version: 66.06
glider: 146
mission: 6
dive: 116
start: 5 25 111 8 18 55
data:
$ID,146
$MISSION,6
$DIVE,116
$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,-269905.56
$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,37
$R_STBD_OVSHOOT,62
$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
$GPS1,081055,2246.749,-15759.312,41,1.6,41,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.1
$GPS2,081801,2246.774,-15759.325,9,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,0.035
$KALMAN_X,-76098.0,-132.4,-191.4,72099.1,-25.2
$KALMAN_Y,-130397.9,11.3,-403.9,136110.9,-189.1
$MHEAD_RNG_PITCHd_Wd,268.4,6289,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.47,0.000,2,0.000,0.000,474,1761,3377,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.9,-7.5,10,127,12.62,2.53,-1.73,0.000,4,0.166,0.041,2811,3331,3481,0,0,0,0,0,0
$GC,242,-1.25,-116.8,39.4,-17.7,27,251,0.12,2.53,0.00,0.000,6,0.106,0.030,2840,1781,3482,0,0,0,0,0,0
$GC,512,-1.17,-116.8,80.4,-14.0,52,517,0.12,2.72,0.00,0.000,4,0.129,0.068,2864,195,3483,0,0,0,0,0,0
$GC,534,-1.09,-116.8,84.2,-13.6,53,538,0.00,2.38,0.00,0.000,6,0.000,0.013,2864,1808,3483,0,0,0,0,0,0
$GC,802,-1.09,-116.8,119.1,-12.9,77,806,0.00,2.72,0.00,0.000,4,0.000,0.064,2865,196,3484,0,0,0,0,0,0
$GC,818,-1.09,-116.8,122.1,-12.5,78,822,0.00,2.30,0.00,0.000,6,0.000,0.014,2865,1740,3484,0,0,0,0,0,0
$GC,1089,-1.09,-116.8,154.8,-12.5,103,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1762,3485,0,0,0,0,0,0
$GC,1351,-1.09,-116.8,186.0,-11.7,128,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1762,3486,0,0,0,0,0,0
$GC,1599,-1.09,-116.8,213.7,-10.7,143,1603,0.00,2.42,0.00,0.000,4,0.000,0.031,2864,3298,3486,0,0,0,0,0,0
$GC,1627,-1.14,-116.8,216.6,-10.2,143,1631,0.00,2.47,0.00,0.000,6,0.000,0.028,2864,1744,3486,0,0,0,0,0,0
$GC,1877,-1.18,-116.8,237.7,-8.1,149,1882,0.00,2.70,0.00,0.000,4,0.000,0.075,2865,190,3486,0,0,0,0,0,0
$GC,1912,-1.18,-116.8,240.7,-9.4,149,1917,0.00,2.33,0.00,0.000,6,0.000,0.023,2865,1710,3486,0,0,0,0,0,0
$GC,2162,-1.24,-116.8,262.1,-8.7,156,2166,0.00,2.53,0.00,0.000,4,0.000,0.031,2864,3302,3486,0,0,0,0,0,0
$GC,2257,-1.34,-116.8,271.3,-10.1,158,2262,0.15,2.50,0.00,0.000,6,0.063,0.036,2815,1761,3486,0,0,0,0,0,0
$GC,2529,-1.34,-116.8,302.9,-11.9,165,2534,0.00,2.50,0.00,0.000,4,0.000,0.038,2814,3299,3485,0,0,0,0,0,0
$GC,2570,-1.34,-116.8,307.6,-12.6,166,2574,0.00,2.53,0.00,0.000,6,0.000,0.046,2815,1768,3485,0,0,0,0,0,0
$GC,2853,-1.34,-116.8,337.8,-10.4,173,2857,0.00,2.47,0.00,0.000,4,0.000,0.036,2814,3292,3484,0,0,0,0,0,0
$GC,2879,-1.34,-116.8,340.9,-11.5,173,2884,0.00,2.50,0.00,0.000,6,0.000,0.046,2814,1785,3485,0,0,0,0,0,0
$GC,3136,-1.34,-116.8,370.4,-11.8,180,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1785,3483,0,0,0,0,0,0
$GC,3379,-1.34,-116.8,401.1,-12.5,186,3383,0.00,2.50,0.00,0.000,4,0.000,0.043,2815,3293,3482,0,0,0,0,0,0
$GC,3478,-1.34,-116.8,413.6,-12.1,188,3483,0.00,2.58,0.00,0.000,6,0.000,0.064,2814,1777,3481,0,0,0,0,0,0
$GC,3746,-1.34,-116.8,444.7,-11.3,195,3751,0.00,2.55,0.00,0.000,4,0.000,0.049,2814,3292,3479,0,0,0,0,0,0
$GC,3768,-1.34,-116.8,447.3,-10.7,195,3772,0.00,2.58,0.00,0.000,6,0.000,0.061,2814,1784,3479,0,0,0,0,0,0
$GC,4024,-1.34,-116.8,474.2,-10.4,202,4028,0.00,2.55,0.00,0.000,4,0.000,0.051,2815,3290,3479,0,0,0,0,0,0
$GC,4119,-1.38,-116.8,484.4,-10.9,204,4124,0.00,2.60,0.00,0.000,6,0.000,0.067,2815,1799,3478,0,0,0,0,0,0
$STATE,4308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4308,begin apogee
$GC,4314,-0.31,0.0,503.8,10.1,209,4414,1.05,0.00,96.55,0.931,6,0.089,0.000,3048,1918,3001,0,0,0,0,0,0
$STATE,4415,end apogee,CONTROL_FINISHED_OK
$STATE,4415,begin climb
$GC,4417,1.38,116.8,506.2,0.0,211,4527,1.60,2.72,98.82,0.907,4,0.054,0.054,3419,3486,2522,0,0,0,0,0,0
$GC,4544,1.43,194.2,502.5,5.6,214,4620,0.00,2.62,66.07,0.890,6,0.000,0.060,3419,1968,2208,0,0,0,0,0,0
$GC,4863,1.43,195.0,471.9,10.0,222,4868,0.00,3.08,0.00,0.000,4,0.000,0.119,3419,381,2199,0,0,0,0,0,0
$GC,4891,1.39,195.0,468.9,10.8,222,4895,0.00,2.53,0.00,0.000,6,0.000,0.037,3419,1901,2198,0,0,0,0,0,0
$GC,5142,1.40,204.8,445.0,9.5,228,5157,0.00,2.72,8.70,0.769,4,0.000,0.052,3419,3477,2165,0,0,0,0,0,0
$GC,5265,1.42,216.9,433.1,9.3,230,5284,0.00,2.53,12.05,0.810,6,0.000,0.044,3419,1975,2116,0,0,0,0,0,0
$GC,5563,1.46,249.0,407.7,8.2,238,5594,0.00,0.00,29.42,0.855,6,0.000,0.000,3419,1975,1985,0,0,0,0,0,0
$GC,5806,1.47,259.0,385.3,9.5,244,5817,0.00,0.00,9.32,0.765,6,0.000,0.000,3419,1974,1945,0,0,0,0,0,0
$GC,6050,1.51,259.0,357.6,11.7,250,6052,0.12,0.00,0.00,0.000,6,0.085,0.000,3452,1975,1941,0,0,0,0,0,0
$GC,6293,1.51,259.0,326.4,12.6,256,6298,0.00,2.47,0.00,0.000,4,0.000,0.038,3451,3488,1940,0,0,0,0,0,0
$GC,6361,1.51,259.0,318.3,12.1,257,6366,0.00,2.47,0.00,0.000,6,0.000,0.036,3452,1977,1939,0,0,0,0,0,0
$GC,6617,1.52,265.9,293.0,9.6,264,6630,0.00,2.50,6.47,0.667,4,0.000,0.034,3452,3495,1916,0,0,0,0,0,0
$GC,6665,1.52,265.9,288.2,10.2,265,6669,0.00,2.42,0.00,0.000,6,0.000,0.039,3452,2014,1915,0,0,0,0,0,0
$GC,6942,1.52,265.9,257.9,11.3,272,6947,0.00,2.80,0.00,0.000,4,0.000,0.067,3451,393,1914,0,0,0,0,0,0
$GC,6957,1.52,265.9,255.9,12.2,272,6962,0.00,2.50,0.00,0.000,6,0.000,0.018,3452,1984,1914,0,0,0,0,0,0
$GC,7219,1.52,265.9,223.8,12.6,279,7223,0.00,2.50,0.00,0.000,4,0.000,0.040,3452,3531,1914,0,0,0,0,0,0
$GC,7298,1.56,265.9,213.0,13.6,280,7303,0.00,2.42,0.00,0.000,6,0.000,0.031,3452,2029,1912,0,0,0,0,0,0
$GC,7553,1.56,265.9,183.9,10.8,296,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2029,1912,0,0,0,0,0,0
$GC,7809,1.57,271.2,158.9,9.7,320,7821,0.00,2.80,5.40,0.545,4,0.000,0.060,3452,388,1895,0,0,0,0,0,0
$GC,7849,1.57,271.2,154.3,11.5,323,7855,0.00,2.60,0.00,0.000,6,0.000,0.018,3452,2052,1895,0,0,0,0,0,0
$GC,8114,1.60,271.2,127.1,10.2,348,8118,0.00,2.83,0.00,0.000,4,0.000,0.061,3452,390,1895,0,0,0,0,0,0
$GC,8147,1.60,271.2,123.0,11.3,350,8156,0.00,2.58,0.00,0.000,6,0.000,0.025,3452,2024,1894,0,0,0,0,0,0
$GC,8415,1.67,289.9,98.4,9.0,375,8439,0.12,0.00,17.73,0.611,6,0.077,0.000,3490,2026,1818,0,0,0,0,0,0
$GC,8694,1.67,289.9,66.5,13.6,401,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2026,1816,0,0,0,0,0,0
$GC,8960,1.67,289.9,32.2,11.2,426,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2026,1816,0,0,0,0,0,0
$STATE,9231,end climb,SURFACE_DEPTH_REACHED
$STATE,9231,begin surface coast
$FINISH,0.6,0.972288
$STATE,9275,end surface coast,CONTROL_FINISHED_OK
$STATE,9275,begin surface
$SM_CCo,9299,89.30,0.537,0,0,1369,400.08
$SM_GC,1.24,0.00,0.00,89.30,0.000,0.000,0.537,475,1761,1369,-12.17,-0.25,400.08
$IRIDIUM_FIX,2239.35,-15757.16,180800,050505
$TT8_MAMPS,0.026078
$HUMID,57.44
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,22.00
$XPDR_PINGS,49
$24V_AH,23.5,14.792
$10V_AH,10.4,12.625
$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,28.100,103.175,350.550,89.300,0.000,28.723,38.221,223.430,12.250,0.000,16.280,945.648,6006.877,510.827,1804.058,550.609,33.363,1178.365,0.000,1811.030,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,118.885,931.138,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.393,265.140,364.417,686.183,1037.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38418,471
$CAP_FILE_SIZE,95719,0
$CFSIZE,260165632,176193536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,105634,2246.753,-15800.897,10,99.0,29,10.1