version: 66.06
glider: 146
mission: 6
dive: 115
start: 5 25 111 5 33 51
data:
$ID,146
$MISSION,6
$DIVE,115
$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,-269888.66
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,052622,2246.916,-15757.863,10,2.1,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,053258,2246.919,-15757.870,14,2.2,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.225,0.068
$KALMAN_X,-76019.8,-164.1,11.4,74339.5,-617.0
$KALMAN_Y,-129749.2,-52.2,-47.0,135437.2,-625.4
$MHEAD_RNG_PITCHd_Wd,276.6,8760,-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,-116.8,0.0,0.0,0,105,0.00,0.00,-83.40,0.000,6,0.000,0.000,475,1767,3477,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.6,-9.0,11,127,12.60,2.55,0.00,0.000,4,0.165,0.025,2811,3370,3480,0,0,0,0,0,0
$GC,333,-1.28,-116.8,54.4,-15.4,34,342,0.10,2.58,0.00,0.000,6,0.107,0.026,2835,1774,3482,0,0,0,0,0,0
$GC,600,-1.19,-116.8,93.8,-16.2,59,605,0.12,0.00,0.00,0.000,6,0.133,0.000,2858,1774,3483,0,0,0,0,0,0
$GC,861,-1.19,-116.8,131.6,-12.3,84,865,0.00,2.67,0.00,0.000,4,0.000,0.064,2858,199,3484,0,0,0,0,0,0
$GC,929,-1.19,-116.8,139.5,-12.2,89,934,0.00,2.45,0.00,0.000,6,0.000,0.016,2859,1835,3484,0,0,0,0,0,0
$GC,1193,-1.19,-116.8,168.6,-11.0,113,1197,0.00,2.42,0.00,0.000,4,0.000,0.029,2858,3374,3485,0,0,0,0,0,0
$GC,1226,-1.19,-116.8,172.3,-12.0,115,1230,0.00,2.58,0.00,0.000,6,0.000,0.027,2859,1762,3485,0,0,0,0,0,0
$GC,1486,-1.19,-116.8,206.8,-13.3,136,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1761,3486,0,0,0,0,0,0
$GC,1728,-1.19,-116.8,235.9,-11.3,142,1733,0.00,2.58,0.00,0.000,4,0.000,0.029,2859,3374,3486,0,0,0,0,0,0
$GC,1778,-1.26,-116.8,241.0,-9.8,143,1783,0.00,2.58,0.00,0.000,6,0.000,0.035,2858,1780,3486,0,0,0,0,0,0
$GC,2052,-1.31,-116.8,268.1,-10.1,150,2057,0.10,2.58,0.00,0.000,4,0.084,0.031,2824,3371,3486,0,0,0,0,0,0
$GC,2073,-1.31,-116.8,270.8,-10.9,150,2078,0.00,2.60,0.00,0.000,6,0.000,0.031,2824,1772,3486,0,0,0,0,0,0
$GC,2330,-1.31,-116.8,299.7,-11.3,157,2334,0.00,2.83,0.00,0.000,4,0.000,0.091,2824,193,3485,0,0,0,0,0,0
$GC,2345,-1.31,-116.8,301.9,-11.8,157,2350,0.00,2.50,0.00,0.000,6,0.000,0.029,2824,1777,3485,0,0,0,0,0,0
$GC,2606,-1.31,-116.8,331.5,-11.1,164,2611,0.00,2.78,0.00,0.000,4,0.000,0.074,2823,193,3484,0,0,0,0,0,0
$GC,2627,-1.31,-116.8,334.1,-11.8,164,2632,0.00,2.47,0.00,0.000,6,0.000,0.024,2823,1764,3484,0,0,0,0,0,0
$GC,2884,-1.31,-116.8,363.1,-11.6,171,2889,0.00,2.60,0.00,0.000,4,0.000,0.046,2823,3353,3483,0,0,0,0,0,0
$GC,2911,-1.31,-116.8,366.5,-11.4,171,2916,0.00,2.62,0.00,0.000,6,0.000,0.047,2824,1772,3483,0,0,0,0,0,0
$GC,3161,-1.31,-116.8,394.0,-10.7,177,3166,0.00,2.58,0.00,0.000,4,0.000,0.041,2824,3354,3482,0,0,0,0,0,0
$GC,3257,-1.35,-116.8,403.5,-10.3,179,3262,0.00,2.65,0.00,0.000,6,0.000,0.058,2824,1789,3482,0,0,0,0,0,0
$GC,3529,-1.35,-116.8,427.9,-8.8,186,3533,0.00,2.58,0.00,0.000,4,0.000,0.049,2824,3357,3479,0,0,0,0,0,0
$GC,3579,-1.40,-116.8,432.6,-9.3,187,3583,0.00,2.65,0.00,0.000,6,0.000,0.057,2824,1802,3479,0,0,0,0,0,0
$GC,3852,-1.40,-116.8,457.8,-9.3,194,3856,0.00,2.58,0.00,0.000,4,0.000,0.048,2824,3353,3478,0,0,0,0,0,0
$GC,3868,-1.40,-116.8,459.6,-9.5,194,3872,0.00,2.65,0.00,0.000,6,0.000,0.060,2824,1805,3478,0,0,0,0,0,0
$GC,4130,-1.40,-116.8,483.9,-9.3,201,4134,0.00,2.58,0.00,0.000,4,0.000,0.056,2823,3349,3476,0,0,0,0,0,0
$GC,4219,-1.45,-116.8,492.8,-9.4,203,4223,0.00,2.67,0.00,0.000,6,0.000,0.068,2824,1815,3476,0,0,0,0,0,0
$STATE,4331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4331,begin apogee
$GC,4337,-0.31,0.0,503.4,9.2,206,4438,1.02,0.00,96.80,0.937,6,0.091,0.000,3050,1986,3000,0,0,0,0,0,0
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4442,1.38,116.8,505.2,0.0,208,4553,1.58,2.70,99.35,0.915,4,0.065,0.053,3416,3531,2522,0,0,0,0,0,0
$GC,4583,1.41,175.5,500.2,6.6,211,4638,0.00,2.72,50.15,0.901,6,0.000,0.058,3416,1969,2285,0,0,0,0,0,0
$GC,4890,1.45,203.8,473.9,8.4,219,4921,0.00,3.15,24.38,0.871,4,0.000,0.120,3416,381,2169,0,0,0,0,0,0
$GC,4933,1.48,230.5,470.1,8.5,220,4963,0.12,2.62,24.40,0.860,6,0.084,0.033,3450,1952,2061,0,0,0,0,0,0
$GC,5209,1.44,230.5,440.9,10.7,226,5214,0.00,2.70,0.00,0.000,4,0.000,0.055,3449,3556,2054,0,0,0,0,0,0
$GC,5364,1.44,230.5,423.7,11.9,229,5369,0.00,2.62,0.00,0.000,6,0.000,0.048,3450,1990,2052,0,0,0,0,0,0
$GC,5624,1.44,230.5,393.3,11.6,236,5629,0.00,2.58,0.00,0.000,4,0.000,0.042,3450,3562,2050,0,0,0,0,0,0
$GC,5668,1.44,230.5,387.8,12.6,237,5672,0.00,2.60,0.00,0.000,6,0.000,0.039,3450,1998,2049,0,0,0,0,0,0
$GC,5953,1.44,230.5,351.3,13.3,244,5957,0.00,2.55,0.00,0.000,4,0.000,0.035,3450,3561,2048,0,0,0,0,0,0
$GC,5985,1.44,230.5,346.5,13.5,244,5991,0.00,2.58,0.00,0.000,6,0.000,0.037,3450,2001,2047,0,0,0,0,0,0
$GC,6235,1.44,230.5,316.0,11.9,251,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2001,2047,0,0,0,0,0,0
$GC,6479,1.44,230.5,290.3,10.4,257,6483,0.00,2.80,0.00,0.000,4,0.000,0.074,3449,390,2046,0,0,0,0,0,0
$GC,6519,1.39,230.5,285.8,11.5,258,6525,0.12,2.58,0.00,0.000,6,0.123,0.020,3424,2020,2044,0,0,0,0,0,0
$GC,6803,1.44,236.9,258.5,9.7,265,6809,0.00,0.00,3.88,0.513,6,0.000,0.000,3425,2021,2035,0,0,0,0,0,0
$GC,7048,1.50,236.9,231.8,11.1,271,7053,0.10,2.47,0.00,0.000,4,0.091,0.038,3453,3538,2034,0,0,0,0,0,0
$GC,7078,1.50,236.9,228.4,10.7,271,7082,0.00,2.50,0.00,0.000,6,0.000,0.032,3453,1984,2033,0,0,0,0,0,0
$GC,7328,1.51,249.2,204.3,9.3,277,7347,0.00,2.83,12.18,0.701,4,0.000,0.068,3453,393,1985,0,0,0,0,0,0
$GC,7376,1.51,249.2,199.2,11.3,278,7382,0.00,2.53,0.00,0.000,6,0.000,0.018,3453,1997,1984,0,0,0,0,0,0
$GC,7639,1.53,265.5,174.5,9.1,303,7661,0.00,2.55,15.60,0.689,4,0.000,0.035,3453,3524,1917,0,0,0,0,0,0
$GC,7674,1.55,284.8,171.2,8.9,306,7697,0.00,2.53,18.12,0.683,6,0.000,0.031,3453,1991,1838,0,0,0,0,0,0
$GC,7953,1.59,311.4,148.1,8.5,332,7982,0.00,2.80,23.25,0.673,4,0.000,0.060,3453,386,1730,0,0,0,0,0,0
$GC,8001,1.59,311.4,143.3,10.3,335,8006,0.00,2.53,0.00,0.000,6,0.000,0.023,3453,1992,1729,0,0,0,0,0,0
$GC,8263,1.63,311.4,111.6,12.1,360,8265,0.10,0.00,0.00,0.000,6,0.088,0.000,3482,1994,1726,0,0,0,0,0,0
$GC,8519,1.63,311.4,80.7,11.9,384,8523,0.00,2.72,0.00,0.000,4,0.000,0.054,3482,386,1727,0,0,0,0,0,0
$GC,8540,1.63,311.4,78.1,13.4,385,8544,0.00,2.47,0.00,0.000,6,0.000,0.018,3482,1988,1727,0,0,0,0,0,0
$GC,8806,1.63,311.4,46.0,11.4,409,8811,0.00,2.45,0.00,0.000,4,0.000,0.031,3482,3524,1727,0,0,0,0,0,0
$GC,8877,1.69,311.4,37.9,11.9,414,8881,0.00,2.45,0.00,0.000,6,0.000,0.028,3482,1994,1726,0,0,0,0,0,0
$GC,9188,1.69,311.4,4.6,13.8,455,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,1994,1725,0,0,0,0,0,0
$STATE,9204,end climb,SURFACE_DEPTH_REACHED
$STATE,9204,begin surface coast
$FINISH,0.7,0.980190
$STATE,9248,end surface coast,CONTROL_FINISHED_OK
$STATE,9248,begin surface
$SM_CCo,9271,72.05,0.543,0,0,1369,400.08
$SM_GC,1.36,0.00,0.00,72.05,0.000,0.000,0.543,474,1761,1369,-12.17,-0.25,400.08
$IRIDIUM_FIX,2239.35,-15759.32,180800,020222
$TT8_MAMPS,0.026078
$HUMID,58.46
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,46
$24V_AH,23.5,14.675
$10V_AH,10.4,12.518
$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,28.175,125.925,368.100,72.050,0.000,25.611,37.574,179.814,11.500,0.000,36.291,960.002,5961.544,492.570,1819.330,507.591,33.366,1192.408,0.000,1796.972,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,119.652,937.274,543.036,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.016,265.182,357.083,667.829,1010.062,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38245,463
$CAP_FILE_SIZE,101748,0
$CFSIZE,260165632,176242688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,081055,2246.749,-15759.312,41,1.6,41,10.1