version: 66.06
glider: 146
mission: 6
dive: 103
start: 5 23 111 19 49 10
data:
$ID,146
$MISSION,6
$DIVE,103
$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,-269590.75
$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,37
$R_STBD_OVSHOOT,55
$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
$GPS1,193806,2246.750,-15800.718,10,1.1,26,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.6
$GPS2,194814,2246.731,-15800.762,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.224,0.070
$KALMAN_X,-70490.2,-25.9,-14.5,63754.7,-332.4
$KALMAN_Y,-123816.3,-361.5,-351.8,129771.8,-363.2
$MHEAD_RNG_PITCHd_Wd,277.2,3854,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,127,0.00,0.00,-109.45,0.000,2,0.000,0.000,476,1748,3262,0,0,0,0,0,0
$GC,130,-1.38,-116.8,3.2,-5.1,14,156,12.25,2.55,-4.20,0.000,4,0.153,0.034,2809,3338,3480,0,0,0,0,0,0
$GC,358,-1.25,-116.8,52.5,-17.8,39,368,0.12,2.53,0.00,0.000,6,0.104,0.026,2839,1772,3481,0,0,0,0,0,0
$GC,622,-1.18,-116.8,94.3,-16.8,64,627,0.10,2.50,0.00,0.000,4,0.144,0.025,2859,3335,3482,0,0,0,0,0,0
$GC,645,-1.18,-116.8,98.7,-16.0,65,651,0.00,2.53,0.00,0.000,6,0.000,0.031,2859,1763,3482,0,0,0,0,0,0
$GC,909,-1.18,-116.8,131.9,-10.3,90,914,0.00,2.67,0.00,0.000,4,0.000,0.065,2859,196,3482,0,0,0,0,0,0
$GC,938,-1.14,-116.8,135.4,-11.7,92,943,0.00,2.38,0.00,0.000,6,0.000,0.019,2860,1798,3481,0,0,0,0,0,0
$GC,1200,-1.14,-116.8,161.9,-10.8,116,1205,0.00,2.38,0.00,0.000,4,0.000,0.032,2859,3309,3482,0,0,0,0,0,0
$GC,1225,-1.14,-116.8,164.7,-11.6,117,1234,0.00,2.50,0.00,0.000,6,0.000,0.026,2859,1760,3482,0,0,0,0,0,0
$GC,1489,-1.14,-116.8,197.8,-12.7,142,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1760,3483,0,0,0,0,0,0
$GC,1749,-1.14,-116.8,227.8,-10.8,150,1753,0.00,2.42,0.00,0.000,4,0.000,0.031,2859,3299,3482,0,0,0,0,0,0
$GC,1819,-1.21,-116.8,234.5,-9.2,151,1824,0.00,2.45,0.00,0.000,6,0.000,0.032,2859,1774,3483,0,0,0,0,0,0
$GC,2075,-1.25,-116.8,259.3,-9.7,158,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1774,3482,0,0,0,0,0,0
$GC,2319,-1.30,-116.8,285.3,-10.7,164,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1774,3482,0,0,0,0,0,0
$GC,2564,-1.36,-116.8,308.7,-9.2,170,2569,0.15,2.47,0.00,0.000,4,0.068,0.035,2812,3301,3481,0,0,0,0,0,0
$GC,2591,-1.36,-116.8,311.8,-10.8,170,2595,0.00,2.47,0.00,0.000,6,0.000,0.041,2812,1790,3481,0,0,0,0,0,0
$GC,2847,-1.36,-116.8,342.0,-12.4,177,2851,0.00,2.88,0.00,0.000,4,0.000,0.090,2812,186,3480,0,0,0,0,0,0
$GC,2864,-1.32,-116.8,344.0,-12.6,177,2868,0.00,2.42,0.00,0.000,6,0.000,0.028,2812,1738,3479,0,0,0,0,0,0
$GC,3124,-1.32,-116.8,373.6,-10.9,184,3128,0.00,2.65,0.00,0.000,4,0.000,0.051,2812,3353,3478,0,0,0,0,0,0
$GC,3190,-1.32,-116.8,380.7,-11.0,185,3194,0.00,2.58,0.00,0.000,6,0.000,0.050,2812,1808,3478,0,0,0,0,0,0
$GC,3447,-1.32,-116.8,407.4,-10.5,192,3451,0.00,2.53,0.00,0.000,4,0.000,0.049,2812,3349,3477,0,0,0,0,0,0
$GC,3462,-1.32,-116.8,409.3,-10.6,192,3466,0.00,2.62,0.00,0.000,6,0.000,0.058,2812,1802,3477,0,0,0,0,0,0
$GC,3723,-1.32,-116.8,440.3,-12.4,199,3725,0.10,0.00,0.00,0.000,6,0.128,0.000,2833,1802,3475,0,0,0,0,0,0
$GC,3969,-1.36,-116.8,470.5,-12.3,205,3973,0.00,2.58,0.00,0.000,4,0.000,0.053,2833,3340,3473,0,0,0,0,0,0
$GC,4018,-1.43,-116.8,476.6,-11.3,206,4023,0.10,2.62,0.00,0.000,6,0.090,0.061,2799,1805,3473,0,0,0,0,0,0
$STATE,4247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4247,begin apogee
$GC,4255,-0.31,0.0,503.4,11.4,212,4354,1.12,0.00,96.10,0.920,6,0.089,0.000,3048,1977,3001,0,0,0,0,0,0
$STATE,4355,end apogee,CONTROL_FINISHED_OK
$STATE,4355,begin climb
$GC,4358,1.38,116.8,506.1,0.0,214,4469,1.60,2.78,99.70,0.900,4,0.060,0.058,3419,3529,2522,0,0,0,0,0,0
$GC,4521,1.36,135.0,498.3,9.0,217,4544,0.00,2.70,16.10,0.828,6,0.000,0.057,3419,1968,2450,0,0,0,0,0,0
$GC,4812,1.42,177.4,474.8,7.6,225,4855,0.00,2.70,37.72,0.871,4,0.000,0.051,3419,3531,2276,0,0,0,0,0,0
$GC,4866,1.49,238.0,471.1,6.5,226,4927,0.10,2.72,52.80,0.871,6,0.097,0.055,3445,1959,2031,0,0,0,0,0,0
$GC,5177,1.49,238.0,440.8,10.2,234,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1959,2022,0,0,0,0,0,0
$GC,5420,1.49,238.0,409.9,13.1,240,5425,0.00,2.62,0.00,0.000,4,0.000,0.043,3445,3540,2019,0,0,0,0,0,0
$GC,5449,1.49,238.0,406.1,14.1,240,5453,0.00,2.67,0.00,0.000,6,0.000,0.043,3445,1951,2017,0,0,0,0,0,0
$GC,5698,1.49,238.0,374.1,12.6,246,5703,0.00,2.60,0.00,0.000,4,0.000,0.041,3446,3535,2016,0,0,0,0,0,0
$GC,5714,1.49,238.0,372.0,12.2,246,5719,0.00,2.60,0.00,0.000,6,0.000,0.037,3445,1966,2015,0,0,0,0,0,0
$GC,5976,1.49,238.0,341.5,11.6,253,5980,0.00,2.58,0.00,0.000,4,0.000,0.039,3447,3540,2015,0,0,0,0,0,0
$GC,6003,1.49,238.0,338.4,11.4,253,6008,0.00,2.58,0.00,0.000,6,0.000,0.039,3445,1979,2013,0,0,0,0,0,0
$GC,6253,1.49,238.0,311.9,10.4,259,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1979,2012,0,0,0,0,0,0
$GC,6497,1.49,238.0,287.2,10.1,265,6501,0.00,2.78,0.00,0.000,4,0.000,0.067,3445,380,2011,0,0,0,0,0,0
$GC,6520,1.49,238.0,284.7,11.4,265,6525,0.00,2.53,0.00,0.000,6,0.000,0.025,3445,1986,2010,0,0,0,0,0,0
$GC,6775,1.49,238.0,254.0,12.5,272,6780,0.00,2.53,0.00,0.000,4,0.000,0.042,3445,3542,2010,0,0,0,0,0,0
$GC,6796,1.49,238.0,251.0,13.7,272,6801,0.00,2.55,0.00,0.000,6,0.000,0.031,3446,1969,2010,0,0,0,0,0,0
$GC,7051,1.49,238.0,222.0,10.9,279,7056,0.00,2.70,0.00,0.000,4,0.000,0.067,3445,393,2009,0,0,0,0,0,0
$GC,7074,1.49,238.0,219.5,10.9,279,7078,0.00,2.50,0.00,0.000,6,0.000,0.024,3446,1991,2009,0,0,0,0,0,0
$GC,7335,1.52,263.5,195.6,8.6,289,7359,0.00,2.55,19.55,0.708,4,0.000,0.035,3446,3532,1925,0,0,0,0,0,0
$GC,7406,1.56,263.5,189.2,10.3,295,7410,0.00,2.55,0.00,0.000,6,0.000,0.035,3445,1972,1923,0,0,0,0,0,0
$GC,7672,1.60,263.5,163.0,10.2,319,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1972,1921,0,0,0,0,0,0
$GC,7935,1.64,263.5,134.7,11.3,344,7940,0.12,2.55,0.00,0.000,4,0.077,0.036,3481,3536,1920,0,0,0,0,0,0
$GC,7987,1.64,263.5,127.6,13.4,348,7992,0.00,2.50,0.00,0.000,6,0.000,0.032,3480,1979,1920,0,0,0,0,0,0
$GC,8251,1.64,263.5,97.6,11.3,372,8255,0.00,2.67,0.00,0.000,4,0.000,0.059,3481,391,1920,0,0,0,0,0,0
$GC,8280,1.60,263.5,93.8,12.9,374,8284,0.00,2.47,0.00,0.000,6,0.000,0.018,3481,1988,1919,0,0,0,0,0,0
$GC,8546,1.60,267.5,67.1,9.8,398,8561,0.00,2.72,3.97,0.405,4,0.000,0.055,3480,393,1909,0,0,0,0,0,0
$GC,8580,1.60,267.5,63.6,10.6,400,8584,0.00,2.45,0.00,0.000,6,0.000,0.018,3481,1988,1909,0,0,0,0,0,0
$GC,8848,1.60,267.5,33.9,12.2,424,8852,0.00,2.47,0.00,0.000,4,0.000,0.031,3481,3537,1909,0,0,0,0,0,0
$GC,8913,1.60,267.5,26.3,10.4,431,8923,0.00,2.53,0.00,0.000,6,0.000,0.029,3481,1978,1909,0,0,0,0,0,0
$STATE,9147,end climb,SURFACE_DEPTH_REACHED
$STATE,9148,begin surface coast
$FINISH,0.5,0.975052
$STATE,9195,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9219,106.60,0.534,0,0,1370,400.08
$SM_GC,1.21,0.00,0.00,106.60,0.000,0.000,0.534,477,1760,1370,-12.16,-0.31,400.08
$IRIDIUM_FIX,2239.35,-15759.32,160800,171704
$TT8_MAMPS,0.025311
$HUMID,57.52
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,42
$24V_AH,23.5,13.208
$10V_AH,10.5,11.244
$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,27.925,118.900,325.950,106.600,0.000,30.486,35.767,413.900,10.500,0.000,17.865,939.078,5976.673,522.641,1757.551,743.013,33.364,1182.843,0.000,1765.108,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,121.186,920.400,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.549,262.193,368.415,712.502,1077.715,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,38464,473
$CAP_FILE_SIZE,99774,0
$CFSIZE,260165632,176861184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,222600,2246.778,-15802.190,39,1.8,44,10.1