version: 66.06
glider: 146
mission: 6
dive: 148
start: 5 29 111 3 26 35
data:
$ID,146
$MISSION,6
$DIVE,148
$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,-270859.41
$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,39
$R_STBD_OVSHOOT,43
$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
$GPS1,031822,2249.165,-15801.584,10,2.6,29,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.4
$GPS2,032542,2249.234,-15801.581,16,3.0,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.025
$KALMAN_X,-85377.3,145.1,-40.6,77095.2,158.2
$KALMAN_Y,-136659.2,57.5,64.4,146413.8,198.4
$MHEAD_RNG_PITCHd_Wd,73.7,7947,-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,-78.32,0.000,2,0.000,0.000,474,1746,3362,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.8,-7.4,10,118,12.55,0.00,-2.03,0.000,6,0.161,0.000,2820,1746,3480,0,0,0,0,0,0
$GC,392,-1.23,-116.8,67.1,-17.9,42,397,0.20,2.55,0.00,0.000,4,0.123,0.023,2860,3355,3483,0,0,0,0,0,0
$GC,439,-1.23,-116.8,75.6,-17.2,45,444,0.00,2.53,0.00,0.000,6,0.000,0.031,2860,1778,3483,0,0,0,0,0,0
$GC,705,-1.23,-116.8,117.3,-14.8,69,710,0.00,2.45,0.00,0.000,4,0.000,0.028,2860,3350,3484,0,0,0,0,0,0
$GC,722,-1.23,-116.8,120.7,-14.9,70,727,0.00,2.50,0.00,0.000,6,0.000,0.031,2860,1767,3484,0,0,0,0,0,0
$GC,988,-1.23,-116.8,157.2,-13.5,94,993,0.00,2.65,0.00,0.000,4,0.000,0.068,2860,201,3484,0,0,0,0,0,0
$GC,1009,-1.23,-116.8,161.1,-14.2,95,1015,0.00,2.42,0.00,0.000,6,0.000,0.019,2860,1827,3485,0,0,0,0,0,0
$GC,1273,-1.23,-116.8,191.1,-10.0,120,1278,0.00,2.38,0.00,0.000,4,0.000,0.029,2860,3356,3485,0,0,0,0,0,0
$GC,1329,-1.29,-116.8,196.5,-10.1,124,1334,0.00,2.50,0.00,0.000,6,0.000,0.028,2860,1773,3485,0,0,0,0,0,0
$GC,1611,-1.29,-116.8,227.0,-11.1,133,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1772,3486,0,0,0,0,0,0
$GC,1857,-1.33,-116.8,250.2,-9.1,139,1861,0.00,2.50,0.00,0.000,4,0.000,0.028,2860,3350,3486,0,0,0,0,0,0
$GC,1896,-1.41,-116.8,253.8,-9.1,140,1901,0.15,2.50,0.00,0.000,6,0.061,0.028,2807,1785,3485,0,0,0,0,0,0
$GC,2181,-1.37,-116.8,287.4,-12.6,147,2183,0.12,0.00,0.00,0.000,6,0.111,0.000,2833,1785,3486,0,0,0,0,0,0
$GC,2423,-1.37,-116.8,314.1,-10.6,153,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1785,3485,0,0,0,0,0,0
$GC,2667,-1.37,-116.8,339.6,-10.4,159,2671,0.00,2.53,0.00,0.000,4,0.000,0.042,2833,3342,3485,0,0,0,0,0,0
$GC,2716,-1.41,-116.8,344.9,-10.1,160,2721,0.00,2.60,0.00,0.000,6,0.000,0.050,2833,1783,3484,0,0,0,0,0,0
$GC,2989,-1.41,-116.8,373.0,-10.3,167,2994,0.00,2.55,0.00,0.000,4,0.000,0.038,2833,3346,3483,0,0,0,0,0,0
$GC,3017,-1.46,-116.8,376.2,-11.0,167,3021,0.00,2.60,0.00,0.000,6,0.000,0.048,2833,1785,3483,0,0,0,0,0,0
$GC,3266,-1.46,-116.8,403.2,-10.9,173,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1785,3481,0,0,0,0,0,0
$GC,3512,-1.50,-116.8,428.4,-10.3,179,3517,0.12,2.60,0.00,0.000,4,0.091,0.044,2791,3345,3480,0,0,0,0,0,0
$GC,3527,-1.50,-116.8,430.5,-10.1,179,3532,0.00,2.65,0.00,0.000,6,0.000,0.057,2791,1779,3480,0,0,0,0,0,0
$GC,3788,-1.50,-116.8,458.5,-10.5,186,3793,0.00,2.60,0.00,0.000,4,0.000,0.051,2790,3341,3479,0,0,0,0,0,0
$GC,3845,-1.50,-116.8,464.3,-10.5,187,3849,0.00,2.65,0.00,0.000,6,0.000,0.060,2791,1793,3478,0,0,0,0,0,0
$GC,4111,-1.50,-116.8,493.3,-11.3,194,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1793,3476,0,0,0,0,0,0
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4196,-0.31,0.0,503.0,11.6,196,4296,1.20,0.00,96.62,0.929,6,0.089,0.000,3058,1974,3000,0,0,0,0,0,0
$STATE,4297,end apogee,CONTROL_FINISHED_OK
$STATE,4297,begin climb
$GC,4301,1.38,116.8,506.5,0.0,198,4408,1.60,2.75,99.22,0.909,4,0.059,0.063,3431,3531,2522,0,0,0,0,0,0
$GC,4460,1.40,182.0,502.7,6.3,202,4521,0.00,2.72,55.62,0.892,6,0.000,0.055,3431,1961,2259,0,0,0,0,0,0
$GC,4800,1.41,189.0,471.7,9.6,211,4813,0.00,3.08,6.38,0.706,4,0.000,0.117,3431,382,2229,0,0,0,0,0,0
$GC,4837,1.33,189.0,467.8,10.7,211,4842,0.00,2.58,0.00,0.000,6,0.000,0.033,3431,1954,2227,0,0,0,0,0,0
$GC,5088,1.35,204.6,444.5,9.1,218,5107,0.00,0.00,14.85,0.832,6,0.000,0.000,3431,1954,2166,0,0,0,0,0,0
$GC,5375,1.35,204.6,416.4,10.2,225,5380,0.00,2.67,0.00,0.000,4,0.000,0.050,3431,3557,2160,0,0,0,0,0,0
$GC,5425,1.35,204.6,410.8,11.0,226,5429,0.00,2.67,0.00,0.000,6,0.000,0.044,3431,1963,2159,0,0,0,0,0,0
$GC,5699,1.35,204.6,379.7,11.5,233,5703,0.00,2.85,0.00,0.000,4,0.000,0.090,3431,380,2157,0,0,0,0,0,0
$GC,5726,1.31,204.6,376.0,13.1,233,5730,0.00,2.58,0.00,0.000,6,0.000,0.022,3431,1995,2156,0,0,0,0,0,0
$GC,5975,1.31,204.6,347.6,11.1,239,5980,0.00,2.53,0.00,0.000,4,0.000,0.040,3431,3540,2156,0,0,0,0,0,0
$GC,6020,1.31,204.6,342.8,10.9,240,6025,0.00,2.60,0.00,0.000,6,0.000,0.037,3431,1969,2155,0,0,0,0,0,0
$GC,6298,1.34,230.4,318.3,8.5,247,6327,0.00,2.67,21.75,0.809,4,0.000,0.035,3431,3540,2061,0,0,0,0,0,0
$GC,6356,1.35,240.1,313.1,9.5,248,6371,0.00,2.60,9.93,0.736,6,0.000,0.039,3431,1972,2021,0,0,0,0,0,0
$GC,6622,1.36,251.3,288.6,9.4,255,6638,0.00,2.78,10.82,0.737,4,0.000,0.068,3431,389,1976,0,0,0,0,0,0
$GC,6655,1.37,254.2,285.1,9.9,255,6664,0.00,2.55,4.35,0.545,6,0.000,0.020,3431,1990,1964,0,0,0,0,0,0
$GC,6950,1.37,254.2,252.0,12.0,263,6954,0.00,2.53,0.00,0.000,4,0.000,0.040,3431,3537,1961,0,0,0,0,0,0
$GC,6989,1.41,254.2,246.7,13.4,264,6994,0.00,2.58,0.00,0.000,6,0.000,0.033,3431,1966,1960,0,0,0,0,0,0
$GC,7274,1.45,254.2,212.3,11.4,271,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1966,1960,0,0,0,0,0,0
$GC,7528,1.49,254.2,184.6,12.3,286,7533,0.10,0.00,0.00,0.000,6,0.097,0.000,3460,1966,1959,0,0,0,0,0,0
$GC,7789,1.49,254.2,149.5,12.8,311,7793,0.00,2.55,0.00,0.000,4,0.000,0.033,3461,3543,1958,0,0,0,0,0,0
$GC,7853,1.49,254.2,140.9,13.2,316,7858,0.00,2.55,0.00,0.000,6,0.000,0.035,3460,1972,1957,0,0,0,0,0,0
$GC,8116,1.49,254.2,109.6,11.3,340,8120,0.00,2.67,0.00,0.000,4,0.000,0.063,3460,392,1957,0,0,0,0,0,0
$GC,8160,1.49,254.2,104.7,11.8,343,8164,0.00,2.47,0.00,0.000,6,0.000,0.019,3460,1994,1956,0,0,0,0,0,0
$GC,8427,1.53,279.9,80.8,8.6,367,8455,0.00,2.50,22.40,0.611,4,0.000,0.035,3460,3522,1858,0,0,0,0,0,0
$GC,8492,1.58,284.7,75.0,9.8,372,8506,0.00,2.53,5.40,0.476,6,0.000,0.029,3460,1972,1840,0,0,0,0,0,0
$GC,8763,1.66,299.6,47.8,9.2,397,8791,0.12,2.50,14.32,0.558,4,0.084,0.028,3496,3521,1777,0,0,0,0,0,0
$GC,8845,1.66,299.6,39.4,10.4,403,8849,0.00,2.50,0.00,0.000,6,0.000,0.030,3497,1982,1776,0,0,0,0,0,0
$GC,9160,1.66,299.6,5.6,11.1,443,9169,0.00,2.50,0.00,0.000,4,0.000,0.037,3497,3518,1775,0,0,0,0,0,0
$STATE,9177,end climb,SURFACE_DEPTH_REACHED
$STATE,9177,begin surface coast
$FINISH,1.2,0.980106
$STATE,9192,end surface coast,CONTROL_FINISHED_OK
$STATE,9193,begin surface
$SM_CCo,9219,81.43,0.538,0,0,1369,400.08
$SM_GC,1.22,0.00,0.00,81.43,0.000,0.000,0.538,479,1758,1369,-12.20,-0.34,400.08
$IRIDIUM_FIX,2239.35,-15802.37,220800,000049
$TT8_MAMPS,0.026078
$HUMID,58.66
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.60
$XPDR_PINGS,42
$24V_AH,23.5,18.705
$10V_AH,10.4,16.108
$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,28.400,114.375,361.675,81.425,0.000,25.591,37.282,223.916,10.500,0.000,37.873,912.613,6089.199,505.229,1697.807,537.491,33.366,1149.385,0.000,1676.185,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,117.351,928.837,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.202,251.073,336.462,639.058,966.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,35387,447
$CAP_FILE_SIZE,96374,0
$CFSIZE,260165632,174538752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,060315,2249.417,-15800.051,39,2.1,58,10.1