version: 66.06
glider: 146
mission: 6
dive: 117
start: 5 25 111 11 11 38
data:
$ID,146
$MISSION,6
$DIVE,117
$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,-269942.44
$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,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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,105634,2246.753,-15800.897,10,99.0,29,10.1
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.1
$GPS2,111045,2246.799,-15800.924,15,2.0,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,0.029
$KALMAN_X,-76673.8,-83.3,-75.7,69786.4,-46.6
$KALMAN_Y,-130983.4,46.9,-154.5,136455.2,-44.9
$MHEAD_RNG_PITCHd_Wd,267.1,3565,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.20,0.000,2,0.000,0.000,474,1761,3356,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-7.2,10,126,12.48,2.55,-2.17,0.000,4,0.161,0.035,2810,3343,3481,0,0,0,0,0,0
$GC,338,-1.26,-116.8,54.6,-16.6,35,343,0.15,2.50,0.00,0.000,6,0.124,0.028,2840,1775,3482,0,0,0,0,0,0
$GC,606,-1.19,-116.8,94.1,-16.5,59,610,0.00,2.45,0.00,0.000,4,0.000,0.031,2841,3338,3483,0,0,0,0,0,0
$GC,628,-1.14,-116.8,99.0,-16.2,60,637,0.10,2.53,0.00,0.000,6,0.096,0.032,2867,1773,3483,0,0,0,0,0,0
$GC,895,-1.14,-116.8,136.6,-13.3,85,899,0.00,2.70,0.00,0.000,4,0.000,0.066,2866,191,3484,0,0,0,0,0,0
$GC,935,-1.14,-116.8,142.7,-13.1,88,939,0.00,2.42,0.00,0.000,6,0.000,0.015,2867,1807,3483,0,0,0,0,0,0
$GC,1203,-1.18,-116.8,172.1,-11.7,112,1207,0.00,2.33,0.00,0.000,4,0.000,0.024,2867,3306,3484,0,0,0,0,0,0
$GC,1220,-1.22,-116.8,174.9,-12.1,113,1224,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,1768,3484,0,0,0,0,0,0
$GC,1502,-1.25,-116.8,209.3,-11.1,133,1506,0.00,2.70,0.00,0.000,4,0.000,0.073,2867,199,3484,0,0,0,0,0,0
$GC,1522,-1.25,-116.8,212.0,-11.0,133,1527,0.00,2.38,0.00,0.000,6,0.000,0.021,2867,1779,3484,0,0,0,0,0,0
$GC,1785,-1.31,-116.8,234.3,-8.9,140,1786,0.12,0.00,0.00,0.000,6,0.074,0.000,2825,1788,3485,0,0,0,0,0,0
$GC,2027,-1.31,-116.8,264.5,-12.2,146,2032,0.00,2.42,0.00,0.000,4,0.000,0.037,2825,3323,3484,0,0,0,0,0,0
$GC,2101,-1.31,-116.8,273.1,-11.6,147,2105,0.00,2.47,0.00,0.000,6,0.000,0.035,2824,1796,3484,0,0,0,0,0,0
$GC,2350,-1.31,-116.8,300.5,-10.9,153,2355,0.00,2.42,0.00,0.000,4,0.000,0.035,2824,3312,3483,0,0,0,0,0,0
$GC,2393,-1.31,-116.8,305.0,-10.8,154,2397,0.00,2.50,0.00,0.000,6,0.000,0.040,2825,1796,3483,0,0,0,0,0,0
$GC,2677,-1.31,-116.8,338.0,-11.8,161,2681,0.00,2.45,0.00,0.000,4,0.000,0.038,2824,3310,3482,0,0,0,0,0,0
$GC,2748,-1.31,-116.8,347.1,-12.6,162,2753,0.00,2.50,0.00,0.000,6,0.000,0.045,2824,1812,3482,0,0,0,0,0,0
$GC,3000,-1.31,-116.8,376.8,-11.9,168,3005,0.00,2.97,0.00,0.000,4,0.000,0.099,2824,187,3481,0,0,0,0,0,0
$GC,3021,-1.31,-116.8,379.9,-12.6,168,3025,0.00,2.53,0.00,0.000,6,0.000,0.027,2825,1771,3481,0,0,0,0,0,0
$GC,3282,-1.31,-116.8,409.1,-11.0,175,3286,0.00,2.62,0.00,0.000,4,0.000,0.050,2824,3354,3479,0,0,0,0,0,0
$GC,3331,-1.36,-116.8,414.7,-11.1,176,3336,0.00,2.62,0.00,0.000,6,0.000,0.062,2824,1817,3479,0,0,0,0,0,0
$GC,3604,-1.36,-116.8,443.9,-10.7,183,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1817,3477,0,0,0,0,0,0
$GC,3847,-1.36,-116.8,469.9,-10.5,189,3851,0.00,2.55,0.00,0.000,4,0.000,0.058,2825,3350,3475,0,0,0,0,0,0
$GC,3891,-1.42,-116.8,474.4,-10.1,190,3895,0.00,2.60,0.00,0.000,6,0.000,0.067,2825,1834,3476,0,0,0,0,0,0
$STATE,4165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4166,begin apogee
$GC,4173,-0.31,0.0,502.6,10.1,197,4272,1.00,0.00,96.12,0.925,6,0.085,0.000,3049,1989,3001,0,0,0,0,0,0
$STATE,4273,end apogee,CONTROL_FINISHED_OK
$STATE,4273,begin climb
$GC,4276,1.38,116.8,505.4,0.0,199,4379,1.58,0.00,98.82,0.904,6,0.053,0.000,3417,1989,2524,0,0,0,0,0,0
$GC,4601,1.42,145.2,486.0,8.4,207,4631,0.00,3.12,24.25,0.865,4,0.000,0.110,3417,384,2408,0,0,0,0,0,0
$GC,4659,1.34,153.2,480.7,9.6,208,4674,0.00,2.60,8.40,0.755,6,0.000,0.032,3417,1946,2375,0,0,0,0,0,0
$GC,4926,1.34,153.2,454.2,10.1,215,4930,0.00,2.72,0.00,0.000,4,0.000,0.054,3417,3552,2369,0,0,0,0,0,0
$GC,5020,1.36,171.3,444.7,9.0,217,5042,0.00,2.65,16.20,0.838,6,0.000,0.044,3417,1983,2302,0,0,0,0,0,0
$GC,5293,1.41,205.9,422.5,8.0,224,5326,0.00,0.00,31.08,0.863,6,0.000,0.000,3417,1983,2161,0,0,0,0,0,0
$GC,5536,1.43,228.2,401.9,8.7,230,5561,0.00,2.97,20.12,0.832,4,0.000,0.094,3417,386,2069,0,0,0,0,0,0
$GC,5578,1.43,228.2,397.4,10.8,231,5582,0.00,2.62,0.00,0.000,6,0.000,0.023,3417,2013,2068,0,0,0,0,0,0
$GC,5855,1.43,228.2,366.3,11.5,238,5860,0.00,2.88,0.00,0.000,4,0.000,0.072,3417,377,2063,0,0,0,0,0,0
$GC,5887,1.43,228.2,362.2,12.7,238,5893,0.00,2.60,0.00,0.000,6,0.000,0.027,3417,1988,2063,0,0,0,0,0,0
$GC,6138,1.47,228.2,334.9,10.8,245,6143,0.10,2.55,0.00,0.000,4,0.091,0.039,3445,3555,2061,0,0,0,0,0,0
$GC,6160,1.47,228.2,332.3,11.3,245,6165,0.00,2.62,0.00,0.000,6,0.000,0.038,3446,1971,2060,0,0,0,0,0,0
$GC,6415,1.47,228.2,303.2,11.4,252,6419,0.00,2.58,0.00,0.000,4,0.000,0.035,3445,3549,2060,0,0,0,0,0,0
$GC,6574,1.47,228.2,285.3,10.7,255,6578,0.00,2.55,0.00,0.000,6,0.000,0.032,3446,1990,2059,0,0,0,0,0,0
$GC,6828,1.47,228.2,258.4,10.7,262,6833,0.00,2.55,0.00,0.000,4,0.000,0.037,3446,3553,2058,0,0,0,0,0,0
$GC,6844,1.47,228.2,256.4,11.3,262,6848,0.00,2.50,0.00,0.000,6,0.000,0.037,3446,2001,2057,0,0,0,0,0,0
$GC,7111,1.47,228.2,225.5,11.8,269,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2001,2057,0,0,0,0,0,0
$GC,7356,1.47,228.2,197.4,11.3,275,7360,0.00,2.53,0.00,0.000,4,0.000,0.035,3446,3552,2057,0,0,0,0,0,0
$GC,7389,1.47,228.2,194.6,10.1,277,7393,0.00,2.53,0.00,0.000,6,0.000,0.030,3446,1993,2055,0,0,0,0,0,0
$GC,7655,1.50,255.0,172.9,8.5,301,7680,0.00,0.00,22.10,0.694,6,0.000,0.000,3446,1993,1961,0,0,0,0,0,0
$GC,7936,1.54,255.0,141.7,11.8,327,7941,0.00,2.70,0.00,0.000,4,0.000,0.059,3446,393,1957,0,0,0,0,0,0
$GC,7957,1.54,255.0,138.5,11.7,328,7967,0.00,2.55,0.00,0.000,6,0.000,0.024,3446,2019,1956,0,0,0,0,0,0
$GC,8226,1.59,255.0,108.0,11.8,353,8230,0.00,2.75,0.00,0.000,4,0.000,0.054,3446,393,1956,0,0,0,0,0,0
$GC,8258,1.59,255.0,103.6,13.1,355,8263,0.00,2.45,0.00,0.000,6,0.000,0.022,3446,1973,1955,0,0,0,0,0,0
$GC,8527,1.68,276.5,77.3,8.8,379,8551,0.17,0.00,19.08,0.601,6,0.065,0.000,3495,1975,1873,0,0,0,0,0,0
$GC,8807,1.68,276.5,46.3,12.0,405,8811,0.00,2.50,0.00,0.000,4,0.000,0.031,3494,3533,1871,0,0,0,0,0,0
$GC,8893,1.68,276.5,35.0,12.8,411,8902,0.00,2.55,0.00,0.000,6,0.000,0.030,3495,1969,1869,0,0,0,0,0,0
$STATE,9135,end climb,SURFACE_DEPTH_REACHED
$STATE,9135,begin surface coast
$FINISH,0.4,0.975155
$STATE,9178,end surface coast,CONTROL_FINISHED_OK
$STATE,9178,begin surface
$SM_CCo,9201,99.60,0.544,0,0,1370,400.08
$SM_GC,1.14,0.00,0.00,99.60,0.000,0.000,0.544,482,1733,1370,-12.13,-1.02,400.08
$IRIDIUM_FIX,2234.68,-16039.18,180800,111115
$TT8_MAMPS,0.026078
$HUMID,58.19
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,43
$24V_AH,23.5,14.920
$10V_AH,10.4,12.730
$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,28.000,114.275,336.175,99.600,0.000,75.368,163.126,319.903,10.750,0.000,36.244,929.170,6155.048,505.257,1732.072,833.179,33.364,1153.412,0.000,1713.106,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,110.448,925.002,543.803,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.762,251.621,341.611,639.027,966.550,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,35322,450
$CAP_FILE_SIZE,100473,0
$CFSIZE,260165632,176140288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,134802,2246.732,-15802.376,41,1.3,42,10.1