,1935,3000,0,0,0,0,0,0
$STATE,4443,end apogee,CONTROL_FINISHED_OK
$STATE,4443,begin climb
$GC,4446,1.38,116.8,508.3,0.0,207,4551,1.62,0.00,100.25,0.906,6,0.055,0.000,3424,1935,2524,0,0,0,0,0,0
$GC,4782,1.42,178.5,494.3,6.5,216,4842,0.00,2.83,52.70,0.894,4,0.000,0.055,3424,3526,2272,0,0,0,0,0,0
$GC,4873,1.42,178.5,485.9,10.4,218,4877,0.00,2.70,0.00,0.000,6,0.000,0.060,3424,1980,2269,0,0,0,0,0,0
$GC,5150,1.42,178.5,456.6,10.6,225,5155,0.00,2.62,0.00,0.000,4,0.000,0.051,3423,3535,2264,0,0,0,0,0,0
$GC,5182,1.42,178.5,452.8,11.3,225,5188,0.00,2.65,0.00,0.000,6,0.000,0.050,3423,1990,2263,0,0,0,0,0,0
$GC,5434,1.42,178.5,424.8,11.1,232,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1990,2262,0,0,0,0,0,0
$GC,5676,1.42,178.5,398.5,10.7,238,5681,0.00,2.95,0.00,0.000,4,0.000,0.097,3423,380,2259,0,0,0,0,0,0
$GC,5691,1.42,178.5,396.7,10.4,238,5696,0.00,2.58,0.00,0.000,6,0.000,0.025,3423,1991,2258,0,0,0,0,0,0
$GC,5953,1.43,190.5,371.4,9.4,245,5967,0.00,2.88,9.05,0.759,4,0.000,0.077,3423,377,2223,0,0,0,0,0,0
$GC,5980,1.46,210.4,369.1,8.9,245,6004,0.00,2.62,19.15,0.812,6,0.000,0.028,3424,1987,2143,0,0,0,0,0,0
$GC,6277,1.51,248.9,344.4,7.8,253,6319,0.10,2.65,34.58,0.825,4,0.096,0.043,3451,3550,1985,0,0,0,0,0,0
$GC,6379,1.51,248.9,335.2,10.4,255,6384,0.00,2.62,0.00,0.000,6,0.000,0.037,3451,1979,1981,0,0,0,0,0,0
$GC,6651,1.51,249.8,307.8,10.0,262,6655,0.00,2.58,0.00,0.000,4,0.000,0.040,3451,3545,1979,0,0,0,0,0,0
$GC,6684,1.51,249.8,304.2,10.6,262,6690,0.00,2.53,0.00,0.000,6,0.000,0.038,3451,1996,1977,0,0,0,0,0,0
$GC,6934,1.51,249.8,275.8,11.8,269,6939,0.00,2.78,0.00,0.000,4,0.000,0.074,3451,395,1976,0,0,0,0,0,0
$GC,6950,1.51,249.8,273.6,12.6,269,6955,0.00,2.55,0.00,0.000,6,0.000,0.021,3451,2012,1975,0,0,0,0,0,0
$GC,7213,1.51,249.8,241.1,12.5,276,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2013,1975,0,0,0,0,0,0
$GC,7456,1.51,249.8,212.4,11.6,282,7460,0.00,2.47,0.00,0.000,4,0.000,0.041,3451,3538,1974,0,0,0,0,0,0
$GC,7516,1.51,249.8,205.8,10.4,283,7521,0.00,2.50,0.00,0.000,6,0.000,0.036,3451,1991,1972,0,0,0,0,0,0
$GC,7789,1.53,270.5,181.4,8.8,304,7813,0.00,2.83,17.92,0.686,4,0.000,0.064,3451,397,1897,0,0,0,0,0,0
$GC,7867,1.53,270.5,172.9,11.2,311,7871,0.00,2.47,0.00,0.000,6,0.000,0.025,3451,1990,1895,0,0,0,0,0,0
$GC,8133,1.53,270.5,146.8,10.1,335,8137,0.00,2.47,0.00,0.000,4,0.000,0.032,3451,3530,1895,0,0,0,0,0,0
$GC,8179,1.59,270.5,141.3,11.0,338,8188,0.00,2.53,0.00,0.000,6,0.000,0.034,3451,1987,1893,0,0,0,0,0,0
$GC,8445,1.64,270.5,111.8,12.1,363,8450,0.10,2.72,0.00,0.000,4,0.094,0.064,3480,396,1893,0,0,0,0,0,0
$GC,8515,1.64,270.5,101.0,14.9,368,8524,0.00,2.47,0.00,0.000,6,0.000,0.025,3481,1968,1892,0,0,0,0,0,0
$GC,8780,1.64,270.5,66.6,11.8,393,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1969,1893,0,0,0,0,0,0
$GC,9046,1.64,270.5,36.4,10.2,418,9051,0.00,2.47,0.00,0.000,4,0.000,0.029,3481,3536,1893,0,0,0,0,0,0
$GC,9067,1.64,274.6,34.3,9.8,419,9082,0.00,2.50,4.57,0.418,6,0.000,0.029,3481,1979,1881,0,0,0,0,0,0
$STATE,9355,end climb,SURFACE_DEPTH_REACHED
$STATE,9355,begin surface coast
$FINISH,0.4,0.973561
$STATE,9406,end surface coast,CONTROL_FINISHED_OK
$STATE,9406,begin surface
$SM_CCo,9428,102.45,0.532,0,0,1369,400.08
$SM_GC,1.19,0.00,0.00,102.45,0.000,0.000,0.532,476,1755,1369,-12.16,-0.42,400.08
$IRIDIUM_FIX,2239.35,-15802.37,150800,060645
$TT8_MAMPS,0.026078
$HUMID,57.12
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,49
$24V_AH,23.5,11.444
$10V_AH,10.4,9.819
$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,27.900,123.475,335.175,102.450,0.000,53.163,79.896,299.817,12.250,0.000,12.512,953.520,6222.362,532.523,1754.741,694.810,33.363,1188.086,0.000,1758.370,0.000,0.535,0.000
$DEVICE_MAMPS,157.235,195.585,926.536,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.787,265.436,354.899,670.996,1014.950,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38288,467
$CAP_FILE_SIZE,102239,0
$CFSIZE,260165632,177541120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,085437,2248.700,-15803.222,52,1.6,52,10.1