version: 66.06
glider: 146
mission: 6
dive: 102
start: 5 23 111 17 0 53
data:
$ID,146
$MISSION,6
$DIVE,102
$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,619.13721
$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,-269572.25
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,163006,2247.016,-15759.204,42,1.3,48,10.1
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.0
$GPS2,165956,2246.935,-15759.325,16,2.0,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.215,0.094
$KALMAN_X,-70272.5,38.0,16.7,65895.6,-627.3
$KALMAN_Y,-122897.6,-25.8,-303.1,128843.3,-880.9
$MHEAD_RNG_PITCHd_Wd,283.4,6276,-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,-78.30,0.000,2,0.000,0.000,480,1739,3401,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.0,-8.2,10,125,12.15,2.62,-1.35,0.000,4,0.150,0.066,2811,212,3481,0,0,0,0,0,0
$GC,362,-1.22,-116.8,63.2,-18.4,36,367,0.20,2.42,0.00,0.000,6,0.119,0.014,2851,1826,3482,0,0,0,0,0,0
$GC,624,-1.22,-116.8,103.7,-13.6,60,628,0.00,2.40,0.00,0.000,4,0.000,0.030,2851,3357,3483,0,0,0,0,0,0
$GC,659,-1.22,-116.8,108.8,-13.9,62,668,0.00,2.50,0.00,0.000,6,0.000,0.031,2851,1800,3484,0,0,0,0,0,0
$GC,924,-1.22,-116.8,139.8,-10.8,87,929,0.00,2.47,0.00,0.000,4,0.000,0.025,2851,3365,3483,0,0,0,0,0,0
$GC,943,-1.22,-116.8,142.3,-11.6,88,947,0.00,2.50,0.00,0.000,6,0.000,0.025,2851,1796,3484,0,0,0,0,0,0
$GC,1210,-1.22,-116.8,171.4,-11.1,112,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1796,3484,0,0,0,0,0,0
$GC,1501,-1.22,-116.8,204.8,-11.4,137,1505,0.00,2.45,0.00,0.000,4,0.000,0.031,2851,3358,3484,0,0,0,0,0,0
$GC,1552,-1.28,-116.8,210.5,-10.8,138,1556,0.00,2.45,0.00,0.000,6,0.000,0.027,2851,1815,3484,0,0,0,0,0,0
$GC,1823,-1.28,-116.8,239.5,-10.8,145,1828,0.00,2.80,0.00,0.000,4,0.000,0.073,2851,198,3483,0,0,0,0,0,0
$GC,1838,-1.28,-116.8,241.4,-10.9,145,1843,0.00,2.55,0.00,0.000,6,0.000,0.025,2851,1844,3483,0,0,0,0,0,0
$GC,2107,-1.32,-116.8,273.0,-11.9,152,2112,0.00,2.42,0.00,0.000,4,0.000,0.038,2851,3357,3482,0,0,0,0,0,0
$GC,2163,-1.39,-116.8,279.5,-11.3,153,2168,0.15,2.45,0.00,0.000,6,0.063,0.039,2801,1834,3482,0,0,0,0,0,0
$GC,2431,-1.36,-116.8,313.5,-13.0,160,2436,0.10,2.47,0.00,0.000,4,0.128,0.041,2822,3357,3481,0,0,0,0,0,0
$GC,2463,-1.36,-116.8,318.0,-13.0,160,2469,0.00,2.50,0.00,0.000,6,0.000,0.041,2822,1845,3481,0,0,0,0,0,0
$GC,2714,-1.36,-116.8,346.8,-11.3,167,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1845,3480,0,0,0,0,0,0
$GC,2957,-1.36,-116.8,372.5,-10.4,173,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1845,3478,0,0,0,0,0,0
$GC,3202,-1.36,-116.8,398.1,-10.6,179,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1845,3477,0,0,0,0,0,0
$GC,3445,-1.36,-116.8,426.2,-11.5,185,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1846,3476,0,0,0,0,0,0
$GC,3688,-1.36,-116.8,452.3,-10.6,191,3693,0.00,3.08,0.00,0.000,4,0.000,0.113,2822,200,3474,0,0,0,0,0,0
$GC,3732,-1.36,-116.8,457.1,-11.0,192,3737,0.00,2.65,0.00,0.000,6,0.000,0.039,2822,1819,3473,0,0,0,0,0,0
$GC,4012,-1.36,-116.8,482.4,-9.0,199,4016,0.00,2.62,0.00,0.000,4,0.000,0.063,2822,3359,3472,0,0,0,0,0,0
$GC,4051,-1.42,-116.8,486.1,-9.0,200,4056,0.00,2.58,0.00,0.000,6,0.000,0.063,2821,1851,3472,0,0,0,0,0,0
$STATE,4211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4218,-0.31,0.0,501.3,9.4,204,4318,1.02,0.00,96.10,0.921,6,0.084,0.000,3051,2000,3001,0,0,0,0,0,0
$STATE,4318,end apogee,CONTROL_FINISHED_OK
$STATE,4318,begin climb
$GC,4321,1.38,116.8,503.9,0.0,206,4425,1.58,0.00,100.05,0.899,6,0.052,0.000,3419,2000,2524,0,0,0,0,0,0
$GC,4649,1.45,171.2,487.1,6.9,214,4703,0.00,2.70,46.72,0.881,4,0.000,0.053,3420,3530,2302,0,0,0,0,0,0
$GC,4755,1.45,171.2,477.7,10.4,216,4759,0.00,2.67,0.00,0.000,6,0.000,0.059,3421,1981,2299,0,0,0,0,0,0
$GC,5015,1.46,178.3,452.6,9.6,223,5024,0.00,0.00,6.57,0.709,6,0.000,0.000,3419,1980,2274,0,0,0,0,0,0
$GC,5260,1.46,178.3,426.7,10.8,229,5264,0.00,2.60,0.00,0.000,4,0.000,0.045,3420,3536,2271,0,0,0,0,0,0
$GC,5299,1.46,178.3,422.2,11.2,230,5303,0.00,2.67,0.00,0.000,6,0.000,0.047,3419,1961,2270,0,0,0,0,0,0
$GC,5581,1.46,178.3,391.8,10.7,237,5586,0.00,2.88,0.00,0.000,4,0.000,0.091,3420,382,2268,0,0,0,0,0,0
$GC,5615,1.41,178.3,388.1,11.7,237,5621,0.00,2.53,0.00,0.000,6,0.000,0.023,3420,1957,2266,0,0,0,0,0,0
$GC,5865,1.47,222.9,368.1,7.5,244,5906,0.00,0.00,39.47,0.844,6,0.000,0.000,3420,1956,2092,0,0,0,0,0,0
$GC,6149,1.52,267.4,346.7,7.5,251,6195,0.12,2.65,39.92,0.823,4,0.085,0.038,3452,3543,1910,0,0,0,0,0,0
$GC,6207,1.52,268.7,340.9,10.0,252,6211,0.00,2.65,0.00,0.000,6,0.000,0.036,3452,1966,1909,0,0,0,0,0,0
$GC,6467,1.52,268.7,309.4,12.4,259,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1965,1904,0,0,0,0,0,0
$GC,6711,1.52,268.7,281.8,11.0,265,6715,0.00,2.60,0.00,0.000,4,0.000,0.038,3452,3550,1901,0,0,0,0,0,0
$GC,6739,1.52,268.7,278.7,11.4,265,6743,0.00,2.58,0.00,0.000,6,0.000,0.033,3452,1972,1900,0,0,0,0,0,0
$GC,6988,1.52,268.7,250.6,11.3,271,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1972,1900,0,0,0,0,0,0
$GC,7232,1.52,268.7,222.7,11.5,277,7236,0.00,2.72,0.00,0.000,4,0.000,0.066,3452,391,1899,0,0,0,0,0,0
$GC,7304,1.52,268.7,213.8,12.7,278,7309,0.00,2.55,0.00,0.000,6,0.000,0.021,3452,2006,1897,0,0,0,0,0,0
$GC,7558,1.54,282.4,191.6,9.2,290,7583,0.00,2.58,12.43,0.673,4,0.000,0.035,3452,3544,1848,0,0,0,0,0,0
$GC,7623,1.58,282.4,185.1,12.3,295,7627,0.00,2.53,0.00,0.000,6,0.000,0.035,3452,1990,1846,0,0,0,0,0,0
$GC,7890,1.58,282.4,149.1,13.6,319,7895,0.00,2.72,0.00,0.000,4,0.000,0.065,3452,388,1845,0,0,0,0,0,0
$GC,7924,1.58,282.4,144.2,14.7,321,7928,0.00,2.53,0.00,0.000,6,0.000,0.025,3452,2004,1844,0,0,0,0,0,0
$GC,8192,1.66,313.4,115.7,8.3,345,8226,0.12,2.53,27.15,0.638,4,0.078,0.034,3489,3538,1722,0,0,0,0,0,0
$GC,8252,1.66,313.4,108.8,11.3,350,8256,0.00,2.53,0.00,0.000,6,0.000,0.032,3489,1988,1721,0,0,0,0,0,0
$GC,8519,1.66,313.4,73.9,15.0,374,8524,0.00,2.50,0.00,0.000,4,0.000,0.035,3489,3538,1719,0,0,0,0,0,0
$GC,8552,1.66,313.4,68.1,17.3,376,8556,0.00,2.53,0.00,0.000,6,0.000,0.031,3489,1981,1719,0,0,0,0,0,0
$GC,8821,1.66,313.4,33.8,12.2,400,8825,0.00,2.50,0.00,0.000,4,0.000,0.029,3489,3538,1718,0,0,0,0,0,0
$GC,8881,1.66,313.4,26.1,12.9,406,8890,0.00,2.55,0.00,0.000,6,0.000,0.034,3489,1982,1718,0,0,0,0,0,0
$STATE,9055,end climb,SURFACE_DEPTH_REACHED
$STATE,9057,begin surface coast
$FINISH,0.5,0.978091
$STATE,9100,end surface coast,CONTROL_FINISHED_OK
$STATE,9100,begin surface
$SM_CCo,9123,243.10,0.530,0,0,477,619.14
$SM_GC,1.14,0.00,0.00,243.10,0.000,0.000,0.530,476,1749,477,-12.16,-0.59,619.14
$IRIDIUM_FIX,2237.01,-15800.20,160800,161631
$TT8_MAMPS,0.026078
$HUMID,55.86
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,21.00
$XPDR_PINGS,44
$24V_AH,23.5,13.082
$10V_AH,10.5,11.135
$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,27.750,103.775,368.425,243.100,0.000,147.605,180.588,1041.518,11.000,0.000,17.963,882.503,6335.833,697.580,1582.070,1662.968,33.369,1293.508,0.000,1582.631,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,147.264,921.167,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,296.451,242.898,327.446,600.663,908.544,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,35209,437
$CAP_FILE_SIZE,109415,0
$CFSIZE,260165632,176898048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,193806,2246.750,-15800.718,10,1.1,26,10.1