version: 66.06
glider: 146
mission: 6
dive: 150
start: 5 29 111 9 5 9
data:
$ID,146
$MISSION,6
$DIVE,150
$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,-270930.16
$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,53
$R_STBD_OVSHOOT,61
$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
$GPS1,085310,2249.727,-15758.827,9,2.2,28,10.1
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.5
$GPS2,090416,2249.763,-15758.883,15,99.0,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,0.060
$KALMAN_X,-85330.5,-81.7,214.4,81632.4,-576.5
$KALMAN_Y,-136640.8,8.6,53.7,147430.3,-362.1
$MHEAD_RNG_PITCHd_Wd,65.2,3244,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.88,0.000,2,0.000,0.000,475,1736,3423,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.5,-8.8,10,119,12.35,0.00,-0.93,0.000,6,0.155,0.000,2818,1736,3480,0,0,0,0,0,0
$GC,394,-1.24,-116.8,67.2,-17.6,41,399,0.20,2.50,0.00,0.000,4,0.120,0.030,2859,3330,3483,0,0,0,0,0,0
$GC,487,-1.24,-116.8,82.4,-15.5,48,491,0.00,2.47,0.00,0.000,6,0.000,0.033,2859,1784,3483,0,0,0,0,0,0
$GC,747,-1.24,-116.8,118.7,-12.3,72,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1784,3484,0,0,0,0,0,0
$GC,1002,-1.24,-116.8,149.2,-12.0,96,1007,0.00,2.42,0.00,0.000,4,0.000,0.025,2859,3332,3484,0,0,0,0,0,0
$GC,1033,-1.24,-116.8,152.7,-12.7,98,1037,0.00,2.45,0.00,0.000,6,0.000,0.031,2859,1778,3485,0,0,0,0,0,0
$GC,1295,-1.24,-116.8,183.7,-11.4,122,1299,0.00,2.45,0.00,0.000,4,0.000,0.032,2859,3339,3485,0,0,0,0,0,0
$GC,1424,-1.29,-116.8,197.2,-9.8,132,1434,0.00,2.50,0.00,0.000,6,0.000,0.033,2859,1795,3485,0,0,0,0,0,0
$GC,1695,-1.29,-116.8,224.7,-10.1,141,1700,0.00,2.42,0.00,0.000,4,0.000,0.030,2859,3339,3485,0,0,0,0,0,0
$GC,1781,-1.36,-116.8,233.8,-10.1,143,1787,0.10,2.42,0.00,0.000,6,0.080,0.034,2822,1810,3485,0,0,0,0,0,0
$GC,2065,-1.36,-116.8,268.7,-12.4,150,2069,0.00,2.40,0.00,0.000,4,0.000,0.035,2821,3327,3485,0,0,0,0,0,0
$GC,2104,-1.36,-116.8,273.3,-11.4,151,2108,0.00,2.45,0.00,0.000,6,0.000,0.038,2822,1813,3485,0,0,0,0,0,0
$GC,2388,-1.36,-116.8,304.4,-10.7,158,2392,0.00,2.42,0.00,0.000,4,0.000,0.036,2822,3324,3484,0,0,0,0,0,0
$GC,2476,-1.36,-116.8,313.9,-10.4,160,2480,0.00,2.45,0.00,0.000,6,0.000,0.038,2821,1824,3484,0,0,0,0,0,0
$GC,2760,-1.36,-116.8,341.2,-9.5,167,2764,0.00,2.42,0.00,0.000,4,0.000,0.035,2822,3328,3483,0,0,0,0,0,0
$GC,2819,-1.36,-116.8,346.7,-9.8,168,2823,0.00,2.50,0.00,0.000,6,0.000,0.051,2822,1828,3483,0,0,0,0,0,0
$GC,3085,-1.36,-116.8,375.2,-11.1,175,3089,0.00,2.45,0.00,0.000,4,0.000,0.044,2821,3331,3481,0,0,0,0,0,0
$GC,3117,-1.36,-116.8,379.4,-12.7,175,3123,0.00,2.53,0.00,0.000,6,0.000,0.054,2822,1828,3481,0,0,0,0,0,0
$GC,3369,-1.36,-116.8,408.8,-11.7,182,3373,0.00,2.42,0.00,0.000,4,0.000,0.043,2821,3320,3479,0,0,0,0,0,0
$GC,3408,-1.36,-116.8,413.4,-12.0,183,3412,0.00,2.47,0.00,0.000,6,0.000,0.052,2822,1842,3479,0,0,0,0,0,0
$GC,3691,-1.36,-116.8,442.7,-9.9,190,3695,0.00,2.42,0.00,0.000,4,0.000,0.051,2822,3319,3478,0,0,0,0,0,0
$GC,3732,-1.40,-116.8,446.3,-9.0,191,3736,0.00,2.53,0.00,0.000,6,0.000,0.058,2822,1844,3478,0,0,0,0,0,0
$GC,4015,-1.40,-116.8,470.4,-8.2,198,4019,0.00,2.47,0.00,0.000,4,0.000,0.055,2822,3326,3476,0,0,0,0,0,0
$GC,4049,-1.40,-116.8,473.2,-8.3,198,4054,0.00,2.53,0.00,0.000,6,0.000,0.066,2822,1848,3476,0,0,0,0,0,0
$GC,4300,-1.40,-116.8,495.2,-9.0,205,4304,0.00,2.47,0.00,0.000,4,0.000,0.052,2822,3321,3474,0,0,0,0,0,0
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4355,-0.31,0.0,500.1,9.7,206,4455,1.05,0.00,96.10,0.930,6,0.090,0.000,3057,1972,3000,0,0,0,0,0,0
$STATE,4456,end apogee,CONTROL_FINISHED_OK
$STATE,4456,begin climb
$GC,4460,1.38,116.8,502.4,0.0,208,4563,1.60,0.00,99.68,0.907,6,0.052,0.000,3431,1972,2524,0,0,0,0,0,0
$GC,4791,1.39,162.5,484.1,7.4,217,4832,0.00,0.00,39.28,0.887,6,0.000,0.000,3432,1972,2337,0,0,0,0,0,0
$GC,5074,1.42,186.2,460.0,8.7,224,5103,0.00,2.70,21.38,0.856,4,0.000,0.050,3431,3516,2239,0,0,0,0,0,0
$GC,5195,1.42,186.2,448.1,10.8,226,5200,0.00,2.62,0.00,0.000,6,0.000,0.053,3432,1965,2235,0,0,0,0,0,0
$GC,5445,1.44,204.1,425.0,9.0,232,5463,0.00,0.00,16.15,0.835,6,0.000,0.000,3432,1965,2168,0,0,0,0,0,0
$GC,5690,1.44,204.1,401.1,10.0,238,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1965,2163,0,0,0,0,0,0
$GC,5932,1.44,204.6,376.5,10.0,244,5937,0.00,2.58,0.00,0.000,4,0.000,0.041,3431,3526,2160,0,0,0,0,0,0
$GC,5972,1.45,208.1,372.6,9.8,245,5977,0.00,2.60,0.00,0.000,6,0.000,0.041,3431,1960,2159,0,0,0,0,0,0
$GC,6256,1.47,230.0,346.9,8.8,252,6281,0.00,0.00,22.38,0.827,6,0.000,0.000,3431,1960,2063,0,0,0,0,0,0
$GC,6537,1.49,242.0,320.8,9.3,259,6551,0.10,0.00,11.70,0.767,6,0.099,0.000,3460,1960,2014,0,0,0,0,0,0
$GC,6781,1.49,242.0,294.5,11.0,265,6785,0.00,2.55,0.00,0.000,4,0.000,0.038,3459,3527,2010,0,0,0,0,0,0
$GC,6853,1.49,242.0,285.8,12.4,266,6858,0.00,2.55,0.00,0.000,6,0.000,0.040,3459,1969,2008,0,0,0,0,0,0
$GC,7103,1.49,242.0,255.9,12.0,272,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1969,2008,0,0,0,0,0,0
$GC,7347,1.49,242.0,225.5,12.5,278,7351,0.00,2.55,0.00,0.000,4,0.000,0.035,3460,3532,2007,0,0,0,0,0,0
$GC,7414,1.49,242.0,217.5,11.6,279,7418,0.00,2.53,0.00,0.000,6,0.000,0.031,3459,1983,2006,0,0,0,0,0,0
$GC,7676,1.49,242.0,189.6,10.4,292,7680,0.00,2.50,0.00,0.000,4,0.000,0.032,3459,3527,2005,0,0,0,0,0,0
$GC,7733,1.49,242.0,183.0,10.5,296,7738,0.00,2.45,0.00,0.000,6,0.000,0.035,3459,2001,2004,0,0,0,0,0,0
$GC,7997,1.49,242.0,156.4,10.1,321,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2001,2005,0,0,0,0,0,0
$GC,8252,1.49,242.0,128.5,10.7,345,8257,0.00,2.45,0.00,0.000,4,0.000,0.035,3459,3524,2004,0,0,0,0,0,0
$GC,8271,1.49,242.0,126.1,10.7,346,8275,0.00,2.45,0.00,0.000,6,0.000,0.035,3459,2001,2004,0,0,0,0,0,0
$GC,8533,1.50,249.8,98.2,9.6,370,8547,0.00,2.47,6.97,0.548,4,0.000,0.034,3459,3528,1981,0,0,0,0,0,0
$GC,8583,1.55,256.1,93.4,9.7,374,8598,0.00,2.45,7.35,0.545,6,0.000,0.035,3459,2011,1954,0,0,0,0,0,0
$GC,8856,1.65,308.0,72.9,7.0,399,8906,0.12,0.00,44.95,0.605,6,0.083,0.000,3496,2011,1743,0,0,0,0,0,0
$GC,9162,1.65,308.0,37.8,11.9,428,9166,0.00,2.45,0.00,0.000,4,0.000,0.031,3496,3530,1739,0,0,0,0,0,0
$GC,9245,1.65,308.0,28.0,11.4,435,9255,0.00,2.47,0.00,0.000,6,0.000,0.035,3496,2018,1738,0,0,0,0,0,0
$STATE,9464,end climb,SURFACE_DEPTH_REACHED
$STATE,9464,begin surface coast
$FINISH,0.6,0.980105
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9513,begin surface
$SM_CCo,9535,74.15,0.536,0,0,1369,400.08
$SM_GC,1.20,0.00,0.00,74.15,0.000,0.000,0.536,480,1756,1369,-12.19,-0.40,400.08
$IRIDIUM_FIX,2241.69,-15801.49,220800,090959
$TT8_MAMPS,0.026078
$HUMID,57.99
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,40
$24V_AH,23.5,18.948
$10V_AH,10.4,16.322
$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,27.825,99.725,365.925,74.150,0.000,53.506,72.990,314.074,10.000,0.000,36.679,951.541,6309.209,506.040,1799.801,711.709,33.365,1162.456,0.000,1789.335,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,65.962,930.371,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.985,269.807,363.057,676.076,1023.277,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38411,473
$CAP_FILE_SIZE,97526,0
$CFSIZE,260165632,174432256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,114657,2249.894,-15757.851,38,2.4,57,10.1