version: 66.06
glider: 146
mission: 6
dive: 158
start: 5 30 111 7 57 30
data:
$ID,146
$MISSION,6
$DIVE,158
$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,-271331.88
$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,59
$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
$GPS1,074607,2246.747,-15801.183,44,1.5,44,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.7
$GPS2,075637,2246.747,-15801.156,12,1.6,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.215,0.094
$KALMAN_X,-86448.4,215.8,292.6,78490.1,-263.3
$KALMAN_Y,-133998.5,-198.8,360.3,139111.4,-584.8
$MHEAD_RNG_PITCHd_Wd,283.5,3183,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-79.05,0.000,2,0.000,0.000,474,1748,3388,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.8,-6.6,10,126,12.40,2.65,-1.62,0.000,4,0.157,0.065,2821,205,3481,0,0,0,0,0,0
$GC,278,-1.16,-116.8,47.3,-18.8,29,283,0.25,2.40,0.00,0.000,6,0.119,0.014,2871,1798,3482,0,0,0,0,0,0
$GC,544,-1.16,-116.8,82.7,-12.9,53,548,0.00,2.35,0.00,0.000,4,0.000,0.024,2871,3306,3484,0,0,0,0,0,0
$GC,590,-1.16,-116.8,89.4,-12.5,56,599,0.00,2.42,0.00,0.000,6,0.000,0.027,2871,1800,3483,0,0,0,0,0,0
$GC,855,-1.16,-116.8,126.3,-12.9,81,859,0.00,2.38,0.00,0.000,4,0.000,0.031,2871,3307,3484,0,0,0,0,0,0
$GC,873,-1.16,-116.8,128.8,-12.6,82,877,0.00,2.38,0.00,0.000,6,0.000,0.023,2871,1793,3484,0,0,0,0,0,0
$GC,1139,-1.16,-116.8,159.9,-11.4,106,1143,0.00,2.72,0.00,0.000,4,0.000,0.066,2871,196,3485,0,0,0,0,0,0
$GC,1190,-1.16,-116.8,166.1,-10.8,110,1194,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,1799,3485,0,0,0,0,0,0
$GC,1454,-1.20,-116.8,193.1,-11.3,134,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1800,3485,0,0,0,0,0,0
$GC,1727,-1.25,-116.8,222.7,-10.6,146,1732,0.00,2.75,0.00,0.000,4,0.000,0.069,2871,200,3485,0,0,0,0,0,0
$GC,1750,-1.25,-116.8,225.1,-10.6,146,1754,0.00,2.40,0.00,0.000,6,0.000,0.023,2871,1775,3485,0,0,0,0,0,0
$GC,2005,-1.30,-116.8,251.8,-10.6,153,2010,0.10,2.47,0.00,0.000,4,0.089,0.038,2834,3317,3485,0,0,0,0,0,0
$GC,2046,-1.30,-116.8,256.7,-12.4,154,2050,0.00,2.42,0.00,0.000,6,0.000,0.035,2834,1815,3485,0,0,0,0,0,0
$GC,2330,-1.30,-116.8,292.4,-12.4,161,2334,0.00,2.42,0.00,0.000,4,0.000,0.032,2835,3324,3485,0,0,0,0,0,0
$GC,2351,-1.30,-116.8,295.2,-11.7,161,2355,0.00,2.42,0.00,0.000,6,0.000,0.040,2835,1820,3485,0,0,0,0,0,0
$GC,2606,-1.30,-116.8,323.5,-11.0,168,2611,0.00,2.40,0.00,0.000,4,0.000,0.037,2835,3315,3484,0,0,0,0,0,0
$GC,2635,-1.30,-116.8,326.6,-11.6,168,2639,0.00,2.45,0.00,0.000,6,0.000,0.041,2834,1828,3484,0,0,0,0,0,0
$GC,2885,-1.30,-116.8,351.3,-9.7,174,2889,0.00,2.40,0.00,0.000,4,0.000,0.036,2835,3316,3483,0,0,0,0,0,0
$GC,2906,-1.30,-116.8,353.5,-9.7,174,2910,0.00,2.45,0.00,0.000,6,0.000,0.049,2835,1839,3483,0,0,0,0,0,0
$GC,3163,-1.30,-116.8,378.9,-10.1,181,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1839,3481,0,0,0,0,0,0
$GC,3405,-1.30,-116.8,403.0,-9.8,187,3410,0.00,2.42,0.00,0.000,4,0.000,0.040,2834,3316,3480,0,0,0,0,0,0
$GC,3433,-1.35,-116.8,405.8,-9.7,187,3438,0.00,2.50,0.00,0.000,6,0.000,0.053,2835,1841,3480,0,0,0,0,0,0
$GC,3683,-1.38,-116.8,431.0,-10.2,193,3688,0.00,3.05,0.00,0.000,4,0.000,0.107,2834,192,3479,0,0,0,0,0,0
$GC,3724,-1.38,-116.8,435.1,-11.0,194,3728,0.00,2.58,0.00,0.000,6,0.000,0.032,2834,1789,3478,0,0,0,0,0,0
$GC,4007,-1.42,-116.8,460.6,-8.6,201,4012,0.00,2.65,0.00,0.000,4,0.000,0.060,2834,3357,3477,0,0,0,0,0,0
$GC,4083,-1.49,-116.8,466.8,-8.5,202,4088,0.12,2.60,0.00,0.000,6,0.080,0.062,2794,1837,3476,0,0,0,0,0,0
$GC,4333,-1.49,-116.8,492.6,-10.4,208,4337,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3359,3474,0,0,0,0,0,0
$GC,4359,-1.49,-116.8,495.7,-10.9,208,4364,0.00,2.60,0.00,0.000,6,0.000,0.064,2794,1850,3474,0,0,0,0,0,0
$STATE,4404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4404,begin apogee
$GC,4411,-0.31,0.0,500.7,10.9,209,4511,1.20,0.00,96.55,0.932,6,0.090,0.000,3060,2001,3001,0,0,0,0,0,0
$STATE,4512,end apogee,CONTROL_FINISHED_OK
$STATE,4512,begin climb
$GC,4515,1.38,116.8,503.3,0.0,211,4624,1.58,2.62,99.18,0.907,4,0.051,0.058,3431,3518,2523,0,0,0,0,0,0
$GC,4653,1.38,174.1,499.5,6.7,214,4708,0.00,2.67,49.40,0.886,6,0.000,0.051,3431,1973,2291,0,0,0,0,0,0
$GC,4960,1.38,177.6,470.8,9.8,222,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1973,2282,0,0,0,0,0,0
$GC,5204,1.39,181.2,446.9,9.8,228,5215,0.00,2.62,6.12,0.699,4,0.000,0.049,3431,3525,2261,0,0,0,0,0,0
$GC,5284,1.41,201.7,439.1,8.9,229,5308,0.00,2.65,19.17,0.847,6,0.000,0.047,3431,1972,2178,0,0,0,0,0,0
$GC,5577,1.43,216.1,411.9,9.2,237,5596,0.00,3.03,13.40,0.815,4,0.000,0.099,3431,385,2119,0,0,0,0,0,0
$GC,5608,1.44,226.0,408.7,9.5,237,5624,0.00,2.55,10.32,0.779,6,0.000,0.023,3431,1951,2079,0,0,0,0,0,0
$GC,5902,1.46,245.4,381.5,8.9,245,5927,0.00,2.72,17.80,0.825,4,0.000,0.041,3431,3542,1999,0,0,0,0,0,0
$GC,6007,1.46,245.4,371.1,10.7,247,6012,0.00,2.65,0.00,0.000,6,0.000,0.038,3431,1961,1996,0,0,0,0,0,0
$GC,6273,1.46,245.4,342.4,11.2,254,6277,0.00,2.62,0.00,0.000,4,0.000,0.037,3431,3554,1994,0,0,0,0,0,0
$GC,6294,1.46,245.4,339.9,11.3,254,6298,0.00,2.60,0.00,0.000,6,0.000,0.041,3431,1970,1993,0,0,0,0,0,0
$GC,6551,1.46,245.4,312.3,10.4,261,6555,0.00,2.80,0.00,0.000,4,0.000,0.072,3431,382,1992,0,0,0,0,0,0
$GC,6577,1.46,245.4,309.1,11.0,261,6582,0.00,2.55,0.00,0.000,6,0.000,0.026,3431,1986,1991,0,0,0,0,0,0
$GC,6828,1.47,250.8,284.5,9.7,267,6838,0.00,2.55,4.97,0.600,4,0.000,0.040,3430,3542,1978,0,0,0,0,0,0
$GC,6901,1.51,250.8,276.2,11.6,268,6906,0.12,2.55,0.00,0.000,6,0.085,0.037,3465,1976,1976,0,0,0,0,0,0
$GC,7150,1.51,250.8,244.8,12.7,274,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1976,1976,0,0,0,0,0,0
$GC,7394,1.51,250.8,215.9,11.7,280,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1976,1975,0,0,0,0,0,0
$GC,7647,1.51,250.8,187.6,11.2,292,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1976,1975,0,0,0,0,0,0
$GC,7907,1.51,250.8,159.2,10.8,317,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1976,1974,0,0,0,0,0,0
$GC,8168,1.51,250.8,132.1,11.2,341,8172,0.00,2.67,0.00,0.000,4,0.000,0.061,3465,389,1974,0,0,0,0,0,0
$GC,8235,1.51,250.8,123.2,12.6,346,8245,0.00,2.53,0.00,0.000,6,0.000,0.025,3465,1997,1972,0,0,0,0,0,0
$GC,8503,1.51,250.8,97.5,10.1,371,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1998,1972,0,0,0,0,0,0
$GC,8768,1.51,250.8,70.6,10.6,396,8772,0.00,2.45,0.00,0.000,4,0.000,0.031,3465,3531,1972,0,0,0,0,0,0
$GC,8827,1.56,250.8,63.1,12.2,400,8837,0.00,2.53,0.00,0.000,6,0.000,0.031,3465,1978,1972,0,0,0,0,0,0
$GC,9095,1.61,250.8,36.1,11.0,425,9100,0.00,2.65,0.00,0.000,4,0.000,0.053,3465,391,1972,0,0,0,0,0,0
$GC,9160,1.61,250.8,28.0,11.3,430,9169,0.00,2.50,0.00,0.000,6,0.000,0.018,3465,2003,1972,0,0,0,0,0,0
$STATE,9456,end climb,SURFACE_DEPTH_REACHED
$STATE,9456,begin surface coast
$FINISH,0.5,0.974969
$STATE,9518,end surface coast,CONTROL_FINISHED_OK
$STATE,9518,begin surface
$SM_CCo,9540,121.38,0.535,0,0,1369,400.08
$SM_GC,1.17,0.00,0.00,121.38,0.000,0.000,0.535,476,1751,1369,-12.21,-0.54,400.08
$IRIDIUM_FIX,2239.35,-15800.20,230800,070754
$TT8_MAMPS,0.026078
$HUMID,56.81
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.90
$XPDR_PINGS,46
$24V_AH,23.5,19.906
$10V_AH,10.4,17.211
$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,27.850,118.375,316.925,121.375,0.000,59.045,70.738,287.526,11.500,0.000,30.907,979.900,6247.370,511.061,1873.704,683.713,33.362,1190.301,0.000,1857.534,0.000,0.535,0.000
$DEVICE_MAMPS,157.235,107.380,931.905,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.114,278.958,376.245,730.035,1099.367,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38517,483
$CAP_FILE_SIZE,103421,0
$CFSIZE,260165632,174014464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300511,103955,2246.723,-15802.511,41,1.5,41,10.1