version: 66.06
glider: 146
mission: 6
dive: 170
start: 5 31 111 18 5 1
data:
$ID,146
$MISSION,6
$DIVE,170
$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,-271614.72
$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,3140
$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,31
$R_STBD_OVSHOOT,83
$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
$GPS1,175700,2247.115,-15800.861,31,1.6,41,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.9
$GPS2,180407,2247.166,-15800.856,28,1.8,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,-0.078
$KALMAN_X,-88398.3,-346.2,-22.9,81833.4,87.8
$KALMAN_Y,-132296.8,-471.6,291.5,138518.9,599.6
$MHEAD_RNG_PITCHd_Wd,240.5,3674,-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,-78.70,0.000,2,0.000,0.000,479,1843,3411,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.6,-8.9,10,127,11.98,2.90,-1.10,0.000,4,0.140,0.069,2830,193,3481,0,0,0,0,0,0
$GC,313,-1.22,-116.8,57.9,-18.0,31,318,0.20,2.40,0.00,0.000,6,0.119,0.015,2870,1766,3482,0,0,0,0,0,0
$GC,581,-1.22,-116.8,90.1,-11.5,55,585,0.00,2.45,0.00,0.000,4,0.000,0.025,2870,3324,3483,0,0,0,0,0,0
$GC,636,-1.22,-116.8,96.5,-10.1,59,640,0.00,2.47,0.00,0.000,6,0.000,0.032,2870,1773,3483,0,0,0,0,0,0
$GC,902,-1.22,-116.8,127.1,-12.2,83,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1773,3484,0,0,0,0,0,0
$GC,1163,-1.22,-116.8,158.1,-10.2,108,1167,0.00,2.42,0.00,0.000,4,0.000,0.030,2870,3325,3484,0,0,0,0,0,0
$GC,1196,-1.28,-116.8,161.6,-10.1,110,1202,0.00,2.45,0.00,0.000,6,0.000,0.030,2870,1786,3485,0,0,0,0,0,0
$GC,1460,-1.32,-116.8,188.3,-11.0,135,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1786,3485,0,0,0,0,0,0
$GC,1737,-1.37,-116.8,217.9,-10.5,150,1742,0.12,2.45,0.00,0.000,4,0.077,0.027,2828,3325,3485,0,0,0,0,0,0
$GC,1754,-1.37,-116.8,219.9,-10.4,150,1758,0.00,2.42,0.00,0.000,6,0.000,0.026,2828,1802,3486,0,0,0,0,0,0
$GC,2014,-1.37,-116.8,251.2,-12.0,157,2018,0.00,2.40,0.00,0.000,4,0.000,0.032,2828,3320,3486,0,0,0,0,0,0
$GC,2043,-1.37,-116.8,254.6,-12.1,157,2047,0.00,2.42,0.00,0.000,6,0.000,0.034,2828,1811,3486,0,0,0,0,0,0
$GC,2294,-1.37,-116.8,283.9,-11.4,163,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1811,3486,0,0,0,0,0,0
$GC,2536,-1.37,-116.8,310.3,-10.8,169,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1810,3486,0,0,0,0,0,0
$GC,2780,-1.37,-116.8,336.8,-11.2,175,2784,0.00,2.45,0.00,0.000,4,0.000,0.043,2828,3319,3485,0,0,0,0,0,0
$GC,2812,-1.37,-116.8,340.5,-11.4,175,2818,0.00,2.50,0.00,0.000,6,0.000,0.044,2828,1813,3485,0,0,0,0,0,0
$GC,3063,-1.37,-116.8,367.0,-10.5,182,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1813,3483,0,0,0,0,0,0
$GC,3306,-1.37,-116.8,390.5,-9.6,188,3310,0.00,2.45,0.00,0.000,4,0.000,0.044,2828,3314,3482,0,0,0,0,0,0
$GC,3351,-1.42,-116.8,395.0,-9.8,189,3355,0.00,2.53,0.00,0.000,6,0.000,0.060,2828,1827,3482,0,0,0,0,0,0
$GC,3629,-1.42,-116.8,423.6,-10.4,196,3634,0.00,2.45,0.00,0.000,4,0.000,0.051,2828,3312,3480,0,0,0,0,0,0
$GC,3646,-1.42,-116.8,425.3,-10.0,196,3650,0.00,2.53,0.00,0.000,6,0.000,0.056,2828,1822,3480,0,0,0,0,0,0
$GC,3906,-1.42,-116.8,448.5,-8.6,203,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1822,3478,0,0,0,0,0,0
$GC,4151,-1.42,-116.8,472.3,-10.0,209,4156,0.00,2.50,0.00,0.000,4,0.000,0.056,2828,3311,3477,0,0,0,0,0,0
$GC,4179,-1.47,-116.8,475.5,-10.5,209,4184,0.00,2.55,0.00,0.000,6,0.000,0.064,2828,1830,3477,0,0,0,0,0,0
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4433,-0.31,0.0,503.0,11.1,215,4533,1.08,0.00,96.85,0.931,6,0.083,0.000,3070,1950,3001,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4538,1.38,116.8,506.0,0.0,217,4650,1.58,3.05,99.53,0.908,4,0.054,0.110,3443,389,2522,0,0,0,0,0,0
$GC,4695,1.28,148.8,501.9,8.2,220,4730,0.12,2.60,27.90,0.870,6,0.126,0.032,3419,1954,2393,0,0,0,0,0,0
$GC,4995,1.31,175.3,477.2,8.5,228,5024,0.00,2.83,23.27,0.864,4,0.000,0.059,3419,3544,2286,0,0,0,0,0,0
$GC,5058,1.32,187.0,471.0,9.4,229,5078,0.00,2.70,11.70,0.805,6,0.000,0.051,3419,1977,2237,0,0,0,0,0,0
$GC,5324,1.35,213.1,447.8,8.5,236,5353,0.00,2.72,23.58,0.857,4,0.000,0.048,3418,3551,2131,0,0,0,0,0,0
$GC,5393,1.37,227.8,441.9,9.2,237,5412,0.00,2.65,14.05,0.816,6,0.000,0.051,3418,1991,2072,0,0,0,0,0,0
$GC,5698,1.40,247.0,414.9,8.9,245,5723,0.10,3.05,17.70,0.832,4,0.096,0.097,3445,381,1993,0,0,0,0,0,0
$GC,5745,1.32,247.0,409.5,11.9,246,5750,0.00,2.65,0.00,0.000,6,0.000,0.029,3445,2009,1991,0,0,0,0,0,0
$GC,6024,1.32,247.0,377.7,11.5,253,6029,0.00,2.55,0.00,0.000,4,0.000,0.039,3444,3555,1988,0,0,0,0,0,0
$GC,6057,1.32,247.0,373.3,12.9,253,6063,0.00,2.62,0.00,0.000,6,0.000,0.047,3444,1989,1987,0,0,0,0,0,0
$GC,6307,1.32,247.0,343.1,12.2,260,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1989,1986,0,0,0,0,0,0
$GC,6552,1.32,247.0,313.1,12.2,266,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1988,1985,0,0,0,0,0,0
$GC,6794,1.32,247.0,285.3,11.2,272,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1988,1984,0,0,0,0,0,0
$GC,7038,1.32,247.0,257.6,11.4,278,7043,0.00,2.78,0.00,0.000,4,0.000,0.068,3445,387,1983,0,0,0,0,0,0
$GC,7071,1.28,247.0,253.7,12.2,278,7077,0.12,2.58,0.00,0.000,6,0.120,0.021,3420,2023,1981,0,0,0,0,0,0
$GC,7322,1.35,251.9,229.3,9.8,285,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2024,1982,0,0,0,0,0,0
$GC,7565,1.43,258.1,205.0,9.7,291,7577,0.15,0.00,9.23,0.666,6,0.178,0.000,3461,2024,1948,0,0,0,0,0,0
$GC,7815,1.43,258.1,177.0,11.2,309,7820,0.00,2.80,0.00,0.000,4,0.000,0.059,3461,385,1946,0,0,0,0,0,0
$GC,7871,1.43,258.1,170.6,12.4,313,7876,0.00,2.58,0.00,0.000,6,0.000,0.019,3461,2031,1945,0,0,0,0,0,0
$GC,8138,1.43,258.1,141.5,10.6,337,8142,0.00,2.45,0.00,0.000,4,0.000,0.035,3460,3553,1945,0,0,0,0,0,0
$GC,8202,1.43,258.1,133.8,10.8,342,8207,0.00,2.50,0.00,0.000,6,0.000,0.035,3461,2002,1944,0,0,0,0,0,0
$GC,8465,1.43,258.1,106.1,10.3,366,8469,0.00,2.70,0.00,0.000,4,0.000,0.062,3461,391,1944,0,0,0,0,0,0
$GC,8523,1.43,258.1,99.5,11.6,370,8532,0.00,2.60,0.00,0.000,6,0.000,0.018,3461,2045,1944,0,0,0,0,0,0
$GC,8789,1.44,261.5,73.9,9.8,395,8804,0.00,2.45,4.15,0.426,4,0.000,0.031,3461,3550,1934,0,0,0,0,0,0
$GC,8882,1.49,261.5,63.8,11.0,402,8887,0.00,2.45,0.00,0.000,6,0.000,0.029,3461,2027,1933,0,0,0,0,0,0
$GC,9151,1.62,304.3,40.9,7.6,426,9195,0.12,2.55,37.47,0.573,4,0.077,0.029,3500,3555,1760,0,0,0,0,0,0
$GC,9220,1.64,319.7,35.0,9.2,431,9248,0.00,2.47,14.73,0.534,6,0.000,0.028,3500,2020,1695,0,0,0,0,0,0
$STATE,9521,end climb,SURFACE_DEPTH_REACHED
$STATE,9521,begin surface coast
$FINISH,0.4,0.979977
$STATE,9577,end surface coast,CONTROL_FINISHED_OK
$STATE,9577,begin surface
$SM_CCo,9601,64.75,0.530,0,0,1369,400.08
$SM_GC,1.48,0.00,0.00,64.75,0.000,0.000,0.530,482,1741,1369,-12.23,-0.82,400.08
$IRIDIUM_FIX,2239.35,-15757.16,240800,151517
$TT8_MAMPS,0.026078
$HUMID,58.34
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,39
$24V_AH,23.5,21.291
$10V_AH,10.4,18.525
$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,27.850,103.650,380.150,64.750,0.000,30.878,42.181,202.313,9.750,0.000,31.110,954.729,6312.445,489.695,1799.328,539.454,33.364,1166.404,0.000,1784.052,0.000,0.535,0.000
$DEVICE_MAMPS,177.944,109.681,931.138,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.954,275.086,371.327,710.959,1070.386,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38379,481
$CAP_FILE_SIZE,96300,0
$CFSIZE,260165632,173391872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,204756,2247.026,-15802.153,48,3.0,67,10.1