version: 66.06
glider: 146
mission: 6
dive: 133
start: 5 27 111 8 38 8
data:
$ID,146
$MISSION,6
$DIVE,133
$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,-270439.03
$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,41
$R_STBD_OVSHOOT,25
$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
$GPS1,082927,2248.795,-15802.970,70,3.3,89,10.1
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.8
$GPS2,083714,2248.806,-15802.977,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.024,0.234
$KALMAN_X,-82773.3,53.1,-186.2,72351.9,-274.6
$KALMAN_Y,-136419.7,214.3,-261.0,145548.8,-425.7
$MHEAD_RNG_PITCHd_Wd,355.7,2212,-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,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.72,0.000,2,0.000,0.000,477,1755,3378,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.1,-8.0,10,126,12.52,2.60,-1.77,0.000,4,0.163,0.045,2817,3360,3482,0,0,0,0,0,0
$GC,252,-1.25,-116.8,43.0,-20.6,27,262,0.15,2.55,0.00,0.000,6,0.103,0.029,2851,1791,3483,0,0,0,0,0,0
$GC,516,-1.20,-116.8,86.9,-15.2,52,521,0.00,2.72,0.00,0.000,4,0.000,0.062,2851,190,3485,0,0,0,0,0,0
$GC,598,-1.15,-116.8,99.4,-13.9,58,607,0.10,2.47,0.00,0.000,6,0.098,0.014,2877,1818,3484,0,0,0,0,0,0
$GC,866,-1.15,-116.8,124.9,-8.8,83,870,0.00,2.33,0.00,0.000,4,0.000,0.031,2877,3314,3486,0,0,0,0,0,0
$GC,900,-1.18,-116.8,128.1,-9.3,85,904,0.00,2.47,0.00,0.000,6,0.000,0.032,2877,1750,3486,0,0,0,0,0,0
$GC,1167,-1.18,-116.8,154.2,-10.8,109,1172,0.00,2.62,0.00,0.000,4,0.000,0.068,2877,198,3486,0,0,0,0,0,0
$GC,1190,-1.18,-116.8,157.4,-11.0,110,1195,0.00,2.35,0.00,0.000,6,0.000,0.021,2877,1770,3486,0,0,0,0,0,0
$GC,1454,-1.23,-116.8,184.0,-9.9,135,1458,0.00,2.67,0.00,0.000,4,0.000,0.068,2877,197,3487,0,0,0,0,0,0
$GC,1487,-1.23,-116.8,188.2,-11.5,137,1493,0.00,2.30,0.00,0.000,6,0.000,0.022,2877,1747,3486,0,0,0,0,0,0
$GC,1773,-1.28,-116.8,217.4,-10.1,153,1778,0.12,2.45,0.00,0.000,4,0.071,0.028,2832,3306,3486,0,0,0,0,0,0
$GC,1796,-1.28,-116.8,219.8,-10.8,153,1800,0.00,2.47,0.00,0.000,6,0.000,0.034,2832,1760,3486,0,0,0,0,0,0
$GC,2050,-1.28,-116.8,250.5,-12.2,160,2054,0.00,2.45,0.00,0.000,4,0.000,0.030,2832,3313,3487,0,0,0,0,0,0
$GC,2105,-1.28,-116.8,256.8,-11.3,161,2110,0.00,2.50,0.00,0.000,6,0.000,0.030,2832,1767,3486,0,0,0,0,0,0
$GC,2373,-1.28,-116.8,288.6,-11.8,168,2378,0.00,2.78,0.00,0.000,4,0.000,0.084,2832,189,3486,0,0,0,0,0,0
$GC,2400,-1.24,-116.8,292.4,-13.9,168,2405,0.12,2.40,0.00,0.000,6,0.116,0.021,2859,1732,3486,0,0,0,0,0,0
$GC,2650,-1.29,-116.8,318.3,-10.1,174,2655,0.00,2.60,0.00,0.000,4,0.000,0.038,2858,3352,3486,0,0,0,0,0,0
$GC,2713,-1.38,-116.8,324.4,-9.6,175,2718,0.12,2.58,0.00,0.000,6,0.071,0.041,2816,1781,3486,0,0,0,0,0,0
$GC,2974,-1.38,-116.8,354.6,-11.8,182,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1781,3484,0,0,0,0,0,0
$GC,3218,-1.38,-116.8,381.9,-10.9,188,3222,0.00,2.55,0.00,0.000,4,0.000,0.042,2816,3342,3483,0,0,0,0,0,0
$GC,3240,-1.38,-116.8,384.3,-10.7,188,3245,0.00,2.60,0.00,0.000,6,0.000,0.054,2816,1788,3483,0,0,0,0,0,0
$GC,3495,-1.38,-116.8,410.1,-10.0,195,3499,0.00,2.55,0.00,0.000,4,0.000,0.046,2816,3351,3481,0,0,0,0,0,0
$GC,3589,-1.38,-116.8,420.2,-10.2,197,3593,0.00,2.65,0.00,0.000,6,0.000,0.060,2816,1800,3481,0,0,0,0,0,0
$GC,3869,-1.38,-116.8,450.6,-11.2,204,3873,0.00,2.55,0.00,0.000,4,0.000,0.049,2816,3346,3479,0,0,0,0,0,0
$GC,3912,-1.38,-116.8,455.8,-11.3,205,3916,0.00,2.62,0.00,0.000,6,0.000,0.059,2816,1809,3479,0,0,0,0,0,0
$GC,4197,-1.38,-116.8,486.1,-10.5,212,4201,0.00,2.58,0.00,0.000,4,0.000,0.057,2816,3346,3477,0,0,0,0,0,0
$GC,4241,-1.43,-116.8,490.9,-10.4,213,4245,0.00,2.65,0.00,0.000,6,0.000,0.066,2816,1811,3477,0,0,0,0,0,0
$STATE,4353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4353,begin apogee
$GC,4359,-0.31,0.0,502.6,10.2,216,4459,1.10,0.00,96.22,0.928,6,0.085,0.000,3062,1980,3001,0,0,0,0,0,0
$STATE,4460,end apogee,CONTROL_FINISHED_OK
$STATE,4460,begin climb
$GC,4464,1.38,116.8,504.8,0.0,218,4570,1.60,2.70,98.32,0.907,4,0.051,0.055,3435,3525,2523,0,0,0,0,0,0
$GC,4592,1.37,172.9,501.0,6.8,221,4647,0.00,2.67,47.75,0.884,6,0.000,0.058,3435,1970,2296,0,0,0,0,0,0
$GC,4926,1.34,180.7,470.0,9.6,230,4940,0.00,2.72,7.15,0.724,4,0.000,0.048,3435,3533,2263,0,0,0,0,0,0
$GC,4986,1.34,180.7,463.8,10.2,231,4990,0.00,2.65,0.00,0.000,6,0.000,0.054,3435,1975,2262,0,0,0,0,0,0
$GC,5254,1.36,202.2,439.7,8.8,238,5279,0.00,2.67,19.73,0.850,4,0.000,0.043,3435,3538,2175,0,0,0,0,0,0
$GC,5296,1.39,222.1,435.9,8.9,239,5321,0.00,2.67,18.73,0.835,6,0.000,0.050,3435,1975,2094,0,0,0,0,0,0
$GC,5577,1.39,226.3,408.1,9.8,246,5586,0.00,2.62,4.12,0.564,4,0.000,0.041,3435,3534,2078,0,0,0,0,0,0
$GC,5643,1.39,226.3,401.3,10.1,247,5648,0.00,2.60,0.00,0.000,6,0.000,0.040,3435,1980,2076,0,0,0,0,0,0
$GC,5905,1.40,233.1,375.8,9.6,254,5919,0.00,2.65,7.18,0.720,4,0.000,0.040,3435,3541,2050,0,0,0,0,0,0
$GC,5949,1.40,233.1,371.4,10.8,255,5954,0.00,2.58,0.00,0.000,6,0.000,0.042,3436,1987,2049,0,0,0,0,0,0
$GC,6232,1.40,233.1,342.6,10.3,262,6236,0.00,2.83,0.00,0.000,4,0.000,0.075,3436,388,2047,0,0,0,0,0,0
$GC,6247,1.40,233.1,340.9,10.6,262,6252,0.00,2.55,0.00,0.000,6,0.000,0.025,3435,1994,2046,0,0,0,0,0,0
$GC,6510,1.40,233.1,311.6,11.5,269,6514,0.00,2.53,0.00,0.000,4,0.000,0.037,3435,3536,2046,0,0,0,0,0,0
$GC,6531,1.40,233.1,308.9,12.2,269,6535,0.00,2.53,0.00,0.000,6,0.000,0.037,3436,1991,2044,0,0,0,0,0,0
$GC,6786,1.40,233.1,278.8,12.0,276,6791,0.00,2.53,0.00,0.000,4,0.000,0.041,3436,3537,2044,0,0,0,0,0,0
$GC,6832,1.40,233.1,273.1,12.4,277,6836,0.00,2.50,0.00,0.000,6,0.000,0.036,3435,2001,2043,0,0,0,0,0,0
$GC,7109,1.40,233.1,242.0,11.1,284,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2001,2043,0,0,0,0,0,0
$GC,7353,1.44,267.0,221.4,8.1,290,7384,0.00,0.00,29.95,0.742,6,0.000,0.000,3435,2001,1911,0,0,0,0,0,0
$GC,7596,1.48,298.2,201.4,8.2,296,7631,0.00,2.60,27.50,0.716,4,0.000,0.033,3435,3538,1784,0,0,0,0,0,0
$GC,7644,1.53,301.1,196.9,9.9,297,7655,0.08,2.50,3.85,0.453,6,0.054,0.030,3463,2036,1772,0,0,0,0,0,0
$GC,7909,1.53,301.1,164.7,13.1,322,7914,0.00,2.83,0.00,0.000,4,0.000,0.065,3463,390,1769,0,0,0,0,0,0
$GC,7973,1.53,301.1,155.6,14.0,327,7978,0.00,2.55,0.00,0.000,6,0.000,0.019,3463,2026,1768,0,0,0,0,0,0
$GC,8239,1.53,301.1,122.2,12.4,351,8244,0.00,2.45,0.00,0.000,4,0.000,0.033,3463,3545,1768,0,0,0,0,0,0
$GC,8286,1.57,301.1,115.6,13.0,354,8295,0.00,2.47,0.00,0.000,6,0.000,0.036,3463,2033,1767,0,0,0,0,0,0
$GC,8552,1.57,301.9,85.6,10.0,379,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2033,1767,0,0,0,0,0,0
$GC,8818,1.61,301.9,57.6,10.5,404,8823,0.00,2.78,0.00,0.000,4,0.000,0.055,3463,384,1767,0,0,0,0,0,0
$GC,8886,1.61,301.9,49.6,11.3,409,8891,0.00,2.55,0.00,0.000,6,0.000,0.018,3463,2031,1766,0,0,0,0,0,0
$GC,9170,1.68,301.9,21.1,10.1,439,9179,0.12,0.00,0.00,0.000,6,0.075,0.000,3501,2033,1766,0,0,0,0,0,0
$STATE,9316,end climb,SURFACE_DEPTH_REACHED
$STATE,9316,begin surface coast
$FINISH,0.6,0.979847
$STATE,9355,end surface coast,CONTROL_FINISHED_OK
$STATE,9355,begin surface
$SM_CCo,9377,80.00,0.537,0,0,1369,400.08
$SM_GC,1.19,0.00,0.00,80.00,0.000,0.000,0.537,477,1747,1369,-12.20,-0.62,400.08
$IRIDIUM_FIX,2239.35,-15800.20,200800,050541
$TT8_MAMPS,0.026078
$HUMID,58.93
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,50
$24V_AH,23.5,16.872
$10V_AH,10.4,14.468
$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,28.225,129.475,360.500,80.000,0.000,29.348,42.862,263.600,12.500,0.000,15.516,966.172,6043.792,523.688,1797.019,596.995,33.361,1209.167,0.000,1793.808,0.000,0.536,0.000
$DEVICE_MAMPS,162.604,83.603,928.070,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.680,259.212,354.803,670.058,1013.632,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38321,465
$CAP_FILE_SIZE,103384,0
$CFSIZE,260165632,175312896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,111730,2249.718,-15803.299,59,0.9,63,10.1