version: 66.06
glider: 146
mission: 6
dive: 95
start: 5 22 111 21 1 32
data:
$ID,146
$MISSION,6
$DIVE,95
$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,-269383.06
$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,40
$R_STBD_OVSHOOT,53
$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
$GPS1,203843,2250.094,-15801.019,85,1.2,91,10.1
$_CALLS,5
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.3
$GPS2,210038,2250.207,-15801.099,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.032
$KALMAN_X,-66663.2,-156.0,-17.6,59480.8,-373.4
$KALMAN_Y,-117755.1,-490.8,-118.3,130036.3,213.0
$MHEAD_RNG_PITCHd_Wd,87.7,7007,-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,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.70,0.000,2,0.000,0.000,482,1752,3359,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-6.3,10,126,12.23,2.58,-2.25,0.000,4,0.153,0.042,2809,3340,3481,0,0,0,0,0,0
$GC,203,-1.27,-116.8,29.0,-17.5,24,213,0.12,2.53,0.00,0.000,6,0.107,0.029,2838,1788,3482,0,0,0,0,0,0
$GC,470,-1.19,-116.8,72.0,-15.1,49,475,0.10,2.45,0.00,0.000,4,0.146,0.031,2857,3337,3482,0,0,0,0,0,0
$GC,528,-1.19,-116.8,80.8,-14.3,53,533,0.00,2.47,0.00,0.000,6,0.000,0.031,2857,1779,3483,0,0,0,0,0,0
$GC,795,-1.19,-116.8,117.8,-13.0,77,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1778,3483,0,0,0,0,0,0
$GC,1055,-1.19,-116.8,153.9,-13.3,102,1059,0.00,2.45,0.00,0.000,4,0.000,0.025,2857,3348,3484,0,0,0,0,0,0
$GC,1101,-1.19,-116.8,159.7,-11.7,105,1110,0.00,2.53,0.00,0.000,6,0.000,0.034,2857,1783,3484,0,0,0,0,0,0
$GC,1368,-1.19,-116.8,190.1,-11.4,130,1372,0.00,2.42,0.00,0.000,4,0.000,0.031,2857,3340,3484,0,0,0,0,0,0
$GC,1397,-1.19,-116.8,194.0,-11.7,132,1401,0.00,2.45,0.00,0.000,6,0.000,0.034,2857,1790,3484,0,0,0,0,0,0
$GC,1660,-1.19,-116.8,221.3,-10.2,142,1664,0.00,2.42,0.00,0.000,4,0.000,0.032,2857,3337,3484,0,0,0,0,0,0
$GC,1690,-1.24,-116.8,224.2,-9.6,142,1694,0.00,2.45,0.00,0.000,6,0.000,0.033,2857,1797,3484,0,0,0,0,0,0
$GC,1940,-1.29,-116.8,250.5,-10.5,148,1944,0.00,2.42,0.00,0.000,4,0.000,0.028,2857,3335,3484,0,0,0,0,0,0
$GC,1985,-1.36,-116.8,255.2,-10.4,149,1990,0.15,2.45,0.00,0.000,6,0.067,0.038,2808,1816,3484,0,0,0,0,0,0
$GC,2263,-1.32,-116.8,289.5,-12.4,156,2268,0.10,2.42,0.00,0.000,4,0.123,0.038,2830,3334,3483,0,0,0,0,0,0
$GC,2314,-1.36,-116.8,295.6,-11.4,157,2318,0.00,2.47,0.00,0.000,6,0.000,0.041,2830,1822,3483,0,0,0,0,0,0
$GC,2585,-1.36,-116.8,326.7,-11.4,164,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1822,3482,0,0,0,0,0,0
$GC,2829,-1.36,-116.8,352.7,-10.6,170,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1822,3481,0,0,0,0,0,0
$GC,3073,-1.36,-116.8,378.0,-10.6,176,3077,0.00,2.47,0.00,0.000,4,0.000,0.043,2831,3332,3479,0,0,0,0,0,0
$GC,3123,-1.41,-116.8,383.7,-12.0,177,3128,0.00,2.55,0.00,0.000,6,0.000,0.051,2830,1820,3479,0,0,0,0,0,0
$GC,3395,-1.41,-116.8,415.1,-11.5,184,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1820,3477,0,0,0,0,0,0
$GC,3639,-1.45,-116.8,442.6,-11.0,190,3641,0.12,0.00,0.00,0.000,6,0.076,0.000,2792,1820,3476,0,0,0,0,0,0
$GC,3884,-1.45,-116.8,471.9,-11.9,196,3888,0.00,2.53,0.00,0.000,4,0.000,0.054,2792,3330,3474,0,0,0,0,0,0
$GC,3923,-1.45,-116.8,476.5,-11.9,197,3927,0.00,2.60,0.00,0.000,6,0.000,0.061,2792,1818,3474,0,0,0,0,0,0
$STATE,4162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4162,begin apogee
$GC,4170,-0.31,0.0,504.1,11.2,203,4270,1.17,0.00,96.35,0.928,6,0.092,0.000,3050,1970,3001,0,0,0,0,0,0
$STATE,4271,end apogee,CONTROL_FINISHED_OK
$STATE,4271,begin climb
$GC,4273,1.38,116.8,507.4,0.0,205,4377,1.62,0.00,100.15,0.904,6,0.054,0.000,3424,1970,2524,0,0,0,0,0,0
$GC,4609,1.44,196.7,495.2,5.4,214,4684,0.00,3.10,68.62,0.895,4,0.000,0.110,3424,379,2197,0,0,0,0,0,0
$GC,4712,1.38,196.7,487.0,10.5,215,4716,0.00,2.58,0.00,0.000,6,0.000,0.034,3424,1940,2193,0,0,0,0,0,0
$GC,4967,1.38,196.7,460.7,10.5,222,4971,0.00,2.75,0.00,0.000,4,0.000,0.060,3424,3551,2189,0,0,0,0,0,0
$GC,5052,1.38,196.7,451.4,10.5,224,5056,0.00,2.70,0.00,0.000,6,0.000,0.048,3424,1962,2187,0,0,0,0,0,0
$GC,5334,1.38,196.7,422.0,10.2,231,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1962,2185,0,0,0,0,0,0
$GC,5578,1.38,203.6,398.6,9.6,237,5584,0.00,0.00,4.28,0.584,6,0.000,0.000,3424,1962,2172,0,0,0,0,0,0
$GC,5823,1.41,221.1,376.4,9.0,243,5848,0.00,2.72,17.33,0.828,4,0.000,0.036,3424,3562,2098,0,0,0,0,0,0
$GC,5859,1.42,234.6,372.9,9.3,243,5878,0.00,2.67,13.65,0.791,6,0.000,0.041,3424,1966,2043,0,0,0,0,0,0
$GC,6152,1.43,243.0,344.9,9.6,251,6162,0.00,0.00,8.07,0.726,6,0.000,0.000,3424,1966,2010,0,0,0,0,0,0
$GC,6397,1.43,243.0,315.9,12.3,257,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1966,2007,0,0,0,0,0,0
$GC,6640,1.47,243.0,289.5,10.3,263,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1966,2005,0,0,0,0,0,0
$GC,6884,1.55,264.6,268.1,8.8,269,6910,0.12,2.67,19.83,0.759,4,0.084,0.037,3460,3567,1921,0,0,0,0,0,0
$GC,6985,1.55,264.6,257.7,10.6,271,6990,0.00,2.65,0.00,0.000,6,0.000,0.036,3460,1954,1919,0,0,0,0,0,0
$GC,7251,1.55,264.6,228.4,11.2,278,7255,0.00,2.60,0.00,0.000,4,0.000,0.036,3459,3559,1916,0,0,0,0,0,0
$GC,7329,1.55,264.6,219.0,12.5,279,7334,0.00,2.60,0.00,0.000,6,0.000,0.037,3461,1973,1915,0,0,0,0,0,0
$GC,7586,1.55,264.6,189.5,11.4,292,7590,0.00,2.58,0.00,0.000,4,0.000,0.039,3461,3569,1915,0,0,0,0,0,0
$GC,7618,1.55,264.6,185.2,11.8,294,7627,0.00,2.62,0.00,0.000,6,0.000,0.037,3460,1970,1914,0,0,0,0,0,0
$GC,7886,1.55,264.6,156.0,11.3,319,7890,0.00,2.60,0.00,0.000,4,0.000,0.032,3460,3562,1914,0,0,0,0,0,0
$GC,7929,1.55,264.6,150.2,13.3,322,7933,0.00,2.58,0.00,0.000,6,0.000,0.038,3460,1975,1914,0,0,0,0,0,0
$GC,8192,1.55,264.6,119.2,11.0,346,8197,0.00,2.67,0.00,0.000,4,0.000,0.058,3460,392,1914,0,0,0,0,0,0
$GC,8226,1.55,264.6,114.7,12.2,348,8236,0.00,2.55,0.00,0.000,6,0.000,0.018,3460,2016,1913,0,0,0,0,0,0
$GC,8493,1.55,264.6,85.3,11.5,373,8497,0.00,2.42,0.00,0.000,4,0.000,0.031,3460,3535,1913,0,0,0,0,0,0
$GC,8539,1.60,264.6,79.3,11.6,376,8548,0.00,2.53,0.00,0.000,6,0.000,0.036,3459,1985,1913,0,0,0,0,0,0
$GC,8807,1.67,282.3,51.7,9.0,401,8827,0.10,0.00,15.38,0.565,6,0.096,0.000,3489,1984,1849,0,0,0,0,0,0
$GC,9103,1.67,282.3,19.8,10.7,434,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,1984,1847,0,0,0,0,0,0
$STATE,9242,end climb,SURFACE_DEPTH_REACHED
$STATE,9242,begin surface coast
$FINISH,0.5,0.980198
$STATE,9286,end surface coast,CONTROL_FINISHED_OK
$STATE,9286,begin surface
$SM_CCo,9309,95.35,0.541,0,0,1370,400.08
$SM_GC,1.20,0.00,0.00,95.35,0.000,0.000,0.541,476,1741,1370,-12.16,-0.82,400.08
$IRIDIUM_FIX,2241.69,-15759.32,150800,212104
$TT8_MAMPS,0.026078
$HUMID,58.03
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,35
$24V_AH,23.5,12.107
$10V_AH,10.4,10.378
$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,28.050,92.825,343.650,95.350,0.000,137.329,193.083,572.508,8.750,0.000,13.135,915.599,6410.148,515.679,1688.265,1191.430,33.369,1135.547,0.000,1696.544,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,109.681,928.070,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.891,264.337,349.826,678.928,1022.255,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,35245,460
$CAP_FILE_SIZE,104029,0
$CFSIZE,260165632,177274880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,233908,2249.749,-15759.808,11,1.3,11,10.1