version: 66.06
glider: 146
mission: 6
dive: 123
start: 5 26 111 4 11 37
data:
$ID,146
$MISSION,6
$DIVE,123
$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,-270129.69
$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,40
$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
$GPS1,040437,2249.753,-15800.458,39,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.3
$GPS2,041043,2249.823,-15800.466,9,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.077
$KALMAN_X,-79936.1,-40.7,263.1,73443.9,-602.9
$KALMAN_Y,-133716.6,164.0,347.4,144168.5,-681.8
$MHEAD_RNG_PITCHd_Wd,60.7,5925,-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,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.38,0.000,2,0.000,0.000,475,1734,3321,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.4,-6.2,10,127,12.60,2.62,-2.95,0.000,4,0.166,0.044,2809,3352,3481,0,0,0,0,0,0
$GC,153,-0.98,-116.8,19.9,-29.5,16,161,0.40,2.53,0.00,0.000,6,0.101,0.035,2898,1803,3482,0,0,0,0,0,0
$GC,431,-0.98,-116.8,57.7,-12.0,45,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1803,3483,0,0,0,0,0,0
$GC,693,-1.02,-116.8,88.4,-11.5,70,697,0.00,2.45,0.00,0.000,4,0.000,0.027,2898,3350,3484,0,0,0,0,0,0
$GC,749,-1.11,-116.8,94.9,-10.5,74,759,0.00,2.58,0.00,0.000,6,0.000,0.028,2898,1762,3485,0,0,0,0,0,0
$GC,1017,-1.17,-116.8,121.6,-10.1,99,1022,0.15,2.53,0.00,0.000,4,0.064,0.027,2849,3351,3485,0,0,0,0,0,0
$GC,1051,-1.17,-116.8,125.6,-12.1,101,1055,0.00,2.55,0.00,0.000,6,0.000,0.028,2848,1756,3485,0,0,0,0,0,0
$GC,1314,-1.17,-116.8,156.8,-10.6,125,1319,0.00,2.50,0.00,0.000,4,0.000,0.032,2849,3352,3486,0,0,0,0,0,0
$GC,1348,-1.17,-116.8,160.1,-10.5,127,1352,0.00,2.53,0.00,0.000,6,0.000,0.026,2849,1772,3486,0,0,0,0,0,0
$GC,1615,-1.17,-116.8,189.4,-11.5,151,1620,0.00,2.70,0.00,0.000,4,0.000,0.066,2848,200,3486,0,0,0,0,0,0
$GC,1633,-1.17,-116.8,192.2,-11.5,152,1637,0.00,2.42,0.00,0.000,6,0.000,0.015,2848,1820,3486,0,0,0,0,0,0
$GC,1906,-1.17,-116.8,224.9,-12.2,163,1910,0.00,2.33,0.00,0.000,4,0.000,0.034,2848,3308,3486,0,0,0,0,0,0
$GC,1932,-1.17,-116.8,228.2,-12.0,163,1937,0.00,2.45,0.00,0.000,6,0.000,0.033,2848,1780,3487,0,0,0,0,0,0
$GC,2189,-1.17,-116.8,259.9,-12.5,170,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1779,3487,0,0,0,0,0,0
$GC,2432,-1.21,-116.8,287.8,-11.4,176,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1779,3487,0,0,0,0,0,0
$GC,2676,-1.25,-116.8,311.7,-9.6,182,2680,0.00,2.45,0.00,0.000,4,0.000,0.043,2848,3304,3486,0,0,0,0,0,0
$GC,2750,-1.33,-116.8,318.6,-8.8,183,2754,0.00,2.50,0.00,0.000,6,0.000,0.041,2849,1777,3486,0,0,0,0,0,0
$GC,3000,-1.38,-116.8,342.1,-9.6,189,3005,0.12,2.47,0.00,0.000,4,0.072,0.040,2807,3307,3485,0,0,0,0,0,0
$GC,3027,-1.38,-116.8,345.3,-10.9,189,3031,0.00,2.55,0.00,0.000,6,0.000,0.051,2807,1775,3485,0,0,0,0,0,0
$GC,3278,-1.38,-116.8,374.5,-11.9,195,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1775,3485,0,0,0,0,0,0
$GC,3521,-1.38,-116.8,404.1,-12.1,201,3525,0.00,2.53,0.00,0.000,4,0.000,0.048,2807,3296,3483,0,0,0,0,0,0
$GC,3547,-1.38,-116.8,407.4,-11.8,201,3552,0.00,2.58,0.00,0.000,6,0.000,0.061,2806,1788,3483,0,0,0,0,0,0
$GC,3797,-1.38,-116.8,434.8,-10.7,207,3802,0.00,3.00,0.00,0.000,4,0.000,0.110,2806,181,3481,0,0,0,0,0,0
$GC,3826,-1.33,-116.8,437.9,-12.0,207,3831,0.10,2.50,0.00,0.000,6,0.131,0.039,2826,1722,3480,0,0,0,0,0,0
$GC,4076,-1.33,-116.8,463.3,-9.9,213,4080,0.00,2.78,0.00,0.000,4,0.000,0.063,2826,3363,3479,0,0,0,0,0,0
$GC,4144,-1.39,-116.8,469.6,-9.4,214,4148,0.00,2.72,0.00,0.000,6,0.000,0.059,2826,1782,3479,0,0,0,0,0,0
$GC,4399,-1.42,-116.8,492.8,-9.1,221,4404,0.00,2.65,0.00,0.000,4,0.000,0.052,2826,3359,3478,0,0,0,0,0,0
$GC,4460,-1.48,-116.8,498.7,-9.9,222,4465,0.12,2.72,0.00,0.000,6,0.077,0.063,2788,1788,3477,0,0,0,0,0,0
$STATE,4475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4475,begin apogee
$GC,4482,-0.31,0.0,500.4,9.4,223,4583,1.17,0.00,96.72,0.935,6,0.087,0.000,3048,2007,3000,0,0,0,0,0,0
$STATE,4583,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4586,1.38,116.8,502.6,0.0,225,4690,1.62,0.00,99.10,0.908,6,0.051,0.000,3424,2007,2523,0,0,0,0,0,0
$GC,4925,1.41,172.9,484.0,6.8,234,4980,0.00,2.67,47.75,0.892,4,0.000,0.054,3424,3523,2295,0,0,0,0,0,0
$GC,5099,1.45,198.7,469.7,8.5,238,5129,0.00,2.65,23.23,0.860,6,0.000,0.051,3424,1977,2189,0,0,0,0,0,0
$GC,5387,1.47,219.7,443.7,8.8,245,5407,0.00,0.00,18.60,0.847,6,0.000,0.000,3424,1977,2105,0,0,0,0,0,0
$GC,5629,1.47,219.7,419.5,10.1,251,5634,0.00,2.95,0.00,0.000,4,0.000,0.099,3424,377,2099,0,0,0,0,0,0
$GC,5656,1.43,219.7,416.7,10.6,251,5661,0.00,2.58,0.00,0.000,6,0.000,0.026,3424,1962,2098,0,0,0,0,0,0
$GC,5907,1.43,224.8,392.4,9.7,257,5914,0.00,0.00,4.78,0.625,6,0.000,0.000,3424,1962,2084,0,0,0,0,0,0
$GC,6149,1.43,224.8,365.7,11.1,263,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1962,2082,0,0,0,0,0,0
$GC,6393,1.43,224.8,337.9,11.2,269,6398,0.00,2.62,0.00,0.000,4,0.000,0.042,3424,3558,2081,0,0,0,0,0,0
$GC,6410,1.43,224.8,335.9,11.1,269,6415,0.00,2.60,0.00,0.000,6,0.000,0.035,3424,1981,2079,0,0,0,0,0,0
$GC,6673,1.45,239.8,311.5,9.2,276,6692,0.00,2.62,14.07,0.782,4,0.000,0.035,3424,3553,2023,0,0,0,0,0,0
$GC,6743,1.47,255.2,305.0,9.2,277,6763,0.00,2.58,15.20,0.772,6,0.000,0.034,3424,1994,1959,0,0,0,0,0,0
$GC,7044,1.49,269.0,277.9,9.2,285,7059,0.00,0.00,12.98,0.746,6,0.000,0.000,3424,1994,1904,0,0,0,0,0,0
$GC,7285,1.53,269.0,251.7,11.1,291,7290,0.12,2.80,0.00,0.000,4,0.081,0.069,3461,391,1900,0,0,0,0,0,0
$GC,7302,1.53,269.0,249.5,11.5,291,7307,0.00,2.58,0.00,0.000,6,0.000,0.020,3460,2018,1899,0,0,0,0,0,0
$GC,7563,1.53,269.0,217.8,11.9,298,7567,0.00,2.80,0.00,0.000,4,0.000,0.066,3461,382,1899,0,0,0,0,0,0
$GC,7578,1.49,269.0,215.8,11.7,298,7583,0.00,2.53,0.00,0.000,6,0.000,0.023,3460,1997,1899,0,0,0,0,0,0
$GC,7839,1.49,269.0,185.7,11.5,313,7843,0.00,2.47,0.00,0.000,4,0.000,0.039,3460,3542,1898,0,0,0,0,0,0
$GC,7894,1.49,269.0,178.1,12.1,317,7900,0.00,2.53,0.00,0.000,6,0.000,0.036,3461,1983,1897,0,0,0,0,0,0
$GC,8157,1.49,269.0,146.8,12.6,342,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1983,1897,0,0,0,0,0,0
$GC,8411,1.49,269.0,115.1,11.5,366,8415,0.00,2.50,0.00,0.000,4,0.000,0.037,3461,3534,1897,0,0,0,0,0,0
$GC,8457,1.53,269.0,110.3,11.6,369,8462,0.00,2.47,0.00,0.000,6,0.000,0.036,3460,1997,1896,0,0,0,0,0,0
$GC,8725,1.55,288.8,85.1,8.9,393,8750,0.00,2.55,17.17,0.605,4,0.000,0.036,3461,3538,1822,0,0,0,0,0,0
$GC,8789,1.61,288.8,78.6,10.0,398,8794,0.00,2.50,0.00,0.000,6,0.000,0.035,3461,1998,1821,0,0,0,0,0,0
$GC,9057,1.66,288.8,50.6,10.2,422,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1998,1820,0,0,0,0,0,0
$GC,9339,1.72,288.8,22.5,10.1,452,9349,0.15,2.50,0.00,0.000,4,0.070,0.030,3506,3531,1820,0,0,0,0,0,0
$GC,9380,1.72,288.8,17.7,11.8,457,9389,0.00,2.45,0.00,0.000,6,0.000,0.029,3506,2024,1820,0,0,0,0,0,0
$STATE,9487,end climb,SURFACE_DEPTH_REACHED
$STATE,9487,begin surface coast
$FINISH,0.4,0.971493
$STATE,9538,end surface coast,CONTROL_FINISHED_OK
$STATE,9538,begin surface
$SM_CCo,9560,90.53,0.539,0,0,1369,400.08
$SM_GC,1.33,0.00,0.00,90.53,0.000,0.000,0.539,474,1747,1369,-12.17,-0.68,400.08
$IRIDIUM_FIX,2244.02,-15801.49,190800,010105
$TT8_MAMPS,0.026078
$HUMID,58.54
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.70
$XPDR_PINGS,44
$24V_AH,23.5,15.643
$10V_AH,10.4,13.387
$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,28.825,114.300,349.600,90.525,0.000,23.260,35.789,174.593,11.000,0.000,16.190,968.620,6226.244,524.649,1800.041,502.076,33.363,1179.217,0.000,1805.953,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,110.448,934.973,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.287,268.250,372.382,730.963,1105.638,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38324,479
$CAP_FILE_SIZE,98797,0
$CFSIZE,260165632,175833088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260511,065337,2250.010,-15759.293,10,1.8,27,10.1