version: 66.06
glider: 146
mission: 6
dive: 101
start: 5 23 111 13 54 9
data:
$ID,146
$MISSION,6
$DIVE,101
$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,-269553.66
$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,39
$R_STBD_OVSHOOT,46
$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
$GPS1,134227,2247.052,-15757.901,50,3.4,69,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.0
$GPS2,135313,2247.037,-15757.922,10,1.1,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.189,0.139
$KALMAN_X,-69914.1,120.7,98.0,67775.4,-828.7
$KALMAN_Y,-122147.3,272.2,224.1,127456.0,-1410.1
$MHEAD_RNG_PITCHd_Wd,296.3,8672,-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,-78.18,0.000,2,0.000,0.000,477,1759,3322,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.1,10,126,12.43,2.58,-2.92,0.000,4,0.159,0.044,2810,3344,3481,0,0,0,0,0,0
$GC,266,-1.27,-116.8,39.7,-16.7,30,271,0.15,2.50,0.00,0.000,6,0.124,0.029,2839,1782,3482,0,0,0,0,0,0
$GC,534,-1.21,-116.8,78.6,-14.2,54,538,0.00,2.70,0.00,0.000,4,0.000,0.067,2839,191,3483,0,0,0,0,0,0
$GC,587,-1.12,-116.8,88.2,-16.3,58,592,0.17,2.45,0.00,0.000,6,0.123,0.015,2874,1812,3483,0,0,0,0,0,0
$GC,851,-1.12,-116.8,122.5,-11.6,82,855,0.00,2.33,0.00,0.000,4,0.000,0.030,2874,3309,3483,0,0,0,0,0,0
$GC,871,-1.12,-116.8,124.7,-11.7,83,875,0.00,2.45,0.00,0.000,6,0.000,0.025,2874,1756,3483,0,0,0,0,0,0
$GC,1133,-1.16,-116.8,154.2,-11.3,107,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1756,3484,0,0,0,0,0,0
$GC,1388,-1.20,-116.8,183.9,-11.0,131,1392,0.00,2.67,0.00,0.000,4,0.000,0.071,2874,197,3484,0,0,0,0,0,0
$GC,1406,-1.20,-116.8,185.9,-11.0,132,1410,0.00,2.38,0.00,0.000,6,0.000,0.020,2874,1779,3485,0,0,0,0,0,0
$GC,1663,-1.26,-116.8,212.8,-10.0,147,1668,0.12,2.42,0.00,0.000,4,0.074,0.026,2833,3309,3485,0,0,0,0,0,0
$GC,1696,-1.26,-116.8,216.5,-10.4,147,1702,0.00,2.45,0.00,0.000,6,0.000,0.033,2833,1773,3485,0,0,0,0,0,0
$GC,1946,-1.26,-116.8,244.0,-11.2,154,1950,0.00,2.40,0.00,0.000,4,0.000,0.031,2833,3302,3485,0,0,0,0,0,0
$GC,1968,-1.26,-116.8,246.5,-11.0,154,1972,0.00,2.42,0.00,0.000,6,0.000,0.028,2833,1781,3485,0,0,0,0,0,0
$GC,2222,-1.26,-116.8,273.0,-10.2,161,2226,0.00,2.42,0.00,0.000,4,0.000,0.031,2833,3301,3485,0,0,0,0,0,0
$GC,2284,-1.31,-116.8,279.5,-10.9,162,2288,0.00,2.45,0.00,0.000,6,0.000,0.033,2833,1782,3485,0,0,0,0,0,0
$GC,2551,-1.31,-116.8,307.5,-10.7,169,2556,0.00,2.45,0.00,0.000,4,0.000,0.039,2833,3303,3484,0,0,0,0,0,0
$GC,2618,-1.36,-116.8,315.4,-11.1,170,2623,0.00,2.47,0.00,0.000,6,0.000,0.044,2833,1804,3484,0,0,0,0,0,0
$GC,2873,-1.36,-116.8,344.0,-11.4,177,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1804,3483,0,0,0,0,0,0
$GC,3118,-1.36,-116.8,371.7,-11.2,183,3123,0.00,2.45,0.00,0.000,4,0.000,0.044,2833,3303,3482,0,0,0,0,0,0
$GC,3174,-1.42,-116.8,378.1,-10.9,184,3179,0.10,2.50,0.00,0.000,6,0.089,0.050,2797,1822,3481,0,0,0,0,0,0
$GC,3440,-1.42,-116.8,410.2,-12.1,191,3445,0.00,2.40,0.00,0.000,4,0.000,0.048,2797,3296,3479,0,0,0,0,0,0
$GC,3481,-1.42,-116.8,415.1,-12.0,192,3485,0.00,2.50,0.00,0.000,6,0.000,0.060,2797,1828,3479,0,0,0,0,0,0
$GC,3764,-1.42,-116.8,449.1,-11.9,199,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1828,3478,0,0,0,0,0,0
$GC,4007,-1.42,-116.8,478.4,-12.1,205,4012,0.00,2.45,0.00,0.000,4,0.000,0.053,2797,3290,3476,0,0,0,0,0,0
$GC,4053,-1.42,-116.8,484.0,-12.3,206,4057,0.00,2.50,0.00,0.000,6,0.000,0.067,2797,1839,3476,0,0,0,0,0,0
$STATE,4206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4206,begin apogee
$GC,4212,-0.31,0.0,502.6,11.9,210,4312,1.15,0.00,97.12,0.922,6,0.091,0.000,3051,1929,3001,0,0,0,0,0,0
$STATE,4313,end apogee,CONTROL_FINISHED_OK
$STATE,4313,begin climb
$GC,4316,1.38,116.8,506.0,0.0,212,4429,1.58,3.08,99.65,0.901,4,0.052,0.110,3418,388,2522,0,0,0,0,0,0
$GC,4441,1.39,192.1,503.5,5.7,215,4512,0.00,2.60,65.22,0.888,6,0.000,0.038,3418,1953,2217,0,0,0,0,0,0
$GC,4762,1.39,192.1,472.6,10.3,223,4767,0.00,2.78,0.00,0.000,4,0.000,0.064,3418,3560,2208,0,0,0,0,0,0
$GC,4811,1.39,192.1,467.6,10.3,224,4816,0.00,2.72,0.00,0.000,6,0.000,0.051,3418,1975,2207,0,0,0,0,0,0
$GC,5084,1.43,225.9,444.3,8.1,231,5118,0.00,2.72,28.80,0.864,4,0.000,0.044,3419,3560,2080,0,0,0,0,0,0
$GC,5171,1.45,242.1,437.0,9.1,233,5193,0.00,2.70,15.70,0.821,6,0.000,0.052,3418,1977,2013,0,0,0,0,0,0
$GC,5454,1.45,242.1,408.7,10.2,240,5459,0.00,2.92,0.00,0.000,4,0.000,0.097,3418,384,2008,0,0,0,0,0,0
$GC,5499,1.45,242.1,403.6,11.5,241,5503,0.00,2.58,0.00,0.000,6,0.000,0.025,3418,1990,2006,0,0,0,0,0,0
$GC,5776,1.45,242.1,371.7,12.2,248,5780,0.00,2.58,0.00,0.000,4,0.000,0.047,3418,3546,2005,0,0,0,0,0,0
$GC,5831,1.50,242.1,364.4,13.4,249,5836,0.12,2.65,0.00,0.000,6,0.084,0.044,3451,1958,2004,0,0,0,0,0,0
$GC,6099,1.50,242.1,330.1,12.5,256,6103,0.00,2.62,0.00,0.000,4,0.000,0.035,3451,3556,2003,0,0,0,0,0,0
$GC,6142,1.50,242.1,324.8,11.6,257,6147,0.00,2.60,0.00,0.000,6,0.000,0.039,3451,1987,2002,0,0,0,0,0,0
$GC,6422,1.50,242.1,295.4,10.4,264,6426,0.00,2.58,0.00,0.000,4,0.000,0.041,3451,3556,2001,0,0,0,0,0,0
$GC,6482,1.50,242.1,288.6,10.7,265,6486,0.00,2.55,0.00,0.000,6,0.000,0.035,3451,2003,2000,0,0,0,0,0,0
$GC,6743,1.50,242.1,258.8,11.9,272,6747,0.00,2.53,0.00,0.000,4,0.000,0.042,3451,3546,2000,0,0,0,0,0,0
$GC,6783,1.50,242.1,253.7,12.9,273,6788,0.00,2.50,0.00,0.000,6,0.000,0.037,3451,2017,2000,0,0,0,0,0,0
$GC,7067,1.50,242.1,219.4,11.6,280,7071,0.00,2.50,0.00,0.000,4,0.000,0.041,3451,3548,1999,0,0,0,0,0,0
$GC,7106,1.50,242.1,215.2,10.4,281,7110,0.00,2.47,0.00,0.000,6,0.000,0.032,3451,2029,1998,0,0,0,0,0,0
$GC,7364,1.50,242.1,188.5,10.6,294,7368,0.00,2.47,0.00,0.000,4,0.000,0.039,3451,3549,1998,0,0,0,0,0,0
$GC,7392,1.50,242.1,185.1,11.2,296,7396,0.00,2.42,0.00,0.000,6,0.000,0.031,3451,2053,1998,0,0,0,0,0,0
$GC,7655,1.50,242.1,155.5,11.9,320,7659,0.00,2.80,0.00,0.000,4,0.000,0.066,3451,392,1998,0,0,0,0,0,0
$GC,7689,1.50,242.1,152.1,12.2,322,7693,0.00,2.60,0.00,0.000,6,0.000,0.021,3451,2062,1996,0,0,0,0,0,0
$GC,7951,1.51,249.1,125.4,9.6,346,7966,0.00,2.90,4.57,0.482,4,0.000,0.061,3451,388,1984,0,0,0,0,0,0
$GC,7997,1.51,249.1,120.4,10.5,349,8003,0.00,2.60,0.00,0.000,6,0.000,0.021,3451,2042,1984,0,0,0,0,0,0
$GC,8260,1.55,249.1,91.8,10.4,374,8264,0.00,2.42,0.00,0.000,4,0.000,0.040,3451,3553,1984,0,0,0,0,0,0
$GC,8299,1.59,249.5,88.2,10.0,377,8303,0.00,2.45,0.00,0.000,6,0.000,0.033,3451,2029,1984,0,0,0,0,0,0
$GC,8567,1.65,252.8,63.0,9.8,401,8578,0.12,2.53,5.07,0.464,4,0.084,0.038,3488,3556,1969,0,0,0,0,0,0
$GC,8595,1.65,252.8,59.8,10.4,403,8599,0.00,2.47,0.00,0.000,6,0.000,0.035,3488,2021,1969,0,0,0,0,0,0
$GC,8863,1.71,297.5,33.8,7.5,427,8912,0.00,2.80,39.30,0.566,4,0.000,0.051,3488,396,1787,0,0,0,0,0,0
$GC,8963,1.71,297.5,22.4,15.4,438,8972,0.00,2.62,0.00,0.000,6,0.000,0.025,3488,2051,1785,0,0,0,0,0,0
$STATE,9115,end climb,SURFACE_DEPTH_REACHED
$STATE,9115,begin surface coast
$FINISH,0.4,0.975379
$STATE,9162,end surface coast,CONTROL_FINISHED_OK
$STATE,9162,begin surface
$SM_CCo,9184,83.43,0.532,0,0,1370,400.08
$SM_GC,1.22,0.00,0.00,83.43,0.000,0.000,0.532,482,1739,1370,-12.13,-0.88,400.08
$IRIDIUM_FIX,2241.69,-15757.16,160800,111124
$TT8_MAMPS,0.026078
$HUMID,57.71
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.40
$XPDR_PINGS,51
$24V_AH,23.5,12.878
$10V_AH,10.4,11.022
$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,28.225,133.725,355.450,83.425,0.000,29.926,41.540,444.339,12.750,0.000,19.936,966.998,5841.665,489.976,1832.114,787.404,33.364,1197.182,0.000,1836.719,0.000,0.536,0.000
$DEVICE_MAMPS,158.769,110.448,921.934,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.530,259.417,361.750,693.303,1048.613,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,38450,466
$CAP_FILE_SIZE,106305,0
$CFSIZE,260165632,176963584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,163006,2247.016,-15759.204,42,1.3,48,10.1