version: 66.06
glider: 146
mission: 6
dive: 131
start: 5 27 111 2 55 57
data:
$ID,146
$MISSION,6
$DIVE,131
$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,-270398.94
$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,3130
$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,26
$R_STBD_OVSHOOT,63
$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
$GPS1,024222,2246.782,-15802.111,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.6
$GPS2,025504,2246.908,-15802.159,9,2.1,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,0.230
$KALMAN_X,-81684.5,-144.8,72.0,72599.8,-84.9
$KALMAN_Y,-135504.1,-136.8,276.0,140931.1,-110.7
$MHEAD_RNG_PITCHd_Wd,338.5,5904,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-78.28,0.000,2,0.000,0.000,478,1772,3376,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.8,-7.1,10,128,12.50,2.53,-1.83,0.000,4,0.160,0.044,2820,3329,3480,0,0,0,0,0,0
$GC,179,-1.24,-116.8,27.1,-21.0,20,189,0.15,2.55,0.00,0.000,6,0.104,0.035,2855,1771,3482,0,0,0,0,0,0
$GC,457,-1.18,-116.8,73.9,-14.9,46,461,0.00,2.70,0.00,0.000,4,0.000,0.063,2855,194,3482,0,0,0,0,0,0
$GC,480,-1.09,-116.8,78.9,-16.0,47,490,0.12,2.42,0.00,0.000,6,0.102,0.021,2886,1793,3482,0,0,0,0,0,0
$GC,744,-1.09,-116.8,109.2,-10.3,72,748,0.00,2.38,0.00,0.000,4,0.000,0.033,2887,3310,3483,0,0,0,0,0,0
$GC,778,-1.15,-116.8,113.0,-10.3,74,787,0.00,2.47,0.00,0.000,6,0.000,0.027,2886,1773,3483,0,0,0,0,0,0
$GC,1046,-1.19,-116.8,137.9,-9.8,99,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1774,3484,0,0,0,0,0,0
$GC,1311,-1.25,-116.8,166.8,-10.8,124,1316,0.12,2.42,0.00,0.000,4,0.067,0.032,2834,3311,3484,0,0,0,0,0,0
$GC,1343,-1.25,-116.8,171.6,-13.8,126,1353,0.08,2.47,0.00,0.000,6,0.081,0.027,2855,1774,3484,0,0,0,0,0,0
$GC,1616,-1.25,-116.8,206.8,-13.4,149,1620,0.00,2.72,0.00,0.000,4,0.000,0.073,2855,193,3484,0,0,0,0,0,0
$GC,1648,-1.25,-116.8,211.8,-14.7,149,1654,0.00,2.35,0.00,0.000,6,0.000,0.016,2855,1762,3484,0,0,0,0,0,0
$GC,1898,-1.25,-116.8,240.1,-11.0,156,1902,0.00,2.45,0.00,0.000,4,0.000,0.028,2855,3315,3484,0,0,0,0,0,0
$GC,1948,-1.32,-116.8,245.4,-9.6,157,1952,0.00,2.42,0.00,0.000,6,0.000,0.027,2855,1789,3484,0,0,0,0,0,0
$GC,2220,-1.36,-116.8,271.0,-9.2,164,2224,0.00,2.42,0.00,0.000,4,0.000,0.031,2856,3309,3484,0,0,0,0,0,0
$GC,2261,-1.43,-116.8,274.5,-8.8,165,2266,0.15,2.45,0.00,0.000,6,0.063,0.030,2805,1794,3484,0,0,0,0,0,0
$GC,2545,-1.39,-116.8,305.7,-11.1,172,2550,0.10,2.45,0.00,0.000,4,0.120,0.031,2826,3310,3483,0,0,0,0,0,0
$GC,2562,-1.39,-116.8,307.7,-10.9,172,2566,0.00,2.47,0.00,0.000,6,0.000,0.043,2826,1800,3483,0,0,0,0,0,0
$GC,2822,-1.39,-116.8,335.5,-10.7,179,2826,0.00,2.42,0.00,0.000,4,0.000,0.033,2826,3312,3482,0,0,0,0,0,0
$GC,2878,-1.39,-116.8,341.5,-10.3,180,2883,0.00,2.50,0.00,0.000,6,0.000,0.050,2826,1808,3482,0,0,0,0,0,0
$GC,3146,-1.39,-116.8,368.2,-9.5,187,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1808,3480,0,0,0,0,0,0
$GC,3389,-1.39,-116.8,391.5,-9.5,193,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1808,3479,0,0,0,0,0,0
$GC,3633,-1.39,-116.8,415.5,-9.9,199,3637,0.00,2.45,0.00,0.000,4,0.000,0.048,2826,3310,3478,0,0,0,0,0,0
$GC,3661,-1.39,-116.8,418.4,-10.3,199,3665,0.00,2.53,0.00,0.000,6,0.000,0.060,2826,1825,3477,0,0,0,0,0,0
$GC,3912,-1.39,-116.8,443.9,-10.2,205,3916,0.00,3.05,0.00,0.000,4,0.000,0.112,2825,185,3476,0,0,0,0,0,0
$GC,3938,-1.39,-116.8,446.9,-11.2,205,3943,0.00,2.58,0.00,0.000,6,0.000,0.038,2826,1768,3476,0,0,0,0,0,0
$GC,4189,-1.39,-116.8,472.5,-10.0,211,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1768,3474,0,0,0,0,0,0
$GC,4434,-1.39,-116.8,495.6,-9.5,217,4438,0.00,2.70,0.00,0.000,4,0.000,0.063,2826,3351,3472,0,0,0,0,0,0
$STATE,4480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4489,-0.31,0.0,500.5,9.5,218,4589,1.02,0.00,95.97,0.924,6,0.091,0.000,3056,1965,3000,0,0,0,0,0,0
$STATE,4589,end apogee,CONTROL_FINISHED_OK
$STATE,4589,begin climb
$GC,4592,1.38,116.8,502.6,0.0,220,4696,1.60,0.00,99.50,0.902,6,0.054,0.000,3430,1965,2524,0,0,0,0,0,0
$GC,4920,1.40,165.4,484.9,7.2,228,4969,0.00,2.80,41.58,0.887,4,0.000,0.051,3430,3551,2325,0,0,0,0,0,0
$GC,5035,1.37,174.3,475.1,9.5,230,5051,0.00,2.70,8.68,0.769,6,0.000,0.056,3430,1972,2289,0,0,0,0,0,0
$GC,5295,1.40,192.5,451.2,9.0,237,5320,0.00,3.15,16.58,0.841,4,0.000,0.116,3430,382,2216,0,0,0,0,0,0
$GC,5332,1.36,205.3,447.6,9.3,237,5351,0.00,2.62,12.88,0.808,6,0.000,0.034,3430,1969,2163,0,0,0,0,0,0
$GC,5625,1.36,205.3,417.4,10.4,245,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1969,2157,0,0,0,0,0,0
$GC,5868,1.36,205.3,392.6,10.1,251,5872,0.00,2.62,0.00,0.000,4,0.000,0.049,3430,3555,2155,0,0,0,0,0,0
$GC,5923,1.36,205.3,386.9,10.5,252,5927,0.00,2.65,0.00,0.000,6,0.000,0.044,3429,1954,2153,0,0,0,0,0,0
$GC,6190,1.38,218.3,362.1,9.3,259,6203,0.00,0.00,11.27,0.782,6,0.000,0.000,3430,1954,2110,0,0,0,0,0,0
$GC,6432,1.38,218.3,338.1,10.1,265,6437,0.00,2.62,0.00,0.000,4,0.000,0.034,3430,3556,2105,0,0,0,0,0,0
$GC,6460,1.38,219.9,335.2,10.0,265,6464,0.00,2.65,0.00,0.000,6,0.000,0.036,3430,1953,2105,0,0,0,0,0,0
$GC,6711,1.38,219.9,309.0,10.8,271,6715,0.00,2.62,0.00,0.000,4,0.000,0.038,3430,3556,2104,0,0,0,0,0,0
$GC,6771,1.38,219.9,301.9,11.0,272,6776,0.00,2.58,0.00,0.000,6,0.000,0.034,3430,1977,2103,0,0,0,0,0,0
$GC,7032,1.38,219.9,273.7,10.7,279,7037,0.00,2.58,0.00,0.000,4,0.000,0.041,3430,3566,2103,0,0,0,0,0,0
$GC,7074,1.38,219.9,269.5,10.3,280,7078,0.00,2.58,0.00,0.000,6,0.000,0.035,3430,1992,2102,0,0,0,0,0,0
$GC,7357,1.41,243.1,243.1,8.7,287,7380,0.00,0.00,21.80,0.749,6,0.000,0.000,3430,1992,2010,0,0,0,0,0,0
$GC,7601,1.47,260.3,221.0,9.0,293,7619,0.00,0.00,16.52,0.716,6,0.000,0.000,3430,1991,1938,0,0,0,0,0,0
$GC,7874,1.53,260.3,193.8,10.5,301,7879,0.12,2.58,0.00,0.000,4,0.085,0.040,3465,3557,1934,0,0,0,0,0,0
$GC,7891,1.53,260.3,191.2,11.0,302,7896,0.00,2.53,0.00,0.000,6,0.000,0.038,3464,1997,1932,0,0,0,0,0,0
$GC,8155,1.53,260.3,160.5,11.5,326,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1997,1932,0,0,0,0,0,0
$GC,8407,1.54,264.4,134.1,9.8,350,8421,0.00,2.78,4.07,0.457,4,0.000,0.058,3465,393,1921,0,0,0,0,0,0
$GC,8452,1.54,264.4,128.8,11.2,353,8458,0.00,2.58,0.00,0.000,6,0.000,0.023,3465,2040,1921,0,0,0,0,0,0
$GC,8713,1.54,264.4,99.9,11.3,378,8717,0.00,2.45,0.00,0.000,4,0.000,0.031,3465,3569,1921,0,0,0,0,0,0
$GC,8766,1.57,264.4,94.0,11.3,382,8770,0.00,2.53,0.00,0.000,6,0.000,0.029,3465,2001,1919,0,0,0,0,0,0
$GC,9033,1.59,277.3,67.4,9.3,406,9052,0.00,0.00,12.50,0.568,6,0.000,0.000,3465,2001,1870,0,0,0,0,0,0
$GC,9311,1.66,298.0,43.7,8.8,432,9340,0.12,2.78,19.10,0.558,4,0.080,0.052,3499,392,1784,0,0,0,0,0,0
$GC,9359,1.66,298.0,38.8,10.3,435,9363,0.00,2.60,0.00,0.000,6,0.000,0.018,3499,2056,1784,0,0,0,0,0,0
$STATE,9672,end climb,SURFACE_DEPTH_REACHED
$STATE,9672,begin surface coast
$FINISH,0.6,0.980143
$STATE,9715,end surface coast,CONTROL_FINISHED_OK
$STATE,9715,begin surface
$SM_CCo,9738,82.47,0.536,0,0,1370,400.08
$SM_GC,1.20,0.00,0.00,82.47,0.000,0.000,0.536,477,1748,1370,-12.20,-0.65,400.08
$IRIDIUM_FIX,2239.35,-15804.53,200800,020205
$TT8_MAMPS,0.026078
$HUMID,57.75
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,43
$24V_AH,23.5,16.629
$10V_AH,10.4,14.255
$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,28.300,113.775,360.450,82.475,0.000,52.180,76.475,419.344,10.750,0.000,31.299,971.629,6483.885,518.792,1789.884,819.727,33.367,1190.021,0.000,1783.461,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,115.817,924.235,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.118,266.243,369.067,702.023,1063.239,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38630,481
$CAP_FILE_SIZE,105424,0
$CFSIZE,260165632,175419392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,054046,2247.919,-15802.744,8,2.6,27,10.1