version: 66.06
glider: 146
mission: 6
dive: 156
start: 5 30 111 2 17 0
data:
$ID,146
$MISSION,6
$DIVE,156
$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,-271262.25
$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,31
$R_STBD_OVSHOOT,74
$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
$GPS1,020927,2247.311,-15759.098,59,2.5,78,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.1
$GPS2,021605,2247.402,-15759.090,16,1.4,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.209,-0.107
$KALMAN_X,-86615.0,63.5,-181.7,82812.0,186.4
$KALMAN_Y,-134180.6,142.4,-331.2,140846.4,850.8
$MHEAD_RNG_PITCHd_Wd,232.9,6718,-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,-78.55,0.000,2,0.000,0.000,477,1759,3409,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.6,-9.5,10,126,12.30,2.70,-1.12,0.000,4,0.153,0.067,2817,194,3481,0,0,0,0,0,0
$GC,288,-1.20,-116.8,53.7,-18.2,29,298,0.20,2.40,0.00,0.000,6,0.107,0.014,2862,1771,3482,0,0,0,0,0,0
$GC,552,-1.16,-116.8,88.1,-12.5,54,556,0.00,2.67,0.00,0.000,4,0.000,0.061,2862,197,3483,0,0,0,0,0,0
$GC,576,-1.09,-116.8,91.9,-14.1,55,582,0.12,2.40,0.00,0.000,6,0.130,0.018,2888,1793,3483,0,0,0,0,0,0
$GC,839,-1.09,-116.8,122.7,-11.0,80,843,0.00,2.35,0.00,0.000,4,0.000,0.031,2888,3305,3484,0,0,0,0,0,0
$GC,892,-1.17,-116.8,128.6,-10.5,84,896,0.00,2.42,0.00,0.000,6,0.000,0.033,2888,1784,3484,0,0,0,0,0,0
$GC,1156,-1.22,-116.8,158.6,-12.2,108,1161,0.10,2.70,0.00,0.000,4,0.084,0.061,2849,198,3485,0,0,0,0,0,0
$GC,1211,-1.22,-116.8,166.2,-13.4,112,1215,0.00,2.38,0.00,0.000,6,0.000,0.021,2849,1781,3485,0,0,0,0,0,0
$GC,1477,-1.22,-116.8,199.3,-11.2,136,1481,0.00,2.40,0.00,0.000,4,0.000,0.033,2849,3306,3485,0,0,0,0,0,0
$GC,1511,-1.22,-116.8,203.8,-11.2,136,1517,0.00,2.45,0.00,0.000,6,0.000,0.031,2849,1774,3486,0,0,0,0,0,0
$GC,1761,-1.22,-116.8,234.1,-12.3,143,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1774,3485,0,0,0,0,0,0
$GC,2005,-1.22,-116.8,261.1,-10.9,149,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1774,3486,0,0,0,0,0,0
$GC,2250,-1.22,-116.8,285.5,-10.0,155,2254,0.00,2.45,0.00,0.000,4,0.000,0.039,2848,3299,3486,0,0,0,0,0,0
$GC,2283,-1.27,-116.8,288.9,-9.6,155,2288,0.00,2.47,0.00,0.000,6,0.000,0.034,2848,1780,3486,0,0,0,0,0,0
$GC,2533,-1.30,-116.8,315.5,-10.9,162,2537,0.00,2.45,0.00,0.000,4,0.000,0.036,2849,3308,3485,0,0,0,0,0,0
$GC,2554,-1.35,-116.8,318.1,-11.4,162,2559,0.00,2.53,0.00,0.000,6,0.000,0.039,2849,1777,3485,0,0,0,0,0,0
$GC,2811,-1.40,-116.8,344.4,-10.1,169,2815,0.00,2.45,0.00,0.000,4,0.000,0.040,2848,3295,3484,0,0,0,0,0,0
$GC,2827,-1.45,-116.8,346.3,-10.1,169,2833,0.15,2.53,0.00,0.000,6,0.065,0.043,2799,1778,3484,0,0,0,0,0,0
$GC,3090,-1.41,-116.8,377.8,-12.2,176,3095,0.12,2.50,0.00,0.000,4,0.117,0.039,2824,3299,3483,0,0,0,0,0,0
$GC,3111,-1.41,-116.8,380.6,-11.3,176,3116,0.00,2.58,0.00,0.000,6,0.000,0.058,2824,1782,3483,0,0,0,0,0,0
$GC,3367,-1.41,-116.8,407.8,-10.6,183,3371,0.00,2.47,0.00,0.000,4,0.000,0.047,2824,3291,3481,0,0,0,0,0,0
$GC,3399,-1.41,-116.8,411.6,-11.5,183,3405,0.00,2.55,0.00,0.000,6,0.000,0.057,2824,1796,3481,0,0,0,0,0,0
$GC,3650,-1.41,-116.8,438.5,-10.7,190,3654,0.00,2.47,0.00,0.000,4,0.000,0.052,2824,3291,3480,0,0,0,0,0,0
$GC,3695,-1.45,-116.8,443.7,-11.3,191,3699,0.00,2.55,0.00,0.000,6,0.000,0.063,2824,1807,3480,0,0,0,0,0,0
$GC,3972,-1.45,-116.8,474.0,-10.9,198,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1807,3478,0,0,0,0,0,0
$GC,4217,-1.45,-116.8,496.9,-9.2,204,4221,0.00,2.47,0.00,0.000,4,0.000,0.060,2824,3287,3476,0,0,0,0,0,0
$STATE,4254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4254,begin apogee
$GC,4262,-0.31,0.0,500.5,8.6,205,4362,1.05,0.00,96.65,0.927,6,0.087,0.000,3058,1968,3000,0,0,0,0,0,0
$STATE,4363,end apogee,CONTROL_FINISHED_OK
$STATE,4363,begin climb
$GC,4367,1.38,116.8,501.9,0.0,207,4475,1.58,2.65,98.62,0.902,4,0.056,0.057,3426,3491,2523,0,0,0,0,0,0
$GC,4488,1.42,183.4,497.3,6.2,210,4552,0.00,2.65,57.20,0.886,6,0.000,0.054,3427,1968,2252,0,0,0,0,0,0
$GC,4815,1.43,189.7,464.8,9.7,218,4826,0.00,2.60,5.65,0.665,4,0.000,0.044,3427,3497,2225,0,0,0,0,0,0
$GC,4842,1.45,206.3,462.1,9.1,218,4863,0.00,2.62,16.08,0.822,6,0.000,0.051,3426,1974,2159,0,0,0,0,0,0
$GC,5137,1.46,218.6,434.4,9.3,226,5151,0.10,0.00,11.40,0.795,6,0.096,0.000,3452,1974,2110,0,0,0,0,0,0
$GC,5380,1.43,218.6,409.4,10.3,232,5384,0.00,2.50,0.00,0.000,4,0.000,0.045,3452,3494,2106,0,0,0,0,0,0
$GC,5475,1.43,218.6,398.6,11.5,234,5480,0.00,2.53,0.00,0.000,6,0.000,0.048,3452,1990,2104,0,0,0,0,0,0
$GC,5747,1.43,218.6,367.5,11.6,241,5751,0.00,2.47,0.00,0.000,4,0.000,0.035,3452,3499,2103,0,0,0,0,0,0
$GC,5768,1.39,218.6,365.0,11.3,241,5773,0.00,2.50,0.00,0.000,6,0.000,0.041,3452,1990,2102,0,0,0,0,0,0
$GC,6025,1.39,218.6,337.1,10.9,248,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1990,2101,0,0,0,0,0,0
$GC,6267,1.39,218.6,310.8,10.8,254,6271,0.00,2.45,0.00,0.000,4,0.000,0.033,3452,3495,2100,0,0,0,0,0,0
$GC,6311,1.39,218.6,305.7,11.3,255,6315,0.00,2.45,0.00,0.000,6,0.000,0.039,3453,2000,2099,0,0,0,0,0,0
$GC,6588,1.40,230.6,278.4,9.3,262,6604,0.00,2.45,10.45,0.726,4,0.000,0.034,3452,3495,2059,0,0,0,0,0,0
$GC,6628,1.42,242.8,274.8,9.3,263,6648,0.00,2.47,12.18,0.728,6,0.000,0.036,3452,1993,2011,0,0,0,0,0,0
$GC,6915,1.42,246.6,248.2,9.8,270,6924,0.00,2.47,4.43,0.541,4,0.000,0.039,3452,3495,1994,0,0,0,0,0,0
$GC,6949,1.42,246.6,244.7,10.1,270,6953,0.00,2.45,0.00,0.000,6,0.000,0.035,3452,2002,1994,0,0,0,0,0,0
$GC,7198,1.42,246.6,217.0,11.2,276,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2001,1993,0,0,0,0,0,0
$GC,7446,1.42,246.6,189.8,10.3,288,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2001,1993,0,0,0,0,0,0
$GC,7701,1.42,246.6,162.9,10.7,312,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2001,1993,0,0,0,0,0,0
$GC,7955,1.42,246.6,135.8,10.6,336,7960,0.00,2.75,0.00,0.000,4,0.000,0.064,3452,384,1993,0,0,0,0,0,0
$GC,8071,1.42,246.6,123.5,10.6,345,8076,0.00,2.47,0.00,0.000,6,0.000,0.018,3452,1973,1991,0,0,0,0,0,0
$GC,8338,1.48,264.6,99.8,9.0,369,8362,0.00,2.53,16.85,0.611,4,0.000,0.037,3452,3534,1921,0,0,0,0,0,0
$GC,8438,1.54,264.6,90.1,10.3,377,8442,0.00,2.50,0.00,0.000,6,0.000,0.029,3453,1991,1919,0,0,0,0,0,0
$GC,8704,1.60,264.6,63.1,10.2,401,8709,0.10,2.50,0.00,0.000,4,0.087,0.032,3483,3534,1918,0,0,0,0,0,0
$GC,8728,1.60,264.6,60.0,10.6,402,8737,0.00,2.50,0.00,0.000,6,0.000,0.031,3483,2003,1918,0,0,0,0,0,0
$GC,8994,1.63,290.7,35.0,8.5,427,9022,0.00,2.75,23.15,0.555,4,0.000,0.052,3483,392,1814,0,0,0,0,0,0
$GC,9165,1.63,290.7,17.3,11.1,448,9174,0.00,2.50,0.00,0.000,6,0.000,0.018,3483,1984,1812,0,0,0,0,0,0
$STATE,9292,end climb,SURFACE_DEPTH_REACHED
$STATE,9292,begin surface coast
$FINISH,0.4,0.980107
$STATE,9343,end surface coast,CONTROL_FINISHED_OK
$STATE,9343,begin surface
$SM_CCo,9365,88.53,0.532,0,0,1370,400.08
$SM_GC,1.14,0.00,0.00,88.53,0.000,0.000,0.532,477,1721,1370,-12.20,-1.39,400.08
$IRIDIUM_FIX,2239.35,-15757.16,220800,232313
$TT8_MAMPS,0.026078
$HUMID,56.85
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,42
$24V_AH,23.5,19.670
$10V_AH,10.4,16.992
$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,28.000,115.775,352.650,88.525,0.000,27.448,34.983,186.779,10.500,0.000,35.850,954.153,6085.938,498.335,1808.335,511.114,33.395,1168.625,0.000,1791.234,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,67.496,926.536,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.718,262.592,365.157,698.460,1057.263,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38292,473
$CAP_FILE_SIZE,99335,0
$CFSIZE,260165632,174125056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300511,045546,2247.202,-15800.146,10,99.0,29,10.1