version: 66.06
glider: 146
mission: 6
dive: 64
start: 5 19 111 6 5 17
data:
$ID,146
$MISSION,6
$DIVE,64
$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,-268692.12
$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,3090
$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,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,19
$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
$GPS1,055851,2250.208,-15803.371,12,2.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.7
$GPS2,060424,2250.228,-15803.352,42,1.4,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,0.055
$KALMAN_X,-48461.6,-56.5,-166.5,37493.4,-270.9
$KALMAN_Y,-95082.0,940.8,54.5,105796.7,-625.4
$MHEAD_RNG_PITCHd_Wd,66.3,10850,-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,-79.03,0.000,2,0.000,0.000,475,1750,3325,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-6.0,10,126,12.25,2.65,-2.90,0.000,4,0.156,0.044,2779,3374,3482,0,0,0,0,0,0
$GC,178,-1.21,-116.8,25.6,-21.1,20,188,0.17,2.60,0.00,0.000,6,0.107,0.031,2818,1779,3483,0,0,0,0,0,0
$GC,455,-1.10,-116.8,73.5,-15.5,46,464,0.15,0.00,0.00,0.000,6,0.127,0.000,2848,1779,3484,0,0,0,0,0,0
$GC,721,-1.05,-116.8,110.1,-14.1,71,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1779,3486,0,0,0,0,0,0
$GC,982,-1.05,-116.8,146.1,-12.7,96,986,0.00,2.53,0.00,0.000,4,0.000,0.033,2848,3376,3486,0,0,0,0,0,0
$GC,1002,-1.05,-116.8,148.4,-13.0,97,1006,0.00,2.58,0.00,0.000,6,0.000,0.026,2848,1771,3486,0,0,0,0,0,0
$GC,1269,-1.05,-116.8,181.4,-11.8,121,1273,0.00,2.55,0.00,0.000,4,0.000,0.032,2848,3376,3487,0,0,0,0,0,0
$GC,1290,-1.05,-116.8,184.9,-12.0,122,1296,0.00,2.55,0.00,0.000,6,0.000,0.026,2848,1776,3487,0,0,0,0,0,0
$GC,1547,-1.05,-116.8,213.9,-11.4,138,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1775,3487,0,0,0,0,0,0
$GC,1789,-1.05,-116.8,239.9,-10.5,144,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1776,3487,0,0,0,0,0,0
$GC,2033,-1.05,-116.8,264.8,-10.3,150,2037,0.00,2.55,0.00,0.000,4,0.000,0.036,2847,3375,3487,0,0,0,0,0,0
$GC,2088,-1.12,-116.8,270.6,-10.1,151,2093,0.00,2.58,0.00,0.000,6,0.000,0.038,2847,1788,3487,0,0,0,0,0,0
$GC,2356,-1.12,-116.8,296.5,-9.6,158,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1788,3488,0,0,0,0,0,0
$GC,2598,-1.16,-116.8,322.2,-10.6,164,2603,0.00,2.55,0.00,0.000,4,0.000,0.035,2847,3367,3486,0,0,0,0,0,0
$GC,2631,-1.22,-116.8,325.9,-10.5,164,2638,0.10,2.60,0.00,0.000,6,0.085,0.045,2812,1793,3487,0,0,0,0,0,0
$GC,2882,-1.22,-116.8,356.1,-12.2,171,2887,0.00,2.58,0.00,0.000,4,0.000,0.038,2812,3370,3485,0,0,0,0,0,0
$GC,2960,-1.22,-116.8,365.7,-10.9,172,2966,0.00,2.62,0.00,0.000,6,0.000,0.050,2812,1807,3485,0,0,0,0,0,0
$GC,3210,-1.22,-116.8,393.1,-10.9,179,3214,0.00,2.58,0.00,0.000,4,0.000,0.041,2812,3363,3484,0,0,0,0,0,0
$GC,3238,-1.22,-116.8,396.2,-10.9,179,3242,0.00,2.62,0.00,0.000,6,0.000,0.054,2812,1810,3484,0,0,0,0,0,0
$GC,3487,-1.22,-116.8,422.5,-10.4,185,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1810,3483,0,0,0,0,0,0
$GC,3731,-1.22,-116.8,448.6,-10.7,191,3735,0.00,2.60,0.00,0.000,4,0.000,0.058,2812,3359,3481,0,0,0,0,0,0
$GC,3764,-1.22,-116.8,452.2,-11.3,191,3770,0.00,2.67,0.00,0.000,6,0.000,0.061,2812,1809,3481,0,0,0,0,0,0
$GC,4014,-1.22,-116.8,479.9,-11.0,198,4018,0.00,2.65,0.00,0.000,4,0.000,0.060,2812,3359,3480,0,0,0,0,0,0
$GC,4053,-1.22,-116.8,484.3,-11.3,199,4057,0.00,2.67,0.00,0.000,6,0.000,0.067,2812,1814,3480,0,0,0,0,0,0
$STATE,4211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4219,-0.31,0.0,500.9,10.2,203,4320,0.95,0.00,97.95,0.919,6,0.091,0.000,3020,1947,3001,0,0,0,0,0,0
$STATE,4321,end apogee,CONTROL_FINISHED_OK
$STATE,4321,begin climb
$GC,4323,1.38,116.8,503.8,0.0,205,4428,1.62,0.00,100.53,0.897,6,0.058,0.000,3389,1947,2523,0,0,0,0,0,0
$GC,4658,1.42,150.9,483.5,8.1,214,4693,0.00,2.67,29.42,0.865,4,0.000,0.057,3388,3482,2385,0,0,0,0,0,0
$GC,4705,1.44,165.5,479.3,9.2,214,4724,0.00,2.75,14.10,0.812,6,0.000,0.056,3389,1913,2326,0,0,0,0,0,0
$GC,4981,1.50,168.2,451.7,9.9,221,4986,0.12,2.65,0.00,0.000,4,0.084,0.051,3423,3489,2319,0,0,0,0,0,0
$GC,5049,1.50,168.2,444.7,10.8,222,5053,0.00,2.67,0.00,0.000,6,0.000,0.054,3423,1927,2318,0,0,0,0,0,0
$GC,5303,1.53,198.2,422.4,8.3,229,5338,0.00,2.70,28.45,0.858,4,0.000,0.044,3423,3487,2192,0,0,0,0,0,0
$GC,5350,1.58,234.6,418.6,7.9,230,5389,0.00,2.70,33.65,0.846,6,0.000,0.054,3423,1923,2043,0,0,0,0,0,0
$GC,5675,1.58,234.6,386.2,10.4,238,5679,0.00,2.60,0.00,0.000,4,0.000,0.041,3422,3490,2035,0,0,0,0,0,0
$GC,5701,1.58,234.6,382.9,11.1,238,5706,0.00,2.62,0.00,0.000,6,0.000,0.042,3422,1923,2033,0,0,0,0,0,0
$GC,5953,1.58,234.6,355.4,11.0,244,5957,0.00,2.58,0.00,0.000,4,0.000,0.036,3423,3490,2033,0,0,0,0,0,0
$GC,6002,1.62,234.6,349.5,11.8,245,6007,0.00,2.60,0.00,0.000,6,0.000,0.040,3422,1933,2030,0,0,0,0,0,0
$GC,6274,1.62,234.6,318.2,11.4,252,6279,0.00,2.58,0.00,0.000,4,0.000,0.040,3423,3497,2029,0,0,0,0,0,0
$GC,6342,1.67,234.6,310.3,11.6,253,6347,0.12,2.58,0.00,0.000,6,0.090,0.041,3455,1938,2028,0,0,0,0,0,0
$GC,6597,1.67,234.6,281.8,11.0,260,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1937,2028,0,0,0,0,0,0
$GC,6841,1.67,234.6,256.6,10.3,266,6845,0.00,2.53,0.00,0.000,4,0.000,0.038,3455,3496,2027,0,0,0,0,0,0
$GC,6874,1.67,234.6,253.0,10.9,266,6880,0.00,2.55,0.00,0.000,6,0.000,0.035,3455,1941,2026,0,0,0,0,0,0
$GC,7123,1.67,234.6,226.3,10.7,273,7128,0.00,2.50,0.00,0.000,4,0.000,0.040,3455,3491,2026,0,0,0,0,0,0
$GC,7201,1.67,234.6,217.2,12.3,274,7207,0.00,2.50,0.00,0.000,6,0.000,0.032,3455,1960,2026,0,0,0,0,0,0
$GC,7456,1.67,234.6,188.7,11.3,287,7461,0.00,2.80,0.00,0.000,4,0.000,0.067,3455,338,2026,0,0,0,0,0,0
$GC,7478,1.67,234.6,185.9,12.8,288,7487,0.00,2.58,0.00,0.000,6,0.000,0.024,3455,1966,2024,0,0,0,0,0,0
$GC,7744,1.67,236.9,158.2,9.9,313,7748,0.00,2.45,0.00,0.000,4,0.000,0.035,3455,3484,2024,0,0,0,0,0,0
$GC,7796,1.67,236.9,152.4,10.7,317,7801,0.00,2.45,0.00,0.000,6,0.000,0.037,3455,1959,2024,0,0,0,0,0,0
$GC,8063,1.69,252.0,127.7,9.2,341,8082,0.00,0.00,13.12,0.618,6,0.000,0.000,3455,1959,1972,0,0,0,0,0,0
$GC,8340,1.69,252.0,99.8,11.0,367,8344,0.00,2.47,0.00,0.000,4,0.000,0.037,3455,3494,1971,0,0,0,0,0,0
$GC,8361,1.72,252.0,96.6,11.0,368,8370,0.00,2.47,0.00,0.000,6,0.000,0.031,3455,1977,1970,0,0,0,0,0,0
$GC,8629,1.76,252.0,69.1,10.6,393,8633,0.00,2.40,0.00,0.000,4,0.000,0.035,3455,3485,1970,0,0,0,0,0,0
$GC,8676,1.82,252.0,62.6,12.1,396,8686,0.08,2.45,0.00,0.000,6,0.055,0.031,3486,1981,1970,0,0,0,0,0,0
$GC,8942,1.82,252.0,33.0,10.9,421,8947,0.00,2.42,0.00,0.000,4,0.000,0.031,3486,3494,1970,0,0,0,0,0,0
$GC,8999,1.82,252.0,27.1,10.7,426,9008,0.00,2.45,0.00,0.000,6,0.000,0.030,3486,1986,1970,0,0,0,0,0,0
$STATE,9239,end climb,SURFACE_DEPTH_REACHED
$STATE,9239,begin surface coast
$FINISH,0.4,0.980180
$STATE,9296,end surface coast,CONTROL_FINISHED_OK
$STATE,9296,begin surface
$SM_CCo,9319,121.32,0.532,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,121.32,0.000,0.000,0.532,475,1741,1369,-12.03,-0.82,400.08
$IRIDIUM_FIX,2239.35,-15804.53,120800,030320
$TT8_MAMPS,0.026078
$HUMID,55.78
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.70
$XPDR_PINGS,42
$24V_AH,23.5,8.427
$10V_AH,10.4,7.053
$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,27.825,114.000,317.225,121.325,0.000,28.578,32.899,125.108,10.500,0.000,44.004,932.348,6116.288,541.877,1764.409,421.799,33.367,1176.357,0.000,1739.922,0.000,0.535,0.000
$DEVICE_MAMPS,156.468,136.526,918.866,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.551,260.311,362.126,692.436,1048.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38404,469
$CAP_FILE_SIZE,92565,0
$CFSIZE,260165632,178876416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,084355,2250.660,-15802.066,37,1.6,37,10.1