version: 66.06
glider: 146
mission: 6
dive: 111
start: 5 24 111 18 40 8
data:
$ID,146
$MISSION,6
$DIVE,111
$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,-269787.66
$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,33
$R_STBD_OVSHOOT,52
$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
$GPS1,182854,2250.414,-15758.817,37,1.8,37,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.8
$GPS2,183914,2250.415,-15758.903,13,1.5,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.024
$KALMAN_X,-74537.9,202.2,-155.2,70892.6,-299.6
$KALMAN_Y,-128550.0,-0.1,-118.4,140723.4,-717.7
$MHEAD_RNG_PITCHd_Wd,74.0,3338,-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,-78.40,0.000,2,0.000,0.000,474,1761,3351,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.5,-6.0,10,127,12.50,2.72,-2.38,0.000,4,0.161,0.074,2809,196,3481,0,0,0,0,0,0
$GC,401,-1.21,-116.8,68.5,-18.2,40,406,0.22,2.42,0.00,0.000,6,0.117,0.014,2855,1804,3483,0,0,0,0,0,0
$GC,664,-1.21,-116.8,106.3,-12.9,64,669,0.00,2.75,0.00,0.000,4,0.000,0.059,2854,194,3484,0,0,0,0,0,0
$GC,903,-1.17,-116.8,134.7,-11.3,83,909,0.00,2.33,0.00,0.000,6,0.000,0.021,2854,1763,3485,0,0,0,0,0,0
$GC,1164,-1.17,-116.8,162.1,-10.6,108,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1764,3485,0,0,0,0,0,0
$GC,1420,-1.17,-116.8,194.4,-13.4,132,1425,0.00,2.42,0.00,0.000,4,0.000,0.031,2854,3301,3486,0,0,0,0,0,0
$GC,1488,-1.21,-116.8,203.9,-13.2,135,1492,0.00,2.45,0.00,0.000,6,0.000,0.027,2854,1768,3486,0,0,0,0,0,0
$GC,1743,-1.21,-116.8,234.8,-11.8,142,1747,0.00,2.42,0.00,0.000,4,0.000,0.029,2854,3305,3486,0,0,0,0,0,0
$GC,1816,-1.27,-116.8,243.5,-11.4,143,1820,0.00,2.45,0.00,0.000,6,0.000,0.028,2854,1774,3486,0,0,0,0,0,0
$GC,2066,-1.31,-116.8,268.5,-9.6,149,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1774,3486,0,0,0,0,0,0
$GC,2310,-1.36,-116.8,292.6,-9.9,155,2315,0.15,2.47,0.00,0.000,4,0.067,0.038,2807,3304,3485,0,0,0,0,0,0
$GC,2351,-1.36,-116.8,297.0,-11.4,156,2355,0.00,2.50,0.00,0.000,6,0.000,0.043,2807,1776,3486,0,0,0,0,0,0
$GC,2633,-1.36,-116.8,332.9,-12.5,163,2638,0.00,2.42,0.00,0.000,4,0.000,0.039,2807,3292,3484,0,0,0,0,0,0
$GC,2655,-1.36,-116.8,335.5,-11.9,163,2659,0.00,2.50,0.00,0.000,6,0.000,0.042,2807,1772,3484,0,0,0,0,0,0
$GC,2912,-1.36,-116.8,362.8,-10.3,170,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1771,3484,0,0,0,0,0,0
$GC,3155,-1.36,-116.8,384.1,-8.7,176,3159,0.00,2.47,0.00,0.000,4,0.000,0.044,2807,3291,3482,0,0,0,0,0,0
$GC,3199,-1.36,-116.8,388.5,-9.4,177,3203,0.00,2.53,0.00,0.000,6,0.000,0.051,2807,1785,3482,0,0,0,0,0,0
$GC,3477,-1.36,-116.8,419.0,-11.5,184,3481,0.00,2.47,0.00,0.000,4,0.000,0.047,2807,3290,3480,0,0,0,0,0,0
$GC,3520,-1.36,-116.8,424.9,-13.1,185,3525,0.00,2.55,0.00,0.000,6,0.000,0.055,2807,1786,3480,0,0,0,0,0,0
$GC,3799,-1.36,-116.8,458.0,-11.4,192,3803,0.00,2.50,0.00,0.000,4,0.000,0.051,2806,3290,3479,0,0,0,0,0,0
$GC,3821,-1.36,-116.8,460.2,-10.3,192,3825,0.00,2.58,0.00,0.000,6,0.000,0.066,2807,1790,3479,0,0,0,0,0,0
$GC,4076,-1.36,-116.8,482.3,-8.1,199,4080,0.00,2.50,0.00,0.000,4,0.000,0.051,2807,3287,3477,0,0,0,0,0,0
$GC,4164,-1.36,-116.8,489.8,-8.9,201,4169,0.00,2.58,0.00,0.000,6,0.000,0.066,2807,1793,3476,0,0,0,0,0,0
$STATE,4277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4277,begin apogee
$GC,4284,-0.31,0.0,500.6,9.5,204,4385,1.10,0.00,97.07,0.927,6,0.089,0.000,3050,1930,3000,0,0,0,0,0,0
$STATE,4386,end apogee,CONTROL_FINISHED_OK
$STATE,4386,begin climb
$GC,4388,1.38,116.8,503.9,0.0,206,4492,1.62,0.00,99.38,0.905,6,0.051,0.000,3425,1930,2524,0,0,0,0,0,0
$GC,4724,1.46,213.2,494.7,4.5,215,4809,0.00,0.00,82.93,0.898,6,0.000,0.000,3425,1930,2130,0,0,0,0,0,0
$GC,5049,1.46,213.5,466.2,10.0,223,5054,0.00,2.72,0.00,0.000,4,0.000,0.049,3425,3538,2122,0,0,0,0,0,0
$GC,5140,1.46,213.5,456.2,11.3,225,5144,0.00,2.67,0.00,0.000,6,0.000,0.050,3425,1977,2120,0,0,0,0,0,0
$GC,5417,1.46,213.5,426.9,10.4,232,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1977,2118,0,0,0,0,0,0
$GC,5660,1.46,213.5,401.8,10.1,238,5665,0.00,2.60,0.00,0.000,4,0.000,0.045,3425,3544,2116,0,0,0,0,0,0
$GC,5706,1.47,222.2,397.5,9.5,239,5720,0.00,2.62,6.45,0.706,6,0.000,0.045,3425,1980,2094,0,0,0,0,0,0
$GC,5987,1.50,239.6,371.7,9.0,246,6005,0.00,0.00,16.88,0.816,6,0.000,0.000,3425,1980,2024,0,0,0,0,0,0
$GC,6230,1.50,242.6,347.6,9.9,252,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1980,2019,0,0,0,0,0,0
$GC,6475,1.50,242.6,320.8,11.3,258,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1980,2018,0,0,0,0,0,0
$GC,6718,1.50,242.6,292.9,11.3,264,6722,0.00,2.53,0.00,0.000,4,0.000,0.035,3425,3535,2017,0,0,0,0,0,0
$GC,6744,1.50,242.6,289.7,11.7,264,6749,0.00,2.55,0.00,0.000,6,0.000,0.034,3425,1983,2016,0,0,0,0,0,0
$GC,6995,1.54,244.3,264.0,9.9,270,7005,0.12,2.58,4.32,0.548,4,0.078,0.035,3461,3537,2004,0,0,0,0,0,0
$GC,7045,1.54,244.3,258.4,12.0,271,7050,0.00,2.55,0.00,0.000,6,0.000,0.038,3461,1987,2003,0,0,0,0,0,0
$GC,7318,1.55,254.8,231.7,9.4,278,7331,0.00,0.00,11.07,0.703,6,0.000,0.000,3461,1986,1962,0,0,0,0,0,0
$GC,7561,1.55,254.8,206.8,10.3,284,7566,0.00,2.53,0.00,0.000,4,0.000,0.039,3461,3543,1959,0,0,0,0,0,0
$GC,7668,1.55,254.8,195.4,10.7,288,7672,0.00,2.53,0.00,0.000,6,0.000,0.035,3461,1993,1958,0,0,0,0,0,0
$GC,7930,1.55,254.8,168.5,10.7,312,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1993,1957,0,0,0,0,0,0
$GC,8184,1.55,254.8,140.6,11.8,336,8188,0.00,2.50,0.00,0.000,4,0.000,0.031,3461,3538,1957,0,0,0,0,0,0
$GC,8204,1.55,254.8,138.5,11.9,337,8209,0.00,2.47,0.00,0.000,6,0.000,0.031,3461,2005,1957,0,0,0,0,0,0
$GC,8472,1.55,254.8,109.0,10.5,361,8476,0.00,2.72,0.00,0.000,4,0.000,0.064,3461,395,1957,0,0,0,0,0,0
$GC,8535,1.55,254.8,100.9,11.8,366,8540,0.00,2.53,0.00,0.000,6,0.000,0.018,3461,2017,1956,0,0,0,0,0,0
$GC,8803,1.57,272.4,77.1,9.0,390,8831,0.00,2.83,16.08,0.590,4,0.000,0.054,3461,394,1888,0,0,0,0,0,0
$GC,8860,1.58,278.7,71.7,9.7,394,8875,0.00,2.47,6.97,0.512,6,0.000,0.018,3461,1993,1863,0,0,0,0,0,0
$GC,9133,1.66,302.1,49.5,8.7,419,9161,0.00,2.50,21.25,0.566,4,0.000,0.031,3461,3535,1767,0,0,0,0,0,0
$GC,9228,1.75,308.1,40.0,9.7,426,9240,0.15,2.50,6.32,0.466,6,0.038,0.029,3510,2009,1743,0,0,0,0,0,0
$STATE,9511,end climb,SURFACE_DEPTH_REACHED
$STATE,9511,begin surface coast
$FINISH,0.4,0.974944
$STATE,9548,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9570,74.32,0.533,0,0,1370,400.08
$SM_GC,1.18,0.00,0.00,74.32,0.000,0.000,0.533,475,1748,1370,-12.17,-0.62,400.08
$IRIDIUM_FIX,2241.69,-15759.32,170800,181843
$TT8_MAMPS,0.025311
$HUMID,58.62
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.40
$XPDR_PINGS,35
$24V_AH,23.5,14.212
$10V_AH,10.4,12.114
$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,28.250,97.025,368.725,74.325,0.000,60.999,70.335,286.902,8.750,0.000,15.117,954.783,6362.066,494.252,1773.594,681.586,33.367,1160.830,0.000,1777.224,0.000,0.535,0.000
$DEVICE_MAMPS,161.070,113.516,926.536,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.718,275.022,358.689,667.675,1010.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,38453,469
$CAP_FILE_SIZE,98227,0
$CFSIZE,260165632,176443392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,212204,2250.374,-15757.804,11,99.0,30,10.1