version: 66.06
glider: 146
mission: 6
dive: 126
start: 5 26 111 12 26 44
data:
$ID,146
$MISSION,6
$DIVE,126
$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,-270213.38
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,121937,2249.792,-15757.042,34,1.3,34,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.9
$GPS2,122551,2249.840,-15757.017,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,-0.230
$KALMAN_X,-80470.0,243.1,-35.8,79887.7,-142.0
$KALMAN_Y,-133965.3,123.6,-17.7,144857.9,-101.2
$MHEAD_RNG_PITCHd_Wd,181.4,5427,-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,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.55,0.000,2,0.000,0.000,476,1757,3372,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.0,-8.1,10,127,12.43,2.67,-1.92,0.000,4,0.159,0.064,2812,197,3481,0,0,0,0,0,0
$GC,242,-1.17,-116.8,41.5,-19.4,26,247,0.25,2.42,0.00,0.000,6,0.115,0.015,2862,1816,3482,0,0,0,0,0,0
$GC,509,-1.17,-116.8,77.1,-13.4,50,514,0.00,2.35,0.00,0.000,4,0.000,0.025,2862,3313,3483,0,0,0,0,0,0
$GC,566,-1.17,-116.8,85.5,-12.7,54,576,0.00,2.50,0.00,0.000,6,0.000,0.031,2862,1767,3483,0,0,0,0,0,0
$GC,831,-1.17,-116.8,120.0,-13.1,79,835,0.00,2.42,0.00,0.000,4,0.000,0.025,2862,3318,3484,0,0,0,0,0,0
$GC,877,-1.22,-116.8,126.1,-11.6,82,886,0.00,2.50,0.00,0.000,6,0.000,0.032,2862,1763,3484,0,0,0,0,0,0
$GC,1139,-1.22,-116.8,155.3,-12.1,107,1143,0.00,2.42,0.00,0.000,4,0.000,0.024,2862,3316,3485,0,0,0,0,0,0
$GC,1157,-1.22,-116.8,157.6,-12.2,108,1161,0.00,2.47,0.00,0.000,6,0.000,0.024,2862,1756,3486,0,0,0,0,0,0
$GC,1419,-1.22,-116.8,185.7,-10.2,132,1423,0.00,2.47,0.00,0.000,4,0.000,0.029,2862,3324,3485,0,0,0,0,0,0
$GC,1459,-1.27,-116.8,190.1,-11.2,135,1464,0.00,2.47,0.00,0.000,6,0.000,0.028,2862,1763,3485,0,0,0,0,0,0
$GC,1714,-1.27,-116.8,218.5,-11.4,147,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1763,3486,0,0,0,0,0,0
$GC,1957,-1.32,-116.8,244.0,-10.0,153,1962,0.12,2.47,0.00,0.000,4,0.077,0.034,2818,3310,3486,0,0,0,0,0,0
$GC,2041,-1.32,-116.8,253.6,-11.8,155,2046,0.00,2.47,0.00,0.000,6,0.000,0.037,2818,1781,3486,0,0,0,0,0,0
$GC,2326,-1.32,-116.8,290.6,-13.5,162,2330,0.00,2.42,0.00,0.000,4,0.000,0.031,2818,3309,3485,0,0,0,0,0,0
$GC,2366,-1.32,-116.8,295.9,-13.3,163,2371,0.00,2.47,0.00,0.000,6,0.000,0.038,2818,1785,3486,0,0,0,0,0,0
$GC,2651,-1.32,-116.8,327.3,-10.7,170,2655,0.00,2.50,0.00,0.000,4,0.000,0.035,2818,3317,3485,0,0,0,0,0,0
$GC,2722,-1.32,-116.8,335.8,-11.6,171,2727,0.00,2.50,0.00,0.000,6,0.000,0.048,2818,1796,3485,0,0,0,0,0,0
$GC,2973,-1.32,-116.8,366.7,-12.6,177,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1796,3484,0,0,0,0,0,0
$GC,3217,-1.32,-116.8,393.6,-10.9,183,3222,0.00,2.50,0.00,0.000,4,0.000,0.041,2818,3304,3483,0,0,0,0,0,0
$GC,3245,-1.32,-116.8,397.1,-11.1,183,3249,0.00,2.53,0.00,0.000,6,0.000,0.054,2818,1800,3483,0,0,0,0,0,0
$GC,3494,-1.32,-116.8,424.7,-11.0,189,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1799,3481,0,0,0,0,0,0
$GC,3738,-1.32,-116.8,449.9,-10.1,195,3743,0.00,3.03,0.00,0.000,4,0.000,0.113,2818,185,3480,0,0,0,0,0,0
$GC,3760,-1.32,-116.8,452.3,-10.8,195,3765,0.00,2.53,0.00,0.000,6,0.000,0.035,2818,1735,3480,0,0,0,0,0,0
$GC,4015,-1.32,-116.8,479.8,-10.8,202,4020,0.00,2.75,0.00,0.000,4,0.000,0.059,2818,3357,3478,0,0,0,0,0,0
$GC,4122,-1.37,-116.8,491.6,-10.9,204,4126,0.00,2.65,0.00,0.000,6,0.000,0.064,2818,1815,3477,0,0,0,0,0,0
$STATE,4217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4217,begin apogee
$GC,4224,-0.31,0.0,501.9,10.7,207,4325,1.02,0.00,97.07,0.923,6,0.086,0.000,3048,2002,3001,0,0,0,0,0,0
$STATE,4326,end apogee,CONTROL_FINISHED_OK
$STATE,4326,begin climb
$GC,4328,1.38,116.8,505.1,0.0,209,4438,1.62,2.67,98.38,0.906,4,0.053,0.059,3424,3524,2523,0,0,0,0,0,0
$GC,4449,1.44,206.5,503.4,4.9,212,4534,0.00,2.67,76.53,0.890,6,0.000,0.058,3424,1969,2158,0,0,0,0,0,0
$GC,4786,1.44,206.5,469.1,11.1,221,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1969,2150,0,0,0,0,0,0
$GC,5029,1.44,206.5,443.0,10.6,227,5033,0.00,2.60,0.00,0.000,4,0.000,0.044,3424,3531,2148,0,0,0,0,0,0
$GC,5050,1.44,206.5,440.7,10.3,227,5054,0.00,2.65,0.00,0.000,6,0.000,0.053,3424,1969,2146,0,0,0,0,0,0
$GC,5307,1.47,229.4,417.6,8.7,234,5332,0.00,3.03,19.17,0.838,4,0.000,0.099,3424,376,2064,0,0,0,0,0,0
$GC,5356,1.43,229.4,412.8,10.1,235,5360,0.00,2.55,0.00,0.000,6,0.000,0.031,3424,1953,2062,0,0,0,0,0,0
$GC,5627,1.43,229.4,384.4,10.5,242,5632,0.00,2.65,0.00,0.000,4,0.000,0.045,3424,3551,2060,0,0,0,0,0,0
$GC,5649,1.43,229.4,382.0,10.3,242,5653,0.00,2.65,0.00,0.000,6,0.000,0.045,3424,1959,2059,0,0,0,0,0,0
$GC,5912,1.45,245.9,357.6,9.1,249,5929,0.00,0.00,15.07,0.804,6,0.000,0.000,3424,1959,1997,0,0,0,0,0,0
$GC,6154,1.46,257.7,335.4,9.4,255,6168,0.00,0.00,11.68,0.766,6,0.000,0.000,3424,1958,1950,0,0,0,0,0,0
$GC,6397,1.46,257.7,309.1,11.0,261,6402,0.00,2.62,0.00,0.000,4,0.000,0.037,3424,3560,1946,0,0,0,0,0,0
$GC,6471,1.52,257.7,301.5,10.1,262,6476,0.10,2.65,0.00,0.000,6,0.092,0.035,3452,1954,1945,0,0,0,0,0,0
$GC,6720,1.52,257.7,274.8,10.8,268,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1954,1945,0,0,0,0,0,0
$GC,6964,1.52,257.7,246.4,11.5,274,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1954,1944,0,0,0,0,0,0
$GC,7209,1.52,257.7,217.8,11.9,280,7213,0.00,2.60,0.00,0.000,4,0.000,0.038,3452,3551,1943,0,0,0,0,0,0
$GC,7253,1.52,257.7,212.6,11.3,281,7258,0.00,2.58,0.00,0.000,6,0.000,0.036,3452,1971,1942,0,0,0,0,0,0
$GC,7520,1.52,260.4,186.2,9.9,295,7524,0.00,2.58,0.00,0.000,4,0.000,0.039,3452,3556,1942,0,0,0,0,0,0
$GC,7542,1.53,267.9,183.7,9.6,296,7562,0.00,2.55,9.25,0.645,6,0.000,0.037,3452,1981,1907,0,0,0,0,0,0
$GC,7817,1.53,267.9,156.3,10.7,322,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1981,1906,0,0,0,0,0,0
$GC,8083,1.53,267.9,127.3,11.5,347,8087,0.00,2.70,0.00,0.000,4,0.000,0.061,3452,389,1905,0,0,0,0,0,0
$GC,8117,1.53,267.9,123.5,12.0,349,8121,0.00,2.53,0.00,0.000,6,0.000,0.018,3453,2017,1904,0,0,0,0,0,0
$GC,8385,1.60,290.2,100.9,8.7,373,8413,0.00,2.53,20.33,0.617,4,0.000,0.031,3452,3533,1816,0,0,0,0,0,0
$GC,8483,1.66,290.2,89.4,12.7,381,8488,0.12,2.50,0.00,0.000,6,0.076,0.036,3489,1988,1815,0,0,0,0,0,0
$GC,8746,1.66,290.2,57.3,11.5,405,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1988,1814,0,0,0,0,0,0
$GC,9013,1.66,290.2,27.9,11.6,431,9022,0.00,2.47,0.00,0.000,4,0.000,0.027,3490,3527,1813,0,0,0,0,0,0
$GC,9163,1.66,290.2,11.5,10.7,453,9172,0.00,2.45,0.00,0.000,6,0.000,0.027,3489,2006,1814,0,0,0,0,0,0
$STATE,9225,end climb,SURFACE_DEPTH_REACHED
$STATE,9225,begin surface coast
$FINISH,0.5,0.975882
$STATE,9274,end surface coast,CONTROL_FINISHED_OK
$STATE,9274,begin surface
$SM_CCo,9296,89.15,0.535,0,0,1369,400.08
$SM_GC,1.31,0.00,0.00,89.15,0.000,0.000,0.535,478,1753,1369,-12.15,-0.48,400.08
$IRIDIUM_FIX,2244.02,-15756.28,190800,090952
$TT8_MAMPS,0.026078
$HUMID,58.34
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,38
$24V_AH,23.5,15.998
$10V_AH,10.4,13.699
$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,27.800,108.425,347.475,89.150,0.000,30.556,31.996,174.224,9.500,0.000,31.845,936.334,6076.419,503.404,1769.629,477.575,33.364,1163.776,0.000,1755.826,0.000,0.534,0.000
$DEVICE_MAMPS,158.769,118.885,923.468,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.116,258.071,363.109,693.347,1048.685,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38297,469
$CAP_FILE_SIZE,94643,0
$CFSIZE,260165632,175689728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260511,150430,2248.719,-15757.483,34,1.0,38,10.1