version: 66.06
glider: 146
mission: 6
dive: 124
start: 5 26 111 7 5 7
data:
$ID,146
$MISSION,6
$DIVE,124
$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,-270164.06
$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,46
$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
$GPS1,065337,2250.010,-15759.293,10,1.8,27,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.5
$GPS2,070414,2250.064,-15759.276,21,1.8,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,0.044
$KALMAN_X,-80014.6,100.9,16.2,75657.1,-391.1
$KALMAN_Y,-133752.2,246.2,-30.6,144943.5,-494.2
$MHEAD_RNG_PITCHd_Wd,69.1,3888,-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,-78.25,0.000,2,0.000,0.000,473,1746,3398,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.3,-8.9,10,117,12.60,0.00,-1.38,0.000,6,0.165,0.000,2810,1746,3479,0,0,0,0,0,0
$GC,388,-1.23,-116.8,72.1,-19.3,41,394,0.20,2.53,0.00,0.000,4,0.119,0.029,2849,3340,3482,0,0,0,0,0,0
$GC,446,-1.23,-116.8,82.2,-15.5,45,451,0.00,2.50,0.00,0.000,6,0.000,0.033,2849,1778,3482,0,0,0,0,0,0
$GC,714,-1.23,-116.8,118.6,-11.8,69,718,0.00,2.45,0.00,0.000,4,0.000,0.027,2849,3342,3483,0,0,0,0,0,0
$GC,769,-1.23,-116.8,125.1,-10.6,73,774,0.00,2.53,0.00,0.000,6,0.000,0.030,2849,1767,3483,0,0,0,0,0,0
$GC,1037,-1.23,-116.8,157.1,-13.0,97,1041,0.00,2.47,0.00,0.000,4,0.000,0.025,2849,3346,3484,0,0,0,0,0,0
$GC,1065,-1.23,-116.8,161.6,-13.3,99,1069,0.00,2.50,0.00,0.000,6,0.000,0.025,2849,1776,3484,0,0,0,0,0,0
$GC,1327,-1.23,-116.8,193.9,-12.1,123,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1776,3485,0,0,0,0,0,0
$GC,1583,-1.23,-116.8,223.3,-11.1,133,1587,0.00,2.47,0.00,0.000,4,0.000,0.033,2849,3343,3485,0,0,0,0,0,0
$GC,1610,-1.28,-116.8,226.6,-11.0,133,1614,0.00,2.50,0.00,0.000,6,0.000,0.032,2849,1777,3485,0,0,0,0,0,0
$GC,1860,-1.28,-116.8,251.7,-9.7,139,1864,0.00,2.47,0.00,0.000,4,0.000,0.035,2850,3335,3485,0,0,0,0,0,0
$GC,1883,-1.32,-116.8,253.7,-9.0,139,1887,0.00,2.50,0.00,0.000,6,0.000,0.035,2850,1785,3485,0,0,0,0,0,0
$GC,2138,-1.36,-116.8,275.8,-8.7,146,2140,0.12,0.00,0.00,0.000,6,0.073,0.000,2807,1785,3485,0,0,0,0,0,0
$GC,2381,-1.36,-116.8,304.4,-12.2,152,2386,0.00,2.47,0.00,0.000,4,0.000,0.039,2807,3334,3484,0,0,0,0,0,0
$GC,2404,-1.36,-116.8,307.2,-12.0,152,2408,0.00,2.53,0.00,0.000,6,0.000,0.038,2807,1798,3484,0,0,0,0,0,0
$GC,2659,-1.36,-116.8,340.6,-13.3,159,2663,0.00,2.47,0.00,0.000,4,0.000,0.038,2807,3333,3483,0,0,0,0,0,0
$GC,2680,-1.36,-116.8,343.7,-13.1,159,2684,0.00,2.58,0.00,0.000,6,0.000,0.043,2807,1788,3483,0,0,0,0,0,0
$GC,2935,-1.36,-116.8,374.1,-11.6,166,2939,0.00,2.53,0.00,0.000,4,0.000,0.038,2807,3333,3482,0,0,0,0,0,0
$GC,2968,-1.36,-116.8,377.9,-11.3,166,2974,0.00,2.60,0.00,0.000,6,0.000,0.054,2807,1793,3481,0,0,0,0,0,0
$GC,3218,-1.36,-116.8,402.9,-9.8,173,3222,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3331,3480,0,0,0,0,0,0
$GC,3234,-1.36,-116.8,404.4,-9.2,173,3238,0.00,2.62,0.00,0.000,6,0.000,0.057,2807,1789,3480,0,0,0,0,0,0
$GC,3496,-1.36,-116.8,430.0,-10.0,180,3501,0.00,3.00,0.00,0.000,4,0.000,0.111,2807,179,3479,0,0,0,0,0,0
$GC,3517,-1.32,-116.8,432.6,-10.7,180,3522,0.12,2.55,0.00,0.000,6,0.121,0.038,2832,1765,3478,0,0,0,0,0,0
$GC,3773,-1.36,-116.8,458.5,-10.1,187,3777,0.00,2.70,0.00,0.000,4,0.000,0.060,2832,3359,3476,0,0,0,0,0,0
$GC,3801,-1.42,-116.8,461.7,-11.6,187,3806,0.00,2.67,0.00,0.000,6,0.000,0.058,2832,1798,3476,0,0,0,0,0,0
$GC,4051,-1.48,-116.8,489.7,-11.1,193,4053,0.15,0.00,0.00,0.000,6,0.065,0.000,2782,1798,3475,0,0,0,0,0,0
$STATE,4130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4130,begin apogee
$GC,4136,-0.31,0.0,500.1,11.8,195,4236,1.23,0.00,96.25,0.929,6,0.092,0.000,3051,1999,3000,0,0,0,0,0,0
$STATE,4237,end apogee,CONTROL_FINISHED_OK
$STATE,4237,begin climb
$GC,4241,1.38,116.8,504.3,0.0,197,4344,1.58,0.00,99.05,0.909,6,0.051,0.000,3422,1999,2524,0,0,0,0,0,0
$GC,4567,1.45,175.0,490.4,6.7,205,4623,0.00,2.65,49.75,0.893,4,0.000,0.058,3422,3532,2286,0,0,0,0,0,0
$GC,4684,1.47,187.0,480.3,9.3,207,4703,0.00,2.70,11.30,0.801,6,0.000,0.058,3422,1966,2237,0,0,0,0,0,0
$GC,4976,1.49,205.0,454.4,9.0,215,4995,0.10,0.00,16.38,0.842,6,0.098,0.000,3450,1966,2165,0,0,0,0,0,0
$GC,5221,1.46,213.3,431.1,9.6,221,5236,0.00,2.67,8.00,0.752,4,0.000,0.041,3450,3532,2130,0,0,0,0,0,0
$GC,5253,1.41,213.3,427.6,10.1,221,5258,0.10,2.65,0.00,0.000,6,0.133,0.050,3430,1971,2130,0,0,0,0,0,0
$GC,5503,1.43,227.0,404.7,9.2,227,5523,0.00,2.97,13.30,0.815,4,0.000,0.091,3430,387,2074,0,0,0,0,0,0
$GC,5558,1.39,227.0,398.6,12.0,228,5563,0.00,2.53,0.00,0.000,6,0.000,0.028,3430,1951,2072,0,0,0,0,0,0
$GC,5830,1.39,227.0,368.2,11.1,235,5834,0.00,2.62,0.00,0.000,4,0.000,0.045,3430,3547,2070,0,0,0,0,0,0
$GC,5875,1.39,227.0,363.2,11.2,236,5879,0.00,2.65,0.00,0.000,6,0.000,0.037,3430,1954,2068,0,0,0,0,0,0
$GC,6152,1.40,239.1,336.2,9.3,243,6170,0.00,2.80,11.25,0.770,4,0.000,0.081,3430,388,2025,0,0,0,0,0,0
$GC,6183,1.42,254.1,333.3,9.2,243,6203,0.00,2.53,14.80,0.781,6,0.000,0.022,3429,1973,1965,0,0,0,0,0,0
$GC,6477,1.45,275.0,307.0,8.8,251,6501,0.00,2.65,19.33,0.784,4,0.000,0.039,3430,3549,1880,0,0,0,0,0,0
$GC,6541,1.49,275.0,300.6,10.2,252,6545,0.00,2.62,0.00,0.000,6,0.000,0.041,3430,1955,1878,0,0,0,0,0,0
$GC,6796,1.49,275.0,272.1,11.6,259,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1955,1875,0,0,0,0,0,0
$GC,7039,1.53,275.0,241.0,12.8,265,7044,0.10,2.62,0.00,0.000,4,0.229,0.034,3458,3549,1873,0,0,0,0,0,0
$GC,7066,1.53,275.0,237.1,14.2,265,7071,0.00,2.60,0.00,0.000,6,0.000,0.039,3458,1955,1873,0,0,0,0,0,0
$GC,7318,1.53,275.0,207.4,11.2,271,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1955,1872,0,0,0,0,0,0
$GC,7572,1.53,275.0,181.5,11.3,289,7576,0.00,2.58,0.00,0.000,4,0.000,0.040,3458,3548,1872,0,0,0,0,0,0
$GC,7657,1.53,275.0,170.8,11.5,296,7662,0.00,2.58,0.00,0.000,6,0.000,0.038,3458,1964,1870,0,0,0,0,0,0
$GC,7921,1.53,275.0,139.1,12.4,320,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1964,1870,0,0,0,0,0,0
$GC,8173,1.53,275.0,108.8,11.2,344,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1964,1870,0,0,0,0,0,0
$GC,8429,1.60,300.1,84.1,8.6,368,8456,0.00,2.60,21.25,0.609,4,0.000,0.035,3458,3547,1775,0,0,0,0,0,0
$GC,8474,1.69,341.4,80.9,7.7,371,8515,0.12,2.55,35.53,0.607,6,0.080,0.030,3494,1979,1609,0,0,0,0,0,0
$GC,8775,1.69,341.4,40.9,13.7,398,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,1979,1604,0,0,0,0,0,0
$STATE,9064,end climb,SURFACE_DEPTH_REACHED
$STATE,9064,begin surface coast
$FINISH,0.6,0.976297
$STATE,9100,end surface coast,CONTROL_FINISHED_OK
$STATE,9100,begin surface
$SM_CCo,9123,47.08,0.540,0,0,1368,400.08
$SM_GC,1.16,0.00,0.00,47.08,0.000,0.000,0.540,475,1754,1368,-12.17,-0.45,400.08
$IRIDIUM_FIX,2239.35,-15759.32,190800,070725
$TT8_MAMPS,0.026078
$HUMID,59.76
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.20
$XPDR_PINGS,44
$24V_AH,23.5,15.768
$10V_AH,10.4,13.486
$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,28.650,104.350,396.175,47.075,0.000,49.790,80.385,287.169,11.000,0.000,33.746,899.244,6138.920,492.154,1606.343,673.610,33.364,1103.036,0.000,1589.882,0.000,0.536,0.000
$DEVICE_MAMPS,228.566,111.215,928.837,539.968,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,300.255,256.409,333.171,616.657,932.751,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,35376,442
$CAP_FILE_SIZE,96711,0
$CFSIZE,260165632,175788032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260511,094001,2250.194,-15758.107,83,1.0,83,10.1