version: 66.06
glider: 146
mission: 6
dive: 119
start: 5 25 111 16 44 3
data:
$ID,146
$MISSION,6
$DIVE,119
$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,-269992.47
$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,74
$R_STBD_OVSHOOT,22
$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
$GPS1,163652,2247.625,-15802.763,39,2.2,58,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.7
$GPS2,164310,2247.618,-15802.806,15,2.1,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,0.226
$KALMAN_X,-77908.2,59.4,2.3,67585.5,-739.1
$KALMAN_Y,-132353.7,-52.5,203.7,139083.0,-1063.7
$MHEAD_RNG_PITCHd_Wd,6.0,4424,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-77.35,0.000,2,0.000,0.000,477,1723,3295,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.3,-5.8,10,125,12.70,2.65,-3.35,0.000,4,0.170,0.036,2809,3363,3479,0,0,0,0,0,0
$GC,229,-1.26,-116.8,34.5,-17.1,26,234,0.17,2.47,0.00,0.000,6,0.123,0.028,2843,1814,3480,0,0,0,0,0,0
$GC,497,-1.21,-116.8,76.6,-15.2,50,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1814,3481,0,0,0,0,0,0
$GC,762,-1.17,-116.8,114.5,-15.0,75,767,0.10,2.80,0.00,0.000,4,0.143,0.067,2862,196,3482,0,0,0,0,0,0
$GC,784,-1.12,-116.8,118.4,-14.1,76,794,0.00,2.50,0.00,0.000,6,0.000,0.015,2862,1845,3482,0,0,0,0,0,0
$GC,1046,-1.12,-116.8,152.1,-12.4,101,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1846,3483,0,0,0,0,0,0
$GC,1300,-1.12,-116.8,184.8,-12.8,125,1305,0.00,2.83,0.00,0.000,4,0.000,0.067,2862,196,3484,0,0,0,0,0,0
$GC,1323,-1.12,-116.8,187.7,-13.0,126,1332,0.00,2.50,0.00,0.000,6,0.000,0.022,2862,1826,3484,0,0,0,0,0,0
$GC,1587,-1.16,-116.8,218.2,-11.2,140,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1827,3484,0,0,0,0,0,0
$GC,1830,-1.21,-116.8,244.7,-10.8,146,1835,0.00,2.42,0.00,0.000,4,0.000,0.030,2862,3366,3484,0,0,0,0,0,0
$GC,1876,-1.29,-116.8,249.8,-11.2,147,1882,0.10,2.53,0.00,0.000,6,0.087,0.035,2824,1786,3484,0,0,0,0,0,0
$GC,2154,-1.29,-116.8,284.2,-12.3,154,2158,0.00,2.58,0.00,0.000,4,0.000,0.038,2824,3370,3484,0,0,0,0,0,0
$GC,2181,-1.29,-116.8,287.3,-11.2,154,2185,0.00,2.58,0.00,0.000,6,0.000,0.038,2824,1787,3484,0,0,0,0,0,0
$GC,2432,-1.29,-116.8,314.0,-10.4,160,2436,0.00,2.55,0.00,0.000,4,0.000,0.036,2823,3367,3484,0,0,0,0,0,0
$GC,2453,-1.29,-116.8,316.3,-9.5,160,2458,0.00,2.58,0.00,0.000,6,0.000,0.037,2823,1789,3484,0,0,0,0,0,0
$GC,2709,-1.29,-116.8,342.6,-10.6,167,2713,0.00,2.58,0.00,0.000,4,0.000,0.038,2824,3360,3483,0,0,0,0,0,0
$GC,2735,-1.29,-116.8,345.7,-10.8,167,2740,0.00,2.60,0.00,0.000,6,0.000,0.050,2823,1798,3483,0,0,0,0,0,0
$GC,2987,-1.29,-116.8,374.1,-11.6,173,2991,0.00,2.58,0.00,0.000,4,0.000,0.046,2824,3369,3482,0,0,0,0,0,0
$GC,3047,-1.34,-116.8,381.3,-11.4,174,3052,0.00,2.65,0.00,0.000,6,0.000,0.055,2823,1799,3481,0,0,0,0,0,0
$GC,3308,-1.34,-116.8,410.8,-11.6,181,3313,0.00,2.58,0.00,0.000,4,0.000,0.050,2824,3360,3480,0,0,0,0,0,0
$GC,3371,-1.39,-116.8,417.8,-11.2,182,3375,0.00,2.62,0.00,0.000,6,0.000,0.059,2824,1816,3480,0,0,0,0,0,0
$GC,3631,-1.39,-116.8,444.9,-10.4,189,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1816,3478,0,0,0,0,0,0
$GC,3875,-1.39,-116.8,470.8,-10.5,195,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1816,3477,0,0,0,0,0,0
$GC,4120,-1.39,-116.8,495.1,-9.9,201,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1816,3475,0,0,0,0,0,0
$STATE,4197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4198,begin apogee
$GC,4204,-0.31,0.0,503.8,10.4,203,4304,1.02,0.00,96.43,0.932,6,0.087,0.000,3052,1998,3001,0,0,0,0,0,0
$STATE,4304,end apogee,CONTROL_FINISHED_OK
$STATE,4304,begin climb
$GC,4307,1.38,116.8,507.3,0.0,205,4417,1.58,2.72,98.60,0.910,4,0.051,0.067,3421,3534,2522,0,0,0,0,0,0
$GC,4467,1.44,205.0,504.8,4.9,208,4549,0.00,2.70,75.10,0.897,6,0.000,0.058,3421,1972,2164,0,0,0,0,0,0
$GC,4792,1.48,233.6,479.6,8.4,216,4824,0.00,3.15,25.33,0.867,4,0.000,0.122,3421,384,2046,0,0,0,0,0,0
$GC,4840,1.50,251.2,475.4,9.0,217,4865,0.10,2.60,16.62,0.833,6,0.097,0.037,3450,1948,1976,0,0,0,0,0,0
$GC,5116,1.50,251.2,447.2,10.5,224,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1948,1971,0,0,0,0,0,0
$GC,5359,1.50,251.2,419.8,11.4,230,5363,0.00,2.67,0.00,0.000,4,0.000,0.051,3449,3563,1968,0,0,0,0,0,0
$GC,5385,1.50,251.2,416.6,11.4,230,5390,0.00,2.65,0.00,0.000,6,0.000,0.041,3449,1968,1967,0,0,0,0,0,0
$GC,5637,1.50,251.2,388.0,11.7,236,5641,0.00,2.62,0.00,0.000,4,0.000,0.037,3450,3565,1966,0,0,0,0,0,0
$GC,5663,1.50,251.2,384.6,11.9,236,5668,0.00,2.65,0.00,0.000,6,0.000,0.038,3449,1973,1965,0,0,0,0,0,0
$GC,5913,1.50,251.2,354.4,12.3,242,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1973,1964,0,0,0,0,0,0
$GC,6157,1.50,251.2,320.8,14.0,248,6161,0.00,2.58,0.00,0.000,4,0.000,0.039,3449,3558,1963,0,0,0,0,0,0
$GC,6197,1.50,251.2,315.3,14.5,249,6201,0.00,2.60,0.00,0.000,6,0.000,0.036,3450,1977,1962,0,0,0,0,0,0
$GC,6480,1.50,251.2,276.6,13.4,256,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1977,1962,0,0,0,0,0,0
$GC,6723,1.50,251.2,247.0,11.8,262,6728,0.00,2.58,0.00,0.000,4,0.000,0.041,3450,3568,1961,0,0,0,0,0,0
$GC,6757,1.50,251.2,243.1,11.5,262,6763,0.00,2.60,0.00,0.000,6,0.000,0.035,3450,1976,1960,0,0,0,0,0,0
$GC,7007,1.50,251.2,217.2,10.3,269,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1976,1960,0,0,0,0,0,0
$GC,7252,1.50,251.2,192.5,10.1,278,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1976,1959,0,0,0,0,0,0
$GC,7508,1.50,251.2,166.0,10.8,302,7513,0.00,2.55,0.00,0.000,4,0.000,0.039,3450,3561,1959,0,0,0,0,0,0
$GC,7541,1.50,251.2,162.8,11.9,304,7546,0.00,2.55,0.00,0.000,6,0.000,0.036,3450,1986,1958,0,0,0,0,0,0
$GC,7804,1.50,251.2,134.6,10.4,328,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1986,1958,0,0,0,0,0,0
$GC,8058,1.50,251.2,108.0,10.5,352,8063,0.00,2.70,0.00,0.000,4,0.000,0.061,3450,392,1958,0,0,0,0,0,0
$GC,8087,1.50,251.2,104.4,12.4,354,8092,0.00,2.55,0.00,0.000,6,0.000,0.018,3450,2042,1958,0,0,0,0,0,0
$GC,8355,1.54,251.2,75.6,11.0,378,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2043,1958,0,0,0,0,0,0
$GC,8621,1.66,291.4,52.2,7.7,403,8660,0.12,0.00,32.30,0.588,6,0.081,0.000,3488,2043,1811,0,0,0,0,0,0
$GC,8935,1.70,319.7,21.5,8.4,437,8969,0.00,2.53,24.90,0.549,4,0.000,0.038,3488,3567,1695,0,0,0,0,0,0
$GC,8994,1.70,319.7,15.6,10.6,444,9003,0.00,2.60,0.00,0.000,6,0.000,0.031,3488,1988,1695,0,0,0,0,0,0
$STATE,9085,end climb,SURFACE_DEPTH_REACHED
$STATE,9085,begin surface coast
$FINISH,0.6,0.980191
$STATE,9121,end surface coast,CONTROL_FINISHED_OK
$STATE,9121,begin surface
$SM_CCo,9144,64.25,0.539,0,0,1370,400.08
$SM_GC,1.25,0.00,0.00,64.25,0.000,0.000,0.539,478,1750,1370,-12.15,-0.57,400.08
$IRIDIUM_FIX,2239.35,-15804.53,180800,131355
$TT8_MAMPS,0.026078
$HUMID,58.19
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.40
$XPDR_PINGS,35
$24V_AH,23.5,15.144
$10V_AH,10.4,12.942
$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,28.175,94.800,369.275,64.250,0.000,23.576,35.331,167.162,8.750,0.000,37.162,898.590,6040.007,460.906,1718.501,471.117,33.372,1113.259,0.000,1704.341,0.000,0.534,0.000
$DEVICE_MAMPS,169.507,121.953,931.905,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.092,265.262,359.537,696.539,1053.576,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,35243,462
$CAP_FILE_SIZE,88857,0
$CFSIZE,260165632,176046080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,191852,2248.328,-15802.902,19,99.0,38,10.1