version: 66.06
glider: 146
mission: 6
dive: 127
start: 5 26 111 15 15 36
data:
$ID,146
$MISSION,6
$DIVE,127
$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,-270245.25
$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,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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,150430,2248.719,-15757.483,34,1.0,38,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.1
$GPS2,151443,2248.723,-15757.449,12,1.9,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,-0.235
$KALMAN_X,-80840.3,155.7,149.7,79421.0,-554.3
$KALMAN_Y,-133888.1,-5.7,253.7,142565.3,-363.1
$MHEAD_RNG_PITCHd_Wd,168.8,3247,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-79.03,0.000,2,0.000,0.000,478,1752,3369,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.8,-7.1,10,126,12.48,2.67,-1.98,0.000,4,0.161,0.067,2813,202,3480,0,0,0,0,0,0
$GC,139,-0.37,-116.8,18.2,-37.1,14,149,1.02,2.42,0.00,0.000,6,0.101,0.016,3035,1796,3482,0,0,0,0,0,0
$GC,429,-0.64,-116.8,44.8,-7.3,46,438,0.22,0.00,0.00,0.000,6,0.049,0.000,2962,1798,3483,0,0,0,0,0,0
$GC,697,-0.80,-116.8,66.9,-7.2,71,701,0.00,2.38,0.00,0.000,4,0.000,0.031,2962,3308,3483,0,0,0,0,0,0
$GC,743,-1.01,-116.8,70.8,-7.9,74,748,0.25,2.40,0.00,0.000,6,0.046,0.033,2886,1785,3483,0,0,0,0,0,0
$GC,1006,-1.01,-116.8,104.5,-10.9,98,1011,0.00,2.42,0.00,0.000,4,0.000,0.031,2886,3308,3484,0,0,0,0,0,0
$GC,1027,-1.01,-116.8,106.7,-10.9,99,1031,0.00,2.40,0.00,0.000,6,0.000,0.031,2886,1780,3484,0,0,0,0,0,0
$GC,1295,-1.06,-116.8,138.1,-12.6,123,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1780,3485,0,0,0,0,0,0
$GC,1560,-1.11,-116.8,166.6,-10.6,148,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1780,3485,0,0,0,0,0,0
$GC,1823,-1.17,-116.8,196.5,-11.2,173,1827,0.00,2.72,0.00,0.000,4,0.000,0.066,2885,193,3486,0,0,0,0,0,0
$GC,1855,-1.17,-116.8,199.8,-11.9,175,1859,0.00,2.38,0.00,0.000,6,0.000,0.021,2885,1792,3486,0,0,0,0,0,0
$GC,2106,-1.25,-116.8,220.1,-7.2,181,2111,0.17,2.40,0.00,0.000,4,0.060,0.028,2831,3309,3486,0,0,0,0,0,0
$GC,2146,-1.25,-116.8,223.4,-8.7,182,2151,0.00,2.42,0.00,0.000,6,0.000,0.034,2831,1789,3486,0,0,0,0,0,0
$GC,2429,-1.25,-116.8,256.1,-11.8,189,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1789,3486,0,0,0,0,0,0
$GC,2673,-1.25,-116.8,281.4,-10.0,195,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1789,3486,0,0,0,0,0,0
$GC,2918,-1.25,-116.8,307.0,-10.7,201,2922,0.00,2.45,0.00,0.000,4,0.000,0.035,2831,3306,3485,0,0,0,0,0,0
$GC,2962,-1.29,-116.8,312.3,-11.5,202,2966,0.00,2.47,0.00,0.000,6,0.000,0.041,2831,1788,3485,0,0,0,0,0,0
$GC,3239,-1.29,-116.8,342.5,-10.3,209,3243,0.00,2.47,0.00,0.000,4,0.000,0.035,2831,3303,3484,0,0,0,0,0,0
$GC,3313,-1.35,-116.8,349.5,-9.5,210,3318,0.00,2.50,0.00,0.000,6,0.000,0.046,2831,1789,3484,0,0,0,0,0,0
$GC,3563,-1.35,-116.8,372.1,-9.0,216,3568,0.00,2.42,0.00,0.000,4,0.000,0.041,2831,3295,3482,0,0,0,0,0,0
$GC,3585,-1.35,-116.8,374.5,-10.7,216,3589,0.00,2.50,0.00,0.000,6,0.000,0.051,2831,1797,3482,0,0,0,0,0,0
$GC,3842,-1.35,-116.8,402.3,-11.0,223,3846,0.00,2.42,0.00,0.000,4,0.000,0.043,2831,3294,3480,0,0,0,0,0,0
$GC,3869,-1.40,-116.8,405.5,-10.8,223,3874,0.00,2.53,0.00,0.000,6,0.000,0.059,2831,1798,3480,0,0,0,0,0,0
$GC,4120,-1.43,-116.8,429.4,-9.4,229,4121,0.10,0.00,0.00,0.000,6,0.084,0.000,2796,1797,3479,0,0,0,0,0,0
$GC,4364,-1.43,-116.8,458.0,-12.3,235,4368,0.00,2.47,0.00,0.000,4,0.000,0.049,2796,3290,3478,0,0,0,0,0,0
$GC,4404,-1.43,-116.8,463.1,-13.1,236,4408,0.00,2.55,0.00,0.000,6,0.000,0.068,2795,1811,3477,0,0,0,0,0,0
$GC,4687,-1.43,-116.8,496.2,-11.4,243,4691,0.00,2.53,0.00,0.000,4,0.000,0.061,2796,3292,3475,0,0,0,0,0,0
$GC,4715,-1.43,-116.8,499.4,-11.9,243,4719,0.00,2.58,0.00,0.000,6,0.000,0.070,2796,1806,3475,0,0,0,0,0,0
$STATE,4759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4759,begin apogee
$GC,4765,-0.31,0.0,504.6,11.3,244,4865,1.15,0.00,96.53,0.928,6,0.086,0.000,3052,1928,3001,0,0,0,0,0,0
$STATE,4866,end apogee,CONTROL_FINISHED_OK
$STATE,4866,begin climb
$GC,4868,1.38,116.8,507.6,0.0,246,4972,1.60,0.00,99.62,0.910,6,0.061,0.000,3423,1928,2524,0,0,0,0,0,0
$GC,5207,1.45,168.6,490.1,7.0,255,5257,0.00,2.78,44.42,0.890,4,0.000,0.057,3424,3533,2311,0,0,0,0,0,0
$GC,5324,1.46,179.7,480.2,9.4,257,5340,0.00,2.67,10.50,0.792,6,0.000,0.052,3424,1979,2268,0,0,0,0,0,0
$GC,5614,1.51,218.6,457.0,7.8,265,5655,0.10,0.00,34.53,0.877,6,0.092,0.000,3452,1979,2108,0,0,0,0,0,0
$GC,5900,1.47,218.6,422.7,13.1,272,5905,0.00,2.60,0.00,0.000,4,0.000,0.040,3452,3537,2102,0,0,0,0,0,0
$GC,5934,1.42,218.6,417.7,14.6,272,5941,0.10,2.65,0.00,0.000,6,0.130,0.045,3432,1976,2100,0,0,0,0,0,0
$GC,6184,1.42,218.6,388.7,11.3,279,6189,0.00,2.88,0.00,0.000,4,0.000,0.092,3432,379,2099,0,0,0,0,0,0
$GC,6216,1.38,218.6,384.6,12.3,279,6222,0.00,2.55,0.00,0.000,6,0.000,0.024,3432,1964,2098,0,0,0,0,0,0
$GC,6466,1.38,218.6,358.4,10.3,286,6471,0.00,2.60,0.00,0.000,4,0.000,0.040,3432,3545,2097,0,0,0,0,0,0
$GC,6517,1.38,218.6,353.0,10.4,287,6522,0.00,2.60,0.00,0.000,6,0.000,0.044,3432,1976,2095,0,0,0,0,0,0
$GC,6789,1.39,224.6,326.2,9.7,294,6798,0.00,2.62,4.05,0.551,4,0.000,0.039,3432,3545,2085,0,0,0,0,0,0
$GC,6828,1.40,233.5,322.5,9.5,294,6843,0.00,2.58,9.65,0.746,6,0.000,0.035,3432,1986,2049,0,0,0,0,0,0
$GC,7115,1.44,271.0,299.5,7.9,302,7155,0.00,0.00,34.28,0.799,6,0.000,0.000,3432,1986,1895,0,0,0,0,0,0
$GC,7400,1.44,271.0,268.7,11.3,309,7404,0.00,2.55,0.00,0.000,4,0.000,0.038,3432,3556,1890,0,0,0,0,0,0
$GC,7442,1.49,271.0,264.2,11.9,310,7446,0.00,2.55,0.00,0.000,6,0.000,0.035,3432,1990,1888,0,0,0,0,0,0
$GC,7727,1.53,271.0,231.9,11.3,317,7731,0.00,2.72,0.00,0.000,4,0.000,0.070,3432,393,1888,0,0,0,0,0,0
$GC,7748,1.53,271.0,228.9,12.8,317,7752,0.00,2.55,0.00,0.000,6,0.000,0.018,3432,2016,1886,0,0,0,0,0,0
$GC,8004,1.58,271.0,200.6,10.6,324,8009,0.12,2.45,0.00,0.000,4,0.225,0.033,3467,3533,1886,0,0,0,0,0,0
$GC,8082,1.58,271.0,192.2,12.1,328,8087,0.00,2.47,0.00,0.000,6,0.000,0.031,3467,1996,1884,0,0,0,0,0,0
$GC,8350,1.58,271.0,157.5,12.9,352,8354,0.00,2.72,0.00,0.000,4,0.000,0.064,3467,395,1884,0,0,0,0,0,0
$GC,8418,1.53,271.0,148.1,13.1,357,8423,0.00,2.50,0.00,0.000,6,0.000,0.019,3467,2001,1883,0,0,0,0,0,0
$GC,8686,1.54,279.7,121.5,9.5,381,8696,0.00,0.00,7.07,0.563,6,0.000,0.000,3467,2002,1859,0,0,0,0,0,0
$GC,8953,1.54,279.7,90.3,11.2,406,8957,0.00,2.45,0.00,0.000,4,0.000,0.031,3467,3528,1858,0,0,0,0,0,0
$GC,8977,1.54,279.7,87.3,11.8,407,8983,0.00,2.50,0.00,0.000,6,0.000,0.035,3467,1982,1858,0,0,0,0,0,0
$GC,9243,1.54,279.7,57.6,10.3,432,9252,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1982,1858,0,0,0,0,0,0
$GC,9509,1.59,279.7,29.4,12.1,457,9519,0.00,2.50,0.00,0.000,4,0.000,0.031,3467,3532,1858,0,0,0,0,0,0
$GC,9543,1.65,279.7,25.4,11.6,461,9552,0.00,2.50,0.00,0.000,6,0.000,0.030,3467,1995,1858,0,0,0,0,0,0
$STATE,9759,end climb,SURFACE_DEPTH_REACHED
$STATE,9759,begin surface coast
$FINISH,0.4,0.979841
$STATE,9816,end surface coast,CONTROL_FINISHED_OK
$STATE,9816,begin surface
$SM_CCo,9839,97.78,0.539,0,0,1370,400.08
$SM_GC,1.26,0.00,0.00,97.78,0.000,0.000,0.539,476,1753,1370,-12.16,-0.48,400.08
$IRIDIUM_FIX,2241.69,-15751.94,190800,151524
$TT8_MAMPS,0.026078
$HUMID,57.36
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,46
$24V_AH,23.5,16.121
$10V_AH,10.4,13.817
$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,29.400,112.050,340.650,97.775,0.000,53.465,78.815,271.763,11.500,0.000,31.265,998.185,6407.937,535.954,1933.436,678.076,33.371,1204.034,0.000,1928.056,0.000,0.535,0.000
$DEVICE_MAMPS,224.731,121.186,928.070,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.924,274.800,388.654,786.035,1188.836,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38286,500
$CAP_FILE_SIZE,104730,0
$CFSIZE,260165632,175632384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260511,180231,2246.946,-15757.639,37,1.5,37,10.1