version: 66.06
glider: 146
mission: 6
dive: 68
start: 5 19 111 17 13 32
data:
$ID,146
$MISSION,6
$DIVE,68
$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,-268775.5
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,170655,2250.460,-15759.779,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.4
$GPS2,171238,2250.460,-15759.838,10,1.6,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.047
$KALMAN_X,-50994.3,114.6,-275.4,45959.6,-613.9
$KALMAN_Y,-96070.1,-714.4,-422.9,109353.2,175.8
$MHEAD_RNG_PITCHd_Wd,91.5,4919,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.43,0.000,2,0.000,0.000,477,1757,3271,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.4,10,125,12.50,0.00,-3.97,0.000,6,0.166,0.000,2780,1757,3480,0,0,0,0,0,0
$GC,400,-1.18,-116.8,68.1,-17.9,43,409,0.25,0.00,0.00,0.000,6,0.119,0.000,2832,1756,3482,0,0,0,0,0,0
$GC,662,-1.10,-116.8,109.1,-15.2,68,666,0.00,2.62,0.00,0.000,4,0.000,0.061,2832,206,3482,0,0,0,0,0,0
$GC,683,-1.00,-116.8,112.3,-15.9,69,688,0.20,2.40,0.00,0.000,6,0.117,0.018,2872,1822,3483,0,0,0,0,0,0
$GC,950,-1.00,-116.8,145.5,-11.8,93,954,0.00,2.38,0.00,0.000,4,0.000,0.032,2872,3345,3484,0,0,0,0,0,0
$GC,973,-1.03,-116.8,148.6,-11.0,94,982,0.00,2.50,0.00,0.000,6,0.000,0.031,2872,1795,3484,0,0,0,0,0,0
$GC,1235,-1.08,-116.8,176.5,-10.9,119,1240,0.00,2.45,0.00,0.000,4,0.000,0.033,2872,3353,3485,0,0,0,0,0,0
$GC,1312,-1.16,-116.8,185.6,-12.7,125,1317,0.15,2.50,0.00,0.000,6,0.064,0.028,2823,1780,3484,0,0,0,0,0,0
$GC,1577,-1.12,-116.8,221.4,-13.1,138,1582,0.10,2.75,0.00,0.000,4,0.119,0.076,2843,194,3485,0,0,0,0,0,0
$GC,1626,-1.12,-116.8,227.7,-12.4,139,1631,0.00,2.42,0.00,0.000,6,0.000,0.024,2843,1792,3485,0,0,0,0,0,0
$GC,1900,-1.12,-116.8,258.2,-11.4,146,1905,0.00,2.42,0.00,0.000,4,0.000,0.035,2843,3327,3485,0,0,0,0,0,0
$GC,1922,-1.12,-116.8,260.9,-11.1,146,1926,0.00,2.50,0.00,0.000,6,0.000,0.035,2843,1779,3485,0,0,0,0,0,0
$GC,2177,-1.12,-116.8,288.2,-10.4,153,2182,0.00,2.50,0.00,0.000,4,0.000,0.038,2843,3334,3485,0,0,0,0,0,0
$GC,2228,-1.19,-116.8,293.3,-10.0,154,2232,0.00,2.55,0.00,0.000,6,0.000,0.036,2843,1782,3485,0,0,0,0,0,0
$GC,2500,-1.23,-116.8,319.4,-9.4,161,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1782,3484,0,0,0,0,0,0
$GC,2743,-1.27,-116.8,343.8,-10.3,167,2745,0.12,0.00,0.00,0.000,6,0.079,0.000,2804,1782,3483,0,0,0,0,0,0
$GC,2988,-1.27,-116.8,374.4,-12.7,173,2992,0.00,2.53,0.00,0.000,4,0.000,0.047,2804,3324,3482,0,0,0,0,0,0
$GC,3076,-1.27,-116.8,386.5,-13.9,175,3081,0.00,2.60,0.00,0.000,6,0.000,0.054,2804,1795,3482,0,0,0,0,0,0
$GC,3355,-1.27,-116.8,420.6,-12.2,182,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1795,3480,0,0,0,0,0,0
$GC,3598,-1.27,-116.8,449.1,-11.5,188,3602,0.00,2.55,0.00,0.000,4,0.000,0.051,2804,3327,3479,0,0,0,0,0,0
$GC,3619,-1.27,-116.8,451.6,-11.2,188,3623,0.00,2.62,0.00,0.000,6,0.000,0.064,2804,1800,3479,0,0,0,0,0,0
$GC,3874,-1.27,-116.8,477.5,-9.8,195,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1800,3477,0,0,0,0,0,0
$STATE,4115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4115,begin apogee
$GC,4123,-0.31,0.0,501.4,10.0,201,4223,0.98,0.00,97.20,0.924,6,0.091,0.000,3017,1901,3000,0,0,0,0,0,0
$STATE,4224,end apogee,CONTROL_FINISHED_OK
$STATE,4224,begin climb
$GC,4227,1.38,116.8,504.6,0.0,203,4331,1.65,0.00,100.38,0.902,6,0.059,0.000,3391,1901,2523,0,0,0,0,0,0
$GC,4563,1.48,197.5,491.1,5.4,212,4635,0.00,0.00,70.07,0.890,6,0.000,0.000,3392,1901,2194,0,0,0,0,0,0
$GC,4846,1.57,220.1,468.5,8.7,219,4870,0.17,0.00,20.17,0.849,6,0.073,0.000,3435,1900,2101,0,0,0,0,0,0
$GC,5132,1.57,220.1,437.1,11.0,226,5136,0.00,2.67,0.00,0.000,4,0.000,0.049,3435,3495,2096,0,0,0,0,0,0
$GC,5211,1.57,220.1,428.5,10.9,227,5217,0.00,2.67,0.00,0.000,6,0.000,0.053,3435,1917,2094,0,0,0,0,0,0
$GC,5461,1.57,220.1,401.3,10.9,234,5465,0.00,2.62,0.00,0.000,4,0.000,0.042,3435,3498,2093,0,0,0,0,0,0
$GC,5493,1.57,220.1,397.6,11.0,234,5499,0.00,2.65,0.00,0.000,6,0.000,0.047,3435,1928,2092,0,0,0,0,0,0
$GC,5745,1.57,220.1,371.9,10.2,241,5749,0.00,2.58,0.00,0.000,4,0.000,0.035,3435,3494,2091,0,0,0,0,0,0
$GC,5784,1.57,225.8,367.8,9.7,242,5793,0.00,2.60,4.25,0.578,6,0.000,0.040,3435,1935,2080,0,0,0,0,0,0
$GC,6071,1.57,225.8,339.0,10.1,249,6076,0.00,2.58,0.00,0.000,4,0.000,0.041,3435,3502,2078,0,0,0,0,0,0
$GC,6112,1.57,225.8,334.8,10.6,250,6116,0.00,2.60,0.00,0.000,6,0.000,0.039,3435,1935,2077,0,0,0,0,0,0
$GC,6395,1.59,237.0,307.5,9.4,257,6411,0.00,2.58,11.15,0.756,4,0.000,0.040,3435,3492,2034,0,0,0,0,0,0
$GC,6434,1.60,245.5,303.7,9.6,258,6448,0.00,2.58,9.18,0.720,6,0.000,0.036,3435,1943,2000,0,0,0,0,0,0
$GC,6723,1.60,248.7,275.5,9.9,265,6732,0.00,2.58,4.00,0.525,4,0.000,0.041,3435,3497,1987,0,0,0,0,0,0
$GC,6782,1.60,248.7,269.0,11.0,266,6787,0.00,2.55,0.00,0.000,6,0.000,0.035,3435,1952,1986,0,0,0,0,0,0
$GC,7050,1.60,250.2,242.4,10.0,273,7055,0.00,2.53,0.00,0.000,4,0.000,0.039,3435,3495,1985,0,0,0,0,0,0
$GC,7095,1.65,250.2,237.5,10.4,274,7099,0.00,2.53,0.00,0.000,6,0.000,0.035,3435,1959,1984,0,0,0,0,0,0
$GC,7372,1.69,250.2,209.6,10.1,281,7378,0.10,2.83,0.00,0.000,4,0.091,0.073,3462,340,1984,0,0,0,0,0,0
$GC,7407,1.62,250.2,205.7,11.9,281,7412,0.00,2.60,0.00,0.000,6,0.000,0.027,3463,1986,1983,0,0,0,0,0,0
$GC,7664,1.64,268.5,181.2,9.0,300,7688,0.00,2.47,18.45,0.690,4,0.000,0.035,3463,3501,1906,0,0,0,0,0,0
$GC,7786,1.64,268.5,169.0,10.8,310,7791,0.00,2.47,0.00,0.000,6,0.000,0.038,3463,1984,1904,0,0,0,0,0,0
$GC,8049,1.64,268.5,139.8,11.5,334,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1984,1902,0,0,0,0,0,0
$GC,8303,1.64,268.5,110.8,10.8,358,8307,0.00,2.47,0.00,0.000,4,0.000,0.035,3463,3502,1902,0,0,0,0,0,0
$GC,8380,1.68,268.5,102.5,10.8,364,8384,0.00,2.47,0.00,0.000,6,0.000,0.031,3463,1974,1902,0,0,0,0,0,0
$GC,8647,1.68,268.5,73.3,11.0,388,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1973,1902,0,0,0,0,0,0
$GC,8912,1.72,268.5,43.9,10.6,413,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1973,1902,0,0,0,0,0,0
$GC,9206,1.80,279.0,15.6,9.4,449,9223,0.00,0.00,10.48,0.509,6,0.000,0.000,3463,1973,1862,0,0,0,0,0,0
$STATE,9330,end climb,SURFACE_DEPTH_REACHED
$STATE,9330,begin surface coast
$FINISH,0.4,0.975488
$STATE,9381,end surface coast,CONTROL_FINISHED_OK
$STATE,9381,begin surface
$SM_CCo,9403,98.18,0.535,0,0,1369,400.08
$SM_GC,1.19,0.00,0.00,98.18,0.000,0.000,0.535,476,1751,1369,-12.02,-0.54,400.08
$IRIDIUM_FIX,2241.69,-15759.32,120800,141450
$TT8_MAMPS,0.026078
$HUMID,55.94
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.70
$XPDR_PINGS,38
$24V_AH,23.5,8.880
$10V_AH,10.4,7.481
$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,28.450,92.400,345.325,98.175,0.000,30.771,36.218,154.422,9.500,0.000,11.763,944.209,6176.478,534.844,1727.958,466.433,33.361,1156.079,0.000,1745.101,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,145.730,924.235,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.501,268.657,362.497,702.945,1063.167,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38451,474
$CAP_FILE_SIZE,91086,0
$CFSIZE,260165632,178671616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,195304,2250.051,-15758.733,9,2.1,28,10.1