version: 66.06
glider: 146
mission: 6
dive: 130
start: 5 27 111 0 1 31
data:
$ID,146
$MISSION,6
$DIVE,130
$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,-270367
$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,3120
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,235159,2246.813,-15800.675,11,1.5,14,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.3
$GPS2,000036,2246.868,-15800.714,62,1.3,67,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,-0.017
$KALMAN_X,-81347.8,-220.1,-58.4,74934.0,79.6
$KALMAN_Y,-135159.2,-266.8,-181.7,141100.9,309.7
$MHEAD_RNG_PITCHd_Wd,255.7,3911,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.70,0.000,2,0.000,0.000,479,1757,3328,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-4.9,10,125,12.48,2.65,-2.88,0.000,4,0.163,0.064,2808,209,3481,0,0,0,0,0,0
$GC,338,-1.20,-116.8,61.3,-20.3,35,343,0.22,2.40,0.00,0.000,6,0.117,0.014,2854,1813,3482,0,0,0,0,0,0
$GC,606,-1.14,-116.8,97.9,-11.4,59,610,0.00,2.33,0.00,0.000,4,0.000,0.025,2855,3314,3483,0,0,0,0,0,0
$GC,639,-1.14,-116.8,101.9,-10.7,61,644,0.00,2.45,0.00,0.000,6,0.000,0.025,2855,1777,3483,0,0,0,0,0,0
$GC,907,-1.14,-116.8,133.7,-12.8,85,911,0.00,2.67,0.00,0.000,4,0.000,0.067,2855,196,3484,0,0,0,0,0,0
$GC,930,-1.09,-116.8,137.7,-13.9,86,940,0.10,2.35,0.00,0.000,6,0.099,0.021,2880,1771,3484,0,0,0,0,0,0
$GC,1192,-1.12,-116.8,170.9,-12.5,111,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1772,3485,0,0,0,0,0,0
$GC,1447,-1.17,-116.8,201.2,-11.1,135,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1771,3485,0,0,0,0,0,0
$GC,1690,-1.22,-116.8,224.7,-9.1,141,1695,0.12,2.72,0.00,0.000,4,0.074,0.070,2834,199,3485,0,0,0,0,0,0
$GC,1735,-1.17,-116.8,230.0,-12.9,142,1740,0.15,2.30,0.00,0.000,6,0.109,0.024,2866,1714,3485,0,0,0,0,0,0
$GC,2013,-1.22,-116.8,259.3,-10.4,149,2018,0.00,2.47,0.00,0.000,4,0.000,0.031,2866,3281,3485,0,0,0,0,0,0
$GC,2035,-1.28,-116.8,261.6,-10.2,149,2040,0.10,2.47,0.00,0.000,6,0.082,0.031,2830,1747,3485,0,0,0,0,0,0
$GC,2290,-1.28,-116.8,290.6,-11.6,156,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1747,3485,0,0,0,0,0,0
$GC,2534,-1.28,-116.8,318.4,-11.3,162,2538,0.00,2.47,0.00,0.000,4,0.000,0.041,2830,3278,3485,0,0,0,0,0,0
$GC,2566,-1.28,-116.8,322.2,-11.3,162,2572,0.00,2.50,0.00,0.000,6,0.000,0.041,2830,1759,3485,0,0,0,0,0,0
$GC,2817,-1.28,-116.8,349.9,-11.1,169,2822,0.00,2.42,0.00,0.000,4,0.000,0.041,2830,3277,3484,0,0,0,0,0,0
$GC,2902,-1.31,-116.8,360.1,-11.8,171,2907,0.00,2.53,0.00,0.000,6,0.000,0.051,2830,1767,3484,0,0,0,0,0,0
$GC,3186,-1.31,-116.8,390.1,-10.1,178,3190,0.00,2.47,0.00,0.000,4,0.000,0.041,2830,3280,3482,0,0,0,0,0,0
$GC,3215,-1.31,-116.8,392.8,-10.1,178,3219,0.00,2.55,0.00,0.000,6,0.000,0.058,2830,1779,3482,0,0,0,0,0,0
$GC,3465,-1.31,-116.8,414.9,-8.7,184,3469,0.00,2.47,0.00,0.000,4,0.000,0.048,2830,3285,3480,0,0,0,0,0,0
$GC,3492,-1.35,-116.8,417.4,-8.9,184,3497,0.00,2.58,0.00,0.000,6,0.000,0.059,2830,1780,3480,0,0,0,0,0,0
$GC,3744,-1.35,-116.8,439.8,-9.0,190,3748,0.00,2.47,0.00,0.000,4,0.000,0.052,2830,3281,3479,0,0,0,0,0,0
$GC,3783,-1.40,-116.8,444.0,-10.0,191,3788,0.00,2.55,0.00,0.000,6,0.000,0.061,2830,1794,3479,0,0,0,0,0,0
$GC,4067,-1.40,-116.8,473.9,-10.9,198,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1794,3477,0,0,0,0,0,0
$GC,4312,-1.44,-116.8,499.4,-10.4,204,4317,0.10,2.35,0.00,0.000,3,0.087,0.059,2797,3193,3476,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4326,-0.31,0.0,500.1,10.3,204,4426,1.10,0.00,96.30,0.927,6,0.091,0.000,3043,1959,3001,0,0,0,0,0,0
$STATE,4427,end apogee,CONTROL_FINISHED_OK
$STATE,4427,begin climb
$GC,4429,1.38,116.8,503.6,0.0,206,4537,1.60,0.00,98.80,0.904,6,0.052,0.000,3418,1959,2523,0,0,0,0,0,0
$GC,4798,1.43,153.5,480.4,7.9,215,4834,0.00,2.62,31.10,0.874,4,0.000,0.047,3418,3477,2374,0,0,0,0,0,0
$GC,4900,1.43,158.6,471.8,9.7,216,4911,0.00,2.60,5.35,0.649,6,0.000,0.053,3418,1969,2354,0,0,0,0,0,0
$GC,5167,1.47,186.8,448.3,8.4,223,5200,0.00,3.05,25.73,0.864,4,0.000,0.106,3418,379,2237,0,0,0,0,0,0
$GC,5219,1.42,186.8,443.6,10.2,224,5223,0.00,2.47,0.00,0.000,6,0.000,0.032,3418,1883,2235,0,0,0,0,0,0
$GC,5491,1.43,195.2,417.6,9.6,231,5505,0.00,2.72,7.82,0.739,4,0.000,0.048,3419,3473,2204,0,0,0,0,0,0
$GC,5580,1.44,205.9,409.1,9.4,233,5596,0.00,2.53,10.95,0.784,6,0.000,0.041,3418,1973,2161,0,0,0,0,0,0
$GC,5864,1.45,209.1,381.6,9.9,240,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1973,2156,0,0,0,0,0,0
$GC,6106,1.45,209.1,357.0,10.1,246,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1973,2154,0,0,0,0,0,0
$GC,6350,1.47,224.6,334.1,9.1,252,6369,0.00,0.00,16.73,0.792,6,0.000,0.000,3418,1972,2084,0,0,0,0,0,0
$GC,6595,1.50,251.0,312.8,8.5,258,6626,0.12,2.53,24.25,0.792,4,0.083,0.040,3451,3475,1976,0,0,0,0,0,0
$GC,6693,1.50,251.0,302.8,11.0,260,6697,0.00,2.47,0.00,0.000,6,0.000,0.038,3451,1979,1973,0,0,0,0,0,0
$GC,6960,1.50,251.0,269.3,13.2,267,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1979,1972,0,0,0,0,0,0
$GC,7202,1.50,251.0,237.2,12.8,273,7207,0.00,2.75,0.00,0.000,4,0.000,0.070,3451,389,1970,0,0,0,0,0,0
$GC,7229,1.46,251.0,233.7,12.8,273,7234,0.00,2.42,0.00,0.000,6,0.000,0.025,3451,1938,1969,0,0,0,0,0,0
$GC,7481,1.46,253.0,208.2,9.9,279,7485,0.00,2.60,0.00,0.000,4,0.000,0.040,3451,3541,1968,0,0,0,0,0,0
$GC,7514,1.46,253.0,204.5,10.7,279,7520,0.00,2.53,0.00,0.000,6,0.000,0.035,3451,1990,1967,0,0,0,0,0,0
$GC,7777,1.46,253.0,177.5,10.2,301,7782,0.00,2.72,0.00,0.000,4,0.000,0.060,3451,392,1967,0,0,0,0,0,0
$GC,7845,1.46,253.0,169.7,11.3,306,7854,0.00,2.53,0.00,0.000,6,0.000,0.025,3451,1993,1966,0,0,0,0,0,0
$GC,8112,1.46,253.0,144.3,10.7,331,8116,0.00,2.47,0.00,0.000,4,0.000,0.032,3451,3534,1966,0,0,0,0,0,0
$GC,8143,1.46,253.0,140.6,11.0,333,8148,0.00,2.50,0.00,0.000,6,0.000,0.035,3451,1981,1966,0,0,0,0,0,0
$GC,8411,1.46,253.0,112.1,11.4,357,8415,0.00,2.50,0.00,0.000,4,0.000,0.031,3451,3537,1966,0,0,0,0,0,0
$GC,8466,1.51,253.0,104.9,12.7,361,8470,0.00,2.47,0.00,0.000,6,0.000,0.031,3452,1998,1966,0,0,0,0,0,0
$GC,8734,1.56,259.2,75.9,9.7,385,8749,0.00,2.75,6.88,0.519,4,0.000,0.061,3451,393,1943,0,0,0,0,0,0
$GC,8790,1.56,260.8,70.3,9.9,389,8795,0.00,2.50,0.00,0.000,6,0.000,0.018,3451,2012,1943,0,0,0,0,0,0
$GC,9059,1.67,283.0,45.9,8.8,413,9088,0.12,2.78,21.92,0.567,4,0.078,0.050,3489,386,1845,0,0,0,0,0,0
$GC,9117,1.67,283.0,39.6,11.3,417,9121,0.00,2.47,0.00,0.000,6,0.000,0.018,3490,1980,1844,0,0,0,0,0,0
$GC,9432,1.67,283.0,5.5,12.2,457,9441,0.00,2.47,0.00,0.000,4,0.000,0.029,3490,3521,1843,0,0,0,0,0,0
$STATE,9449,end climb,SURFACE_DEPTH_REACHED
$STATE,9449,begin surface coast
$FINISH,3.6,0.980144
$STATE,9457,end surface coast,CONTROL_FINISHED_OK
$STATE,9457,begin surface
$SM_CCo,9484,95.30,0.537,0,0,1370,400.08
$SM_GC,0.88,0.00,0.00,95.30,0.000,0.000,0.537,479,1773,1370,-12.15,0.08,400.08
$IRIDIUM_FIX,2239.35,-15802.37,190800,212109
$TT8_MAMPS,0.026078
$HUMID,57.52
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,40
$24V_AH,23.5,16.499
$10V_AH,10.4,14.144
$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,28.800,116.650,345.825,95.300,0.000,58.269,65.790,147.279,10.000,0.000,68.738,954.763,6309.101,493.019,1809.826,532.312,33.367,1170.921,0.000,1756.985,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,105.846,927.303,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.507,249.652,351.955,655.089,990.852,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,35243,460
$CAP_FILE_SIZE,99799,0
$CFSIZE,260165632,175480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,024222,2246.782,-15802.111,11,99.0,30,10.1