version: 66.06
glider: 146
mission: 6
dive: 138
start: 5 27 111 22 58 42
data:
$ID,146
$MISSION,6
$DIVE,138
$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,-270581.28
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,224430,2250.364,-15757.916,63,1.6,63,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.5
$GPS2,225749,2250.425,-15758.032,13,1.8,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.122
$KALMAN_X,-83867.2,152.0,-218.4,81824.1,-124.3
$KALMAN_Y,-136855.1,-29.6,-345.3,149304.6,430.1
$MHEAD_RNG_PITCHd_Wd,112.6,1931,-20.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.43,-106.7,0.0,0.0,0,98,0.00,0.00,-77.32,0.000,2,0.000,0.000,474,1750,3379,0,0,0,0,0,0
$GC,101,-1.44,-116.8,4.1,-8.0,10,128,12.45,2.62,-1.75,0.000,4,0.160,0.067,2806,214,3480,0,0,0,0,0,0
$GC,167,-1.24,-116.8,25.1,-23.1,18,177,0.20,2.45,0.00,0.000,6,0.107,0.016,2851,1809,3482,0,0,0,0,0,0
$GC,443,-1.24,-116.8,70.3,-14.7,44,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1810,3483,0,0,0,0,0,0
$GC,707,-1.24,-116.8,109.7,-14.7,69,711,0.00,2.35,0.00,0.000,4,0.000,0.025,2851,3318,3484,0,0,0,0,0,0
$GC,729,-1.24,-116.8,113.3,-13.7,70,738,0.00,2.45,0.00,0.000,6,0.000,0.032,2851,1788,3484,0,0,0,0,0,0
$GC,996,-1.24,-116.8,140.9,-9.8,95,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1787,3484,0,0,0,0,0,0
$GC,1258,-1.24,-116.8,172.6,-12.7,120,1262,0.00,2.42,0.00,0.000,4,0.000,0.028,2851,3322,3485,0,0,0,0,0,0
$GC,1287,-1.29,-116.8,176.4,-12.0,122,1291,0.00,2.47,0.00,0.000,6,0.000,0.027,2851,1774,3485,0,0,0,0,0,0
$GC,1568,-1.33,-116.8,209.5,-11.7,142,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1774,3485,0,0,0,0,0,0
$GC,1809,-1.37,-116.8,236.7,-11.2,148,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1774,3484,0,0,0,0,0,0
$GC,2053,-1.42,-116.8,262.2,-10.1,154,2058,0.15,2.50,0.00,0.000,4,0.065,0.035,2801,3323,3484,0,0,0,0,0,0
$GC,2114,-1.42,-116.8,269.2,-11.9,155,2118,0.00,2.47,0.00,0.000,6,0.000,0.031,2801,1778,3484,0,0,0,0,0,0
$GC,2376,-1.42,-116.8,297.8,-11.0,162,2380,0.00,2.47,0.00,0.000,4,0.000,0.036,2800,3319,3483,0,0,0,0,0,0
$GC,2398,-1.42,-116.8,300.6,-12.0,162,2403,0.00,2.50,0.00,0.000,6,0.000,0.040,2801,1779,3483,0,0,0,0,0,0
$GC,2653,-1.42,-116.8,333.1,-13.2,169,2657,0.00,2.47,0.00,0.000,4,0.000,0.035,2800,3315,3482,0,0,0,0,0,0
$GC,2709,-1.42,-116.8,340.2,-12.3,170,2713,0.00,2.53,0.00,0.000,6,0.000,0.051,2801,1788,3482,0,0,0,0,0,0
$GC,2975,-1.42,-116.8,372.5,-12.2,177,2979,0.00,2.47,0.00,0.000,4,0.000,0.044,2800,3320,3481,0,0,0,0,0,0
$GC,3007,-1.42,-116.8,376.6,-11.7,177,3013,0.00,2.55,0.00,0.000,6,0.000,0.054,2801,1789,3481,0,0,0,0,0,0
$GC,3258,-1.42,-116.8,408.9,-13.5,184,3262,0.00,2.47,0.00,0.000,4,0.000,0.046,2800,3308,3479,0,0,0,0,0,0
$GC,3291,-1.42,-116.8,413.6,-13.2,184,3297,0.00,2.55,0.00,0.000,6,0.000,0.061,2800,1793,3479,0,0,0,0,0,0
$GC,3541,-1.42,-116.8,444.7,-12.2,191,3545,0.00,2.50,0.00,0.000,4,0.000,0.047,2800,3309,3478,0,0,0,0,0,0
$GC,3563,-1.42,-116.8,447.2,-11.3,191,3568,0.00,2.58,0.00,0.000,6,0.000,0.061,2801,1798,3478,0,0,0,0,0,0
$GC,3818,-1.42,-116.8,474.7,-10.6,198,3822,0.00,2.53,0.00,0.000,4,0.000,0.054,2800,3304,3477,0,0,0,0,0,0
$GC,3872,-1.42,-116.8,480.5,-10.3,199,3877,0.00,2.58,0.00,0.000,6,0.000,0.067,2800,1809,3476,0,0,0,0,0,0
$STATE,4096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4096,begin apogee
$GC,4104,-0.31,0.0,502.5,9.8,205,4203,1.15,0.00,96.05,0.929,6,0.084,0.000,3058,1942,3001,0,0,0,0,0,0
$STATE,4204,end apogee,CONTROL_FINISHED_OK
$STATE,4204,begin climb
$GC,4207,1.44,116.8,504.5,0.0,207,4313,1.67,2.80,98.90,0.902,4,0.054,0.061,3449,3530,2524,0,0,0,0,0,0
$GC,4332,1.44,175.8,500.2,6.3,210,4388,0.00,2.70,50.65,0.881,6,0.000,0.055,3449,1970,2284,0,0,0,0,0,0
$GC,4661,1.45,179.7,468.0,9.8,219,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1970,2275,0,0,0,0,0,0
$GC,4904,1.47,197.3,446.1,8.9,225,4928,0.00,2.72,18.33,0.847,4,0.000,0.050,3449,3540,2195,0,0,0,0,0,0
$GC,4976,1.47,200.1,439.2,9.9,226,4980,0.00,2.70,0.00,0.000,6,0.000,0.051,3449,1963,2192,0,0,0,0,0,0
$GC,5230,1.47,200.1,411.8,10.9,233,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1963,2190,0,0,0,0,0,0
$GC,5474,1.47,200.1,383.4,11.6,239,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1962,2188,0,0,0,0,0,0
$GC,5719,1.47,200.1,356.5,10.8,245,5723,0.00,2.60,0.00,0.000,4,0.000,0.040,3449,3544,2187,0,0,0,0,0,0
$GC,5807,1.47,200.1,347.1,10.2,247,5812,0.00,2.62,0.00,0.000,6,0.000,0.038,3449,1957,2185,0,0,0,0,0,0
$GC,6085,1.50,223.7,322.4,8.6,254,6115,0.00,2.70,22.33,0.811,4,0.000,0.038,3449,3545,2088,0,0,0,0,0,0
$GC,6133,1.50,225.7,318.2,9.9,255,6138,0.00,2.65,0.00,0.000,6,0.000,0.040,3449,1955,2086,0,0,0,0,0,0
$GC,6410,1.50,225.7,288.6,10.8,262,6414,0.00,2.60,0.00,0.000,4,0.000,0.038,3449,3544,2083,0,0,0,0,0,0
$GC,6449,1.50,225.7,284.2,11.1,263,6454,0.00,2.60,0.00,0.000,6,0.000,0.034,3449,1959,2082,0,0,0,0,0,0
$GC,6733,1.51,234.4,256.6,9.5,270,6748,0.00,2.62,9.75,0.706,4,0.000,0.033,3449,3541,2045,0,0,0,0,0,0
$GC,6856,1.52,242.6,244.8,9.5,272,6870,0.00,2.58,8.75,0.680,6,0.000,0.033,3449,1972,2011,0,0,0,0,0,0
$GC,7151,1.56,242.6,214.6,10.7,280,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1973,2008,0,0,0,0,0,0
$GC,7401,1.60,242.6,187.7,10.5,292,7406,0.12,2.58,0.00,0.000,4,0.219,0.033,3483,3544,2008,0,0,0,0,0,0
$GC,7420,1.60,242.6,185.1,11.0,293,7424,0.00,2.55,0.00,0.000,6,0.000,0.036,3483,1973,2006,0,0,0,0,0,0
$GC,7682,1.60,242.6,156.4,10.1,317,7686,0.00,2.55,0.00,0.000,4,0.000,0.037,3483,3547,2006,0,0,0,0,0,0
$GC,7798,1.60,242.6,144.2,10.5,326,7807,0.00,2.58,0.00,0.000,6,0.000,0.033,3483,1977,2005,0,0,0,0,0,0
$GC,8065,1.61,252.1,119.1,9.4,351,8079,0.00,2.58,8.93,0.591,4,0.000,0.038,3484,3549,1972,0,0,0,0,0,0
$GC,8185,1.61,252.1,106.5,10.8,361,8190,0.00,2.53,0.00,0.000,6,0.000,0.033,3483,1984,1970,0,0,0,0,0,0
$GC,8451,1.61,252.1,77.8,11.2,385,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,1984,1970,0,0,0,0,0,0
$GC,8717,1.61,252.1,46.4,11.3,410,8722,0.00,2.65,0.00,0.000,4,0.000,0.054,3483,393,1970,0,0,0,0,0,0
$GC,8836,1.62,259.0,34.2,9.6,419,8851,0.00,2.47,7.20,0.496,6,0.000,0.018,3483,2004,1946,0,0,0,0,0,0
$GC,9163,1.64,279.8,4.9,8.7,465,9181,0.00,0.00,16.12,0.523,2,0.000,0.000,3483,2006,1877,0,0,0,0,0,0
$STATE,9182,end climb,SURFACE_DEPTH_REACHED
$STATE,9182,begin surface coast
$FINISH,0.5,0.980178
$STATE,9256,end surface coast,CONTROL_FINISHED_OK
$STATE,9257,begin surface
$SM_CCo,9279,100.38,0.537,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,100.38,0.000,0.000,0.537,475,1754,1369,-12.22,-0.45,400.08
$IRIDIUM_FIX,2239.35,-15757.16,200800,222214
$TT8_MAMPS,0.026078
$HUMID,57.00
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,40
$24V_AH,23.5,17.471
$10V_AH,10.4,15.030
$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,27.875,102.900,337.000,100.375,0.000,49.818,68.019,465.772,10.000,0.000,31.760,948.910,6048.090,512.257,1830.616,841.919,33.364,1171.132,0.000,1816.152,0.000,0.536,0.000
$DEVICE_MAMPS,219.362,67.496,928.837,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.911,276.601,370.953,725.270,1097.118,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38389,478
$CAP_FILE_SIZE,99379,0
$CFSIZE,260165632,175054848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,013607,2249.908,-15756.768,24,1.4,24,10.1