version: 66.06
glider: 146
mission: 6
dive: 118
start: 5 25 111 13 54 45
data:
$ID,146
$MISSION,6
$DIVE,118
$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,-269954.69
$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,55
$R_STBD_OVSHOOT,60
$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
$GPS1,134802,2246.732,-15802.376,41,1.3,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.6
$GPS2,135350,2246.726,-15802.385,10,1.8,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.012,0.235
$KALMAN_X,-77144.0,16.2,117.9,67465.3,-392.6
$KALMAN_Y,-131789.0,-2.2,275.6,136747.0,-766.7
$MHEAD_RNG_PITCHd_Wd,352.8,6155,-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,-78.72,0.000,2,0.000,0.000,482,1733,3307,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-4.8,10,125,12.50,2.58,-3.25,0.000,4,0.163,0.044,2811,3326,3481,0,0,0,0,0,0
$GC,218,-1.29,-116.8,32.8,-19.2,26,226,0.10,2.47,0.00,0.000,6,0.104,0.028,2834,1799,3483,0,0,0,0,0,0
$GC,486,-1.21,-116.8,78.0,-16.6,51,495,0.10,0.00,0.00,0.000,6,0.140,0.000,2853,1799,3483,0,0,0,0,0,0
$GC,748,-1.21,-116.8,116.9,-14.0,76,753,0.00,2.78,0.00,0.000,4,0.000,0.070,2853,188,3485,0,0,0,0,0,0
$GC,805,-1.17,-116.8,126.0,-15.0,80,815,0.00,2.45,0.00,0.000,6,0.000,0.021,2853,1795,3485,0,0,0,0,0,0
$GC,1067,-1.17,-116.8,161.2,-12.4,105,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1795,3486,0,0,0,0,0,0
$GC,1320,-1.17,-116.8,192.7,-11.4,129,1324,0.00,2.38,0.00,0.000,4,0.000,0.034,2853,3316,3486,0,0,0,0,0,0
$GC,1344,-1.17,-116.8,195.3,-11.3,130,1349,0.00,2.47,0.00,0.000,6,0.000,0.032,2853,1758,3486,0,0,0,0,0,0
$GC,1595,-1.17,-116.8,223.7,-11.4,140,1600,0.00,2.67,0.00,0.000,4,0.000,0.075,2853,197,3486,0,0,0,0,0,0
$GC,1622,-1.17,-116.8,227.2,-12.6,140,1626,0.00,2.38,0.00,0.000,6,0.000,0.018,2853,1764,3486,0,0,0,0,0,0
$GC,1878,-1.17,-116.8,255.6,-10.7,147,1882,0.00,2.47,0.00,0.000,4,0.000,0.035,2853,3329,3486,0,0,0,0,0,0
$GC,1951,-1.25,-116.8,263.2,-10.1,148,1955,0.00,2.47,0.00,0.000,6,0.000,0.030,2853,1785,3486,0,0,0,0,0,0
$GC,2201,-1.29,-116.8,286.9,-9.2,154,2206,0.00,2.80,0.00,0.000,4,0.000,0.084,2853,186,3486,0,0,0,0,0,0
$GC,2224,-1.29,-116.8,288.9,-8.7,154,2228,0.00,2.45,0.00,0.000,6,0.000,0.028,2853,1762,3486,0,0,0,0,0,0
$GC,2479,-1.34,-116.8,312.4,-9.3,161,2484,0.10,2.58,0.00,0.000,4,0.091,0.037,2818,3353,3485,0,0,0,0,0,0
$GC,2500,-1.34,-116.8,314.9,-10.6,161,2505,0.00,2.58,0.00,0.000,6,0.000,0.037,2817,1771,3485,0,0,0,0,0,0
$GC,2757,-1.34,-116.8,342.8,-11.1,168,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1771,3484,0,0,0,0,0,0
$GC,2999,-1.34,-116.8,369.9,-11.2,174,3003,0.00,2.55,0.00,0.000,4,0.000,0.043,2818,3345,3484,0,0,0,0,0,0
$GC,3039,-1.34,-116.8,374.3,-11.0,175,3043,0.00,2.60,0.00,0.000,6,0.000,0.048,2818,1785,3483,0,0,0,0,0,0
$GC,3321,-1.34,-116.8,404.2,-10.2,182,3326,0.00,2.55,0.00,0.000,4,0.000,0.041,2818,3341,3482,0,0,0,0,0,0
$GC,3384,-1.38,-116.8,410.4,-10.2,183,3388,0.00,2.65,0.00,0.000,6,0.000,0.055,2818,1786,3482,0,0,0,0,0,0
$GC,3644,-1.38,-116.8,436.0,-9.8,190,3649,0.00,2.58,0.00,0.000,4,0.000,0.046,2818,3344,3480,0,0,0,0,0,0
$GC,3673,-1.38,-116.8,439.0,-10.4,190,3677,0.00,2.62,0.00,0.000,6,0.000,0.063,2818,1793,3480,0,0,0,0,0,0
$GC,3923,-1.38,-116.8,465.4,-10.8,196,3928,0.00,2.58,0.00,0.000,4,0.000,0.051,2818,3348,3479,0,0,0,0,0,0
$GC,3967,-1.42,-116.8,470.7,-11.3,197,3972,0.00,2.65,0.00,0.000,6,0.000,0.065,2818,1799,3479,0,0,0,0,0,0
$STATE,4243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4243,begin apogee
$GC,4250,-0.31,0.0,501.9,11.2,204,4351,1.05,0.00,96.65,0.931,6,0.088,0.000,3051,1983,3001,0,0,0,0,0,0
$STATE,4351,end apogee,CONTROL_FINISHED_OK
$STATE,4351,begin climb
$GC,4354,1.38,116.8,505.7,0.0,206,4462,1.58,2.70,98.50,0.912,4,0.052,0.059,3419,3533,2524,0,0,0,0,0,0
$GC,4514,1.41,177.5,502.0,6.5,209,4574,0.00,2.72,52.22,0.889,6,0.000,0.059,3419,1966,2277,0,0,0,0,0,0
$GC,4847,1.41,179.3,470.3,9.9,218,4852,0.00,3.05,0.00,0.000,4,0.000,0.119,3419,378,2268,0,0,0,0,0,0
$GC,4864,1.41,179.3,468.5,10.2,218,4869,0.00,2.60,0.00,0.000,6,0.000,0.035,3419,1947,2266,0,0,0,0,0,0
$GC,5125,1.42,185.5,443.0,9.7,225,5138,0.00,2.80,6.55,0.714,4,0.000,0.054,3419,3555,2243,0,0,0,0,0,0
$GC,5207,1.43,193.4,434.8,9.6,226,5221,0.00,2.67,8.50,0.762,6,0.000,0.048,3419,1974,2211,0,0,0,0,0,0
$GC,5501,1.43,196.0,406.2,9.9,234,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1973,2207,0,0,0,0,0,0
$GC,5744,1.44,197.0,382.0,10.0,240,5748,0.00,2.62,0.00,0.000,4,0.000,0.042,3419,3567,2205,0,0,0,0,0,0
$GC,5799,1.44,197.0,376.0,10.6,241,5804,0.00,2.62,0.00,0.000,6,0.000,0.042,3419,1987,2204,0,0,0,0,0,0
$GC,6066,1.45,208.2,350.6,9.4,248,6081,0.00,0.00,13.27,0.795,6,0.000,0.000,3419,1987,2152,0,0,0,0,0,0
$GC,6309,1.46,216.0,327.4,9.6,254,6319,0.00,0.00,8.25,0.727,6,0.000,0.000,3420,1987,2119,0,0,0,0,0,0
$GC,6554,1.47,222.3,303.6,9.7,260,6568,0.00,2.65,6.57,0.678,4,0.000,0.038,3419,3557,2094,0,0,0,0,0,0
$GC,6602,1.52,227.1,298.8,9.8,261,6614,0.12,2.58,5.78,0.642,6,0.086,0.034,3452,1984,2075,0,0,0,0,0,0
$GC,6881,1.52,227.1,269.8,10.4,268,6885,0.00,2.60,0.00,0.000,4,0.000,0.041,3452,3569,2072,0,0,0,0,0,0
$GC,6954,1.52,227.1,261.6,11.0,269,6958,0.00,2.55,0.00,0.000,6,0.000,0.033,3452,2015,2071,0,0,0,0,0,0
$GC,7205,1.52,227.1,236.2,10.2,275,7209,0.00,2.53,0.00,0.000,4,0.000,0.041,3452,3558,2071,0,0,0,0,0,0
$GC,7261,1.52,227.1,230.2,10.2,276,7265,0.00,2.47,0.00,0.000,6,0.000,0.038,3452,2031,2070,0,0,0,0,0,0
$GC,7529,1.52,227.1,203.4,10.1,283,7533,0.00,2.80,0.00,0.000,4,0.000,0.063,3452,388,2070,0,0,0,0,0,0
$GC,7550,1.52,227.1,200.8,11.4,283,7555,0.00,2.62,0.00,0.000,6,0.000,0.024,3452,2061,2068,0,0,0,0,0,0
$GC,7820,1.52,229.7,174.1,9.9,308,7824,0.00,2.42,0.00,0.000,4,0.000,0.041,3452,3561,2069,0,0,0,0,0,0
$GC,7864,1.52,229.7,168.8,11.2,311,7872,0.00,2.47,0.00,0.000,6,0.000,0.031,3452,2029,2067,0,0,0,0,0,0
$GC,8125,1.52,229.7,141.8,10.6,336,8130,0.00,2.75,0.00,0.000,4,0.000,0.064,3453,390,2068,0,0,0,0,0,0
$GC,8160,1.52,229.7,138.2,11.3,338,8169,0.00,2.65,0.00,0.000,6,0.000,0.022,3452,2070,2067,0,0,0,0,0,0
$GC,8426,1.54,245.5,113.0,9.1,363,8445,0.00,0.00,16.50,0.631,6,0.000,0.000,3452,2071,2000,0,0,0,0,0,0
$GC,8704,1.58,245.5,83.7,11.0,389,8708,0.00,2.85,0.00,0.000,4,0.000,0.058,3452,389,1997,0,0,0,0,0,0
$GC,8761,1.58,245.5,75.7,13.3,393,8771,0.00,2.65,0.00,0.000,6,0.000,0.025,3452,2069,1996,0,0,0,0,0,0
$GC,9030,1.66,264.3,50.1,9.0,418,9050,0.12,0.00,17.42,0.571,6,0.075,0.000,3490,2070,1923,0,0,0,0,0,0
$GC,9322,1.73,324.2,23.2,6.6,450,9380,0.00,2.45,51.12,0.557,4,0.000,0.031,3490,3554,1678,0,0,0,0,0,0
$GC,9406,1.73,324.2,14.2,11.6,460,9415,0.00,2.53,0.00,0.000,6,0.000,0.028,3490,2016,1676,0,0,0,0,0,0
$STATE,9486,end climb,SURFACE_DEPTH_REACHED
$STATE,9486,begin surface coast
$FINISH,0.4,0.980179
$STATE,9544,end surface coast,CONTROL_FINISHED_OK
$STATE,9544,begin surface
$SM_CCo,9566,60.25,0.534,0,0,1370,400.08
$SM_GC,1.03,0.00,0.00,60.25,0.000,0.000,0.534,477,1723,1370,-12.16,-1.33,400.08
$IRIDIUM_FIX,2239.35,-15800.20,180800,111126
$TT8_MAMPS,0.026078
$HUMID,58.46
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.40
$XPDR_PINGS,45
$24V_AH,23.5,15.032
$10V_AH,10.4,12.837
$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,27.950,120.325,381.350,60.250,0.000,27.571,39.899,156.423,11.250,0.000,11.619,961.065,6235.752,479.761,1812.883,489.618,33.362,1202.016,0.000,1826.154,0.000,0.534,0.000
$DEVICE_MAMPS,163.371,118.885,931.138,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.059,279.990,369.739,704.747,1066.807,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38301,479
$CAP_FILE_SIZE,99132,0
$CFSIZE,260165632,176082944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,163652,2247.625,-15802.763,39,2.2,58,10.1