version: 66.06
glider: 146
mission: 6
dive: 77
start: 5 20 111 18 6 2
data:
$ID,146
$MISSION,6
$DIVE,77
$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,-268984
$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,57
$R_STBD_OVSHOOT,24
$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
$GPS1,175924,2247.860,-15802.714,35,1.8,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.7
$GPS2,180508,2247.842,-15802.785,12,2.0,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.034,0.232
$KALMAN_X,-55172.6,-249.6,-334.6,45533.9,-555.5
$KALMAN_Y,-103409.8,-590.9,-387.0,111683.6,-20.8
$MHEAD_RNG_PITCHd_Wd,358.3,4013,-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,-78.68,0.000,2,0.000,0.000,478,1735,3334,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.4,-5.9,10,127,12.27,2.65,-2.70,0.000,4,0.159,0.038,2778,3370,3480,0,0,0,0,0,0
$GC,243,-1.21,-116.8,39.0,-20.6,27,248,0.22,2.53,0.00,0.000,6,0.117,0.028,2823,1789,3482,0,0,0,0,0,0
$GC,511,-1.12,-116.8,83.2,-13.7,51,516,0.10,2.50,0.00,0.000,4,0.138,0.025,2842,3364,3483,0,0,0,0,0,0
$GC,567,-1.12,-116.8,90.7,-12.2,55,572,0.00,2.53,0.00,0.000,6,0.000,0.028,2842,1774,3483,0,0,0,0,0,0
$GC,833,-1.07,-116.8,121.4,-11.0,79,838,0.00,2.50,0.00,0.000,4,0.000,0.032,2842,3365,3484,0,0,0,0,0,0
$GC,880,-1.07,-116.8,127.1,-10.6,82,889,0.00,2.55,0.00,0.000,6,0.000,0.030,2842,1786,3484,0,0,0,0,0,0
$GC,1140,-1.07,-116.8,155.4,-11.4,107,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1786,3485,0,0,0,0,0,0
$GC,1396,-1.07,-116.8,185.1,-11.9,131,1400,0.00,2.47,0.00,0.000,4,0.000,0.028,2842,3367,3485,0,0,0,0,0,0
$GC,1482,-1.07,-116.8,195.0,-11.0,138,1486,0.00,2.50,0.00,0.000,6,0.000,0.028,2842,1789,3485,0,0,0,0,0,0
$GC,1733,-1.07,-116.8,224.0,-11.6,147,1738,0.00,2.75,0.00,0.000,4,0.000,0.075,2842,190,3485,0,0,0,0,0,0
$GC,1750,-1.07,-116.8,226.0,-11.7,147,1754,0.00,2.53,0.00,0.000,6,0.000,0.017,2842,1834,3486,0,0,0,0,0,0
$GC,2010,-1.07,-116.8,257.8,-12.1,154,2014,0.00,2.42,0.00,0.000,4,0.000,0.040,2842,3367,3485,0,0,0,0,0,0
$GC,2043,-1.11,-116.8,261.9,-12.1,154,2048,0.00,2.55,0.00,0.000,6,0.000,0.035,2842,1791,3486,0,0,0,0,0,0
$GC,2293,-1.11,-116.8,291.9,-11.8,161,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1792,3486,0,0,0,0,0,0
$GC,2536,-1.11,-116.8,315.4,-9.2,167,2541,0.00,2.53,0.00,0.000,4,0.000,0.034,2842,3366,3486,0,0,0,0,0,0
$GC,2570,-1.16,-116.8,318.6,-9.2,167,2575,0.00,2.58,0.00,0.000,6,0.000,0.039,2842,1804,3485,0,0,0,0,0,0
$GC,2821,-1.19,-116.8,339.3,-8.1,174,2826,0.00,2.50,0.00,0.000,4,0.000,0.039,2842,3362,3484,0,0,0,0,0,0
$GC,2849,-1.24,-116.8,341.9,-8.4,174,2854,0.00,2.55,0.00,0.000,6,0.000,0.042,2842,1810,3484,0,0,0,0,0,0
$GC,3100,-1.29,-116.8,363.0,-8.4,180,3102,0.15,0.00,0.00,0.000,6,0.068,0.000,2793,1810,3483,0,0,0,0,0,0
$GC,3344,-1.24,-116.8,388.2,-10.4,186,3350,0.12,2.97,0.00,0.000,4,0.120,0.105,2818,186,3482,0,0,0,0,0,0
$GC,3361,-1.19,-116.8,390.4,-10.7,186,3365,0.00,2.60,0.00,0.000,6,0.000,0.027,2818,1814,3482,0,0,0,0,0,0
$GC,3621,-1.19,-116.8,416.8,-10.1,193,3625,0.00,2.55,0.00,0.000,4,0.000,0.055,2818,3357,3481,0,0,0,0,0,0
$GC,3654,-1.19,-116.8,420.3,-10.9,193,3660,0.00,2.62,0.00,0.000,6,0.000,0.061,2818,1814,3480,0,0,0,0,0,0
$GC,3904,-1.19,-116.8,448.0,-11.1,200,3908,0.00,2.55,0.00,0.000,4,0.000,0.053,2818,3354,3479,0,0,0,0,0,0
$GC,3970,-1.24,-116.8,455.7,-11.7,201,3975,0.00,2.62,0.00,0.000,6,0.000,0.061,2818,1817,3479,0,0,0,0,0,0
$GC,4227,-1.24,-116.8,483.8,-11.1,208,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1817,3477,0,0,0,0,0,0
$STATE,4386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4386,begin apogee
$GC,4392,-0.31,0.0,500.5,10.3,212,4492,0.93,0.00,96.93,0.922,6,0.092,0.000,3020,1935,3000,0,0,0,0,0,0
$STATE,4493,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4495,1.38,116.8,503.8,0.0,214,4608,1.60,3.12,99.10,0.899,4,0.060,0.111,3387,334,2522,0,0,0,0,0,0
$GC,4665,1.43,152.2,497.3,8.0,218,4701,0.00,2.62,30.77,0.865,6,0.000,0.035,3386,1903,2379,0,0,0,0,0,0
$GC,4948,1.52,189.0,475.6,7.9,224,4990,0.15,2.85,32.05,0.869,4,0.077,0.060,3426,3506,2228,0,0,0,0,0,0
$GC,5047,1.52,189.0,465.9,10.6,226,5052,0.00,2.70,0.00,0.000,6,0.000,0.053,3426,1934,2225,0,0,0,0,0,0
$GC,5320,1.53,197.2,439.0,9.6,233,5334,0.00,2.70,7.65,0.739,4,0.000,0.043,3426,3508,2195,0,0,0,0,0,0
$GC,5380,1.53,203.0,432.9,9.7,234,5394,0.00,2.67,6.43,0.702,6,0.000,0.051,3426,1946,2172,0,0,0,0,0,0
$GC,5650,1.55,211.2,406.9,9.6,241,5661,0.00,0.00,8.65,0.758,6,0.000,0.000,3426,1946,2139,0,0,0,0,0,0
$GC,5896,1.57,235.2,385.7,8.7,247,5925,0.00,2.70,22.00,0.834,4,0.000,0.038,3426,3513,2041,0,0,0,0,0,0
$GC,5964,1.57,235.2,378.7,10.7,248,5969,0.00,2.62,0.00,0.000,6,0.000,0.044,3426,1951,2039,0,0,0,0,0,0
$GC,6220,1.57,235.2,352.7,10.4,255,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1951,2036,0,0,0,0,0,0
$GC,6464,1.57,235.2,326.2,10.8,261,6469,0.00,2.58,0.00,0.000,4,0.000,0.037,3426,3516,2035,0,0,0,0,0,0
$GC,6491,1.57,235.2,322.9,11.5,261,6495,0.00,2.55,0.00,0.000,6,0.000,0.034,3426,1962,2034,0,0,0,0,0,0
$GC,6741,1.57,235.2,296.5,10.5,267,6745,0.00,2.55,0.00,0.000,4,0.000,0.041,3426,3516,2033,0,0,0,0,0,0
$GC,6757,1.57,235.2,294.8,10.3,267,6762,0.00,2.53,0.00,0.000,6,0.000,0.038,3426,1963,2032,0,0,0,0,0,0
$GC,7018,1.63,252.8,270.5,9.0,274,7036,0.00,0.00,15.57,0.749,6,0.000,0.000,3426,1963,1970,0,0,0,0,0,0
$GC,7262,1.71,274.5,248.8,8.8,280,7289,0.15,2.88,20.35,0.739,4,0.092,0.067,3466,340,1879,0,0,0,0,0,0
$GC,7307,1.64,274.5,244.1,11.7,281,7311,0.00,2.65,0.00,0.000,6,0.000,0.027,3467,2005,1878,0,0,0,0,0,0
$GC,7584,1.64,274.5,212.8,11.0,288,7588,0.00,2.47,0.00,0.000,4,0.000,0.038,3467,3521,1876,0,0,0,0,0,0
$GC,7644,1.64,274.5,205.9,10.8,289,7648,0.00,2.50,0.00,0.000,6,0.000,0.035,3467,1991,1875,0,0,0,0,0,0
$GC,7910,1.64,274.5,179.1,10.4,310,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1991,1874,0,0,0,0,0,0
$GC,8170,1.64,274.5,150.1,11.5,335,8175,0.00,2.80,0.00,0.000,4,0.000,0.067,3467,341,1873,0,0,0,0,0,0
$GC,8216,1.64,274.5,144.1,13.3,338,8225,0.00,2.67,0.00,0.000,6,0.000,0.020,3467,2026,1872,0,0,0,0,0,0
$GC,8482,1.64,274.5,113.2,12.1,363,8486,0.00,2.40,0.00,0.000,4,0.000,0.035,3467,3519,1872,0,0,0,0,0,0
$GC,8540,1.64,274.5,106.1,12.9,367,8544,0.00,2.42,0.00,0.000,6,0.000,0.037,3467,2001,1871,0,0,0,0,0,0
$GC,8806,1.64,274.5,74.7,11.9,391,8810,0.00,2.45,0.00,0.000,4,0.000,0.034,3467,3521,1871,0,0,0,0,0,0
$GC,8913,1.68,274.5,61.9,11.0,399,8923,0.00,2.45,0.00,0.000,6,0.000,0.030,3466,2017,1871,0,0,0,0,0,0
$GC,9182,1.75,290.3,37.1,9.1,424,9201,0.00,2.47,13.55,0.537,4,0.000,0.031,3467,3516,1816,0,0,0,0,0,0
$GC,9249,1.82,290.3,30.4,11.0,429,9254,0.00,2.40,0.00,0.000,6,0.000,0.029,3467,2019,1815,0,0,0,0,0,0
$STATE,9518,end climb,SURFACE_DEPTH_REACHED
$STATE,9518,begin surface coast
$FINISH,0.4,0.974965
$STATE,9574,end surface coast,CONTROL_FINISHED_OK
$STATE,9574,begin surface
$SM_CCo,9596,88.93,0.537,0,0,1370,400.08
$SM_GC,1.13,0.00,0.00,88.93,0.000,0.000,0.537,478,1746,1370,-12.02,-0.68,400.08
$IRIDIUM_FIX,2237.01,-15802.37,130800,151526
$TT8_MAMPS,0.026078
$HUMID,56.77
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,44
$24V_AH,23.5,9.893
$10V_AH,10.4,8.434
$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,27.900,119.900,353.050,88.925,0.000,27.753,32.553,157.570,11.000,0.000,13.742,968.296,6270.197,510.734,1805.196,478.926,33.362,1187.185,0.000,1810.767,0.000,0.534,0.000
$DEVICE_MAMPS,158.769,145.730,921.934,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.454,257.442,364.326,696.598,1053.509,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38526,475
$CAP_FILE_SIZE,99596,0
$CFSIZE,260165632,178200576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,204837,2249.048,-15803.237,28,1.1,28,10.1