version: 66.06
glider: 146
mission: 6
dive: 109
start: 5 24 111 12 51 4
data:
$ID,146
$MISSION,6
$DIVE,109
$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,-269737.5
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,123931,2249.785,-15800.755,69,1.5,69,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.1
$GPS2,125008,2249.784,-15800.782,14,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.102
$KALMAN_X,-73855.4,-26.0,200.1,66871.0,-527.1
$KALMAN_Y,-128277.5,426.9,390.2,138350.1,-913.6
$MHEAD_RNG_PITCHd_Wd,54.3,6468,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,474,1752,3335,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-4.9,10,126,12.50,2.58,-2.65,0.000,4,0.162,0.038,2807,3342,3481,0,0,0,0,0,0
$GC,144,-0.72,-116.8,18.8,-33.7,15,153,0.68,2.55,0.00,0.000,6,0.098,0.028,2955,1781,3482,0,0,0,0,0,0
$GC,424,-0.84,-116.8,56.0,-11.5,44,428,0.00,2.47,0.00,0.000,4,0.000,0.025,2955,3338,3483,0,0,0,0,0,0
$GC,458,-0.98,-116.8,60.1,-11.4,46,463,0.20,2.50,0.00,0.000,6,0.054,0.026,2891,1766,3483,0,0,0,0,0,0
$GC,720,-0.98,-116.8,94.4,-11.6,70,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1766,3483,0,0,0,0,0,0
$GC,975,-1.03,-116.8,123.9,-11.8,94,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1767,3484,0,0,0,0,0,0
$GC,1229,-1.10,-116.8,149.4,-9.5,118,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1765,3485,0,0,0,0,0,0
$GC,1489,-1.17,-116.8,173.1,-9.7,142,1494,0.12,0.00,0.00,0.000,6,0.074,0.000,2849,1766,3485,0,0,0,0,0,0
$GC,1759,-1.17,-116.8,205.5,-11.4,165,1763,0.00,2.47,0.00,0.000,4,0.000,0.029,2848,3339,3485,0,0,0,0,0,0
$GC,1809,-1.22,-116.8,210.9,-10.1,166,1814,0.00,2.47,0.00,0.000,6,0.000,0.034,2848,1785,3485,0,0,0,0,0,0
$GC,2081,-1.22,-116.8,240.9,-10.7,173,2086,0.00,2.78,0.00,0.000,4,0.000,0.074,2848,195,3485,0,0,0,0,0,0
$GC,2113,-1.22,-116.8,244.9,-12.4,173,2119,0.00,2.45,0.00,0.000,6,0.000,0.018,2848,1780,3485,0,0,0,0,0,0
$GC,2365,-1.22,-116.8,271.7,-10.7,180,2369,0.00,2.47,0.00,0.000,4,0.000,0.039,2848,3339,3485,0,0,0,0,0,0
$GC,2392,-1.27,-116.8,274.8,-10.3,180,2396,0.00,2.53,0.00,0.000,6,0.000,0.035,2849,1782,3485,0,0,0,0,0,0
$GC,2642,-1.31,-116.8,299.9,-10.0,186,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1782,3484,0,0,0,0,0,0
$GC,2887,-1.36,-116.8,323.4,-9.6,192,2889,0.10,0.00,0.00,0.000,6,0.085,0.000,2814,1782,3484,0,0,0,0,0,0
$GC,3129,-1.36,-116.8,349.6,-10.8,198,3133,0.00,2.53,0.00,0.000,4,0.000,0.044,2814,3328,3483,0,0,0,0,0,0
$GC,3155,-1.36,-116.8,352.5,-10.2,198,3160,0.00,2.58,0.00,0.000,6,0.000,0.048,2814,1786,3483,0,0,0,0,0,0
$GC,3407,-1.36,-116.8,377.9,-10.0,204,3411,0.00,2.53,0.00,0.000,4,0.000,0.041,2814,3328,3481,0,0,0,0,0,0
$GC,3478,-1.36,-116.8,385.3,-10.3,205,3483,0.00,2.60,0.00,0.000,6,0.000,0.054,2814,1794,3481,0,0,0,0,0,0
$GC,3728,-1.36,-116.8,411.2,-10.6,211,3733,0.00,2.53,0.00,0.000,4,0.000,0.050,2814,3337,3479,0,0,0,0,0,0
$GC,3755,-1.36,-116.8,414.3,-11.1,211,3760,0.00,2.62,0.00,0.000,6,0.000,0.060,2814,1796,3479,0,0,0,0,0,0
$GC,4012,-1.36,-116.8,441.8,-10.7,218,4017,0.00,2.55,0.00,0.000,4,0.000,0.048,2814,3331,3478,0,0,0,0,0,0
$GC,4034,-1.36,-116.8,444.4,-11.0,218,4038,0.00,2.62,0.00,0.000,6,0.000,0.061,2814,1804,3478,0,0,0,0,0,0
$GC,4290,-1.36,-116.8,471.6,-10.7,225,4294,0.00,2.55,0.00,0.000,4,0.000,0.051,2814,3334,3476,0,0,0,0,0,0
$GC,4306,-1.36,-116.8,473.3,-10.6,225,4310,0.00,2.62,0.00,0.000,6,0.000,0.061,2814,1808,3476,0,0,0,0,0,0
$STATE,4564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4564,begin apogee
$GC,4570,-0.31,0.0,500.1,10.3,232,4671,1.05,0.00,96.75,0.929,6,0.084,0.000,3049,1961,3001,0,0,0,0,0,0
$STATE,4671,end apogee,CONTROL_FINISHED_OK
$STATE,4671,begin climb
$GC,4674,1.38,116.8,502.7,0.0,234,4778,1.62,0.00,99.60,0.904,6,0.052,0.000,3423,1961,2524,0,0,0,0,0,0
$GC,5013,1.44,166.2,484.4,7.2,243,5063,0.00,2.75,42.33,0.884,4,0.000,0.051,3423,3522,2322,0,0,0,0,0,0
$GC,5074,1.48,199.9,479.3,8.1,244,5110,0.00,2.70,30.52,0.864,6,0.000,0.057,3423,1969,2186,0,0,0,0,0,0
$GC,5380,1.51,223.9,452.0,8.7,252,5404,0.12,0.00,21.25,0.850,6,0.084,0.000,3458,1969,2088,0,0,0,0,0,0
$GC,5621,1.46,223.9,426.7,10.6,258,5626,0.00,2.62,0.00,0.000,4,0.000,0.043,3458,3535,2081,0,0,0,0,0,0
$GC,5684,1.42,223.9,420.0,10.8,259,5689,0.15,2.65,0.00,0.000,6,0.116,0.046,3429,1973,2081,0,0,0,0,0,0
$GC,5945,1.43,232.3,394.9,9.6,266,5959,0.00,2.65,7.65,0.737,4,0.000,0.038,3428,3532,2052,0,0,0,0,0,0
$GC,5982,1.43,232.3,390.9,10.7,266,5988,0.00,2.62,0.00,0.000,6,0.000,0.044,3428,1975,2050,0,0,0,0,0,0
$GC,6234,1.43,232.3,365.1,10.4,273,6238,0.00,2.55,0.00,0.000,4,0.000,0.037,3428,3535,2049,0,0,0,0,0,0
$GC,6273,1.43,232.3,360.7,10.7,274,6277,0.00,2.58,0.00,0.000,6,0.000,0.041,3427,1987,2048,0,0,0,0,0,0
$GC,6555,1.43,232.3,330.7,10.7,281,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1987,2047,0,0,0,0,0,0
$GC,6800,1.43,232.3,303.8,10.9,287,6804,0.00,2.53,0.00,0.000,4,0.000,0.034,3428,3538,2046,0,0,0,0,0,0
$GC,6840,1.43,232.3,299.1,11.6,288,6844,0.00,2.55,0.00,0.000,6,0.000,0.035,3429,1983,2045,0,0,0,0,0,0
$GC,7123,1.43,238.2,270.7,9.7,295,7133,0.00,2.78,5.00,0.597,4,0.000,0.071,3428,389,2030,0,0,0,0,0,0
$GC,7163,1.43,238.2,266.7,10.7,296,7167,0.00,2.53,0.00,0.000,6,0.000,0.021,3428,1998,2030,0,0,0,0,0,0
$GC,7447,1.50,259.0,240.4,8.8,303,7470,0.00,0.00,20.25,0.746,6,0.000,0.000,3428,1999,1945,0,0,0,0,0,0
$GC,7691,1.55,259.8,217.3,10.0,309,7696,0.12,2.50,0.00,0.000,4,0.080,0.035,3461,3536,1941,0,0,0,0,0,0
$GC,7742,1.55,259.8,211.2,11.9,310,7746,0.00,2.53,0.00,0.000,6,0.000,0.037,3461,1988,1939,0,0,0,0,0,0
$GC,7999,1.55,259.8,179.4,12.3,327,8004,0.00,2.53,0.00,0.000,4,0.000,0.038,3461,3542,1939,0,0,0,0,0,0
$GC,8034,1.55,259.8,174.8,13.3,329,8040,0.00,2.50,0.00,0.000,6,0.000,0.031,3461,1999,1938,0,0,0,0,0,0
$GC,8297,1.55,259.8,143.6,10.4,354,8301,0.00,2.50,0.00,0.000,4,0.000,0.032,3462,3541,1937,0,0,0,0,0,0
$GC,8330,1.55,259.8,139.7,10.8,356,8339,0.00,2.50,0.00,0.000,6,0.000,0.035,3461,2008,1937,0,0,0,0,0,0
$GC,8597,1.58,281.9,115.6,8.8,381,8623,0.00,0.00,20.40,0.634,6,0.000,0.000,3462,2008,1850,0,0,0,0,0,0
$GC,8880,1.58,281.9,88.3,10.1,408,8884,0.00,2.75,0.00,0.000,4,0.000,0.061,3461,386,1848,0,0,0,0,0,0
$GC,8903,1.58,281.9,85.7,10.8,409,8908,0.00,2.58,0.00,0.000,6,0.000,0.018,3461,2036,1846,0,0,0,0,0,0
$GC,9171,1.63,281.9,55.6,12.0,434,9175,0.00,2.40,0.00,0.000,4,0.000,0.031,3461,3538,1846,0,0,0,0,0,0
$GC,9195,1.69,281.9,52.0,11.5,435,9204,0.08,2.45,0.00,0.000,6,0.049,0.028,3491,2026,1846,0,0,0,0,0,0
$GC,9477,1.69,281.9,22.3,11.6,465,9487,0.00,2.45,0.00,0.000,4,0.000,0.032,3491,3535,1845,0,0,0,0,0,0
$GC,9530,1.69,281.9,14.9,13.3,472,9540,0.00,2.45,0.00,0.000,6,0.000,0.030,3491,2024,1845,0,0,0,0,0,0
$STATE,9629,end climb,SURFACE_DEPTH_REACHED
$STATE,9629,begin surface coast
$FINISH,0.5,0.980206
$STATE,9694,end surface coast,CONTROL_FINISHED_OK
$STATE,9695,begin surface
$SM_CCo,9717,95.45,0.534,0,0,1370,400.08
$SM_GC,1.28,0.00,0.00,95.45,0.000,0.000,0.534,478,1743,1370,-12.15,-0.76,400.08
$IRIDIUM_FIX,2244.02,-15759.32,170800,121210
$TT8_MAMPS,0.025311
$HUMID,57.32
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,40
$24V_AH,23.5,13.966
$10V_AH,10.4,11.896
$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,28.950,113.250,343.750,95.450,0.000,48.824,72.548,318.964,10.000,0.000,15.520,980.412,6416.895,532.060,1812.981,713.682,33.360,1181.460,0.000,1822.156,0.000,0.535,0.000
$DEVICE_MAMPS,161.837,73.632,928.837,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.699,280.394,384.778,732.515,1103.094,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38352,495
$CAP_FILE_SIZE,102443,0
$CFSIZE,260165632,176541696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,153546,2250.156,-15759.686,8,2.6,27,10.1