version: 66.06
glider: 146
mission: 6
dive: 107
start: 5 24 111 7 7 59
data:
$ID,146
$MISSION,6
$DIVE,107
$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,-269703.75
$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,64
$R_STBD_OVSHOOT,63
$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
$GPS1,070032,2249.452,-15803.215,7,1.9,7,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.7
$GPS2,070706,2249.447,-15803.224,20,2.4,39,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,0.051
$KALMAN_X,-73011.0,-114.2,-135.4,62285.6,-435.9
$KALMAN_Y,-126923.2,234.3,-438.9,137398.9,-329.7
$MHEAD_RNG_PITCHd_Wd,67.4,10672,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.45,0.000,2,0.000,0.000,476,1722,3386,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.2,-9.0,10,119,12.45,0.00,-1.60,0.000,6,0.160,0.000,2810,1722,3480,0,0,0,0,0,0
$GC,390,-1.21,-116.8,67.6,-16.8,41,400,0.22,0.00,0.00,0.000,6,0.121,0.000,2855,1722,3482,0,0,0,0,0,0
$GC,653,-1.16,-116.8,105.1,-13.6,66,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1722,3484,0,0,0,0,0,0
$GC,906,-1.16,-116.8,138.8,-13.2,90,910,0.00,2.55,0.00,0.000,4,0.000,0.032,2855,3333,3484,0,0,0,0,0,0
$GC,927,-1.16,-116.8,141.8,-13.0,91,933,0.00,2.42,0.00,0.000,6,0.000,0.032,2855,1804,3484,0,0,0,0,0,0
$GC,1192,-1.16,-116.8,177.5,-14.0,116,1196,0.00,2.40,0.00,0.000,4,0.000,0.030,2855,3340,3485,0,0,0,0,0,0
$GC,1243,-1.16,-116.8,185.5,-14.9,120,1247,0.00,2.50,0.00,0.000,6,0.000,0.033,2855,1777,3485,0,0,0,0,0,0
$GC,1507,-1.16,-116.8,222.6,-13.3,133,1511,0.00,2.45,0.00,0.000,4,0.000,0.026,2855,3335,3486,0,0,0,0,0,0
$GC,1541,-1.20,-116.8,226.4,-10.9,133,1547,0.00,2.53,0.00,0.000,6,0.000,0.029,2855,1767,3485,0,0,0,0,0,0
$GC,1791,-1.20,-116.8,249.4,-8.5,140,1795,0.00,2.50,0.00,0.000,4,0.000,0.034,2855,3336,3486,0,0,0,0,0,0
$GC,1818,-1.25,-116.8,251.8,-8.4,140,1823,0.00,2.50,0.00,0.000,6,0.000,0.035,2855,1782,3486,0,0,0,0,0,0
$GC,2070,-1.30,-116.8,275.3,-10.0,146,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1782,3486,0,0,0,0,0,0
$GC,2312,-1.35,-116.8,300.9,-10.5,152,2314,0.12,0.00,0.00,0.000,6,0.075,0.000,2815,1782,3486,0,0,0,0,0,0
$GC,2555,-1.35,-116.8,327.8,-10.9,158,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1782,3485,0,0,0,0,0,0
$GC,2800,-1.35,-116.8,353.1,-10.3,164,2805,0.00,2.53,0.00,0.000,4,0.000,0.044,2814,3325,3484,0,0,0,0,0,0
$GC,2844,-1.35,-116.8,358.1,-10.8,165,2849,0.00,2.58,0.00,0.000,6,0.000,0.047,2814,1780,3484,0,0,0,0,0,0
$GC,3122,-1.35,-116.8,389.1,-11.3,172,3127,0.00,2.53,0.00,0.000,4,0.000,0.041,2814,3325,3482,0,0,0,0,0,0
$GC,3145,-1.35,-116.8,391.8,-11.5,172,3150,0.00,2.62,0.00,0.000,6,0.000,0.054,2814,1769,3482,0,0,0,0,0,0
$GC,3400,-1.35,-116.8,421.9,-11.8,179,3405,0.00,2.55,0.00,0.000,4,0.000,0.048,2814,3323,3480,0,0,0,0,0,0
$GC,3433,-1.35,-116.8,425.9,-12.1,179,3439,0.00,2.62,0.00,0.000,6,0.000,0.060,2814,1780,3480,0,0,0,0,0,0
$GC,3683,-1.35,-116.8,453.4,-11.0,186,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1780,3479,0,0,0,0,0,0
$GC,3928,-1.35,-116.8,478.4,-10.1,192,3932,0.00,2.58,0.00,0.000,4,0.000,0.051,2814,3315,3478,0,0,0,0,0,0
$GC,3967,-1.35,-116.8,482.4,-9.7,193,3971,0.00,2.65,0.00,0.000,6,0.000,0.066,2814,1789,3477,0,0,0,0,0,0
$STATE,4166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4166,begin apogee
$GC,4172,-0.31,0.0,500.8,9.0,198,4273,1.08,0.00,96.90,0.920,6,0.090,0.000,3051,1957,3001,0,0,0,0,0,0
$STATE,4273,end apogee,CONTROL_FINISHED_OK
$STATE,4273,begin climb
$GC,4277,1.38,116.8,501.9,0.0,200,4388,1.55,3.05,99.22,0.895,4,0.051,0.113,3416,384,2522,0,0,0,0,0,0
$GC,4412,1.31,136.1,494.1,8.9,203,4437,0.00,2.60,17.15,0.831,6,0.000,0.036,3416,1946,2445,0,0,0,0,0,0
$GC,4688,1.32,145.0,467.4,9.5,210,4702,0.00,2.80,8.12,0.752,4,0.000,0.059,3416,3547,2409,0,0,0,0,0,0
$GC,4736,1.32,147.1,462.6,9.9,211,4741,0.00,2.67,0.00,0.000,6,0.000,0.052,3416,1968,2407,0,0,0,0,0,0
$GC,5016,1.36,180.4,439.1,8.1,218,5056,0.00,2.78,31.67,0.862,4,0.000,0.042,3416,3561,2264,0,0,0,0,0,0
$GC,5067,1.40,212.8,434.6,8.2,219,5102,0.00,2.70,29.17,0.846,6,0.000,0.049,3416,1981,2133,0,0,0,0,0,0
$GC,5389,1.41,218.1,404.8,9.7,227,5396,0.00,0.00,4.95,0.619,6,0.000,0.000,3416,1982,2111,0,0,0,0,0,0
$GC,5630,1.41,218.1,380.2,10.2,233,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1982,2108,0,0,0,0,0,0
$GC,5873,1.41,218.1,355.3,10.2,239,5878,0.00,2.60,0.00,0.000,4,0.000,0.036,3416,3560,2106,0,0,0,0,0,0
$GC,5890,1.41,219.5,353.5,10.0,239,5895,0.00,2.62,0.00,0.000,6,0.000,0.042,3416,1979,2105,0,0,0,0,0,0
$GC,6152,1.42,231.5,328.2,9.4,246,6171,0.00,2.70,12.20,0.765,4,0.000,0.037,3416,3567,2057,0,0,0,0,0,0
$GC,6195,1.44,240.5,324.3,9.5,247,6209,0.00,2.62,9.55,0.726,6,0.000,0.040,3416,1987,2020,0,0,0,0,0,0
$GC,6478,1.51,264.8,299.4,8.6,254,6503,0.12,0.00,22.48,0.782,6,0.082,0.000,3451,1987,1921,0,0,0,0,0,0
$GC,6720,1.51,264.8,272.8,10.9,260,6725,0.00,2.80,0.00,0.000,4,0.000,0.073,3451,384,1916,0,0,0,0,0,0
$GC,6759,1.45,264.8,268.0,12.6,261,6764,0.00,2.55,0.00,0.000,6,0.000,0.025,3451,2005,1915,0,0,0,0,0,0
$GC,7043,1.45,264.8,232.7,12.7,268,7048,0.00,2.50,0.00,0.000,4,0.000,0.041,3451,3541,1914,0,0,0,0,0,0
$GC,7093,1.45,264.8,225.8,12.9,269,7097,0.00,2.55,0.00,0.000,6,0.000,0.035,3452,1982,1913,0,0,0,0,0,0
$GC,7352,1.45,264.8,194.6,11.8,277,7356,0.00,2.53,0.00,0.000,4,0.000,0.037,3451,3538,1912,0,0,0,0,0,0
$GC,7430,1.45,264.8,185.5,11.1,283,7434,0.00,2.50,0.00,0.000,6,0.000,0.031,3451,1994,1911,0,0,0,0,0,0
$GC,7696,1.46,272.2,159.0,9.6,307,7705,0.00,0.00,6.43,0.571,6,0.000,0.000,3452,1994,1890,0,0,0,0,0,0
$GC,7960,1.48,293.5,134.4,8.8,332,7982,0.00,0.00,19.88,0.644,6,0.000,0.000,3452,1994,1804,0,0,0,0,0,0
$GC,8236,1.53,293.5,104.2,11.9,358,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1994,1800,0,0,0,0,0,0
$GC,8501,1.59,293.5,70.7,13.3,383,8505,0.00,2.47,0.00,0.000,4,0.000,0.030,3451,3544,1800,0,0,0,0,0,0
$GC,8548,1.66,293.5,64.2,12.0,386,8559,0.10,2.50,0.00,0.000,6,0.046,0.028,3490,2003,1799,0,0,0,0,0,0
$GC,8816,1.66,293.5,31.3,11.1,411,8820,0.00,2.70,0.00,0.000,4,0.000,0.054,3490,396,1799,0,0,0,0,0,0
$GC,8863,1.66,293.5,25.8,10.7,417,8872,0.00,2.53,0.00,0.000,6,0.000,0.018,3490,2018,1799,0,0,0,0,0,0
$STATE,9046,end climb,SURFACE_DEPTH_REACHED
$STATE,9046,begin surface coast
$FINISH,0.5,0.980212
$STATE,9093,end surface coast,CONTROL_FINISHED_OK
$STATE,9094,begin surface
$SM_CCo,9116,86.28,0.533,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,86.28,0.000,0.000,0.533,477,1757,1369,-12.16,-0.37,400.08
$IRIDIUM_FIX,2237.01,-15805.41,170800,040452
$TT8_MAMPS,0.026078
$HUMID,57.99
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.60
$XPDR_PINGS,37
$24V_AH,23.5,13.718
$10V_AH,10.4,11.669
$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,27.800,93.925,357.725,86.275,0.000,31.230,33.811,168.833,9.250,0.000,41.566,894.642,6042.146,502.322,1677.516,481.446,33.362,1121.204,0.000,1657.737,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,112.749,919.633,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.848,247.939,341.811,648.599,981.152,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,35246,451
$CAP_FILE_SIZE,89974,0
$CFSIZE,260165632,176664576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,094237,2249.519,-15802.014,35,1.5,35,10.1