version: 66.06
glider: 146
mission: 6
dive: 100
start: 5 23 111 11 2 54
data:
$ID,146
$MISSION,6
$DIVE,100
$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,-269533.09
$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,38
$R_STBD_OVSHOOT,44
$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
$GPS1,105036,2248.744,-15757.560,23,2.0,23,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.2
$GPS2,110201,2248.799,-15757.564,34,2.0,36,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,-0.235
$KALMAN_X,-69184.8,133.9,15.7,67724.9,-435.1
$KALMAN_Y,-121453.4,406.5,318.9,129795.2,-822.7
$MHEAD_RNG_PITCHd_Wd,168.6,3356,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.07,0.000,2,0.000,0.000,475,1757,3389,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.1,-8.5,10,126,12.27,2.65,-1.55,0.000,4,0.153,0.063,2810,208,3482,0,0,0,0,0,0
$GC,240,-1.19,-116.8,42.8,-19.9,26,245,0.22,2.42,0.00,0.000,6,0.119,0.015,2856,1810,3483,0,0,0,0,0,0
$GC,504,-1.16,-116.8,84.0,-14.9,50,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1812,3484,0,0,0,0,0,0
$GC,768,-1.16,-116.8,122.3,-14.3,75,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1812,3485,0,0,0,0,0,0
$GC,1034,-1.16,-116.8,154.9,-9.4,100,1039,0.00,2.33,0.00,0.000,4,0.000,0.025,2856,3308,3485,0,0,0,0,0,0
$GC,1080,-1.19,-116.8,159.4,-9.6,103,1084,0.00,2.40,0.00,0.000,6,0.000,0.033,2856,1786,3486,0,0,0,0,0,0
$GC,1346,-1.19,-116.8,185.6,-11.1,127,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1786,3486,0,0,0,0,0,0
$GC,1622,-1.19,-116.8,221.5,-13.2,142,1626,0.00,2.40,0.00,0.000,4,0.000,0.034,2856,3313,3486,0,0,0,0,0,0
$GC,1666,-1.25,-116.8,226.9,-11.5,143,1670,0.00,2.42,0.00,0.000,6,0.000,0.029,2856,1786,3486,0,0,0,0,0,0
$GC,1945,-1.29,-116.8,253.1,-9.0,150,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1786,3487,0,0,0,0,0,0
$GC,2187,-1.34,-116.8,282.6,-12.6,156,2192,0.12,2.45,0.00,0.000,4,0.074,0.032,2814,3303,3486,0,0,0,0,0,0
$GC,2253,-1.34,-116.8,291.4,-13.2,157,2258,0.00,2.47,0.00,0.000,6,0.000,0.037,2814,1786,3486,0,0,0,0,0,0
$GC,2516,-1.34,-116.8,319.6,-10.2,164,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1786,3485,0,0,0,0,0,0
$GC,2758,-1.34,-116.8,348.1,-12.3,170,2762,0.00,2.50,0.00,0.000,4,0.000,0.041,2814,3308,3485,0,0,0,0,0,0
$GC,2790,-1.34,-116.8,352.9,-15.4,170,2796,0.00,2.53,0.00,0.000,6,0.000,0.052,2814,1784,3485,0,0,0,0,0,0
$GC,3040,-1.34,-116.8,383.1,-11.3,177,3045,0.00,2.50,0.00,0.000,4,0.000,0.047,2814,3298,3483,0,0,0,0,0,0
$GC,3083,-1.34,-116.8,386.8,-8.9,178,3088,0.00,2.53,0.00,0.000,6,0.000,0.057,2814,1794,3483,0,0,0,0,0,0
$GC,3366,-1.34,-116.8,411.8,-8.6,185,3370,0.00,2.45,0.00,0.000,4,0.000,0.043,2814,3297,3481,0,0,0,0,0,0
$GC,3382,-1.34,-116.8,413.4,-9.2,185,3387,0.00,2.55,0.00,0.000,6,0.000,0.055,2814,1790,3481,0,0,0,0,0,0
$GC,3644,-1.34,-116.8,444.1,-12.5,192,3648,0.00,2.53,0.00,0.000,4,0.000,0.048,2814,3295,3479,0,0,0,0,0,0
$GC,3710,-1.34,-116.8,452.4,-11.9,193,3714,0.00,2.58,0.00,0.000,6,0.000,0.063,2814,1800,3479,0,0,0,0,0,0
$GC,3967,-1.34,-116.8,477.3,-9.1,200,3972,0.00,2.50,0.00,0.000,4,0.000,0.055,2814,3292,3478,0,0,0,0,0,0
$GC,3995,-1.34,-116.8,479.9,-8.7,200,4000,0.00,2.58,0.00,0.000,6,0.000,0.062,2814,1802,3478,0,0,0,0,0,0
$STATE,4243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4243,begin apogee
$GC,4249,-0.31,0.0,501.9,8.9,206,4350,1.08,0.00,97.15,0.935,6,0.089,0.000,3051,1941,3001,0,0,0,0,0,0
$STATE,4350,end apogee,CONTROL_FINISHED_OK
$STATE,4350,begin climb
$GC,4354,1.38,116.8,504.3,0.0,208,4466,1.58,3.10,99.65,0.910,4,0.054,0.114,3418,384,2522,0,0,0,0,0,0
$GC,4494,1.37,194.2,501.7,5.6,211,4569,0.00,2.62,66.60,0.894,6,0.000,0.041,3419,1950,2209,0,0,0,0,0,0
$GC,4846,1.38,202.3,470.1,9.6,220,4861,0.00,2.85,7.05,0.729,4,0.000,0.063,3419,3556,2176,0,0,0,0,0,0
$GC,4917,1.38,202.3,462.8,11.0,221,4922,0.00,2.72,0.00,0.000,6,0.000,0.057,3419,1968,2173,0,0,0,0,0,0
$GC,5180,1.38,203.9,436.7,9.9,228,5184,0.00,2.65,0.00,0.000,4,0.000,0.044,3419,3557,2171,0,0,0,0,0,0
$GC,5201,1.38,203.9,434.3,10.5,228,5205,0.00,2.70,0.00,0.000,6,0.000,0.046,3419,1969,2170,0,0,0,0,0,0
$GC,5456,1.40,220.3,410.9,9.1,235,5474,0.00,0.00,16.70,0.836,6,0.000,0.000,3419,1969,2101,0,0,0,0,0,0
$GC,5701,1.40,220.3,384.9,11.0,241,5705,0.00,2.65,0.00,0.000,4,0.000,0.044,3419,3570,2097,0,0,0,0,0,0
$GC,5721,1.40,220.3,382.2,12.1,241,5726,0.00,2.67,0.00,0.000,6,0.000,0.044,3419,1968,2096,0,0,0,0,0,0
$GC,5977,1.40,220.3,354.6,10.5,248,5981,0.00,2.60,0.00,0.000,4,0.000,0.038,3419,3560,2094,0,0,0,0,0,0
$GC,5993,1.41,226.9,353.0,9.7,248,6005,0.00,2.60,6.18,0.684,6,0.000,0.038,3419,1981,2075,0,0,0,0,0,0
$GC,6255,1.42,234.8,328.4,9.6,255,6269,0.00,2.65,8.52,0.734,4,0.000,0.041,3419,3552,2042,0,0,0,0,0,0
$GC,6326,1.47,234.8,320.5,10.9,256,6331,0.00,2.58,0.00,0.000,6,0.000,0.038,3419,1997,2041,0,0,0,0,0,0
$GC,6583,1.51,234.8,293.1,10.4,263,6588,0.12,2.83,0.00,0.000,4,0.084,0.070,3451,391,2039,0,0,0,0,0,0
$GC,6633,1.46,234.8,287.3,11.4,264,6638,0.00,2.58,0.00,0.000,6,0.000,0.020,3451,2016,2038,0,0,0,0,0,0
$GC,6907,1.46,234.8,259.6,10.5,271,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2016,2038,0,0,0,0,0,0
$GC,7151,1.46,234.8,231.0,11.2,277,7155,0.00,2.80,0.00,0.000,4,0.000,0.066,3451,385,2037,0,0,0,0,0,0
$GC,7166,1.46,234.8,229.1,10.1,277,7170,0.00,2.53,0.00,0.000,6,0.000,0.020,3451,1990,2036,0,0,0,0,0,0
$GC,7427,1.50,266.5,207.8,8.2,284,7462,0.00,2.60,28.15,0.724,4,0.000,0.042,3451,3534,1913,0,0,0,0,0,0
$GC,7528,1.54,266.5,195.9,13.6,287,7533,0.00,2.53,0.00,0.000,6,0.000,0.037,3451,1977,1911,0,0,0,0,0,0
$GC,7792,1.54,266.6,166.5,10.0,311,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1977,1909,0,0,0,0,0,0
$GC,8054,1.58,266.6,138.9,11.2,336,8058,0.00,2.53,0.00,0.000,4,0.000,0.038,3451,3537,1909,0,0,0,0,0,0
$GC,8098,1.63,266.6,134.6,10.5,339,8103,0.10,2.47,0.00,0.000,6,0.093,0.029,3480,1991,1908,0,0,0,0,0,0
$GC,8364,1.64,271.9,108.7,9.7,363,8375,0.00,2.53,5.62,0.513,4,0.000,0.030,3480,3544,1891,0,0,0,0,0,0
$GC,8438,1.64,271.9,100.2,12.0,369,8442,0.00,2.45,0.00,0.000,6,0.000,0.029,3480,2015,1890,0,0,0,0,0,0
$GC,8705,1.64,271.9,62.8,11.6,393,8710,0.00,2.72,0.00,0.000,4,0.000,0.055,3479,396,1890,0,0,0,0,0,0
$GC,8740,1.60,271.9,59.1,11.7,395,8744,0.00,2.50,0.00,0.000,6,0.000,0.018,3480,2024,1889,0,0,0,0,0,0
$GC,9008,1.64,271.9,32.3,10.5,419,9012,0.00,2.40,0.00,0.000,4,0.000,0.039,3480,3540,1889,0,0,0,0,0,0
$GC,9080,1.64,271.9,25.2,11.0,427,9089,0.00,2.45,0.00,0.000,6,0.000,0.028,3479,2026,1889,0,0,0,0,0,0
$STATE,9275,end climb,SURFACE_DEPTH_REACHED
$STATE,9275,begin surface coast
$FINISH,0.5,0.975425
$STATE,9335,end surface coast,CONTROL_FINISHED_OK
$STATE,9335,begin surface
$SM_CCo,9357,104.78,0.537,0,0,1369,400.08
$SM_GC,1.21,0.00,0.00,104.78,0.000,0.000,0.537,477,1759,1369,-12.16,-0.31,400.08
$IRIDIUM_FIX,2241.69,-15754.11,160800,080817
$TT8_MAMPS,0.026078
$HUMID,58.11
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.70
$XPDR_PINGS,42
$24V_AH,23.5,12.748
$10V_AH,10.4,10.912
$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,27.700,113.675,335.625,104.775,0.000,30.445,33.164,471.440,10.500,0.000,38.179,946.891,6131.275,511.205,1766.118,792.987,33.364,1166.612,0.000,1748.212,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,114.283,934.973,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.883,251.886,355.469,670.949,1014.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355764
$DATA_FILE_SIZE,35256,465
$CAP_FILE_SIZE,101780,0
$CFSIZE,260165632,177025024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,134227,2247.052,-15757.901,50,3.4,69,10.1