version: 66.06
glider: 146
mission: 6
dive: 92
start: 5 22 111 11 54 8
data:
$ID,146
$MISSION,6
$DIVE,92
$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,-269310.22
$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,34
$R_STBD_OVSHOOT,48
$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
$GPS1,114637,2249.643,-15803.212,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.5
$GPS2,115313,2249.604,-15803.219,14,1.3,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,0.185
$KALMAN_X,-65637.9,531.9,58.2,54079.7,-853.3
$KALMAN_Y,-116415.6,464.3,509.2,126002.3,-1806.5
$MHEAD_RNG_PITCHd_Wd,27.8,10641,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.57,0.000,2,0.000,0.000,475,1762,3332,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-5.3,10,126,12.48,2.55,-2.65,0.000,4,0.160,0.042,2811,3345,3481,0,0,0,0,0,0
$GC,265,-1.27,-116.8,42.3,-17.2,29,270,0.15,2.53,0.00,0.000,6,0.125,0.028,2840,1777,3483,0,0,0,0,0,0
$GC,533,-1.23,-116.8,78.2,-12.3,53,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1776,3484,0,0,0,0,0,0
$GC,794,-1.18,-116.8,112.2,-13.2,78,795,0.10,0.00,0.00,0.000,6,0.134,0.000,2860,1776,3485,0,0,0,0,0,0
$GC,1049,-1.18,-116.8,140.6,-10.8,102,1054,0.00,2.50,0.00,0.000,4,0.000,0.028,2860,3350,3486,0,0,0,0,0,0
$GC,1083,-1.18,-116.8,144.5,-11.0,104,1092,0.00,2.55,0.00,0.000,6,0.000,0.027,2860,1777,3486,0,0,0,0,0,0
$GC,1346,-1.18,-116.8,172.6,-10.3,129,1350,0.00,2.72,0.00,0.000,4,0.000,0.074,2859,196,3486,0,0,0,0,0,0
$GC,1387,-1.18,-116.8,177.6,-12.7,132,1391,0.00,2.40,0.00,0.000,6,0.000,0.023,2860,1798,3486,0,0,0,0,0,0
$GC,1666,-1.18,-116.8,208.9,-10.5,152,1671,0.00,2.40,0.00,0.000,4,0.000,0.035,2860,3320,3486,0,0,0,0,0,0
$GC,1708,-1.24,-116.8,212.9,-9.8,153,1712,0.00,2.47,0.00,0.000,6,0.000,0.026,2860,1762,3486,0,0,0,0,0,0
$GC,1991,-1.29,-116.8,242.4,-10.4,160,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1762,3486,0,0,0,0,0,0
$GC,2235,-1.34,-116.8,267.2,-10.1,166,2240,0.12,2.47,0.00,0.000,4,0.073,0.031,2816,3309,3487,0,0,0,0,0,0
$GC,2285,-1.34,-116.8,273.0,-11.5,167,2290,0.00,2.50,0.00,0.000,6,0.000,0.032,2816,1767,3486,0,0,0,0,0,0
$GC,2557,-1.34,-116.8,303.8,-11.2,174,2561,0.00,2.47,0.00,0.000,4,0.000,0.037,2816,3306,3485,0,0,0,0,0,0
$GC,2596,-1.34,-116.8,308.1,-10.8,175,2600,0.00,2.50,0.00,0.000,6,0.000,0.043,2816,1770,3486,0,0,0,0,0,0
$GC,2880,-1.34,-116.8,336.4,-9.9,182,2884,0.00,2.50,0.00,0.000,4,0.000,0.041,2816,3303,3485,0,0,0,0,0,0
$GC,2969,-1.34,-116.8,345.4,-9.6,184,2974,0.00,2.53,0.00,0.000,6,0.000,0.047,2816,1779,3484,0,0,0,0,0,0
$GC,3247,-1.34,-116.8,374.2,-10.7,191,3251,0.00,2.50,0.00,0.000,4,0.000,0.046,2816,3305,3483,0,0,0,0,0,0
$GC,3325,-1.34,-116.8,383.3,-11.9,192,3331,0.00,2.58,0.00,0.000,6,0.000,0.054,2816,1792,3483,0,0,0,0,0,0
$GC,3575,-1.34,-116.8,412.3,-11.7,199,3576,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1792,3481,0,0,0,0,0,0
$GC,3818,-1.34,-116.8,443.1,-12.8,205,3823,0.00,2.55,0.00,0.000,4,0.000,0.052,2816,3306,3480,0,0,0,0,0,0
$GC,3859,-1.38,-116.8,448.3,-12.6,206,3864,0.00,2.62,0.00,0.000,6,0.000,0.067,2816,1788,3480,0,0,0,0,0,0
$GC,4142,-1.38,-116.8,483.0,-11.9,213,4147,0.00,2.55,0.00,0.000,4,0.000,0.051,2816,3304,3478,0,0,0,0,0,0
$GC,4209,-1.42,-116.8,491.0,-11.4,214,4213,0.00,2.58,0.00,0.000,6,0.000,0.068,2816,1801,3479,0,0,0,0,0,0
$STATE,4299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4299,begin apogee
$GC,4306,-0.31,0.0,501.4,11.4,217,4406,1.05,0.00,96.03,0.929,6,0.089,0.000,3048,1939,3001,0,0,0,0,0,0
$STATE,4407,end apogee,CONTROL_FINISHED_OK
$STATE,4407,begin climb
$GC,4409,1.38,116.8,505.0,0.0,219,4512,1.62,0.00,97.60,0.907,6,0.053,0.000,3423,1939,2524,0,0,0,0,0,0
$GC,4746,1.43,155.2,486.8,7.8,228,4787,0.00,3.08,32.55,0.881,4,0.000,0.110,3423,384,2367,0,0,0,0,0,0
$GC,4809,1.35,155.2,481.0,10.1,229,4814,0.00,2.60,0.00,0.000,6,0.000,0.038,3423,1943,2364,0,0,0,0,0,0
$GC,5072,1.36,160.6,455.9,9.7,236,5082,0.00,2.75,5.28,0.658,4,0.000,0.058,3423,3552,2345,0,0,0,0,0,0
$GC,5233,1.36,160.6,438.6,10.3,239,5238,0.00,2.67,0.00,0.000,6,0.000,0.046,3423,1979,2342,0,0,0,0,0,0
$GC,5485,1.38,174.6,414.9,9.2,245,5504,0.00,2.70,12.90,0.817,4,0.000,0.045,3423,3554,2289,0,0,0,0,0,0
$GC,5533,1.39,181.1,410.0,9.7,246,5548,0.00,2.65,7.57,0.736,6,0.000,0.048,3423,1990,2262,0,0,0,0,0,0
$GC,5816,1.42,211.6,385.8,8.3,253,5850,0.00,3.03,27.08,0.851,4,0.000,0.091,3423,389,2137,0,0,0,0,0,0
$GC,5885,1.44,221.2,380.0,9.5,254,5902,0.00,2.60,9.65,0.760,6,0.000,0.028,3423,2009,2099,0,0,0,0,0,0
$GC,6145,1.48,257.6,359.0,7.9,261,6186,0.00,2.62,32.62,0.837,4,0.000,0.042,3423,3542,1949,0,0,0,0,0,0
$GC,6199,1.50,272.8,354.4,9.2,262,6219,0.10,2.60,14.57,0.779,6,0.098,0.041,3451,1986,1888,0,0,0,0,0,0
$GC,6469,1.50,272.8,321.6,12.5,269,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1985,1882,0,0,0,0,0,0
$GC,6714,1.50,272.8,292.0,12.0,275,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1985,1879,0,0,0,0,0,0
$GC,6957,1.50,272.8,264.8,10.8,281,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1985,1879,0,0,0,0,0,0
$GC,7201,1.51,279.8,241.2,9.6,287,7211,0.00,2.58,5.68,0.611,4,0.000,0.032,3451,3549,1859,0,0,0,0,0,0
$GC,7240,1.51,279.8,236.9,10.9,288,7244,0.00,2.55,0.00,0.000,6,0.000,0.035,3451,1983,1858,0,0,0,0,0,0
$GC,7524,1.51,279.8,207.3,10.4,295,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1983,1857,0,0,0,0,0,0
$GC,7778,1.52,292.8,183.5,9.3,313,7801,0.00,2.62,12.15,0.675,4,0.000,0.035,3451,3544,1806,0,0,0,0,0,0
$GC,7818,1.53,296.4,179.7,9.8,316,7829,0.00,2.53,4.88,0.524,6,0.000,0.031,3451,1998,1791,0,0,0,0,0,0
$GC,8083,1.53,296.4,151.5,10.7,341,8088,0.00,2.72,0.00,0.000,4,0.000,0.061,3451,392,1788,0,0,0,0,0,0
$GC,8147,1.53,296.4,143.8,12.4,346,8151,0.00,2.53,0.00,0.000,6,0.000,0.021,3451,2019,1788,0,0,0,0,0,0
$GC,8411,1.57,296.4,114.2,11.2,370,8415,0.00,2.42,0.00,0.000,4,0.000,0.039,3451,3530,1788,0,0,0,0,0,0
$GC,8428,1.61,296.4,111.7,11.3,371,8434,0.00,2.50,0.00,0.000,6,0.000,0.036,3451,1981,1787,0,0,0,0,0,0
$GC,8693,1.67,296.4,83.6,10.8,396,8698,0.12,2.70,0.00,0.000,4,0.086,0.060,3488,395,1787,0,0,0,0,0,0
$GC,8713,1.67,296.4,81.1,11.2,397,8718,0.00,2.45,0.00,0.000,6,0.000,0.018,3489,1986,1787,0,0,0,0,0,0
$GC,8981,1.67,296.4,50.5,11.5,421,8985,0.00,2.45,0.00,0.000,4,0.000,0.031,3488,3535,1787,0,0,0,0,0,0
$GC,9053,1.67,296.4,41.6,11.3,426,9062,0.00,2.50,0.00,0.000,6,0.000,0.030,3487,1994,1787,0,0,0,0,0,0
$GC,9355,1.67,296.4,7.8,12.0,465,9364,0.00,2.47,0.00,0.000,4,0.000,0.029,3488,3531,1787,0,0,0,0,0,0
$GC,9380,1.67,296.4,4.3,12.6,468,9389,0.00,2.47,0.00,0.000,6,0.000,0.035,3488,2001,1787,0,0,0,0,0,0
$STATE,9396,end climb,SURFACE_DEPTH_REACHED
$STATE,9397,begin surface coast
$FINISH,0.5,0.980193
$STATE,9437,end surface coast,CONTROL_FINISHED_OK
$STATE,9438,begin surface
$SM_CCo,9460,84.10,0.536,0,0,1369,400.08
$SM_GC,1.09,0.00,0.00,84.10,0.000,0.000,0.536,476,1740,1369,-12.17,-0.85,400.08
$IRIDIUM_FIX,2239.35,-15804.53,150800,090911
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.30
$XPDR_PINGS,44
$24V_AH,23.5,11.689
$10V_AH,10.4,10.035
$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,27.975,113.825,358.550,84.100,0.000,30.342,34.621,181.053,11.000,0.000,33.189,961.734,6119.278,514.516,1839.453,509.390,33.367,1206.212,0.000,1828.335,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,111.982,928.837,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.979,259.637,367.291,693.392,1048.664,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38463,476
$CAP_FILE_SIZE,99244,0
$CFSIZE,260165632,177434624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,143430,2250.130,-15802.545,36,1.5,36,10.1