version: 66.06
glider: 146
mission: 6
dive: 139
start: 5 28 111 1 43 4
data:
$ID,146
$MISSION,6
$DIVE,139
$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,-270595.28
$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,45
$R_STBD_OVSHOOT,64
$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
$GPS1,013607,2249.908,-15756.768,24,1.4,24,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.6
$GPS2,014208,2249.944,-15756.815,11,2.0,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.074,-0.223
$KALMAN_X,-83774.0,167.5,-143.1,83714.0,201.8
$KALMAN_Y,-136908.2,46.3,-40.6,148091.3,472.5
$MHEAD_RNG_PITCHd_Wd,188.3,5705,-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,15,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-79.07,0.000,2,0.000,0.000,475,1754,3405,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.1,-8.5,10,126,12.50,2.65,-1.27,0.000,4,0.160,0.067,2818,212,3481,0,0,0,0,0,0
$GC,241,-1.17,-116.8,39.8,-20.0,26,246,0.25,2.38,0.00,0.000,6,0.165,0.015,2870,1776,3482,0,0,0,0,0,0
$GC,509,-1.17,-116.8,81.3,-14.1,50,513,0.00,2.40,0.00,0.000,4,0.000,0.025,2870,3320,3483,0,0,0,0,0,0
$GC,529,-1.17,-116.8,84.7,-13.9,51,534,0.00,2.42,0.00,0.000,6,0.000,0.031,2870,1786,3483,0,0,0,0,0,0
$GC,796,-1.17,-116.8,118.6,-12.7,75,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1786,3484,0,0,0,0,0,0
$GC,1062,-1.17,-116.8,152.1,-11.2,100,1066,0.00,2.40,0.00,0.000,4,0.000,0.025,2870,3325,3485,0,0,0,0,0,0
$GC,1106,-1.23,-116.8,156.8,-10.7,103,1110,0.00,2.45,0.00,0.000,6,0.000,0.031,2870,1777,3485,0,0,0,0,0,0
$GC,1374,-1.23,-116.8,186.4,-11.8,127,1378,0.00,2.70,0.00,0.000,4,0.000,0.067,2870,196,3485,0,0,0,0,0,0
$GC,1396,-1.23,-116.8,190.2,-12.8,128,1402,0.00,2.38,0.00,0.000,6,0.000,0.021,2870,1800,3485,0,0,0,0,0,0
$GC,1680,-1.27,-116.8,224.4,-11.2,141,1684,0.00,2.35,0.00,0.000,4,0.000,0.030,2870,3297,3486,0,0,0,0,0,0
$GC,1697,-1.31,-116.8,226.1,-10.5,141,1702,0.12,2.42,0.00,0.000,6,0.074,0.031,2825,1778,3485,0,0,0,0,0,0
$GC,1957,-1.31,-116.8,255.2,-11.0,148,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1778,3486,0,0,0,0,0,0
$GC,2203,-1.31,-116.8,283.6,-12.0,154,2207,0.00,2.40,0.00,0.000,4,0.000,0.035,2825,3293,3486,0,0,0,0,0,0
$GC,2236,-1.31,-116.8,287.9,-12.4,154,2242,0.00,2.47,0.00,0.000,6,0.000,0.041,2825,1780,3486,0,0,0,0,0,0
$GC,2486,-1.31,-116.8,314.7,-10.3,161,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1780,3485,0,0,0,0,0,0
$GC,2730,-1.31,-116.8,337.6,-9.5,167,2734,0.00,2.47,0.00,0.000,4,0.000,0.040,2825,3294,3484,0,0,0,0,0,0
$GC,2796,-1.31,-116.8,344.9,-11.0,168,2800,0.00,2.50,0.00,0.000,6,0.000,0.051,2825,1785,3484,0,0,0,0,0,0
$GC,3052,-1.31,-116.8,374.5,-11.7,175,3057,0.00,2.90,0.00,0.000,4,0.000,0.103,2824,186,3483,0,0,0,0,0,0
$GC,3073,-1.31,-116.8,377.4,-11.9,175,3078,0.00,2.45,0.00,0.000,6,0.000,0.026,2824,1726,3483,0,0,0,0,0,0
$GC,3334,-1.31,-116.8,405.6,-10.7,182,3339,0.00,2.70,0.00,0.000,4,0.000,0.050,2824,3352,3481,0,0,0,0,0,0
$GC,3460,-1.36,-116.8,418.5,-10.0,184,3466,0.00,2.65,0.00,0.000,6,0.000,0.054,2825,1795,3481,0,0,0,0,0,0
$GC,3710,-1.36,-116.8,443.4,-10.0,191,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1795,3479,0,0,0,0,0,0
$GC,3954,-1.36,-116.8,470.0,-11.3,197,3958,0.00,2.60,0.00,0.000,4,0.000,0.054,2824,3355,3478,0,0,0,0,0,0
$GC,4010,-1.41,-116.8,477.0,-11.9,198,4014,0.00,2.67,0.00,0.000,6,0.000,0.061,2825,1807,3478,0,0,0,0,0,0
$STATE,4192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4192,begin apogee
$GC,4198,-0.31,0.0,500.3,12.7,203,4299,1.05,0.00,96.85,0.930,6,0.081,0.000,3062,1994,3000,0,0,0,0,0,0
$STATE,4299,end apogee,CONTROL_FINISHED_OK
$STATE,4300,begin climb
$GC,4303,1.38,116.8,504.3,0.0,205,4410,1.60,2.65,99.57,0.906,4,0.049,0.058,3437,3525,2523,0,0,0,0,0,0
$GC,4422,1.40,199.3,503.2,5.3,208,4498,0.00,2.70,70.72,0.889,6,0.000,0.056,3437,1969,2187,0,0,0,0,0,0
$GC,4754,1.40,199.3,466.0,12.5,217,4758,0.00,2.65,0.00,0.000,4,0.000,0.052,3437,3534,2179,0,0,0,0,0,0
$GC,4803,1.40,199.3,459.6,12.8,218,4807,0.00,2.67,0.00,0.000,6,0.000,0.052,3437,1968,2177,0,0,0,0,0,0
$GC,5075,1.40,199.3,427.3,11.5,225,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1968,2175,0,0,0,0,0,0
$GC,5321,1.40,199.3,401.9,10.1,231,5325,0.00,2.60,0.00,0.000,4,0.000,0.040,3437,3534,2173,0,0,0,0,0,0
$GC,5387,1.42,211.7,395.3,9.3,232,5403,0.00,2.60,9.50,0.769,6,0.000,0.045,3437,1979,2137,0,0,0,0,0,0
$GC,5647,1.43,222.9,371.3,9.4,239,5665,0.00,2.58,11.25,0.783,4,0.000,0.037,3437,3533,2091,0,0,0,0,0,0
$GC,5683,1.43,222.9,367.0,11.7,239,5689,0.00,2.60,0.00,0.000,6,0.000,0.040,3437,1985,2090,0,0,0,0,0,0
$GC,5933,1.43,222.9,338.4,11.1,246,5937,0.00,2.83,0.00,0.000,4,0.000,0.075,3437,385,2088,0,0,0,0,0,0
$GC,5965,1.38,222.9,334.7,11.1,246,5971,0.00,2.53,0.00,0.000,6,0.000,0.028,3437,1978,2087,0,0,0,0,0,0
$GC,6217,1.39,230.6,310.5,9.6,253,6231,0.00,2.62,7.55,0.707,4,0.000,0.044,3437,3541,2059,0,0,0,0,0,0
$GC,6309,1.39,230.6,300.7,10.5,255,6314,0.00,2.53,0.00,0.000,6,0.000,0.038,3437,1990,2058,0,0,0,0,0,0
$GC,6588,1.39,230.6,271.1,10.5,262,6593,0.00,2.78,0.00,0.000,4,0.000,0.071,3437,388,2057,0,0,0,0,0,0
$GC,6615,1.39,230.6,267.9,11.1,262,6619,0.00,2.53,0.00,0.000,6,0.000,0.026,3437,2002,2056,0,0,0,0,0,0
$GC,6871,1.39,230.6,242.1,10.2,269,6875,0.00,2.50,0.00,0.000,4,0.000,0.042,3437,3539,2055,0,0,0,0,0,0
$GC,6972,1.43,230.6,231.4,11.0,271,6976,0.00,2.50,0.00,0.000,6,0.000,0.035,3436,2004,2054,0,0,0,0,0,0
$GC,7239,1.47,230.6,203.9,10.2,278,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2004,2053,0,0,0,0,0,0
$GC,7493,1.53,242.7,179.7,9.3,299,7517,0.10,2.78,11.27,0.666,4,0.092,0.060,3467,389,2009,0,0,0,0,0,0
$GC,7531,1.48,242.7,175.6,11.2,302,7535,0.00,2.58,0.00,0.000,6,0.000,0.025,3466,2022,2008,0,0,0,0,0,0
$GC,7793,1.48,242.7,148.6,10.8,326,7798,0.00,2.45,0.00,0.000,4,0.000,0.038,3467,3542,2008,0,0,0,0,0,0
$GC,7840,1.48,242.7,144.1,11.1,329,7845,0.00,2.47,0.00,0.000,6,0.000,0.034,3467,2006,2006,0,0,0,0,0,0
$GC,8107,1.48,243.7,117.0,10.0,353,8111,0.00,2.47,0.00,0.000,4,0.000,0.036,3466,3541,2006,0,0,0,0,0,0
$GC,8187,1.48,243.7,108.9,10.4,359,8191,0.00,2.42,0.00,0.000,6,0.000,0.028,3466,2029,2006,0,0,0,0,0,0
$GC,8453,1.51,261.4,83.0,9.0,383,8478,0.00,2.80,16.95,0.598,4,0.000,0.054,3466,403,1934,0,0,0,0,0,0
$GC,8532,1.51,261.4,74.7,11.7,389,8536,0.00,2.53,0.00,0.000,6,0.000,0.018,3467,2030,1932,0,0,0,0,0,0
$GC,8799,1.61,302.3,49.8,7.7,413,8841,0.00,2.80,35.60,0.578,4,0.000,0.050,3466,395,1767,0,0,0,0,0,0
$GC,8872,1.61,302.3,42.4,10.5,418,8881,0.00,2.58,0.00,0.000,6,0.000,0.018,3467,2030,1765,0,0,0,0,0,0
$GC,9180,1.61,303.9,11.0,9.9,457,9189,0.00,2.78,0.00,0.000,4,0.000,0.054,3467,389,1764,0,0,0,0,0,0
$GC,9221,1.61,303.9,5.8,13.3,462,9230,0.00,2.53,0.00,0.000,6,0.000,0.018,3467,2013,1763,0,0,0,0,0,0
$STATE,9239,end climb,SURFACE_DEPTH_REACHED
$STATE,9240,begin surface coast
$FINISH,0.5,0.976910
$STATE,9282,end surface coast,CONTROL_FINISHED_OK
$STATE,9282,begin surface
$SM_CCo,9305,78.85,0.532,0,0,1369,400.08
$SM_GC,1.07,0.00,0.00,78.85,0.000,0.000,0.532,474,1762,1369,-12.22,-0.23,400.08
$IRIDIUM_FIX,2241.69,-15826.68,200800,232302
$TT8_MAMPS,0.026078
$HUMID,57.28
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,46
$24V_AH,23.5,17.583
$10V_AH,10.4,15.136
$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,27.750,124.075,359.275,78.850,0.000,26.138,36.396,173.094,11.500,0.000,13.385,948.624,5988.085,521.839,1788.453,503.314,33.365,1193.849,0.000,1800.552,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,102.778,930.371,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.289,256.290,363.435,696.612,1053.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38440,470
$CAP_FILE_SIZE,98125,0
$CFSIZE,260165632,175005696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,042036,2249.007,-15757.267,27,1.4,27,10.1