version: 66.06
glider: 146
mission: 6
dive: 108
start: 5 24 111 9 55 31
data:
$ID,146
$MISSION,6
$DIVE,108
$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,-269721.34
$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,40
$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
$GPS1,094237,2249.519,-15802.014,35,1.5,35,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.9
$GPS2,095437,2249.527,-15802.044,10,1.7,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,0.044
$KALMAN_X,-73519.6,-103.9,87.6,64570.5,-456.8
$KALMAN_Y,-127723.7,451.0,-217.2,137905.9,-254.0
$MHEAD_RNG_PITCHd_Wd,69.0,8655,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.50,0.000,2,0.000,0.000,476,1757,3342,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-6.0,10,126,12.75,2.55,-2.53,0.000,4,0.170,0.041,2807,3335,3481,0,0,0,0,0,0
$GC,146,-0.73,-116.8,18.4,-34.3,15,156,0.68,2.53,0.00,0.000,6,0.100,0.035,2954,1788,3482,0,0,0,0,0,0
$GC,429,-0.85,-116.8,51.2,-10.2,45,433,0.00,2.70,0.00,0.000,4,0.000,0.061,2954,193,3483,0,0,0,0,0,0
$GC,452,-0.95,-116.8,53.4,-9.8,46,457,0.17,2.42,0.00,0.000,6,0.061,0.014,2898,1804,3483,0,0,0,0,0,0
$GC,714,-0.99,-116.8,82.3,-10.4,70,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1805,3483,0,0,0,0,0,0
$GC,969,-1.04,-116.8,110.7,-12.3,94,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1805,3484,0,0,0,0,0,0
$GC,1223,-1.10,-116.8,143.6,-11.2,118,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1805,3484,0,0,0,0,0,0
$GC,1483,-1.19,-116.8,169.0,-9.3,142,1489,0.15,0.00,0.00,0.000,6,0.065,0.000,2849,1805,3485,0,0,0,0,0,0
$GC,1744,-1.19,-116.8,200.0,-11.8,167,1748,0.00,2.35,0.00,0.000,4,0.000,0.030,2849,3312,3485,0,0,0,0,0,0
$GC,1770,-1.19,-116.8,203.0,-10.9,167,1775,0.00,2.47,0.00,0.000,6,0.000,0.028,2849,1759,3485,0,0,0,0,0,0
$GC,2027,-1.19,-116.8,233.0,-12.3,174,2031,0.00,2.42,0.00,0.000,4,0.000,0.033,2849,3301,3485,0,0,0,0,0,0
$GC,2059,-1.22,-116.8,237.6,-13.0,174,2065,0.00,2.45,0.00,0.000,6,0.000,0.035,2849,1776,3485,0,0,0,0,0,0
$GC,2309,-1.22,-116.8,267.8,-12.1,181,2313,0.00,2.42,0.00,0.000,4,0.000,0.036,2849,3299,3485,0,0,0,0,0,0
$GC,2372,-1.29,-116.8,275.1,-11.8,182,2376,0.00,2.45,0.00,0.000,6,0.000,0.035,2849,1786,3485,0,0,0,0,0,0
$GC,2639,-1.33,-116.8,301.9,-9.5,189,2643,0.00,2.83,0.00,0.000,4,0.000,0.087,2849,192,3485,0,0,0,0,0,0
$GC,2684,-1.33,-116.8,306.2,-9.5,190,2688,0.00,2.42,0.00,0.000,6,0.000,0.022,2850,1731,3485,0,0,0,0,0,0
$GC,2963,-1.37,-116.8,333.3,-10.0,197,2969,0.12,2.65,0.00,0.000,4,0.073,0.042,2807,3356,3484,0,0,0,0,0,0
$GC,2985,-1.37,-116.8,336.0,-11.0,197,2989,0.00,2.62,0.00,0.000,6,0.000,0.044,2807,1778,3484,0,0,0,0,0,0
$GC,3241,-1.37,-116.8,365.5,-11.4,204,3245,0.00,2.55,0.00,0.000,4,0.000,0.041,2807,3354,3483,0,0,0,0,0,0
$GC,3285,-1.37,-116.8,370.4,-10.7,205,3290,0.00,2.65,0.00,0.000,6,0.000,0.055,2807,1782,3483,0,0,0,0,0,0
$GC,3563,-1.37,-116.8,399.5,-10.3,212,3567,0.00,2.58,0.00,0.000,4,0.000,0.048,2807,3350,3481,0,0,0,0,0,0
$GC,3584,-1.37,-116.8,402.0,-10.6,212,3588,0.00,2.65,0.00,0.000,6,0.000,0.057,2807,1786,3481,0,0,0,0,0,0
$GC,3846,-1.37,-116.8,432.1,-11.7,219,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1787,3479,0,0,0,0,0,0
$GC,4089,-1.37,-116.8,461.7,-12.1,225,4093,0.00,2.60,0.00,0.000,4,0.000,0.050,2807,3342,3478,0,0,0,0,0,0
$GC,4110,-1.37,-116.8,464.4,-12.3,225,4114,0.00,2.67,0.00,0.000,6,0.000,0.067,2807,1788,3478,0,0,0,0,0,0
$GC,4366,-1.37,-116.8,493.8,-11.6,232,4370,0.00,2.62,0.00,0.000,4,0.000,0.054,2807,3344,3476,0,0,0,0,0,0
$GC,4388,-1.37,-116.8,496.4,-11.5,232,4393,0.00,2.70,0.00,0.000,6,0.000,0.064,2807,1785,3476,0,0,0,0,0,0
$STATE,4437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4438,begin apogee
$GC,4444,-0.31,0.0,501.8,10.6,234,4544,1.10,0.00,96.90,0.923,6,0.086,0.000,3051,1983,3001,0,0,0,0,0,0
$STATE,4545,end apogee,CONTROL_FINISHED_OK
$STATE,4545,begin climb
$GC,4547,1.38,116.8,504.5,0.0,236,4652,1.60,0.00,99.90,0.902,6,0.055,0.000,3423,1983,2523,0,0,0,0,0,0
$GC,4885,1.44,167.6,486.4,7.1,245,4931,0.00,0.00,43.95,0.885,6,0.000,0.000,3422,1983,2316,0,0,0,0,0,0
$GC,5168,1.47,188.4,462.0,8.8,252,5192,0.00,2.70,18.50,0.845,4,0.000,0.050,3423,3532,2231,0,0,0,0,0,0
$GC,5211,1.49,203.2,458.2,9.2,253,5231,0.00,2.72,14.30,0.815,6,0.000,0.053,3423,1954,2172,0,0,0,0,0,0
$GC,5498,1.50,210.2,430.4,9.6,260,5513,0.10,2.72,6.70,0.710,4,0.097,0.041,3451,3534,2142,0,0,0,0,0,0
$GC,5577,1.50,210.2,422.0,11.6,261,5582,0.00,2.65,0.00,0.000,6,0.000,0.048,3451,1975,2140,0,0,0,0,0,0
$GC,5827,1.46,210.2,395.6,10.4,267,5832,0.00,2.60,0.00,0.000,4,0.000,0.038,3451,3542,2139,0,0,0,0,0,0
$GC,5888,1.46,210.2,388.7,11.4,268,5892,0.00,2.62,0.00,0.000,6,0.000,0.047,3451,1976,2138,0,0,0,0,0,0
$GC,6156,1.41,210.2,360.1,10.8,275,6161,0.12,2.58,0.00,0.000,4,0.120,0.041,3426,3535,2136,0,0,0,0,0,0
$GC,6242,1.41,210.2,350.8,10.3,277,6246,0.00,2.58,0.00,0.000,6,0.000,0.037,3426,1984,2135,0,0,0,0,0,0
$GC,6524,1.41,210.2,322.0,10.1,284,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1985,2134,0,0,0,0,0,0
$GC,6769,1.42,219.2,298.5,9.5,290,6779,0.00,0.00,7.62,0.703,6,0.000,0.000,3426,1984,2107,0,0,0,0,0,0
$GC,7012,1.45,243.8,276.6,8.6,296,7041,0.00,2.88,23.02,0.773,4,0.000,0.072,3426,386,2006,0,0,0,0,0,0
$GC,7076,1.45,243.8,270.2,10.7,297,7080,0.00,2.55,0.00,0.000,6,0.000,0.025,3426,1990,2004,0,0,0,0,0,0
$GC,7339,1.51,256.6,245.6,9.3,304,7359,0.10,2.60,12.35,0.714,4,0.212,0.041,3453,3537,1954,0,0,0,0,0,0
$GC,7398,1.51,256.6,239.2,10.9,305,7402,0.00,2.53,0.00,0.000,6,0.000,0.037,3453,1995,1952,0,0,0,0,0,0
$GC,7666,1.51,256.6,212.4,10.3,312,7671,0.00,2.75,0.00,0.000,4,0.000,0.066,3453,385,1950,0,0,0,0,0,0
$GC,7687,1.51,256.6,209.6,11.7,312,7691,0.00,2.55,0.00,0.000,6,0.000,0.019,3453,2007,1948,0,0,0,0,0,0
$GC,7954,1.51,256.6,179.0,11.5,331,7958,0.00,2.45,0.00,0.000,4,0.000,0.038,3453,3529,1948,0,0,0,0,0,0
$GC,7999,1.51,256.6,173.9,12.3,334,8004,0.00,2.50,0.00,0.000,6,0.000,0.030,3453,1980,1947,0,0,0,0,0,0
$GC,8262,1.51,256.6,145.7,10.2,358,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1980,1947,0,0,0,0,0,0
$GC,8516,1.51,256.6,120.0,10.2,382,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1980,1947,0,0,0,0,0,0
$GC,8770,1.58,308.5,98.7,7.0,406,8823,0.00,0.00,44.15,0.625,6,0.000,0.000,3453,1980,1742,0,0,0,0,0,0
$GC,9079,1.64,317.1,70.7,9.5,435,9093,0.10,2.53,8.43,0.525,4,0.087,0.028,3485,3541,1707,0,0,0,0,0,0
$GC,9135,1.64,317.1,64.3,11.9,439,9139,0.00,2.50,0.00,0.000,6,0.000,0.030,3485,1987,1706,0,0,0,0,0,0
$GC,9402,1.64,317.1,30.7,11.0,463,9407,0.00,2.50,0.00,0.000,4,0.000,0.031,3485,3538,1705,0,0,0,0,0,0
$GC,9457,1.69,317.1,24.1,11.5,470,9466,0.00,2.50,0.00,0.000,6,0.000,0.029,3485,2002,1705,0,0,0,0,0,0
$STATE,9603,end climb,SURFACE_DEPTH_REACHED
$STATE,9603,begin surface coast
$FINISH,0.6,0.980193
$STATE,9639,end surface coast,CONTROL_FINISHED_OK
$STATE,9639,begin surface
$SM_CCo,9662,67.15,0.533,0,0,1370,400.08
$SM_GC,1.23,0.00,0.00,67.15,0.000,0.000,0.533,475,1753,1370,-12.17,-0.48,400.08
$IRIDIUM_FIX,2239.35,-15834.92,170800,090914
$TT8_MAMPS,0.026078
$HUMID,58.19
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,42
$24V_AH,23.5,13.842
$10V_AH,10.4,11.783
$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,29.200,109.000,375.825,67.150,0.000,83.780,149.664,225.528,10.500,0.000,16.972,993.317,6388.107,527.790,1820.318,723.876,33.355,1174.491,0.000,1826.734,0.000,0.535,0.000
$DEVICE_MAMPS,211.692,95.875,922.701,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.227,277.607,386.683,734.824,1110.222,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38195,497
$CAP_FILE_SIZE,100476,0
$CFSIZE,260165632,176599040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,123931,2249.785,-15800.755,69,1.5,69,10.1