version: 66.06
glider: 146
mission: 6
dive: 98
start: 5 23 111 5 29 24
data:
$ID,146
$MISSION,6
$DIVE,98
$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,-269475.41
$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,57
$R_STBD_OVSHOOT,56
$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
$GPS1,051846,2249.880,-15757.983,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.1
$GPS2,052828,2249.869,-15758.004,18,99.0,37,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,0.055
$KALMAN_X,-67889.8,-81.7,-143.6,66053.9,-234.8
$KALMAN_Y,-120313.0,132.5,-335.4,131565.8,-307.0
$MHEAD_RNG_PITCHd_Wd,64.1,1731,-23.2,-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,-1.56,-86.3,0.0,0.0,0,95,0.00,0.00,-77.57,0.000,6,0.000,0.000,474,1737,3354,0,0,0,0,0,0
$GC,98,-1.59,-109.7,4.2,-8.2,10,124,12.12,2.58,-1.67,0.000,4,0.156,0.043,2767,3330,3452,0,0,0,0,0,0
$GC,157,-1.43,-109.7,24.5,-28.4,17,167,0.15,2.50,0.00,0.000,6,0.104,0.033,2802,1801,3453,0,0,0,0,0,0
$GC,430,-1.39,-109.7,73.4,-16.8,43,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1802,3454,0,0,0,0,0,0
$GC,692,-1.39,-109.7,115.5,-15.6,68,696,0.00,2.42,0.00,0.000,4,0.000,0.030,2802,3346,3455,0,0,0,0,0,0
$GC,721,-1.39,-109.7,120.2,-15.3,70,725,0.00,2.53,0.00,0.000,6,0.000,0.033,2802,1760,3455,0,0,0,0,0,0
$GC,987,-1.39,-109.7,161.8,-15.7,94,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1760,3456,0,0,0,0,0,0
$GC,1249,-1.39,-109.7,199.5,-12.4,119,1253,0.00,2.53,0.00,0.000,4,0.000,0.032,2802,3338,3457,0,0,0,0,0,0
$GC,1315,-1.44,-109.7,208.0,-12.0,120,1320,0.00,2.53,0.00,0.000,6,0.000,0.034,2802,1763,3457,0,0,0,0,0,0
$GC,1572,-1.48,-110.3,234.3,-10.0,127,1576,0.00,2.50,0.00,0.000,4,0.000,0.028,2802,3332,3457,0,0,0,0,0,0
$GC,1599,-1.54,-110.3,237.5,-10.9,127,1603,0.00,2.53,0.00,0.000,6,0.000,0.035,2802,1768,3457,0,0,0,0,0,0
$GC,1849,-1.58,-110.3,269.6,-13.3,133,1851,0.12,0.00,0.00,0.000,6,0.074,0.000,2763,1768,3457,0,0,0,0,0,0
$GC,2092,-1.58,-110.3,309.6,-16.7,139,2096,0.00,2.53,0.00,0.000,4,0.000,0.041,2763,3333,3457,0,0,0,0,0,0
$GC,2114,-1.58,-110.3,313.1,-15.9,139,2119,0.00,2.60,0.00,0.000,6,0.000,0.047,2763,1764,3457,0,0,0,0,0,0
$GC,2369,-1.58,-110.3,349.4,-13.9,146,2373,0.00,2.55,0.00,0.000,4,0.000,0.044,2763,3327,3456,0,0,0,0,0,0
$GC,2390,-1.58,-110.3,352.4,-13.3,146,2394,0.00,2.58,0.00,0.000,6,0.000,0.047,2763,1771,3456,0,0,0,0,0,0
$GC,2646,-1.58,-110.3,384.4,-12.2,153,2650,0.00,2.55,0.00,0.000,4,0.000,0.042,2763,3324,3455,0,0,0,0,0,0
$GC,2763,-1.58,-110.3,398.8,-11.8,155,2767,0.00,2.60,0.00,0.000,6,0.000,0.056,2763,1787,3454,0,0,0,0,0,0
$GC,3012,-1.58,-110.3,429.5,-12.5,161,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1787,3453,0,0,0,0,0,0
$GC,3258,-1.58,-110.3,460.8,-12.9,167,3262,0.00,2.58,0.00,0.000,4,0.000,0.052,2763,3320,3451,0,0,0,0,0,0
$GC,3329,-1.63,-110.3,471.2,-14.1,168,3334,0.00,2.62,0.00,0.000,6,0.000,0.064,2763,1794,3451,0,0,0,0,0,0
$STATE,3536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3536,begin apogee
$GC,3544,-0.31,0.0,500.0,13.8,173,3639,1.33,0.00,92.00,0.912,6,0.097,0.000,3050,1958,3001,0,0,0,0,0,0
$STATE,3640,end apogee,CONTROL_FINISHED_OK
$STATE,3640,begin climb
$GC,3643,1.59,110.3,504.3,0.0,175,3742,1.80,0.00,94.95,0.893,6,0.054,0.000,3466,1958,2551,0,0,0,0,0,0
$GC,3983,1.65,161.6,490.6,6.0,184,4033,0.00,2.78,44.28,0.880,4,0.000,0.061,3467,3535,2341,0,0,0,0,0,0
$GC,4056,1.68,184.6,485.3,8.2,185,4085,0.00,2.72,21.42,0.843,6,0.000,0.058,3467,1972,2248,0,0,0,0,0,0
$GC,4347,1.68,184.6,453.4,11.5,193,4351,0.00,2.65,0.00,0.000,4,0.000,0.049,3466,3544,2240,0,0,0,0,0,0
$GC,4397,1.68,184.6,447.0,12.9,194,4402,0.00,2.67,0.00,0.000,6,0.000,0.049,3467,1980,2238,0,0,0,0,0,0
$GC,4669,1.68,184.6,413.8,12.1,201,4673,0.00,2.60,0.00,0.000,4,0.000,0.045,3467,3545,2237,0,0,0,0,0,0
$GC,4712,1.68,184.6,408.2,13.2,202,4717,0.00,2.62,0.00,0.000,6,0.000,0.041,3467,1983,2235,0,0,0,0,0,0
$GC,4991,1.68,184.6,375.0,11.8,209,4996,0.00,2.55,0.00,0.000,4,0.000,0.040,3467,3545,2233,0,0,0,0,0,0
$GC,5041,1.68,184.6,368.6,12.5,210,5045,0.00,2.60,0.00,0.000,6,0.000,0.038,3467,1977,2233,0,0,0,0,0,0
$GC,5314,1.72,184.6,337.1,11.7,217,5319,0.12,2.55,0.00,0.000,4,0.087,0.034,3498,3539,2231,0,0,0,0,0,0
$GC,5399,1.72,184.6,326.5,13.0,219,5404,0.00,2.55,0.00,0.000,6,0.000,0.041,3498,1989,2230,0,0,0,0,0,0
$GC,5682,1.72,184.6,290.0,12.8,226,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1988,2229,0,0,0,0,0,0
$GC,5926,1.72,184.6,261.7,11.5,232,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1988,2229,0,0,0,0,0,0
$GC,6171,1.72,184.6,235.8,10.5,238,6176,0.00,2.75,0.00,0.000,4,0.000,0.071,3498,383,2228,0,0,0,0,0,0
$GC,6204,1.65,184.6,232.1,11.4,238,6209,0.00,2.53,0.00,0.000,6,0.000,0.025,3498,2001,2226,0,0,0,0,0,0
$GC,6453,1.66,189.7,207.6,9.6,245,6458,0.00,2.47,0.00,0.000,4,0.000,0.043,3498,3537,2226,0,0,0,0,0,0
$GC,6515,1.66,189.7,201.1,10.6,246,6520,0.00,2.53,0.00,0.000,6,0.000,0.031,3498,1979,2226,0,0,0,0,0,0
$GC,6778,1.67,201.5,175.7,9.1,270,6795,0.00,0.00,12.05,0.660,6,0.000,0.000,3498,1979,2178,0,0,0,0,0,0
$GC,7054,1.70,226.1,152.5,8.1,296,7082,0.00,2.58,22.25,0.665,4,0.000,0.037,3498,3537,2079,0,0,0,0,0,0
$GC,7165,1.75,227.0,142.9,10.0,305,7169,0.00,2.50,0.00,0.000,6,0.000,0.030,3498,1984,2076,0,0,0,0,0,0
$GC,7432,1.80,227.0,114.1,12.5,329,7437,0.00,2.53,0.00,0.000,4,0.000,0.038,3498,3542,2075,0,0,0,0,0,0
$GC,7454,1.86,227.0,110.4,12.4,330,7464,0.08,2.53,0.00,0.000,6,0.054,0.036,3525,1998,2074,0,0,0,0,0,0
$GC,7722,1.86,227.0,77.7,11.8,355,7726,0.00,2.50,0.00,0.000,4,0.000,0.032,3525,3549,2074,0,0,0,0,0,0
$GC,7742,1.86,227.0,75.0,11.7,356,7746,0.00,2.47,0.00,0.000,6,0.000,0.029,3525,1999,2074,0,0,0,0,0,0
$GC,8009,1.88,247.9,47.1,8.4,380,8038,0.00,2.55,19.60,0.561,4,0.000,0.031,3525,3539,1989,0,0,0,0,0,0
$GC,8155,1.93,247.9,32.4,10.7,391,8159,0.00,2.42,0.00,0.000,6,0.000,0.027,3525,2016,1987,0,0,0,0,0,0
$STATE,8413,end climb,SURFACE_DEPTH_REACHED
$STATE,8413,begin surface coast
$FINISH,0.4,0.975139
$STATE,8456,end surface coast,CONTROL_FINISHED_OK
$STATE,8456,begin surface
$SM_CCo,8479,123.15,0.534,0,0,1370,400.08
$SM_GC,1.11,0.00,0.00,123.15,0.000,0.000,0.534,476,1761,1370,-12.17,-0.25,400.08
$IRIDIUM_FIX,2239.35,-15757.16,160800,020229
$TT8_MAMPS,0.026078
$HUMID,56.30
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,38
$24V_AH,23.5,12.471
$10V_AH,10.4,10.693
$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,28.150,97.975,306.550,123.150,0.000,28.440,32.368,375.200,9.500,0.000,40.254,866.857,5485.651,506.789,1667.528,664.985,33.346,1110.630,0.000,1644.738,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,82.069,911.963,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.642,244.771,338.628,642.223,971.348,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,35263,433
$CAP_FILE_SIZE,89193,0
$CFSIZE,260165632,177135616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,075454,2249.986,-15757.087,86,1.3,86,10.1