version: 66.06
glider: 146
mission: 6
dive: 135
start: 5 27 111 14 11 13
data:
$ID,146
$MISSION,6
$DIVE,135
$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,-270477.06
$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,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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,140401,2249.945,-15801.937,52,1.1,52,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.8
$GPS2,141019,2249.975,-15801.896,11,2.0,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.027
$KALMAN_X,-83779.1,18.1,121.6,74924.8,-362.5
$KALMAN_Y,-137089.1,117.7,180.0,148033.9,-256.9
$MHEAD_RNG_PITCHd_Wd,73.3,8357,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-71.10,0.000,2,0.000,0.000,476,1746,3144,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.1,-5.6,9,119,12.60,2.60,-6.55,0.000,4,0.163,0.069,2821,210,3481,0,0,0,0,0,0
$GC,138,-0.73,-116.8,16.1,-28.8,14,146,0.65,2.45,0.00,0.000,6,0.105,0.016,2962,1820,3482,0,0,0,0,0,0
$GC,426,-0.84,-116.8,49.4,-11.3,47,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1821,3483,0,0,0,0,0,0
$GC,691,-1.00,-116.8,77.1,-9.9,72,696,0.20,2.33,0.00,0.000,4,0.055,0.028,2898,3295,3484,0,0,0,0,0,0
$GC,725,-1.09,-116.8,80.9,-11.6,74,729,0.00,2.40,0.00,0.000,6,0.000,0.031,2898,1785,3484,0,0,0,0,0,0
$GC,989,-1.14,-116.8,109.8,-10.6,98,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1785,3484,0,0,0,0,0,0
$GC,1255,-1.21,-116.8,137.3,-10.1,123,1261,0.12,0.00,0.00,0.000,6,0.072,0.000,2849,1785,3485,0,0,0,0,0,0
$GC,1520,-1.21,-116.8,171.4,-12.5,148,1524,0.00,2.70,0.00,0.000,4,0.000,0.067,2849,194,3486,0,0,0,0,0,0
$GC,1563,-1.16,-116.8,177.1,-13.9,151,1568,0.12,2.35,0.00,0.000,6,0.112,0.022,2877,1774,3486,0,0,0,0,0,0
$GC,1825,-1.21,-116.8,205.3,-10.6,172,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1776,3486,0,0,0,0,0,0
$GC,2066,-1.28,-116.8,230.5,-10.3,178,2071,0.10,2.45,0.00,0.000,4,0.082,0.035,2837,3315,3486,0,0,0,0,0,0
$GC,2084,-1.32,-116.8,232.3,-9.7,178,2088,0.00,2.47,0.00,0.000,6,0.000,0.029,2837,1769,3487,0,0,0,0,0,0
$GC,2344,-1.32,-116.8,260.9,-10.8,185,2348,0.00,2.42,0.00,0.000,4,0.000,0.028,2837,3306,3486,0,0,0,0,0,0
$GC,2365,-1.32,-116.8,263.3,-10.4,185,2369,0.00,2.45,0.00,0.000,6,0.000,0.036,2837,1784,3487,0,0,0,0,0,0
$GC,2626,-1.32,-116.8,291.3,-10.8,192,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1784,3486,0,0,0,0,0,0
$GC,2871,-1.32,-116.8,315.9,-10.3,198,2875,0.00,2.42,0.00,0.000,4,0.000,0.032,2837,3304,3486,0,0,0,0,0,0
$GC,2921,-1.37,-116.8,321.8,-11.4,199,2926,0.00,2.50,0.00,0.000,6,0.000,0.040,2837,1788,3486,0,0,0,0,0,0
$GC,3193,-1.37,-116.8,354.2,-11.8,206,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1788,3485,0,0,0,0,0,0
$GC,3438,-1.37,-116.8,381.4,-11.0,212,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1788,3483,0,0,0,0,0,0
$GC,3682,-1.41,-116.8,404.8,-9.4,218,3686,0.00,2.47,0.00,0.000,4,0.000,0.043,2837,3294,3482,0,0,0,0,0,0
$GC,3732,-1.47,-116.8,409.4,-8.4,219,3737,0.12,2.53,0.00,0.000,6,0.074,0.055,2796,1796,3482,0,0,0,0,0,0
$GC,4005,-1.47,-116.8,437.3,-10.3,226,4010,0.00,2.50,0.00,0.000,4,0.000,0.053,2796,3292,3480,0,0,0,0,0,0
$GC,4061,-1.47,-116.8,443.0,-9.9,227,4065,0.00,2.58,0.00,0.000,6,0.000,0.064,2796,1791,3480,0,0,0,0,0,0
$GC,4327,-1.47,-116.8,470.4,-10.6,234,4331,0.00,2.53,0.00,0.000,4,0.000,0.050,2796,3299,3479,0,0,0,0,0,0
$GC,4349,-1.47,-116.8,472.7,-10.8,234,4354,0.00,2.58,0.00,0.000,6,0.000,0.061,2796,1797,3479,0,0,0,0,0,0
$GC,4604,-1.47,-116.8,499.6,-10.7,241,4608,0.00,2.05,0.00,0.000,3,0.000,0.049,2796,3048,3477,0,0,0,0,0,0
$STATE,4608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4608,begin apogee
$GC,4616,-0.31,0.0,500.2,10.8,241,4716,1.15,0.00,96.18,0.925,6,0.084,0.000,3057,1964,3001,0,0,0,0,0,0
$STATE,4717,end apogee,CONTROL_FINISHED_OK
$STATE,4717,begin climb
$GC,4721,1.38,116.8,503.3,0.0,243,4830,1.58,3.08,98.40,0.900,4,0.051,0.112,3431,384,2523,0,0,0,0,0,0
$GC,4848,1.38,199.8,501.0,5.2,246,4924,0.00,2.55,70.85,0.890,6,0.000,0.034,3431,1910,2186,0,0,0,0,0,0
$GC,5168,1.38,199.8,469.1,10.9,254,5172,0.00,2.72,0.00,0.000,4,0.000,0.061,3431,3498,2177,0,0,0,0,0,0
$GC,5265,1.38,199.8,458.0,11.7,256,5269,0.00,2.58,0.00,0.000,6,0.000,0.052,3431,1987,2175,0,0,0,0,0,0
$GC,5536,1.38,199.8,426.1,11.8,263,5541,0.00,2.50,0.00,0.000,4,0.000,0.041,3431,3508,2172,0,0,0,0,0,0
$GC,5591,1.38,199.8,419.0,12.4,264,5596,0.00,2.58,0.00,0.000,6,0.000,0.044,3431,1983,2171,0,0,0,0,0,0
$GC,5860,1.38,199.8,389.5,10.8,271,5864,0.00,2.50,0.00,0.000,4,0.000,0.035,3431,3504,2170,0,0,0,0,0,0
$GC,5914,1.38,199.8,383.5,10.5,272,5919,0.00,2.53,0.00,0.000,6,0.000,0.039,3431,1984,2169,0,0,0,0,0,0
$GC,6181,1.39,212.9,357.9,9.3,279,6193,0.00,0.00,9.50,0.759,6,0.000,0.000,3431,1984,2133,0,0,0,0,0,0
$GC,6426,1.41,223.6,335.1,9.4,285,6443,0.00,2.83,10.95,0.764,4,0.000,0.074,3431,386,2089,0,0,0,0,0,0
$GC,6453,1.41,223.6,331.9,10.4,285,6458,0.00,2.50,0.00,0.000,6,0.000,0.026,3431,1947,2087,0,0,0,0,0,0
$GC,6703,1.41,223.6,305.7,10.9,291,6708,0.00,2.60,0.00,0.000,4,0.000,0.037,3431,3545,2085,0,0,0,0,0,0
$GC,6754,1.41,223.6,300.0,11.5,292,6758,0.00,2.55,0.00,0.000,6,0.000,0.038,3431,1993,2084,0,0,0,0,0,0
$GC,7025,1.41,223.6,270.4,10.8,299,7030,0.00,2.53,0.00,0.000,4,0.000,0.040,3431,3541,2084,0,0,0,0,0,0
$GC,7058,1.41,223.6,267.0,10.4,299,7064,0.00,2.47,0.00,0.000,6,0.000,0.038,3431,2006,2082,0,0,0,0,0,0
$GC,7308,1.41,223.6,241.9,10.2,306,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2006,2082,0,0,0,0,0,0
$GC,7553,1.41,226.0,217.4,9.9,312,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2006,2081,0,0,0,0,0,0
$GC,7797,1.44,249.2,194.6,8.7,321,7822,0.00,0.00,22.55,0.713,6,0.000,0.000,3431,2006,1984,0,0,0,0,0,0
$GC,8076,1.51,269.3,169.8,8.9,347,8100,0.12,2.55,18.35,0.676,4,0.200,0.031,3466,3549,1902,0,0,0,0,0,0
$GC,8117,1.51,269.3,165.4,10.4,350,8123,0.00,2.53,0.00,0.000,6,0.000,0.037,3465,2013,1901,0,0,0,0,0,0
$GC,8385,1.51,272.3,140.2,9.9,375,8390,0.00,2.75,0.00,0.000,4,0.000,0.064,3466,389,1899,0,0,0,0,0,0
$GC,8430,1.47,272.3,133.9,12.7,378,8439,0.00,2.58,0.00,0.000,6,0.000,0.019,3466,2020,1897,0,0,0,0,0,0
$GC,8696,1.47,272.3,102.7,11.9,403,8700,0.00,2.42,0.00,0.000,4,0.000,0.035,3465,3530,1897,0,0,0,0,0,0
$GC,8775,1.47,272.3,92.7,13.0,409,8780,0.00,2.42,0.00,0.000,6,0.000,0.029,3465,2013,1897,0,0,0,0,0,0
$GC,9041,1.47,272.3,63.3,10.8,433,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2013,1896,0,0,0,0,0,0
$GC,9308,1.53,291.6,37.8,8.9,458,9336,0.00,0.00,19.58,0.555,6,0.000,0.000,3465,2013,1810,0,0,0,0,0,0
$GC,9639,1.59,291.6,4.6,12.3,503,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2013,1808,0,0,0,0,0,0
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,0.7,0.980141
$STATE,9706,end surface coast,CONTROL_FINISHED_OK
$STATE,9706,begin surface
$SM_CCo,9728,87.47,0.538,0,0,1370,400.08
$SM_GC,1.21,0.00,0.00,87.47,0.000,0.000,0.538,476,1748,1370,-12.21,-0.62,400.08
$IRIDIUM_FIX,2241.69,-15802.37,200800,111111
$TT8_MAMPS,0.026078
$HUMID,57.04
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,43
$24V_AH,23.5,17.097
$10V_AH,10.4,14.691
$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,28.800,100.775,346.350,87.475,0.000,28.136,35.224,185.968,10.750,0.000,17.769,994.784,6283.912,484.343,1916.985,518.235,33.360,1176.239,0.000,1930.386,0.000,0.534,0.000
$DEVICE_MAMPS,200.187,111.982,925.002,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.069,302.326,404.696,804.290,1215.196,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,41510,512
$CAP_FILE_SIZE,97963,0
$CFSIZE,260165632,175214592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,165558,2250.205,-15800.430,8,2.9,27,10.1