version: 66.06
glider: 146
mission: 6
dive: 120
start: 5 25 111 19 26 8
data:
$ID,146
$MISSION,6
$DIVE,120
$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,-270014.41
$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,42
$R_STBD_OVSHOOT,21
$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
$GPS1,191852,2248.328,-15802.902,19,99.0,38,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.1
$GPS2,192515,2248.336,-15802.953,12,1.8,19,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.228
$KALMAN_X,-78577.4,5.8,-178.8,68235.0,-604.1
$KALMAN_Y,-132835.8,-81.1,-204.5,141330.3,-593.8
$MHEAD_RNG_PITCHd_Wd,3.7,3083,-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,-78.75,0.000,2,0.000,0.000,477,1750,3355,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.6,-6.8,10,127,12.52,2.62,-2.25,0.000,4,0.164,0.041,2809,3366,3482,0,0,0,0,0,0
$GC,231,-1.26,-116.8,34.8,-19.0,26,236,0.17,2.53,0.00,0.000,6,0.121,0.027,2843,1784,3482,0,0,0,0,0,0
$GC,498,-1.20,-116.8,75.3,-13.6,50,503,0.00,2.50,0.00,0.000,4,0.000,0.028,2843,3371,3483,0,0,0,0,0,0
$GC,545,-1.20,-116.8,82.1,-11.9,53,551,0.00,2.53,0.00,0.000,6,0.000,0.026,2843,1774,3483,0,0,0,0,0,0
$GC,809,-1.15,-116.8,114.8,-13.4,78,810,0.12,0.00,0.00,0.000,6,0.127,0.000,2869,1774,3484,0,0,0,0,0,0
$GC,1062,-1.15,-116.8,146.8,-12.5,102,1066,0.00,2.50,0.00,0.000,4,0.000,0.031,2868,3368,3485,0,0,0,0,0,0
$GC,1084,-1.18,-116.8,149.6,-11.7,103,1090,0.00,2.53,0.00,0.000,6,0.000,0.026,2868,1771,3485,0,0,0,0,0,0
$GC,1348,-1.22,-116.8,179.0,-10.9,128,1353,0.00,2.53,0.00,0.000,4,0.000,0.031,2869,3378,3486,0,0,0,0,0,0
$GC,1367,-1.26,-116.8,181.3,-10.9,129,1372,0.10,2.53,0.00,0.000,6,0.080,0.030,2825,1782,3486,0,0,0,0,0,0
$GC,1644,-1.26,-116.8,215.3,-12.2,146,1648,0.00,2.53,0.00,0.000,4,0.000,0.034,2825,3371,3486,0,0,0,0,0,0
$GC,1666,-1.26,-116.8,218.0,-12.1,146,1671,0.00,2.53,0.00,0.000,6,0.000,0.031,2825,1785,3486,0,0,0,0,0,0
$GC,1921,-1.26,-116.8,248.7,-11.9,153,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1785,3486,0,0,0,0,0,0
$GC,2164,-1.26,-116.8,275.5,-10.9,159,2169,0.00,2.53,0.00,0.000,4,0.000,0.039,2825,3366,3486,0,0,0,0,0,0
$GC,2226,-1.26,-116.8,282.0,-10.5,160,2231,0.00,2.53,0.00,0.000,6,0.000,0.033,2825,1805,3486,0,0,0,0,0,0
$GC,2487,-1.26,-116.8,309.1,-10.5,167,2491,0.00,2.50,0.00,0.000,4,0.000,0.031,2825,3370,3486,0,0,0,0,0,0
$GC,2526,-1.26,-116.8,313.3,-10.9,168,2530,0.00,2.55,0.00,0.000,6,0.000,0.042,2825,1810,3486,0,0,0,0,0,0
$GC,2810,-1.26,-116.8,342.3,-10.4,175,2814,0.00,2.53,0.00,0.000,4,0.000,0.039,2825,3363,3485,0,0,0,0,0,0
$GC,2849,-1.26,-116.8,346.7,-11.1,176,2853,0.00,2.60,0.00,0.000,6,0.000,0.051,2825,1805,3485,0,0,0,0,0,0
$GC,3131,-1.26,-116.8,376.7,-10.5,183,3136,0.00,2.55,0.00,0.000,4,0.000,0.038,2825,3368,3483,0,0,0,0,0,0
$GC,3148,-1.26,-116.8,378.6,-10.8,183,3153,0.00,2.60,0.00,0.000,6,0.000,0.047,2825,1813,3483,0,0,0,0,0,0
$GC,3409,-1.26,-116.8,407.3,-11.0,190,3413,0.00,2.97,0.00,0.000,4,0.000,0.101,2824,186,3481,0,0,0,0,0,0
$GC,3441,-1.26,-116.8,411.3,-12.0,190,3447,0.00,2.62,0.00,0.000,6,0.000,0.031,2824,1816,3481,0,0,0,0,0,0
$GC,3692,-1.26,-116.8,438.7,-10.9,197,3697,0.00,2.60,0.00,0.000,4,0.000,0.063,2825,3354,3480,0,0,0,0,0,0
$GC,3708,-1.26,-116.8,440.7,-10.8,197,3713,0.00,2.62,0.00,0.000,6,0.000,0.055,2825,1809,3480,0,0,0,0,0,0
$GC,3970,-1.26,-116.8,465.6,-9.2,204,3974,0.00,2.58,0.00,0.000,4,0.000,0.048,2824,3356,3479,0,0,0,0,0,0
$GC,3991,-1.26,-116.8,467.5,-8.5,204,3996,0.00,2.65,0.00,0.000,6,0.000,0.061,2825,1813,3479,0,0,0,0,0,0
$GC,4247,-1.26,-116.8,489.4,-8.2,211,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1813,3477,0,0,0,0,0,0
$STATE,4406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4406,begin apogee
$GC,4412,-0.31,0.0,502.5,8.0,215,4512,1.00,0.00,96.55,0.934,6,0.087,0.000,3049,1998,3001,0,0,0,0,0,0
$STATE,4513,end apogee,CONTROL_FINISHED_OK
$STATE,4513,begin climb
$GC,4515,1.38,116.8,503.9,0.0,217,4619,1.62,0.00,99.35,0.907,6,0.060,0.000,3425,1998,2524,0,0,0,0,0,0
$GC,4854,1.43,158.3,483.5,7.6,226,4895,0.00,2.62,35.53,0.889,4,0.000,0.055,3424,3526,2354,0,0,0,0,0,0
$GC,4923,1.45,168.9,477.4,9.4,227,4939,0.00,2.70,10.25,0.795,6,0.000,0.051,3425,1966,2312,0,0,0,0,0,0
$GC,5184,1.46,180.4,452.7,9.4,234,5197,0.00,0.00,10.90,0.805,6,0.000,0.000,3425,1966,2265,0,0,0,0,0,0
$GC,5427,1.46,180.4,427.8,10.3,240,5431,0.00,2.62,0.00,0.000,4,0.000,0.041,3425,3537,2260,0,0,0,0,0,0
$GC,5447,1.46,180.4,425.5,10.2,240,5452,0.00,2.65,0.00,0.000,6,0.000,0.044,3425,1971,2259,0,0,0,0,0,0
$GC,5704,1.47,192.6,401.5,9.3,247,5717,0.00,0.00,11.32,0.806,6,0.000,0.000,3425,1970,2215,0,0,0,0,0,0
$GC,5946,1.49,205.1,378.5,9.3,253,5966,0.00,2.95,12.02,0.802,4,0.000,0.089,3425,385,2162,0,0,0,0,0,0
$GC,5978,1.49,207.4,375.4,9.9,253,5982,0.00,2.53,0.00,0.000,6,0.000,0.025,3425,1972,2162,0,0,0,0,0,0
$GC,6229,1.51,217.6,352.0,9.4,259,6244,0.10,0.00,12.05,0.789,6,0.094,0.000,3452,1972,2113,0,0,0,0,0,0
$GC,6471,1.51,217.6,325.3,11.0,265,6475,0.00,2.58,0.00,0.000,4,0.000,0.044,3452,3542,2109,0,0,0,0,0,0
$GC,6559,1.51,217.6,314.8,11.7,267,6564,0.00,2.58,0.00,0.000,6,0.000,0.040,3452,1973,2108,0,0,0,0,0,0
$GC,6845,1.51,217.6,282.3,11.7,274,6849,0.00,2.58,0.00,0.000,4,0.000,0.035,3452,3548,2106,0,0,0,0,0,0
$GC,6921,1.51,217.6,272.7,12.2,275,6927,0.00,2.58,0.00,0.000,6,0.000,0.034,3452,1981,2105,0,0,0,0,0,0
$GC,7171,1.51,217.6,243.3,11.8,282,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1980,2105,0,0,0,0,0,0
$GC,7416,1.51,217.6,215.3,11.4,288,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1980,2105,0,0,0,0,0,0
$GC,7662,1.55,254.7,192.5,7.9,300,7697,0.00,0.00,32.10,0.723,6,0.000,0.000,3452,1980,1962,0,0,0,0,0,0
$GC,7953,1.57,271.4,166.3,9.1,327,7977,0.00,2.65,15.18,0.668,4,0.000,0.038,3452,3553,1893,0,0,0,0,0,0
$GC,8012,1.57,271.4,160.2,10.6,332,8017,0.00,2.60,0.00,0.000,6,0.000,0.031,3452,1971,1892,0,0,0,0,0,0
$GC,8274,1.57,271.4,133.6,11.1,356,8279,0.00,2.72,0.00,0.000,4,0.000,0.059,3452,388,1890,0,0,0,0,0,0
$GC,8309,1.57,271.4,129.5,12.4,358,8318,0.00,2.53,0.00,0.000,6,0.000,0.024,3451,1994,1889,0,0,0,0,0,0
$GC,8575,1.61,271.4,100.2,10.9,383,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1995,1888,0,0,0,0,0,0
$GC,8842,1.70,285.4,73.6,9.2,408,8861,0.15,0.00,12.93,0.576,6,0.068,0.000,3497,1995,1835,0,0,0,0,0,0
$GC,9119,1.70,285.4,43.5,11.7,434,9123,0.00,2.45,0.00,0.000,4,0.000,0.031,3496,3524,1834,0,0,0,0,0,0
$GC,9142,1.70,285.4,40.0,11.8,435,9152,0.00,2.55,0.00,0.000,6,0.000,0.030,3496,1965,1833,0,0,0,0,0,0
$GC,9457,1.70,285.4,4.1,11.3,476,9466,0.00,2.53,0.00,0.000,4,0.000,0.030,3497,3526,1833,0,0,0,0,0,0
$STATE,9474,end climb,SURFACE_DEPTH_REACHED
$STATE,9474,begin surface coast
$FINISH,0.6,0.980179
$STATE,9517,end surface coast,CONTROL_FINISHED_OK
$STATE,9517,begin surface
$SM_CCo,9543,92.60,0.539,0,0,1369,400.08
$SM_GC,1.34,0.00,0.00,92.60,0.000,0.000,0.539,477,1753,1369,-12.16,-0.48,400.08
$IRIDIUM_FIX,2239.35,-15804.53,180800,161633
$TT8_MAMPS,0.026845
$HUMID,56.93
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,43
$24V_AH,23.5,15.259
$10V_AH,10.4,13.048
$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,27.975,109.275,348.175,92.600,0.000,24.429,40.536,190.516,10.750,0.000,21.309,945.113,6301.426,535.882,1730.868,507.909,33.359,1157.280,0.000,1738.947,0.000,0.534,0.000
$DEVICE_MAMPS,164.138,118.885,934.206,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.814,272.874,374.458,699.833,1058.391,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38349,484
$CAP_FILE_SIZE,92892,0
$CFSIZE,260165632,175992832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,220826,2249.199,-15803.035,42,99.0,61,10.1