version: 66.06
glider: 146
mission: 6
dive: 110
start: 5 24 111 15 46 25
data:
$ID,146
$MISSION,6
$DIVE,110
$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,-269771.91
$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,48
$R_STBD_OVSHOOT,47
$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
$GPS1,153546,2250.156,-15759.686,8,2.6,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.7
$GPS2,154532,2250.118,-15759.728,14,1.1,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,0.136
$KALMAN_X,-74148.1,92.9,64.9,68982.4,-486.4
$KALMAN_Y,-128537.8,237.7,437.5,139368.5,-1415.1
$MHEAD_RNG_PITCHd_Wd,44.7,4660,-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,-78.62,0.000,2,0.000,0.000,478,1743,3344,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-5.7,10,126,12.57,2.60,-2.55,0.000,4,0.164,0.044,2811,3345,3481,0,0,0,0,0,0
$GC,145,-0.70,-116.8,18.5,-34.4,15,155,0.68,2.55,0.00,0.000,6,0.097,0.035,2960,1788,3482,0,0,0,0,0,0
$GC,433,-0.82,-116.8,50.8,-9.5,45,437,0.00,2.47,0.00,0.000,4,0.000,0.025,2960,3346,3483,0,0,0,0,0,0
$GC,468,-0.97,-116.8,53.5,-8.0,47,473,0.22,2.53,0.00,0.000,6,0.048,0.027,2888,1773,3483,0,0,0,0,0,0
$GC,736,-0.97,-116.8,82.2,-11.2,71,741,0.10,0.00,0.00,0.000,6,0.126,0.000,2908,1772,3483,0,0,0,0,0,0
$GC,1000,-1.05,-116.8,108.0,-8.8,96,1004,0.00,2.70,0.00,0.000,4,0.000,0.064,2908,196,3484,0,0,0,0,0,0
$GC,1029,-1.11,-116.8,111.0,-10.0,98,1034,0.12,2.45,0.00,0.000,6,0.077,0.020,2867,1826,3484,0,0,0,0,0,0
$GC,1293,-1.11,-116.8,138.8,-10.9,122,1297,0.00,2.78,0.00,0.000,4,0.000,0.067,2867,195,3485,0,0,0,0,0,0
$GC,1326,-1.11,-116.8,143.3,-12.5,124,1336,0.00,2.45,0.00,0.000,6,0.000,0.015,2867,1820,3485,0,0,0,0,0,0
$GC,1589,-1.11,-116.8,172.9,-11.7,149,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1821,3485,0,0,0,0,0,0
$GC,1863,-1.15,-116.8,205.4,-11.0,172,1867,0.00,2.33,0.00,0.000,4,0.000,0.031,2867,3302,3485,0,0,0,0,0,0
$GC,1879,-1.20,-116.8,207.4,-11.0,172,1883,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,1766,3485,0,0,0,0,0,0
$GC,2141,-1.26,-116.8,235.7,-10.9,179,2145,0.00,2.45,0.00,0.000,4,0.000,0.034,2867,3304,3485,0,0,0,0,0,0
$GC,2196,-1.35,-116.8,242.6,-11.8,180,2201,0.17,2.45,0.00,0.000,6,0.058,0.036,2811,1771,3485,0,0,0,0,0,0
$GC,2463,-1.31,-116.8,276.6,-12.0,187,2465,0.10,0.00,0.00,0.000,6,0.123,0.000,2832,1771,3486,0,0,0,0,0,0
$GC,2708,-1.31,-116.8,299.0,-8.9,193,2711,0.00,2.47,0.00,0.000,4,0.000,0.038,2832,3297,3485,0,0,0,0,0,0
$GC,2729,-1.31,-116.8,301.1,-8.7,193,2734,0.00,2.47,0.00,0.000,6,0.000,0.042,2832,1770,3485,0,0,0,0,0,0
$GC,2991,-1.31,-116.8,324.7,-9.3,200,2995,0.00,2.47,0.00,0.000,4,0.000,0.033,2832,3291,3484,0,0,0,0,0,0
$GC,3013,-1.31,-116.8,327.0,-10.3,200,3018,0.00,2.50,0.00,0.000,6,0.000,0.047,2832,1768,3484,0,0,0,0,0,0
$GC,3269,-1.31,-116.8,353.2,-10.3,207,3273,0.00,2.47,0.00,0.000,4,0.000,0.042,2832,3288,3483,0,0,0,0,0,0
$GC,3318,-1.36,-116.8,358.9,-11.4,208,3323,0.00,2.55,0.00,0.000,6,0.000,0.047,2832,1769,3483,0,0,0,0,0,0
$GC,3591,-1.36,-116.8,389.2,-11.3,215,3595,0.00,2.50,0.00,0.000,4,0.000,0.039,2832,3292,3481,0,0,0,0,0,0
$GC,3657,-1.42,-116.8,397.0,-11.2,216,3662,0.00,2.58,0.00,0.000,6,0.000,0.060,2832,1778,3481,0,0,0,0,0,0
$GC,3913,-1.46,-116.8,426.2,-11.5,223,3918,0.12,2.50,0.00,0.000,4,0.078,0.043,2791,3287,3479,0,0,0,0,0,0
$GC,3958,-1.46,-116.8,432.0,-12.6,224,3962,0.00,2.58,0.00,0.000,6,0.000,0.063,2790,1785,3479,0,0,0,0,0,0
$GC,4236,-1.42,-116.8,466.4,-12.3,231,4240,0.00,2.50,0.00,0.000,4,0.000,0.054,2791,3285,3478,0,0,0,0,0,0
$GC,4279,-1.42,-116.8,471.9,-12.1,232,4283,0.00,2.55,0.00,0.000,6,0.000,0.063,2790,1797,3477,0,0,0,0,0,0
$STATE,4555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4555,begin apogee
$GC,4562,-0.31,0.0,503.3,10.9,239,4662,1.17,0.00,96.50,0.927,6,0.091,0.000,3049,1919,3001,0,0,0,0,0,0
$STATE,4663,end apogee,CONTROL_FINISHED_OK
$STATE,4663,begin climb
$GC,4666,1.38,116.8,505.0,0.0,241,4776,1.58,2.97,98.93,0.902,4,0.054,0.113,3417,385,2523,0,0,0,0,0,0
$GC,4793,1.35,157.7,498.9,7.7,244,4834,0.00,2.53,35.58,0.873,6,0.000,0.039,3417,1898,2358,0,0,0,0,0,0
$GC,5115,1.37,174.5,468.3,9.1,252,5135,0.00,2.75,14.75,0.830,4,0.000,0.054,3417,3482,2288,0,0,0,0,0,0
$GC,5163,1.40,191.3,463.7,9.1,253,5184,0.00,2.58,15.95,0.826,6,0.000,0.052,3417,1973,2221,0,0,0,0,0,0
$GC,5435,1.42,210.5,439.4,8.9,260,5459,0.00,2.60,17.62,0.837,4,0.000,0.044,3417,3480,2141,0,0,0,0,0,0
$GC,5525,1.45,234.5,431.5,8.7,262,5554,0.00,2.55,22.10,0.842,6,0.000,0.047,3417,1977,2044,0,0,0,0,0,0
$GC,5810,1.47,255.9,405.6,8.8,269,5833,0.10,0.00,20.08,0.829,6,0.091,0.000,3445,1978,1957,0,0,0,0,0,0
$GC,6055,1.47,255.9,380.7,10.3,275,6059,0.00,2.50,0.00,0.000,4,0.000,0.036,3445,3494,1951,0,0,0,0,0,0
$GC,6082,1.47,255.9,377.5,10.5,275,6087,0.00,2.53,0.00,0.000,6,0.000,0.041,3445,1979,1949,0,0,0,0,0,0
$GC,6332,1.47,255.9,351.6,10.6,281,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1979,1949,0,0,0,0,0,0
$GC,6577,1.47,255.9,325.6,10.7,287,6581,0.00,2.45,0.00,0.000,4,0.000,0.039,3445,3493,1947,0,0,0,0,0,0
$GC,6610,1.47,255.9,321.9,10.7,287,6616,0.00,2.47,0.00,0.000,6,0.000,0.042,3445,1989,1946,0,0,0,0,0,0
$GC,6860,1.47,255.9,294.9,10.6,294,6864,0.00,2.45,0.00,0.000,4,0.000,0.040,3445,3489,1946,0,0,0,0,0,0
$GC,6875,1.47,255.9,293.0,10.9,294,6879,0.00,2.47,0.00,0.000,6,0.000,0.038,3445,1982,1945,0,0,0,0,0,0
$GC,7143,1.47,255.9,264.4,10.8,301,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1982,1945,0,0,0,0,0,0
$GC,7386,1.49,265.0,240.3,9.5,307,7400,0.00,2.55,7.15,0.657,4,0.000,0.038,3445,3498,1919,0,0,0,0,0,0
$GC,7423,1.49,272.5,236.8,9.6,307,7437,0.00,2.47,8.40,0.671,6,0.000,0.034,3445,1987,1889,0,0,0,0,0,0
$GC,7717,1.49,272.5,205.9,10.9,315,7721,0.00,2.45,0.00,0.000,4,0.000,0.039,3445,3488,1886,0,0,0,0,0,0
$GC,7812,1.54,272.5,195.3,11.3,318,7816,0.00,2.40,0.00,0.000,6,0.000,0.037,3445,2012,1884,0,0,0,0,0,0
$GC,8076,1.54,272.5,168.2,10.2,342,8080,0.00,2.78,0.00,0.000,4,0.000,0.062,3445,388,1884,0,0,0,0,0,0
$GC,8098,1.54,272.5,165.1,11.9,343,8103,0.00,2.47,0.00,0.000,6,0.000,0.024,3445,1977,1884,0,0,0,0,0,0
$GC,8360,1.54,272.5,137.7,10.3,368,8364,0.00,2.50,0.00,0.000,4,0.000,0.035,3445,3533,1884,0,0,0,0,0,0
$GC,8391,1.58,272.5,134.4,10.5,370,8395,0.00,2.47,0.00,0.000,6,0.000,0.029,3445,1997,1884,0,0,0,0,0,0
$GC,8654,1.69,325.9,112.5,6.9,394,8706,0.17,2.80,46.10,0.645,4,0.064,0.058,3493,389,1670,0,0,0,0,0,0
$GC,8749,1.64,325.9,104.6,10.7,401,8753,0.00,2.53,0.00,0.000,6,0.000,0.025,3493,2006,1668,0,0,0,0,0,0
$GC,9016,1.64,325.9,74.5,11.5,425,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,2007,1667,0,0,0,0,0,0
$GC,9282,1.64,325.9,39.6,12.9,450,9286,0.00,2.42,0.00,0.000,4,0.000,0.030,3493,3535,1667,0,0,0,0,0,0
$GC,9340,1.64,325.9,31.0,13.4,454,9350,0.00,2.50,0.00,0.000,6,0.000,0.035,3493,2004,1665,0,0,0,0,0,0
$STATE,9553,end climb,SURFACE_DEPTH_REACHED
$STATE,9553,begin surface coast
$FINISH,0.5,0.980180
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9589,begin surface
$SM_CCo,9611,59.95,0.541,0,0,1370,400.08
$SM_GC,1.09,0.00,0.00,59.95,0.000,0.000,0.541,475,1763,1370,-12.17,-0.20,400.08
$IRIDIUM_FIX,2241.69,-15759.32,170800,151542
$TT8_MAMPS,0.026078
$HUMID,59.88
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.10
$XPDR_PINGS,47
$24V_AH,23.5,14.089
$10V_AH,10.4,12.008
$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,29.350,122.075,383.150,59.950,0.000,55.365,70.436,240.775,11.750,0.000,33.769,989.576,6241.494,500.229,1881.698,646.174,33.362,1203.714,0.000,1864.740,0.000,0.535,0.000
$DEVICE_MAMPS,164.138,112.749,927.303,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.044,273.567,380.522,724.566,1097.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,38397,489
$CAP_FILE_SIZE,106259,0
$CFSIZE,260165632,176488448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,182854,2250.414,-15758.817,37,1.8,37,10.1