version: 66.06
glider: 146
mission: 6
dive: 121
start: 5 25 111 22 25 0
data:
$ID,146
$MISSION,6
$DIVE,121
$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,-270095.94
$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,61
$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
$GPS1,220826,2249.199,-15803.035,42,99.0,61,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.3
$GPS2,222407,2249.313,-15803.112,79,1.5,79,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.025
$KALMAN_X,-79363.4,-56.3,-162.1,68796.4,-416.7
$KALMAN_Y,-133297.1,-63.6,-221.7,143602.1,-16.2
$MHEAD_RNG_PITCHd_Wd,73.8,10510,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,100,0.00,0.00,-78.93,0.000,2,0.000,0.000,476,1751,3362,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.3,-6.5,10,129,12.55,2.67,-2.17,0.000,4,0.164,0.064,2809,196,3481,0,0,0,0,0,0
$GC,142,-0.38,-116.8,16.9,-34.7,14,152,1.02,2.42,0.00,0.000,6,0.103,0.017,3031,1805,3482,0,0,0,0,0,0
$GC,441,-0.65,-116.8,38.8,-6.0,49,445,0.22,2.33,0.00,0.000,4,0.048,0.023,2960,3294,3483,0,0,0,0,0,0
$GC,478,-0.81,-116.8,42.2,-9.5,51,487,0.00,2.45,0.00,0.000,6,0.000,0.026,2960,1778,3483,0,0,0,0,0,0
$GC,744,-0.96,-116.8,68.3,-9.6,76,749,0.20,2.40,0.00,0.000,4,0.051,0.024,2893,3294,3483,0,0,0,0,0,0
$GC,818,-1.02,-116.8,76.3,-11.3,81,822,0.00,2.42,0.00,0.000,6,0.000,0.026,2893,1775,3482,0,0,0,0,0,0
$GC,1084,-1.02,-116.8,101.1,-8.6,105,1088,0.00,2.40,0.00,0.000,4,0.000,0.031,2892,3299,3483,0,0,0,0,0,0
$GC,1118,-1.07,-116.8,104.3,-9.0,107,1122,0.00,2.40,0.00,0.000,6,0.000,0.033,2892,1780,3483,0,0,0,0,0,0
$GC,1385,-1.13,-116.8,133.6,-11.0,131,1389,0.00,2.42,0.00,0.000,4,0.000,0.028,2892,3303,3484,0,0,0,0,0,0
$GC,1416,-1.21,-116.8,137.4,-11.3,133,1421,0.15,2.40,0.00,0.000,6,0.062,0.025,2840,1790,3484,0,0,0,0,0,0
$GC,1684,-1.21,-116.8,170.2,-12.7,157,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1789,3484,0,0,0,0,0,0
$GC,1953,-1.21,-116.8,206.0,-13.3,180,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1789,3484,0,0,0,0,0,0
$GC,2198,-1.21,-116.8,235.9,-11.8,186,2202,0.00,2.38,0.00,0.000,4,0.000,0.028,2840,3301,3484,0,0,0,0,0,0
$GC,2238,-1.21,-116.8,240.8,-11.9,187,2242,0.00,2.40,0.00,0.000,6,0.000,0.031,2840,1805,3485,0,0,0,0,0,0
$GC,2521,-1.21,-116.8,271.4,-11.2,194,2525,0.00,2.38,0.00,0.000,4,0.000,0.031,2840,3294,3484,0,0,0,0,0,0
$GC,2577,-1.25,-116.8,277.3,-10.8,195,2582,0.00,2.40,0.00,0.000,6,0.000,0.031,2840,1798,3485,0,0,0,0,0,0
$GC,2844,-1.25,-116.8,303.3,-9.6,202,2848,0.00,2.38,0.00,0.000,4,0.000,0.038,2840,3295,3484,0,0,0,0,0,0
$GC,2895,-1.29,-116.8,308.0,-8.8,203,2899,0.00,2.45,0.00,0.000,6,0.000,0.044,2840,1805,3484,0,0,0,0,0,0
$GC,3168,-1.29,-116.8,332.8,-9.4,210,3172,0.00,2.40,0.00,0.000,4,0.000,0.033,2840,3297,3483,0,0,0,0,0,0
$GC,3212,-1.36,-116.8,337.3,-9.3,211,3216,0.00,2.45,0.00,0.000,6,0.000,0.041,2840,1815,3482,0,0,0,0,0,0
$GC,3491,-1.40,-116.8,363.3,-9.5,218,3497,0.10,2.95,0.00,0.000,4,0.083,0.098,2803,187,3481,0,0,0,0,0,0
$GC,3508,-1.40,-116.8,365.4,-9.6,218,3512,0.00,2.47,0.00,0.000,6,0.000,0.027,2803,1761,3480,0,0,0,0,0,0
$GC,3768,-1.40,-116.8,394.7,-11.2,225,3772,0.00,2.62,0.00,0.000,4,0.000,0.048,2803,3357,3479,0,0,0,0,0,0
$GC,3813,-1.40,-116.8,399.6,-11.6,226,3817,0.00,2.58,0.00,0.000,6,0.000,0.050,2804,1822,3479,0,0,0,0,0,0
$GC,4090,-1.40,-116.8,428.1,-10.2,233,4094,0.00,2.53,0.00,0.000,4,0.000,0.049,2803,3354,3477,0,0,0,0,0,0
$GC,4111,-1.40,-116.8,430.4,-10.5,233,4115,0.00,2.60,0.00,0.000,6,0.000,0.058,2804,1827,3477,0,0,0,0,0,0
$GC,4368,-1.40,-116.8,455.2,-9.7,240,4372,0.00,2.50,0.00,0.000,4,0.000,0.054,2803,3348,3475,0,0,0,0,0,0
$GC,4394,-1.40,-116.8,458.0,-9.8,240,4399,0.00,2.58,0.00,0.000,6,0.000,0.059,2803,1842,3475,0,0,0,0,0,0
$GC,4644,-1.40,-116.8,481.4,-9.4,246,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1841,3474,0,0,0,0,0,0
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4852,-0.31,0.0,501.1,9.7,251,4952,1.10,0.00,95.78,0.933,6,0.087,0.000,3049,1980,3000,0,0,0,0,0,0
$STATE,4952,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4955,1.38,116.8,503.7,0.0,253,5063,1.58,2.70,98.55,0.910,4,0.054,0.061,3416,3533,2523,0,0,0,0,0,0
$GC,5093,1.42,177.0,500.0,6.6,256,5152,0.00,2.70,51.47,0.888,6,0.000,0.059,3417,1977,2279,0,0,0,0,0,0
$GC,5404,1.43,192.1,472.4,9.2,264,5424,0.00,3.17,13.05,0.816,4,0.000,0.121,3417,389,2218,0,0,0,0,0,0
$GC,5442,1.41,200.2,468.6,9.6,264,5457,0.00,2.58,8.98,0.762,6,0.000,0.037,3417,1947,2184,0,0,0,0,0,0
$GC,5736,1.42,213.1,440.6,9.3,272,5755,0.00,2.83,11.80,0.809,4,0.000,0.057,3417,3557,2131,0,0,0,0,0,0
$GC,5796,1.42,213.1,434.8,10.4,273,5800,0.00,2.70,0.00,0.000,6,0.000,0.051,3417,1971,2130,0,0,0,0,0,0
$GC,6062,1.43,222.4,409.2,9.5,280,6073,0.00,0.00,9.25,0.776,6,0.000,0.000,3417,1971,2094,0,0,0,0,0,0
$GC,6305,1.43,222.4,383.8,10.4,286,6310,0.00,2.92,0.00,0.000,4,0.000,0.093,3417,375,2091,0,0,0,0,0,0
$GC,6333,1.43,222.4,380.6,11.9,286,6338,0.00,2.60,0.00,0.000,6,0.000,0.027,3417,2000,2090,0,0,0,0,0,0
$GC,6584,1.44,229.5,355.7,9.6,292,6593,0.00,0.00,6.93,0.713,6,0.000,0.000,3416,2000,2065,0,0,0,0,0,0
$GC,6827,1.52,258.2,334.8,8.4,298,6857,0.15,0.00,26.92,0.824,6,0.073,0.000,3458,2000,1947,0,0,0,0,0,0
$GC,7070,1.52,258.2,306.0,12.5,304,7075,0.00,2.53,0.00,0.000,4,0.000,0.037,3458,3552,1943,0,0,0,0,0,0
$GC,7098,1.52,258.2,302.2,13.1,304,7102,0.00,2.60,0.00,0.000,6,0.000,0.038,3458,1960,1942,0,0,0,0,0,0
$GC,7348,1.52,258.2,272.7,11.6,310,7352,0.00,2.60,0.00,0.000,4,0.000,0.038,3458,3544,1941,0,0,0,0,0,0
$GC,7397,1.52,258.2,267.1,11.4,311,7401,0.00,2.58,0.00,0.000,6,0.000,0.037,3458,1972,1940,0,0,0,0,0,0
$GC,7671,1.52,258.2,237.6,10.8,318,7675,0.00,2.58,0.00,0.000,4,0.000,0.040,3458,3548,1939,0,0,0,0,0,0
$GC,7719,1.52,258.2,231.6,11.9,319,7724,0.00,2.55,0.00,0.000,6,0.000,0.033,3457,1986,1938,0,0,0,0,0,0
$GC,7991,1.52,258.2,200.7,11.1,326,7996,0.00,2.53,0.00,0.000,4,0.000,0.034,3458,3549,1937,0,0,0,0,0,0
$GC,8033,1.52,258.2,196.0,12.5,327,8038,0.00,2.53,0.00,0.000,6,0.000,0.037,3458,1987,1937,0,0,0,0,0,0
$GC,8295,1.52,258.2,165.1,12.3,351,8300,0.00,2.70,0.00,0.000,4,0.000,0.063,3458,389,1937,0,0,0,0,0,0
$GC,8317,1.52,258.2,161.9,13.4,352,8323,0.00,2.50,0.00,0.000,6,0.000,0.024,3458,2015,1936,0,0,0,0,0,0
$GC,8585,1.52,258.2,130.5,11.1,377,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2016,1937,0,0,0,0,0,0
$GC,8846,1.52,258.2,101.7,11.9,402,8850,0.00,2.75,0.00,0.000,4,0.000,0.060,3458,386,1936,0,0,0,0,0,0
$GC,8899,1.52,258.2,94.8,13.1,406,8904,0.00,2.47,0.00,0.000,6,0.000,0.024,3458,1987,1936,0,0,0,0,0,0
$GC,9166,1.55,286.1,66.6,8.4,430,9196,0.00,2.55,23.40,0.600,4,0.000,0.032,3458,3526,1832,0,0,0,0,0,0
$GC,9258,1.65,307.6,59.0,8.8,437,9286,0.00,2.50,19.23,0.575,6,0.000,0.029,3458,1981,1745,0,0,0,0,0,0
$GC,9543,1.72,310.9,34.4,9.8,463,9558,0.15,2.53,3.85,0.376,4,0.071,0.030,3499,3524,1733,0,0,0,0,0,0
$GC,9577,1.72,310.9,30.5,11.6,465,9581,0.00,2.45,0.00,0.000,6,0.000,0.030,3499,1997,1732,0,0,0,0,0,0
$STATE,9782,end climb,SURFACE_DEPTH_REACHED
$STATE,9782,begin surface coast
$FINISH,0.7,0.971545
$STATE,9825,end surface coast,CONTROL_FINISHED_OK
$STATE,9825,begin surface
$SM_CCo,9848,72.12,0.541,0,0,1370,400.08
$SM_GC,1.25,0.00,0.00,72.12,0.000,0.000,0.541,474,1744,1370,-12.17,-0.74,400.08
$IRIDIUM_FIX,2239.35,-15804.53,180800,222210
$TT8_MAMPS,0.026078
$HUMID,58.89
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,46
$24V_AH,23.5,15.399
$10V_AH,10.4,13.173
$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,29.475,128.050,369.200,72.125,0.000,50.442,69.269,554.512,11.500,0.000,80.909,1020.502,6361.438,508.101,2012.352,962.101,33.364,1218.336,0.000,1950.126,0.000,0.537,0.000
$DEVICE_MAMPS,164.138,121.186,932.672,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.535,280.301,390.649,789.310,1193.797,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38349,500
$CAP_FILE_SIZE,112689,0
$CFSIZE,260165632,175923200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260511,011157,2249.501,-15801.643,36,99.0,55,10.1