version: 66.06
glider: 146
mission: 6
dive: 105
start: 5 24 111 1 27 48
data:
$ID,146
$MISSION,6
$DIVE,105
$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,-269645.09
$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,66
$R_STBD_OVSHOOT,30
$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
$GPS1,011350,2247.912,-15802.727,10,1.5,28,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.8
$GPS2,012655,2247.983,-15802.750,21,1.5,37,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.037,0.232
$KALMAN_X,-71520.1,-62.9,-21.0,61438.3,-556.4
$KALMAN_Y,-125203.4,-431.3,384.7,132804.8,-696.4
$MHEAD_RNG_PITCHd_Wd,359.0,3760,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,2,0.000,0.000,475,1726,3356,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-6.4,10,126,12.57,2.65,-2.22,0.000,4,0.163,0.039,2812,3356,3481,0,0,0,0,0,0
$GC,203,-1.23,-116.8,30.5,-18.4,24,208,0.20,2.47,0.00,0.000,6,0.122,0.028,2850,1804,3482,0,0,0,0,0,0
$GC,471,-1.16,-116.8,72.7,-15.8,48,475,0.00,2.72,0.00,0.000,4,0.000,0.061,2850,197,3482,0,0,0,0,0,0
$GC,516,-1.04,-116.8,81.0,-17.9,51,522,0.20,2.42,0.00,0.000,6,0.113,0.021,2892,1829,3483,0,0,0,0,0,0
$GC,784,-1.09,-116.8,116.7,-13.0,75,789,0.00,2.78,0.00,0.000,4,0.000,0.064,2892,196,3484,0,0,0,0,0,0
$GC,848,-1.13,-116.8,126.0,-13.4,80,852,0.00,2.42,0.00,0.000,6,0.000,0.016,2892,1825,3484,0,0,0,0,0,0
$GC,1112,-1.19,-116.8,153.6,-9.4,104,1118,0.15,0.00,0.00,0.000,6,0.065,0.000,2843,1825,3484,0,0,0,0,0,0
$GC,1375,-1.19,-116.8,180.8,-9.9,129,1379,0.00,2.40,0.00,0.000,4,0.000,0.027,2843,3366,3485,0,0,0,0,0,0
$GC,1405,-1.19,-116.8,183.8,-9.8,131,1410,0.00,2.58,0.00,0.000,6,0.000,0.031,2843,1746,3485,0,0,0,0,0,0
$GC,1693,-1.19,-116.8,212.3,-9.9,149,1697,0.00,2.55,0.00,0.000,4,0.000,0.029,2843,3361,3485,0,0,0,0,0,0
$GC,1736,-1.23,-116.8,216.6,-9.7,150,1741,0.00,2.55,0.00,0.000,6,0.000,0.031,2843,1761,3485,0,0,0,0,0,0
$GC,2015,-1.23,-116.8,245.0,-10.4,157,2020,0.00,2.55,0.00,0.000,4,0.000,0.032,2843,3357,3485,0,0,0,0,0,0
$GC,2048,-1.23,-116.8,249.0,-11.5,157,2054,0.00,2.55,0.00,0.000,6,0.000,0.035,2843,1767,3485,0,0,0,0,0,0
$GC,2298,-1.23,-116.8,278.0,-11.8,164,2302,0.00,2.55,0.00,0.000,4,0.000,0.038,2843,3365,3484,0,0,0,0,0,0
$GC,2326,-1.27,-116.8,281.4,-12.4,164,2331,0.00,2.60,0.00,0.000,6,0.000,0.035,2843,1769,3484,0,0,0,0,0,0
$GC,2576,-1.27,-116.8,310.4,-11.4,170,2580,0.00,2.55,0.00,0.000,4,0.000,0.035,2843,3362,3484,0,0,0,0,0,0
$GC,2615,-1.33,-116.8,314.6,-10.3,171,2620,0.00,2.60,0.00,0.000,6,0.000,0.040,2843,1774,3483,0,0,0,0,0,0
$GC,2901,-1.38,-116.8,343.9,-10.3,178,2906,0.10,2.60,0.00,0.000,4,0.096,0.041,2809,3359,3482,0,0,0,0,0,0
$GC,2956,-1.38,-116.8,350.8,-12.0,179,2960,0.00,2.60,0.00,0.000,6,0.000,0.045,2809,1785,3482,0,0,0,0,0,0
$GC,3222,-1.38,-116.8,382.9,-12.2,186,3226,0.00,2.55,0.00,0.000,4,0.000,0.045,2809,3356,3480,0,0,0,0,0,0
$GC,3255,-1.38,-116.8,387.1,-12.4,186,3261,0.00,2.62,0.00,0.000,6,0.000,0.057,2809,1789,3480,0,0,0,0,0,0
$GC,3505,-1.38,-116.8,415.7,-11.1,193,3509,0.00,2.58,0.00,0.000,4,0.000,0.048,2809,3352,3479,0,0,0,0,0,0
$GC,3544,-1.38,-116.8,419.9,-10.7,194,3549,0.00,2.65,0.00,0.000,6,0.000,0.056,2809,1798,3478,0,0,0,0,0,0
$GC,3829,-1.38,-116.8,448.3,-9.6,201,3833,0.00,2.58,0.00,0.000,4,0.000,0.049,2809,3356,3477,0,0,0,0,0,0
$GC,3850,-1.38,-116.8,450.7,-10.0,201,3854,0.00,2.65,0.00,0.000,6,0.000,0.064,2809,1802,3477,0,0,0,0,0,0
$GC,4105,-1.38,-116.8,475.8,-10.0,208,4109,0.00,2.60,0.00,0.000,4,0.000,0.055,2809,3356,3475,0,0,0,0,0,0
$GC,4166,-1.38,-116.8,482.5,-10.9,209,4171,0.00,2.67,0.00,0.000,6,0.000,0.065,2809,1813,3475,0,0,0,0,0,0
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4349,-0.31,0.0,501.1,10.4,214,4448,1.10,0.00,95.43,0.928,6,0.088,0.000,3052,1985,3001,0,0,0,0,0,0
$STATE,4449,end apogee,CONTROL_FINISHED_OK
$STATE,4449,begin climb
$GC,4452,1.38,116.8,504.2,0.0,216,4564,1.58,3.15,99.25,0.902,4,0.054,0.114,3419,381,2522,0,0,0,0,0,0
$GC,4587,1.36,187.0,501.2,6.0,219,4653,0.00,2.62,60.60,0.887,6,0.000,0.035,3418,1947,2237,0,0,0,0,0,0
$GC,4897,1.37,190.4,472.5,9.8,226,4901,0.00,2.78,0.00,0.000,4,0.000,0.060,3418,3552,2229,0,0,0,0,0,0
$GC,4946,1.37,193.8,467.6,9.8,227,4957,0.00,2.70,5.80,0.679,6,0.000,0.056,3418,1968,2210,0,0,0,0,0,0
$GC,5219,1.38,200.8,441.6,9.6,234,5233,0.00,2.75,7.18,0.734,4,0.000,0.048,3418,3559,2182,0,0,0,0,0,0
$GC,5283,1.38,200.8,434.7,11.0,235,5288,0.00,2.70,0.00,0.000,6,0.000,0.050,3419,1969,2180,0,0,0,0,0,0
$GC,5544,1.38,200.8,407.9,10.2,242,5549,0.00,2.92,0.00,0.000,4,0.000,0.102,3419,375,2178,0,0,0,0,0,0
$GC,5584,1.38,200.8,403.6,11.6,243,5589,0.00,2.60,0.00,0.000,6,0.000,0.028,3418,1987,2177,0,0,0,0,0,0
$GC,5867,1.41,221.8,377.6,8.8,250,5892,0.00,2.65,19.23,0.830,4,0.000,0.044,3418,3557,2095,0,0,0,0,0,0
$GC,5921,1.41,227.3,372.5,9.7,251,5932,0.00,2.67,6.07,0.675,6,0.000,0.041,3418,1962,2074,0,0,0,0,0,0
$GC,6195,1.43,237.6,347.0,9.4,258,6210,0.00,2.62,10.43,0.765,4,0.000,0.038,3418,3547,2031,0,0,0,0,0,0
$GC,6234,1.43,239.2,343.1,9.9,259,6238,0.00,2.65,0.00,0.000,6,0.000,0.038,3418,1962,2029,0,0,0,0,0,0
$GC,6518,1.49,254.2,317.1,9.2,266,6540,0.10,2.65,15.65,0.780,4,0.097,0.039,3445,3548,1964,0,0,0,0,0,0
$GC,6573,1.49,254.2,310.9,11.4,267,6578,0.00,2.60,0.00,0.000,6,0.000,0.036,3445,1979,1962,0,0,0,0,0,0
$GC,6840,1.49,254.2,278.5,12.4,274,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1979,1960,0,0,0,0,0,0
$GC,7085,1.49,254.2,245.7,13.5,280,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1979,1959,0,0,0,0,0,0
$GC,7328,1.49,254.2,212.7,13.6,286,7332,0.00,2.58,0.00,0.000,4,0.000,0.035,3445,3553,1958,0,0,0,0,0,0
$GC,7360,1.49,254.2,208.3,13.2,286,7366,0.00,2.58,0.00,0.000,6,0.000,0.038,3445,1974,1957,0,0,0,0,0,0
$GC,7619,1.51,277.6,181.7,8.7,305,7646,0.00,2.65,20.45,0.703,4,0.000,0.039,3445,3546,1868,0,0,0,0,0,0
$GC,7680,1.59,307.1,177.0,8.3,310,7716,0.00,2.58,26.05,0.697,6,0.000,0.031,3445,1979,1749,0,0,0,0,0,0
$GC,7971,1.63,307.1,150.4,10.1,337,7976,0.12,2.55,0.00,0.000,4,0.100,0.031,3479,3549,1743,0,0,0,0,0,0
$GC,7992,1.63,307.1,147.3,11.6,338,8001,0.00,2.58,0.00,0.000,6,0.000,0.035,3479,1984,1742,0,0,0,0,0,0
$GC,8260,1.63,307.1,114.3,13.3,363,8264,0.00,2.53,0.00,0.000,4,0.000,0.032,3478,3559,1742,0,0,0,0,0,0
$GC,8281,1.63,307.1,110.1,14.8,364,8290,0.00,2.58,0.00,0.000,6,0.000,0.032,3479,1986,1741,0,0,0,0,0,0
$GC,8545,1.63,307.1,69.6,17.5,389,8549,0.00,2.67,0.00,0.000,4,0.000,0.057,3479,392,1741,0,0,0,0,0,0
$GC,8578,1.63,307.1,64.2,17.2,391,8583,0.00,2.53,0.00,0.000,6,0.000,0.018,3479,2012,1740,0,0,0,0,0,0
$GC,8851,1.67,307.1,25.6,11.6,417,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2013,1740,0,0,0,0,0,0
$STATE,9038,end climb,SURFACE_DEPTH_REACHED
$STATE,9038,begin surface coast
$FINISH,0.5,0.979663
$STATE,9084,end surface coast,CONTROL_FINISHED_OK
$STATE,9084,begin surface
$SM_CCo,9106,74.22,0.542,0,0,1370,400.08
$SM_GC,1.30,0.00,0.00,74.22,0.000,0.000,0.542,479,1765,1370,-12.15,-0.14,400.08
$IRIDIUM_FIX,2237.01,-15758.03,170800,010136
$TT8_MAMPS,0.026078
$HUMID,60.19
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,20.80
$XPDR_PINGS,49
$24V_AH,23.5,13.462
$10V_AH,10.4,11.454
$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,28.375,131.575,366.125,74.225,0.000,51.850,69.752,440.591,12.250,0.000,39.380,929.620,5969.017,503.339,1737.752,826.862,33.362,1189.408,0.000,1714.772,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,113.516,928.070,541.502,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.266,252.462,342.578,626.351,947.341,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,35132,450
$CAP_FILE_SIZE,106064,0
$CFSIZE,260165632,176754688
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,040237,2248.765,-15802.963,68,1.3,68,10.1