version: 66.06
glider: 146
mission: 6
dive: 82
start: 5 21 111 8 1 18
data:
$ID,146
$MISSION,6
$DIVE,82
$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,-269085.91
$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,39
$R_STBD_OVSHOOT,41
$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
$GPS1,074644,2250.159,-15800.036,23,1.6,30,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.8
$GPS2,080022,2250.215,-15800.006,14,99.0,33,10.1
$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,-59646.9,429.8,59.3,53670.1,-297.3
$KALMAN_Y,-106790.7,644.0,2.0,117833.5,-401.3
$MHEAD_RNG_PITCHd_Wd,73.9,5146,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-79.12,0.000,2,0.000,0.000,479,1750,3386,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.7,-6.6,10,126,12.55,2.58,-1.65,0.000,4,0.165,0.035,2801,3351,3481,0,0,0,0,0,0
$GC,183,-1.25,-116.8,27.7,-19.0,21,193,0.12,2.55,0.00,0.000,6,0.109,0.031,2830,1782,3483,0,0,0,0,0,0
$GC,461,-1.15,-116.8,71.4,-15.8,47,471,0.12,0.00,0.00,0.000,6,0.137,0.000,2855,1782,3484,0,0,0,0,0,0
$GC,724,-1.12,-116.8,107.2,-13.1,72,728,0.00,2.45,0.00,0.000,4,0.000,0.031,2855,3350,3484,0,0,0,0,0,0
$GC,769,-1.12,-116.8,112.8,-12.8,75,773,0.00,2.53,0.00,0.000,6,0.000,0.028,2855,1768,3484,0,0,0,0,0,0
$GC,1035,-1.12,-116.8,149.2,-13.9,99,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1769,3485,0,0,0,0,0,0
$GC,1301,-1.12,-116.8,181.7,-10.6,124,1305,0.00,2.50,0.00,0.000,4,0.000,0.029,2855,3350,3485,0,0,0,0,0,0
$GC,1352,-1.12,-116.8,187.4,-10.4,128,1356,0.00,2.50,0.00,0.000,6,0.000,0.030,2855,1772,3486,0,0,0,0,0,0
$GC,1609,-1.12,-116.8,211.2,-9.2,143,1613,0.00,2.70,0.00,0.000,4,0.000,0.073,2854,200,3486,0,0,0,0,0,0
$GC,1647,-1.12,-116.8,215.4,-10.4,144,1652,0.00,2.40,0.00,0.000,6,0.000,0.021,2854,1796,3486,0,0,0,0,0,0
$GC,1931,-1.12,-116.8,243.2,-9.8,151,1935,0.00,2.38,0.00,0.000,4,0.000,0.028,2855,3316,3485,0,0,0,0,0,0
$GC,1987,-1.17,-116.8,248.5,-9.4,152,1992,0.00,2.47,0.00,0.000,6,0.000,0.033,2855,1768,3485,0,0,0,0,0,0
$GC,2254,-1.17,-116.8,275.0,-10.1,159,2258,0.00,2.75,0.00,0.000,4,0.000,0.084,2855,194,3486,0,0,0,0,0,0
$GC,2286,-1.17,-116.8,278.7,-11.6,159,2292,0.00,2.38,0.00,0.000,6,0.000,0.026,2854,1740,3485,0,0,0,0,0,0
$GC,2538,-1.22,-116.8,305.0,-10.4,166,2542,0.00,2.58,0.00,0.000,4,0.000,0.043,2854,3342,3485,0,0,0,0,0,0
$GC,2577,-1.30,-116.8,309.2,-10.4,167,2582,0.12,2.55,0.00,0.000,6,0.074,0.037,2814,1772,3485,0,0,0,0,0,0
$GC,2860,-1.30,-116.8,342.8,-12.0,174,2865,0.00,2.55,0.00,0.000,4,0.000,0.037,2814,3342,3484,0,0,0,0,0,0
$GC,2911,-1.30,-116.8,348.8,-12.0,175,2916,0.00,2.60,0.00,0.000,6,0.000,0.051,2814,1779,3484,0,0,0,0,0,0
$GC,3183,-1.30,-116.8,378.8,-10.7,182,3187,0.00,2.53,0.00,0.000,4,0.000,0.047,2814,3334,3482,0,0,0,0,0,0
$GC,3237,-1.30,-116.8,385.0,-11.2,183,3242,0.00,2.62,0.00,0.000,6,0.000,0.056,2814,1774,3482,0,0,0,0,0,0
$GC,3505,-1.30,-116.8,414.7,-11.4,190,3510,0.00,2.58,0.00,0.000,4,0.000,0.051,2813,3331,3480,0,0,0,0,0,0
$GC,3538,-1.30,-116.8,418.7,-12.0,190,3544,0.00,2.65,0.00,0.000,6,0.000,0.064,2814,1784,3480,0,0,0,0,0,0
$GC,3788,-1.30,-116.8,445.4,-10.6,197,3792,0.00,2.58,0.00,0.000,4,0.000,0.050,2813,3336,3479,0,0,0,0,0,0
$GC,3834,-1.34,-116.8,449.6,-8.9,198,3838,0.00,2.67,0.00,0.000,6,0.000,0.068,2814,1784,3479,0,0,0,0,0,0
$GC,4111,-1.34,-116.8,473.1,-8.3,205,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1784,3477,0,0,0,0,0,0
$GC,4355,-1.34,-116.8,495.2,-9.1,211,4359,0.00,2.62,0.00,0.000,4,0.000,0.058,2814,3325,3475,0,0,0,0,0,0
$GC,4372,-1.34,-116.8,496.9,-9.5,211,4376,0.00,2.65,0.00,0.000,6,0.000,0.069,2813,1796,3475,0,0,0,0,0,0
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4433,-0.31,0.0,502.4,9.5,213,4533,1.02,0.00,96.90,0.932,6,0.088,0.000,3040,1913,3000,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4536,1.38,116.8,505.0,0.0,215,4640,1.60,0.00,99.38,0.909,6,0.056,0.000,3410,1913,2523,0,0,0,0,0,0
$GC,4862,1.47,185.4,490.1,6.1,223,4927,0.00,3.12,59.00,0.896,4,0.000,0.114,3410,327,2244,0,0,0,0,0,0
$GC,4942,1.53,238.8,485.0,7.0,225,4997,0.15,2.62,47.30,0.883,6,0.077,0.036,3449,1893,2025,0,0,0,0,0,0
$GC,5270,1.49,238.8,449.1,10.9,233,5274,0.00,2.72,0.00,0.000,4,0.000,0.060,3449,3509,2017,0,0,0,0,0,0
$GC,5326,1.49,238.8,442.6,11.5,234,5330,0.00,2.75,0.00,0.000,6,0.000,0.054,3449,1910,2015,0,0,0,0,0,0
$GC,5592,1.49,238.8,409.5,13.1,241,5596,0.00,2.65,0.00,0.000,4,0.000,0.041,3449,3515,2013,0,0,0,0,0,0
$GC,5635,1.49,238.8,403.1,14.9,242,5640,0.00,2.67,0.00,0.000,6,0.000,0.047,3449,1930,2012,0,0,0,0,0,0
$GC,5914,1.49,238.8,366.6,12.9,249,5919,0.00,2.60,0.00,0.000,4,0.000,0.035,3449,3513,2011,0,0,0,0,0,0
$GC,5993,1.49,238.8,356.7,11.8,250,5999,0.00,2.62,0.00,0.000,6,0.000,0.036,3449,1932,2010,0,0,0,0,0,0
$GC,6243,1.49,238.8,328.9,11.0,257,6247,0.00,2.58,0.00,0.000,4,0.000,0.035,3449,3513,2008,0,0,0,0,0,0
$GC,6310,1.49,238.8,321.5,11.2,258,6314,0.00,2.55,0.00,0.000,6,0.000,0.040,3449,1955,2007,0,0,0,0,0,0
$GC,6565,1.52,256.3,297.6,9.0,265,6584,0.00,2.62,13.60,0.767,4,0.000,0.041,3449,3509,1954,0,0,0,0,0,0
$GC,6653,1.53,270.3,289.5,9.2,267,6672,0.00,2.55,13.62,0.751,6,0.000,0.035,3449,1958,1898,0,0,0,0,0,0
$GC,6941,1.53,270.3,261.4,10.2,274,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1959,1894,0,0,0,0,0,0
$GC,7183,1.53,270.3,233.2,11.7,280,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1959,1893,0,0,0,0,0,0
$GC,7427,1.53,270.3,203.7,12.2,286,7431,0.00,2.53,0.00,0.000,4,0.000,0.039,3449,3515,1892,0,0,0,0,0,0
$GC,7513,1.58,270.3,193.0,12.6,291,7518,0.00,2.53,0.00,0.000,6,0.000,0.033,3449,1965,1891,0,0,0,0,0,0
$GC,7777,1.58,270.3,165.0,10.1,315,7781,0.00,2.47,0.00,0.000,4,0.000,0.031,3449,3516,1891,0,0,0,0,0,0
$GC,7834,1.63,270.3,159.2,10.5,319,7839,0.00,2.47,0.00,0.000,6,0.000,0.036,3449,1984,1891,0,0,0,0,0,0
$GC,8100,1.63,270.3,131.7,10.7,343,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1983,1891,0,0,0,0,0,0
$GC,8363,1.67,270.3,100.8,12.1,368,8368,0.10,2.80,0.00,0.000,4,0.096,0.060,3479,336,1891,0,0,0,0,0,0
$GC,8397,1.61,270.3,95.4,15.9,370,8406,0.00,2.62,0.00,0.000,6,0.000,0.020,3478,2013,1890,0,0,0,0,0,0
$GC,8663,1.61,270.3,61.2,13.0,395,8668,0.00,2.80,0.00,0.000,4,0.000,0.054,3478,340,1890,0,0,0,0,0,0
$GC,8707,1.61,270.3,55.1,14.3,398,8712,0.00,2.60,0.00,0.000,6,0.000,0.018,3478,2015,1890,0,0,0,0,0,0
$GC,8988,1.61,270.3,22.7,10.2,427,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2016,1891,0,0,0,0,0,0
$STATE,9177,end climb,SURFACE_DEPTH_REACHED
$STATE,9177,begin surface coast
$FINISH,0.4,0.970349
$STATE,9229,end surface coast,CONTROL_FINISHED_OK
$STATE,9229,begin surface
$SM_CCo,9251,104.93,0.537,0,0,1369,400.08
$SM_GC,1.17,0.00,0.00,104.93,0.000,0.000,0.537,478,1747,1369,-12.11,-0.65,400.08
$IRIDIUM_FIX,2241.69,-15802.37,140800,080854
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.60
$XPDR_PINGS,43
$24V_AH,23.5,10.480
$10V_AH,10.4,8.963
$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,28.100,114.825,329.800,104.925,0.000,91.674,111.621,330.347,10.750,0.000,35.454,944.612,6120.691,511.853,1802.500,800.814,33.360,1185.155,0.000,1783.037,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,151.099,931.905,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.649,265.042,352.866,667.752,1010.049,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,35187,462
$CAP_FILE_SIZE,102755,0
$CFSIZE,260165632,177954816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,103921,2250.113,-15758.590,65,2.7,84,10.1