version: 66.06
glider: 146
mission: 6
dive: 94
start: 5 22 111 17 51 44
data:
$ID,146
$MISSION,6
$DIVE,94
$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,-269369.31
$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,52
$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
$GPS1,173337,2250.070,-15802.112,33,1.2,33,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.6
$GPS2,175051,2250.059,-15802.255,10,1.5,23,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,0.056
$KALMAN_X,-66700.4,116.2,59.6,57198.4,-1106.8
$KALMAN_Y,-117381.5,-334.8,-361.0,129477.1,-569.5
$MHEAD_RNG_PITCHd_Wd,66.2,8970,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,2,0.000,0.000,481,1741,3384,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.9,-7.9,10,126,12.43,2.58,-1.67,0.000,4,0.160,0.035,2811,3339,3481,0,0,0,0,0,0
$GC,138,-0.45,-116.8,18.6,-36.9,14,148,0.95,2.50,0.00,0.000,6,0.099,0.028,3017,1799,3482,0,0,0,0,0,0
$GC,424,-0.70,-116.8,42.1,-5.8,45,433,0.22,0.00,0.00,0.000,6,0.050,0.000,2949,1798,3483,0,0,0,0,0,0
$GC,691,-0.83,-116.8,68.7,-10.0,70,695,0.00,2.42,0.00,0.000,4,0.000,0.024,2949,3345,3483,0,0,0,0,0,0
$GC,714,-0.97,-116.8,71.0,-9.4,71,719,0.17,2.50,0.00,0.000,6,0.058,0.027,2891,1769,3484,0,0,0,0,0,0
$GC,981,-1.02,-116.8,102.1,-10.7,95,985,0.00,2.47,0.00,0.000,4,0.000,0.031,2891,3346,3483,0,0,0,0,0,0
$GC,1039,-1.11,-116.8,107.5,-9.1,99,1044,0.00,2.50,0.00,0.000,6,0.000,0.028,2891,1768,3484,0,0,0,0,0,0
$GC,1306,-1.17,-116.8,128.6,-8.1,123,1311,0.10,0.00,0.00,0.000,6,0.088,0.000,2853,1768,3484,0,0,0,0,0,0
$GC,1572,-1.17,-116.8,159.6,-12.9,148,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1768,3485,0,0,0,0,0,0
$GC,1832,-1.17,-116.8,192.1,-11.1,173,1837,0.00,2.50,0.00,0.000,4,0.000,0.027,2854,3351,3485,0,0,0,0,0,0
$GC,1866,-1.20,-116.8,195.3,-11.7,175,1870,0.00,2.50,0.00,0.000,6,0.000,0.031,2854,1781,3486,0,0,0,0,0,0
$GC,2119,-1.20,-116.8,219.8,-9.1,184,2123,0.00,2.45,0.00,0.000,4,0.000,0.033,2853,3339,3485,0,0,0,0,0,0
$GC,2140,-1.24,-116.8,221.8,-8.5,184,2145,0.00,2.50,0.00,0.000,6,0.000,0.033,2853,1782,3486,0,0,0,0,0,0
$GC,2397,-1.29,-116.8,245.9,-9.8,191,2401,0.00,2.50,0.00,0.000,4,0.000,0.035,2853,3344,3485,0,0,0,0,0,0
$GC,2464,-1.36,-116.8,253.7,-11.4,192,2469,0.12,2.50,0.00,0.000,6,0.076,0.034,2812,1790,3485,0,0,0,0,0,0
$GC,2719,-1.36,-116.8,287.4,-13.4,199,2724,0.00,2.50,0.00,0.000,4,0.000,0.039,2812,3334,3484,0,0,0,0,0,0
$GC,2776,-1.36,-116.8,294.8,-13.8,200,2780,0.00,2.50,0.00,0.000,6,0.000,0.036,2812,1806,3485,0,0,0,0,0,0
$GC,3041,-1.36,-116.8,324.1,-10.4,207,3046,0.00,2.47,0.00,0.000,4,0.000,0.036,2812,3339,3483,0,0,0,0,0,0
$GC,3058,-1.36,-116.8,325.8,-10.2,207,3062,0.00,2.53,0.00,0.000,6,0.000,0.046,2812,1807,3483,0,0,0,0,0,0
$GC,3319,-1.36,-116.8,351.3,-9.9,214,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1807,3482,0,0,0,0,0,0
$GC,3562,-1.36,-116.8,379.8,-12.1,220,3566,0.00,2.53,0.00,0.000,4,0.000,0.046,2812,3334,3481,0,0,0,0,0,0
$GC,3639,-1.36,-116.8,389.6,-11.7,221,3645,0.00,2.55,0.00,0.000,6,0.000,0.054,2812,1812,3480,0,0,0,0,0,0
$GC,3889,-1.36,-116.8,419.0,-11.6,228,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1812,3479,0,0,0,0,0,0
$GC,4134,-1.36,-116.8,444.2,-10.3,234,4138,0.00,2.53,0.00,0.000,4,0.000,0.048,2812,3330,3477,0,0,0,0,0,0
$GC,4183,-1.36,-116.8,449.7,-10.3,235,4187,0.00,2.60,0.00,0.000,6,0.000,0.061,2812,1820,3477,0,0,0,0,0,0
$GC,4455,-1.36,-116.8,476.9,-10.0,242,4459,0.00,2.55,0.00,0.000,4,0.000,0.052,2812,3330,3475,0,0,0,0,0,0
$GC,4517,-1.40,-116.8,483.4,-10.6,243,4521,0.00,2.60,0.00,0.000,6,0.000,0.068,2812,1826,3475,0,0,0,0,0,0
$STATE,4694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4694,begin apogee
$GC,4700,-0.31,0.0,501.9,10.3,248,4800,1.08,0.00,96.25,0.933,6,0.089,0.000,3050,1966,3000,0,0,0,0,0,0
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4804,1.38,116.8,504.5,0.0,250,4911,1.62,0.00,99.68,0.904,6,0.054,0.000,3423,1966,2523,0,0,0,0,0,0
$GC,5184,1.46,178.6,484.4,6.5,260,5240,0.00,0.00,53.53,0.890,6,0.000,0.000,3423,1966,2272,0,0,0,0,0,0
$GC,5469,1.51,218.4,463.3,7.7,267,5511,0.10,2.67,35.10,0.878,4,0.100,0.048,3450,3533,2109,0,0,0,0,0,0
$GC,5568,1.51,218.4,453.6,10.5,269,5573,0.00,2.70,0.00,0.000,6,0.000,0.054,3450,1965,2104,0,0,0,0,0,0
$GC,5842,1.47,218.4,425.9,10.2,276,5846,0.00,2.62,0.00,0.000,4,0.000,0.041,3450,3543,2101,0,0,0,0,0,0
$GC,5882,1.47,218.4,421.4,11.5,277,5887,0.00,2.65,0.00,0.000,6,0.000,0.048,3450,1976,2100,0,0,0,0,0,0
$GC,6165,1.47,218.4,390.8,11.0,284,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1976,2098,0,0,0,0,0,0
$GC,6410,1.47,218.4,365.4,10.3,290,6414,0.00,2.55,0.00,0.000,4,0.000,0.042,3450,3534,2097,0,0,0,0,0,0
$GC,6436,1.47,218.4,362.4,10.8,290,6441,0.00,2.55,0.00,0.000,6,0.000,0.044,3450,1980,2096,0,0,0,0,0,0
$GC,6686,1.49,232.0,338.6,9.3,296,6699,0.00,0.00,10.88,0.772,6,0.000,0.000,3450,1980,2055,0,0,0,0,0,0
$GC,6930,1.49,232.0,313.9,10.4,302,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1980,2051,0,0,0,0,0,0
$GC,7175,1.49,232.0,285.3,12.0,308,7179,0.00,2.55,0.00,0.000,4,0.000,0.036,3450,3538,2050,0,0,0,0,0,0
$GC,7196,1.49,232.0,282.2,12.9,308,7200,0.00,2.55,0.00,0.000,6,0.000,0.033,3450,1972,2049,0,0,0,0,0,0
$GC,7457,1.49,232.0,250.4,12.0,315,7461,0.00,2.55,0.00,0.000,4,0.000,0.035,3450,3535,2049,0,0,0,0,0,0
$GC,7532,1.49,232.0,241.9,10.8,316,7537,0.00,2.53,0.00,0.000,6,0.000,0.035,3450,1986,2048,0,0,0,0,0,0
$GC,7782,1.51,252.3,218.5,8.9,322,7806,0.00,2.60,18.30,0.725,4,0.000,0.039,3450,3531,1972,0,0,0,0,0,0
$GC,7818,1.53,269.6,215.2,9.0,322,7843,0.00,2.55,16.95,0.708,6,0.000,0.037,3450,1980,1900,0,0,0,0,0,0
$GC,8099,1.54,277.0,190.2,9.6,334,8113,0.00,2.62,7.40,0.621,4,0.000,0.035,3450,3537,1871,0,0,0,0,0,0
$GC,8149,1.59,277.0,184.1,11.3,338,8155,0.00,2.53,0.00,0.000,6,0.000,0.031,3450,1994,1869,0,0,0,0,0,0
$GC,8413,1.59,277.0,154.2,12.3,363,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1994,1867,0,0,0,0,0,0
$GC,8669,1.66,302.2,126.4,8.6,387,8698,0.12,2.80,22.65,0.652,4,0.084,0.066,3486,389,1766,0,0,0,0,0,0
$GC,8716,1.61,302.2,121.3,11.3,390,8726,0.00,2.58,0.00,0.000,6,0.000,0.024,3485,2005,1764,0,0,0,0,0,0
$GC,8982,1.61,302.2,94.1,10.6,415,8986,0.00,2.47,0.00,0.000,4,0.000,0.035,3486,3536,1763,0,0,0,0,0,0
$GC,9039,1.61,302.2,87.8,12.0,419,9043,0.00,2.50,0.00,0.000,6,0.000,0.037,3486,1995,1762,0,0,0,0,0,0
$GC,9305,1.61,302.2,56.5,10.9,443,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1994,1762,0,0,0,0,0,0
$GC,9577,1.61,302.2,25.8,12.0,470,9586,0.00,2.50,0.00,0.000,4,0.000,0.030,3486,3535,1761,0,0,0,0,0,0
$GC,9635,1.66,302.2,19.2,11.6,478,9644,0.00,2.50,0.00,0.000,6,0.000,0.038,3486,2004,1762,0,0,0,0,0,0
$STATE,9748,end climb,SURFACE_DEPTH_REACHED
$STATE,9749,begin surface coast
$FINISH,0.4,0.980175
$STATE,9785,end surface coast,CONTROL_FINISHED_OK
$STATE,9785,begin surface
$SM_CCo,9808,79.15,0.541,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,79.15,0.000,0.000,0.541,483,1753,1369,-12.13,-0.48,400.08
$IRIDIUM_FIX,2244.02,-15757.16,150800,171731
$TT8_MAMPS,0.025311
$HUMID,58.86
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.40
$XPDR_PINGS,43
$24V_AH,23.5,11.959
$10V_AH,10.4,10.265
$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,29.225,107.425,360.725,79.150,0.000,143.933,219.768,272.366,10.750,0.000,24.449,989.789,6616.233,516.898,1882.706,918.173,33.371,1195.633,0.000,1881.005,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,74.399,932.672,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.081,275.987,389.528,766.892,1159.863,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38418,500
$CAP_FILE_SIZE,104008,0
$CFSIZE,260165632,177324032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,203843,2250.094,-15801.019,85,1.2,91,10.1