version: 66.06
glider: 146
mission: 6
dive: 122
start: 5 26 111 1 28 14
data:
$ID,146
$MISSION,6
$DIVE,122
$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,-270112.88
$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,54
$R_STBD_OVSHOOT,60
$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
$GPS1,011157,2249.501,-15801.643,36,99.0,55,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.8
$GPS2,012719,2249.640,-15801.726,8,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.032
$KALMAN_X,-79638.2,-94.9,186.0,71123.4,-370.3
$KALMAN_Y,-133500.3,58.6,212.2,143852.1,-152.7
$MHEAD_RNG_PITCHd_Wd,72.2,8094,-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,-78.65,0.000,2,0.000,0.000,474,1743,3373,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.7,-6.8,10,117,12.57,0.00,-1.92,0.000,6,0.165,0.000,2808,1743,3480,0,0,0,0,0,0
$GC,398,-1.23,-116.8,65.7,-17.9,43,403,0.20,2.53,0.00,0.000,4,0.120,0.024,2848,3334,3482,0,0,0,0,0,0
$GC,493,-1.23,-116.8,79.9,-14.3,50,497,0.00,2.45,0.00,0.000,6,0.000,0.033,2848,1794,3483,0,0,0,0,0,0
$GC,757,-1.20,-116.8,116.4,-12.9,74,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1794,3483,0,0,0,0,0,0
$GC,1021,-1.20,-116.8,150.7,-13.5,99,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1793,3484,0,0,0,0,0,0
$GC,1287,-1.20,-116.8,184.1,-12.3,124,1292,0.00,2.40,0.00,0.000,4,0.000,0.029,2848,3333,3484,0,0,0,0,0,0
$GC,1320,-1.20,-116.8,188.9,-12.4,126,1330,0.00,2.50,0.00,0.000,6,0.000,0.026,2848,1779,3484,0,0,0,0,0,0
$GC,1574,-1.20,-116.8,220.8,-12.8,139,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1779,3484,0,0,0,0,0,0
$GC,1819,-1.20,-116.8,250.3,-12.1,145,1823,0.00,2.45,0.00,0.000,4,0.000,0.032,2848,3330,3484,0,0,0,0,0,0
$GC,1874,-1.25,-116.8,257.2,-12.3,146,1878,0.00,2.47,0.00,0.000,6,0.000,0.036,2848,1782,3484,0,0,0,0,0,0
$GC,2141,-1.25,-116.8,287.2,-11.1,153,2146,0.00,2.45,0.00,0.000,4,0.000,0.033,2848,3326,3484,0,0,0,0,0,0
$GC,2204,-1.31,-116.8,293.4,-9.5,154,2209,0.00,2.53,0.00,0.000,6,0.000,0.040,2848,1780,3484,0,0,0,0,0,0
$GC,2466,-1.35,-116.8,317.0,-8.8,161,2471,0.10,2.50,0.00,0.000,4,0.086,0.039,2813,3333,3483,0,0,0,0,0,0
$GC,2510,-1.35,-116.8,321.4,-9.8,162,2514,0.00,2.55,0.00,0.000,6,0.000,0.041,2813,1792,3483,0,0,0,0,0,0
$GC,2789,-1.35,-116.8,352.4,-11.7,169,2793,0.00,2.50,0.00,0.000,4,0.000,0.044,2813,3330,3482,0,0,0,0,0,0
$GC,2821,-1.35,-116.8,356.7,-12.3,169,2827,0.00,2.55,0.00,0.000,6,0.000,0.045,2813,1803,3482,0,0,0,0,0,0
$GC,3071,-1.35,-116.8,385.9,-11.6,176,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1803,3481,0,0,0,0,0,0
$GC,3316,-1.35,-116.8,412.1,-10.7,182,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1803,3479,0,0,0,0,0,0
$GC,3558,-1.35,-116.8,438.0,-10.8,188,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1803,3478,0,0,0,0,0,0
$GC,3802,-1.35,-116.8,465.2,-11.2,194,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1803,3476,0,0,0,0,0,0
$GC,4046,-1.35,-116.8,491.1,-10.4,200,4050,0.00,2.58,0.00,0.000,4,0.000,0.067,2813,3321,3474,0,0,0,0,0,0
$GC,4079,-1.35,-116.8,494.6,-10.5,200,4085,0.00,2.65,0.00,0.000,6,0.000,0.067,2814,1797,3474,0,0,0,0,0,0
$STATE,4164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4164,begin apogee
$GC,4170,-0.31,0.0,503.5,10.2,203,4269,1.05,0.00,95.80,0.930,6,0.087,0.000,3049,1965,3001,0,0,0,0,0,0
$STATE,4270,end apogee,CONTROL_FINISHED_OK
$STATE,4270,begin climb
$GC,4272,1.38,116.8,506.2,0.0,205,4376,1.62,0.00,99.38,0.907,6,0.060,0.000,3425,1965,2524,0,0,0,0,0,0
$GC,4612,1.44,164.3,487.8,7.3,214,4658,0.00,2.70,40.50,0.888,4,0.000,0.057,3425,3526,2329,0,0,0,0,0,0
$GC,4730,1.44,164.3,477.0,10.1,216,4736,0.00,2.67,0.00,0.000,6,0.000,0.055,3425,1965,2325,0,0,0,0,0,0
$GC,4982,1.46,178.4,453.7,9.2,223,5001,0.00,2.70,12.60,0.822,4,0.000,0.043,3425,3529,2272,0,0,0,0,0,0
$GC,5012,1.47,187.0,450.6,9.5,223,5027,0.00,2.65,9.00,0.769,6,0.000,0.054,3425,1973,2238,0,0,0,0,0,0
$GC,5312,1.48,196.9,421.9,9.5,231,5323,0.00,0.00,9.15,0.778,6,0.000,0.000,3425,1973,2198,0,0,0,0,0,0
$GC,5557,1.52,231.0,401.6,8.1,237,5598,0.12,2.97,30.90,0.858,4,0.084,0.099,3460,382,2058,0,0,0,0,0,0
$GC,5622,1.42,231.0,395.3,11.3,238,5627,0.15,2.58,0.00,0.000,6,0.120,0.027,3431,1968,2056,0,0,0,0,0,0
$GC,5884,1.45,250.6,371.6,8.9,245,5904,0.00,0.00,17.95,0.821,6,0.000,0.000,3430,1968,1978,0,0,0,0,0,0
$GC,6126,1.45,254.5,347.9,9.8,251,6136,0.00,2.83,4.25,0.568,4,0.000,0.072,3430,375,1963,0,0,0,0,0,0
$GC,6147,1.46,259.0,345.8,9.8,251,6158,0.00,2.60,5.82,0.658,6,0.000,0.028,3430,1995,1945,0,0,0,0,0,0
$GC,6403,1.46,259.0,318.3,11.1,257,6407,0.00,2.55,0.00,0.000,4,0.000,0.042,3430,3545,1941,0,0,0,0,0,0
$GC,6429,1.46,259.0,314.6,12.4,257,6434,0.00,2.58,0.00,0.000,6,0.000,0.040,3430,1971,1940,0,0,0,0,0,0
$GC,6685,1.46,259.0,284.7,11.4,264,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1970,1939,0,0,0,0,0,0
$GC,6929,1.46,259.0,258.3,10.8,270,6933,0.00,2.58,0.00,0.000,4,0.000,0.035,3430,3546,1939,0,0,0,0,0,0
$GC,6974,1.51,259.0,253.5,11.2,271,6978,0.00,2.60,0.00,0.000,6,0.000,0.037,3430,1965,1938,0,0,0,0,0,0
$GC,7251,1.58,278.2,227.2,8.9,278,7271,0.15,0.00,17.38,0.730,6,0.077,0.000,3470,1965,1866,0,0,0,0,0,0
$GC,7496,1.58,278.2,197.4,12.7,284,7500,0.00,2.55,0.00,0.000,4,0.000,0.033,3470,3543,1862,0,0,0,0,0,0
$GC,7535,1.58,278.2,192.2,12.9,287,7540,0.00,2.53,0.00,0.000,6,0.000,0.032,3470,1977,1860,0,0,0,0,0,0
$GC,7798,1.58,278.2,158.0,13.0,311,7802,0.00,2.55,0.00,0.000,4,0.000,0.038,3470,3548,1860,0,0,0,0,0,0
$GC,7820,1.58,278.2,154.9,13.2,312,7830,0.00,2.55,0.00,0.000,6,0.000,0.030,3470,1992,1860,0,0,0,0,0,0
$GC,8085,1.58,278.2,123.8,11.5,337,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1992,1859,0,0,0,0,0,0
$GC,8347,1.58,278.2,92.2,11.7,362,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1993,1860,0,0,0,0,0,0
$GC,8605,1.58,278.2,63.8,10.6,386,8609,0.00,2.50,0.00,0.000,4,0.000,0.031,3470,3545,1859,0,0,0,0,0,0
$GC,8650,1.62,278.2,58.5,11.4,389,8655,0.00,2.50,0.00,0.000,6,0.000,0.030,3469,1983,1859,0,0,0,0,0,0
$GC,8918,1.67,278.2,30.1,10.6,413,8923,0.00,2.47,0.00,0.000,4,0.000,0.029,3470,3545,1859,0,0,0,0,0,0
$GC,8948,1.71,278.2,26.5,11.1,416,8957,0.05,2.53,0.00,0.000,6,0.061,0.028,3496,1986,1859,0,0,0,0,0,0
$STATE,9139,end climb,SURFACE_DEPTH_REACHED
$STATE,9139,begin surface coast
$FINISH,0.4,0.978904
$STATE,9182,end surface coast,CONTROL_FINISHED_OK
$STATE,9182,begin surface
$SM_CCo,9204,97.80,0.543,0,0,1370,400.08
$SM_GC,1.29,0.00,0.00,97.80,0.000,0.000,0.543,475,1734,1370,-12.17,-1.02,400.08
$IRIDIUM_FIX,2241.69,-15757.16,190800,010152
$TT8_MAMPS,0.025311
$HUMID,58.86
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,36
$24V_AH,23.5,15.528
$10V_AH,10.4,13.277
$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,28.225,87.875,342.725,97.800,0.000,125.663,243.429,224.572,9.000,0.000,16.314,885.994,6344.018,533.627,1613.423,850.157,33.368,1111.291,0.000,1619.750,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,101.244,930.371,543.036,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,304.546,243.138,337.310,646.963,973.959,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,35158,449
$CAP_FILE_SIZE,90119,0
$CFSIZE,260165632,175894528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260511,040437,2249.753,-15800.458,39,1.3,39,10.1