version: 66.06
glider: 146
mission: 6
dive: 72
start: 5 20 111 4 6 15
data:
$ID,146
$MISSION,6
$DIVE,72
$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,-268852.44
$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,3090
$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,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,18
$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
$GPS1,040006,2246.855,-15757.568,14,1.1,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.9
$GPS2,040520,2246.872,-15757.587,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.040
$KALMAN_X,-52470.0,-15.2,-182.2,51314.4,-258.7
$KALMAN_Y,-99233.4,438.3,-593.0,104888.7,-336.6
$MHEAD_RNG_PITCHd_Wd,269.8,9247,-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,-78.70,0.000,2,0.000,0.000,475,1754,3323,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.2,-5.1,10,125,12.50,2.65,-2.95,0.000,4,0.165,0.061,2781,204,3481,0,0,0,0,0,0
$GC,411,-1.15,-116.8,79.5,-21.2,41,416,0.28,2.45,0.00,0.000,6,0.117,0.014,2836,1832,3483,0,0,0,0,0,0
$GC,678,-1.08,-116.8,120.9,-15.1,65,683,0.00,2.75,0.00,0.000,4,0.000,0.063,2836,208,3484,0,0,0,0,0,0
$GC,713,-0.97,-116.8,127.7,-16.6,67,719,0.20,2.42,0.00,0.000,6,0.117,0.021,2876,1829,3484,0,0,0,0,0,0
$GC,977,-0.97,-116.8,158.2,-10.5,92,981,0.00,2.45,0.00,0.000,4,0.000,0.027,2876,3375,3485,0,0,0,0,0,0
$GC,1021,-1.04,-116.8,163.2,-10.7,95,1027,0.00,2.55,0.00,0.000,6,0.000,0.031,2876,1786,3485,0,0,0,0,0,0
$GC,1284,-1.08,-116.8,192.4,-11.6,120,1289,0.00,2.50,0.00,0.000,4,0.000,0.033,2876,3375,3485,0,0,0,0,0,0
$GC,1308,-1.13,-116.8,194.7,-11.8,121,1313,0.15,2.53,0.00,0.000,6,0.065,0.028,2825,1789,3486,0,0,0,0,0,0
$GC,1590,-1.09,-116.8,231.8,-12.8,130,1595,0.12,2.53,0.00,0.000,4,0.110,0.028,2851,3378,3486,0,0,0,0,0,0
$GC,1631,-1.15,-116.8,236.1,-10.0,131,1636,0.00,2.53,0.00,0.000,6,0.000,0.028,2851,1795,3486,0,0,0,0,0,0
$GC,1915,-1.15,-116.8,263.6,-9.6,138,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1795,3486,0,0,0,0,0,0
$GC,2158,-1.19,-116.8,289.2,-10.7,144,2163,0.00,2.53,0.00,0.000,4,0.000,0.034,2851,3370,3486,0,0,0,0,0,0
$GC,2199,-1.25,-116.8,293.6,-11.4,145,2205,0.15,2.55,0.00,0.000,6,0.063,0.036,2798,1809,3486,0,0,0,0,0,0
$GC,2483,-1.20,-116.8,330.8,-12.7,152,2488,0.12,2.55,0.00,0.000,4,0.114,0.036,2824,3370,3486,0,0,0,0,0,0
$GC,2527,-1.20,-116.8,336.1,-11.6,153,2532,0.00,2.58,0.00,0.000,6,0.000,0.043,2824,1818,3486,0,0,0,0,0,0
$GC,2807,-1.20,-116.8,363.8,-9.8,160,2811,0.00,2.50,0.00,0.000,4,0.000,0.040,2824,3364,3484,0,0,0,0,0,0
$GC,2846,-1.20,-116.8,368.1,-10.7,161,2850,0.00,2.58,0.00,0.000,6,0.000,0.049,2824,1833,3484,0,0,0,0,0,0
$GC,3129,-1.20,-116.8,397.7,-10.6,168,3133,0.00,2.50,0.00,0.000,4,0.000,0.043,2824,3364,3483,0,0,0,0,0,0
$GC,3174,-1.24,-116.8,402.6,-11.1,169,3178,0.00,2.60,0.00,0.000,6,0.000,0.061,2824,1838,3482,0,0,0,0,0,0
$GC,3451,-1.24,-116.8,432.8,-10.7,176,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1838,3481,0,0,0,0,0,0
$GC,3695,-1.24,-116.8,456.9,-9.6,182,3699,0.00,2.53,0.00,0.000,4,0.000,0.054,2825,3362,3479,0,0,0,0,0,0
$GC,3717,-1.24,-116.8,459.1,-10.1,182,3721,0.00,2.60,0.00,0.000,6,0.000,0.066,2824,1850,3479,0,0,0,0,0,0
$GC,3972,-1.24,-116.8,482.9,-9.5,189,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1850,3478,0,0,0,0,0,0
$STATE,4172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4172,begin apogee
$GC,4178,-0.31,0.0,502.2,9.4,194,4279,0.88,0.00,97.38,0.922,6,0.089,0.000,3018,1952,3001,0,0,0,0,0,0
$STATE,4280,end apogee,CONTROL_FINISHED_OK
$STATE,4280,begin climb
$GC,4284,1.38,116.8,505.6,0.0,196,4395,1.60,2.78,99.82,0.899,4,0.061,0.067,3384,3485,2523,0,0,0,0,0,0
$GC,4417,1.51,221.4,504.0,4.0,199,4517,0.15,2.75,89.97,0.889,6,0.077,0.056,3421,1916,2098,0,0,0,0,0,0
$GC,4773,1.52,229.6,472.9,9.6,208,4782,0.00,0.00,7.57,0.732,6,0.000,0.000,3421,1916,2064,0,0,0,0,0,0
$GC,5018,1.52,229.6,446.0,11.1,214,5022,0.00,2.65,0.00,0.000,4,0.000,0.044,3421,3491,2060,0,0,0,0,0,0
$GC,5067,1.52,229.6,439.9,11.9,215,5071,0.00,2.70,0.00,0.000,6,0.000,0.052,3421,1925,2059,0,0,0,0,0,0
$GC,5339,1.52,229.6,410.1,10.8,222,5343,0.00,2.60,0.00,0.000,4,0.000,0.040,3421,3489,2057,0,0,0,0,0,0
$GC,5400,1.52,229.6,403.2,11.1,223,5404,0.00,2.62,0.00,0.000,6,0.000,0.044,3422,1933,2056,0,0,0,0,0,0
$GC,5660,1.52,229.6,376.1,10.3,230,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1933,2055,0,0,0,0,0,0
$GC,5906,1.54,241.0,352.7,9.4,236,5921,0.00,2.60,10.05,0.760,4,0.000,0.041,3421,3491,2018,0,0,0,0,0,0
$GC,5962,1.60,259.2,347.5,9.0,237,5988,0.00,2.62,17.55,0.798,6,0.000,0.038,3421,1922,1944,0,0,0,0,0,0
$GC,6232,1.63,278.8,323.4,8.9,244,6257,0.10,2.67,18.62,0.788,4,0.100,0.041,3449,3494,1863,0,0,0,0,0,0
$GC,6279,1.63,278.8,318.4,10.6,245,6283,0.00,2.60,0.00,0.000,6,0.000,0.042,3449,1939,1861,0,0,0,0,0,0
$GC,6557,1.63,278.8,286.8,11.6,252,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1939,1859,0,0,0,0,0,0
$GC,6800,1.63,278.8,257.7,12.3,258,6804,0.00,2.55,0.00,0.000,4,0.000,0.040,3449,3494,1857,0,0,0,0,0,0
$GC,6826,1.63,278.8,253.8,14.1,258,6831,0.00,2.55,0.00,0.000,6,0.000,0.034,3449,1943,1856,0,0,0,0,0,0
$GC,7078,1.63,278.8,223.8,11.6,264,7082,0.00,2.80,0.00,0.000,4,0.000,0.071,3449,334,1856,0,0,0,0,0,0
$GC,7099,1.63,278.8,221.0,12.5,264,7103,0.00,2.58,0.00,0.000,6,0.000,0.026,3449,1965,1855,0,0,0,0,0,0
$GC,7361,1.63,278.8,193.5,10.7,274,7365,0.00,2.47,0.00,0.000,4,0.000,0.035,3449,3493,1854,0,0,0,0,0,0
$GC,7408,1.66,278.8,188.0,10.5,277,7413,0.00,2.50,0.00,0.000,6,0.000,0.033,3449,1960,1854,0,0,0,0,0,0
$GC,7670,1.66,278.8,160.1,11.2,302,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1960,1854,0,0,0,0,0,0
$GC,7925,1.66,278.8,133.7,10.4,326,7929,0.00,2.47,0.00,0.000,4,0.000,0.032,3449,3494,1854,0,0,0,0,0,0
$GC,7954,1.71,278.8,130.6,10.7,328,7958,0.00,2.50,0.00,0.000,6,0.000,0.037,3449,1945,1854,0,0,0,0,0,0
$GC,8218,1.75,280.1,104.6,10.0,352,8223,0.10,2.72,0.00,0.000,4,0.096,0.058,3478,345,1854,0,0,0,0,0,0
$GC,8241,1.75,280.1,101.5,11.9,353,8246,0.00,2.50,0.00,0.000,6,0.000,0.018,3479,1960,1853,0,0,0,0,0,0
$GC,8507,1.75,280.1,73.4,10.3,378,8511,0.00,2.42,0.00,0.000,4,0.000,0.035,3479,3483,1853,0,0,0,0,0,0
$GC,8565,1.75,281.3,67.4,10.0,382,8569,0.00,2.47,0.00,0.000,6,0.000,0.031,3478,1946,1853,0,0,0,0,0,0
$GC,8833,1.77,291.9,41.7,9.4,406,8850,0.00,2.50,11.00,0.525,4,0.000,0.029,3479,3473,1811,0,0,0,0,0,0
$GC,8900,1.81,291.9,34.7,10.7,411,8904,0.00,2.42,0.00,0.000,6,0.000,0.029,3479,1958,1810,0,0,0,0,0,0
$STATE,9188,end climb,SURFACE_DEPTH_REACHED
$STATE,9188,begin surface coast
$FINISH,0.4,0.975375
$STATE,9237,end surface coast,CONTROL_FINISHED_OK
$STATE,9238,begin surface
$SM_CCo,9261,87.40,0.535,0,0,1370,400.08
$SM_GC,1.19,0.00,0.00,87.40,0.000,0.000,0.535,474,1744,1370,-12.03,-0.74,400.08
$IRIDIUM_FIX,2239.35,-15757.16,130800,010107
$TT8_MAMPS,0.026078
$HUMID,56.73
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.20
$XPDR_PINGS,40
$24V_AH,23.5,9.313
$10V_AH,10.5,7.902
$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,28.600,113.375,351.975,87.400,0.000,30.004,33.360,135.474,10.000,0.000,12.243,944.126,6058.640,495.468,1729.830,440.077,33.359,1145.485,0.000,1728.848,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,174.109,921.934,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.899,263.301,349.788,658.193,995.667,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,35182,458
$CAP_FILE_SIZE,96372,0
$CFSIZE,260165632,178470912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,064255,2246.941,-15758.955,6,1.6,11,10.1