version: 66.06
glider: 146
mission: 6
dive: 80
start: 5 21 111 2 18 1
data:
$ID,146
$MISSION,6
$DIVE,80
$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,-269030.44
$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,3110
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,021136,2250.094,-15802.467,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,021707,2250.097,-15802.499,8,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,0.080
$KALMAN_X,-58531.3,-453.3,109.9,49131.0,-759.8
$KALMAN_Y,-105620.3,211.2,-73.4,116953.5,-819.8
$MHEAD_RNG_PITCHd_Wd,60.1,9389,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.25,0.000,2,0.000,0.000,477,1763,3311,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.3,-5.7,10,125,12.57,2.60,-3.15,0.000,4,0.166,0.040,2798,3363,3481,0,0,0,0,0,0
$GC,145,-0.64,-116.8,18.7,-34.9,15,154,0.75,2.60,0.00,0.000,6,0.103,0.029,2960,1770,3482,0,0,0,0,0,0
$GC,428,-0.77,-116.8,52.3,-10.4,45,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1770,3483,0,0,0,0,0,0
$GC,694,-0.92,-116.8,78.9,-9.3,70,703,0.22,0.00,0.00,0.000,6,0.049,0.000,2890,1770,3484,0,0,0,0,0,0
$GC,958,-0.92,-116.8,110.8,-11.7,95,962,0.00,2.55,0.00,0.000,4,0.000,0.028,2890,3377,3485,0,0,0,0,0,0
$GC,1027,-1.00,-116.8,119.0,-10.9,100,1037,0.00,2.62,0.00,0.000,6,0.000,0.033,2890,1759,3485,0,0,0,0,0,0
$GC,1293,-1.06,-116.8,146.6,-10.9,125,1298,0.00,2.53,0.00,0.000,4,0.000,0.026,2890,3368,3486,0,0,0,0,0,0
$GC,1351,-1.16,-116.8,153.2,-10.3,129,1361,0.10,2.58,0.00,0.000,6,0.044,0.032,2844,1777,3486,0,0,0,0,0,0
$GC,1617,-1.16,-116.8,184.0,-11.2,154,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1777,3487,0,0,0,0,0,0
$GC,1884,-1.16,-116.8,213.9,-10.8,171,1888,0.00,2.53,0.00,0.000,4,0.000,0.031,2844,3378,3487,0,0,0,0,0,0
$GC,1910,-1.16,-116.8,217.2,-11.4,171,1915,0.00,2.58,0.00,0.000,6,0.000,0.035,2844,1777,3487,0,0,0,0,0,0
$GC,2160,-1.16,-116.8,245.3,-11.1,177,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1777,3487,0,0,0,0,0,0
$GC,2404,-1.16,-116.8,269.9,-10.1,183,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1777,3487,0,0,0,0,0,0
$GC,2649,-1.16,-116.8,294.4,-10.2,189,2653,0.00,2.58,0.00,0.000,4,0.000,0.041,2844,3373,3487,0,0,0,0,0,0
$GC,2664,-1.16,-116.8,296.2,-10.4,189,2669,0.00,2.58,0.00,0.000,6,0.000,0.035,2844,1784,3487,0,0,0,0,0,0
$GC,2925,-1.20,-116.8,322.7,-10.2,196,2930,0.00,2.58,0.00,0.000,4,0.000,0.038,2844,3372,3486,0,0,0,0,0,0
$GC,2977,-1.27,-116.8,327.8,-9.9,197,2981,0.00,2.62,0.00,0.000,6,0.000,0.041,2843,1792,3487,0,0,0,0,0,0
$GC,3249,-1.33,-116.8,355.7,-10.4,204,3254,0.10,2.58,0.00,0.000,4,0.092,0.044,2811,3370,3485,0,0,0,0,0,0
$GC,3270,-1.33,-116.8,358.1,-10.8,204,3275,0.00,2.62,0.00,0.000,6,0.000,0.047,2811,1800,3485,0,0,0,0,0,0
$GC,3527,-1.33,-116.8,386.6,-11.1,211,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1800,3483,0,0,0,0,0,0
$GC,3770,-1.33,-116.8,413.2,-10.8,217,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1800,3482,0,0,0,0,0,0
$GC,4013,-1.33,-116.8,438.7,-10.5,223,4017,0.00,2.58,0.00,0.000,4,0.000,0.053,2811,3360,3481,0,0,0,0,0,0
$GC,4079,-1.33,-116.8,446.1,-11.2,224,4084,0.00,2.67,0.00,0.000,6,0.000,0.061,2811,1793,3481,0,0,0,0,0,0
$GC,4336,-1.33,-116.8,475.4,-11.6,231,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1793,3479,0,0,0,0,0,0
$STATE,4576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4576,begin apogee
$GC,4582,-0.31,0.0,504.7,12.0,237,4683,1.02,0.00,97.38,0.933,6,0.088,0.000,3038,1942,3000,0,0,0,0,0,0
$STATE,4684,end apogee,CONTROL_FINISHED_OK
$STATE,4684,begin climb
$GC,4686,1.38,116.8,509.1,0.0,239,4799,1.60,3.22,99.65,0.909,4,0.058,0.114,3406,334,2522,0,0,0,0,0,0
$GC,4850,1.39,181.0,506.6,6.3,242,4912,0.00,2.62,55.70,0.893,6,0.000,0.035,3406,1903,2262,0,0,0,0,0,0
$GC,5179,1.44,219.9,482.3,7.8,251,5220,0.00,2.83,33.72,0.878,4,0.000,0.066,3405,3511,2103,0,0,0,0,0,0
$GC,5290,1.49,219.9,471.9,10.2,253,5296,0.12,2.75,0.00,0.000,6,0.083,0.054,3441,1923,2099,0,0,0,0,0,0
$GC,5553,1.49,219.9,443.5,10.8,260,5557,0.00,2.65,0.00,0.000,4,0.000,0.042,3441,3514,2096,0,0,0,0,0,0
$GC,5619,1.49,219.9,435.7,11.8,261,5623,0.00,2.70,0.00,0.000,6,0.000,0.051,3441,1934,2095,0,0,0,0,0,0
$GC,5875,1.49,219.9,407.0,11.4,268,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1934,2093,0,0,0,0,0,0
$GC,6117,1.49,219.9,377.5,12.3,274,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1934,2092,0,0,0,0,0,0
$GC,6361,1.49,219.9,347.3,12.2,280,6365,0.00,2.58,0.00,0.000,4,0.000,0.035,3441,3514,2091,0,0,0,0,0,0
$GC,6432,1.49,219.9,338.1,12.0,281,6437,0.00,2.60,0.00,0.000,6,0.000,0.041,3441,1928,2090,0,0,0,0,0,0
$GC,6689,1.49,219.9,308.5,11.4,288,6693,0.00,2.58,0.00,0.000,4,0.000,0.041,3441,3512,2090,0,0,0,0,0,0
$GC,6755,1.49,219.9,300.2,12.9,289,6759,0.00,2.58,0.00,0.000,6,0.000,0.035,3441,1950,2089,0,0,0,0,0,0
$GC,7015,1.49,219.9,269.5,11.7,296,7020,0.00,2.55,0.00,0.000,4,0.000,0.040,3441,3512,2089,0,0,0,0,0,0
$GC,7056,1.49,219.9,264.7,12.4,297,7060,0.00,2.55,0.00,0.000,6,0.000,0.037,3441,1951,2088,0,0,0,0,0,0
$GC,7338,1.49,219.9,233.2,10.7,304,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1951,2088,0,0,0,0,0,0
$GC,7582,1.51,235.5,210.4,9.1,310,7596,0.00,0.00,12.15,0.698,6,0.000,0.000,3441,1951,2040,0,0,0,0,0,0
$GC,7837,1.54,258.2,187.3,8.7,325,7863,0.00,2.60,21.08,0.703,4,0.000,0.038,3441,3518,1947,0,0,0,0,0,0
$GC,7937,1.59,259.2,177.1,10.0,333,7941,0.00,2.55,0.00,0.000,6,0.000,0.034,3441,1950,1944,0,0,0,0,0,0
$GC,8201,1.65,273.7,152.5,9.2,357,8222,0.12,2.58,14.32,0.652,4,0.083,0.036,3476,3516,1884,0,0,0,0,0,0
$GC,8249,1.65,273.7,147.5,11.3,361,8253,0.00,2.53,0.00,0.000,6,0.000,0.037,3476,1961,1883,0,0,0,0,0,0
$GC,8516,1.65,273.7,116.3,12.3,385,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1960,1881,0,0,0,0,0,0
$GC,8777,1.65,273.7,84.0,11.1,410,8781,0.00,2.50,0.00,0.000,4,0.000,0.032,3476,3522,1881,0,0,0,0,0,0
$GC,8835,1.65,273.7,78.2,11.2,414,8839,0.00,2.53,0.00,0.000,6,0.000,0.031,3476,1965,1881,0,0,0,0,0,0
$GC,9101,1.65,273.7,48.0,11.4,438,9105,0.00,2.47,0.00,0.000,4,0.000,0.036,3477,3519,1880,0,0,0,0,0,0
$GC,9158,1.70,273.7,41.4,12.0,442,9162,0.00,2.50,0.00,0.000,6,0.000,0.030,3476,1968,1880,0,0,0,0,0,0
$GC,9464,1.70,273.7,8.1,10.1,481,9473,0.00,2.50,0.00,0.000,4,0.000,0.037,3476,3512,1880,0,0,0,0,0,0
$GC,9490,1.75,273.7,5.2,10.2,484,9499,0.00,2.50,0.00,0.000,6,0.000,0.030,3476,1974,1880,0,0,0,0,0,0
$STATE,9507,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,0.4,0.980142
$STATE,9556,end surface coast,CONTROL_FINISHED_OK
$STATE,9556,begin surface
$SM_CCo,9580,102.32,0.539,0,0,1370,400.08
$SM_GC,1.20,0.00,0.00,102.32,0.000,0.000,0.539,475,1751,1370,-12.12,-0.54,400.08
$IRIDIUM_FIX,2239.35,-15600.83,130800,232344
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,35
$24V_AH,23.5,10.233
$10V_AH,10.4,8.750
$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,28.875,99.375,334.000,102.325,0.000,30.177,32.823,141.371,8.750,0.000,15.285,963.663,6246.444,500.652,1851.583,453.923,33.354,1172.822,0.000,1857.691,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,114.283,933.439,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.261,280.301,385.768,747.752,1130.972,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38345,493
$CAP_FILE_SIZE,93232,0
$CFSIZE,260165632,178061312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,050031,2250.179,-15801.483,9,1.6,27,10.1