version: 66.06
glider: 146
mission: 6
dive: 136
start: 5 27 111 17 4 21
data:
$ID,146
$MISSION,6
$DIVE,136
$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,-270532.38
$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,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,41
$R_STBD_OVSHOOT,58
$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
$GPS1,165558,2250.205,-15800.430,8,2.9,27,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.5
$GPS2,170328,2250.205,-15800.400,33,2.9,52,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,0.060
$KALMAN_X,-83733.0,21.3,295.9,77255.0,-421.8
$KALMAN_Y,-137093.1,-15.2,469.7,148307.0,-720.4
$MHEAD_RNG_PITCHd_Wd,65.0,5816,-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,-78.38,0.000,2,0.000,0.000,476,1748,3368,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.8,-7.0,10,126,12.62,2.55,-1.92,0.000,4,0.165,0.043,2819,3328,3481,0,0,0,0,0,0
$GC,158,-1.17,-116.8,23.4,-24.3,17,168,0.22,2.53,0.00,0.000,6,0.098,0.031,2871,1782,3482,0,0,0,0,0,0
$GC,435,-1.17,-116.8,68.4,-13.3,44,439,0.00,2.47,0.00,0.000,4,0.000,0.027,2871,3341,3483,0,0,0,0,0,0
$GC,481,-1.17,-116.8,75.7,-12.4,47,491,0.00,2.53,0.00,0.000,6,0.000,0.028,2871,1779,3484,0,0,0,0,0,0
$GC,743,-1.17,-116.8,105.9,-11.3,72,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1779,3484,0,0,0,0,0,0
$GC,999,-1.17,-116.8,134.5,-11.5,96,1003,0.00,2.47,0.00,0.000,4,0.000,0.032,2871,3342,3485,0,0,0,0,0,0
$GC,1051,-1.24,-116.8,140.6,-10.7,100,1056,0.00,2.50,0.00,0.000,6,0.000,0.032,2871,1780,3485,0,0,0,0,0,0
$GC,1319,-1.24,-116.8,167.0,-9.5,124,1324,0.00,2.72,0.00,0.000,4,0.000,0.067,2871,194,3486,0,0,0,0,0,0
$GC,1347,-1.24,-116.8,170.6,-10.5,126,1351,0.00,2.45,0.00,0.000,6,0.000,0.015,2871,1817,3486,0,0,0,0,0,0
$GC,1611,-1.28,-116.8,193.8,-9.2,150,1615,0.00,2.33,0.00,0.000,4,0.000,0.026,2871,3310,3486,0,0,0,0,0,0
$GC,1635,-1.34,-116.8,196.4,-9.3,151,1641,0.15,2.42,0.00,0.000,6,0.064,0.028,2821,1789,3486,0,0,0,0,0,0
$GC,1917,-1.29,-116.8,230.8,-12.6,161,1918,0.12,0.00,0.00,0.000,6,0.114,0.000,2848,1789,3486,0,0,0,0,0,0
$GC,2161,-1.29,-116.8,257.8,-11.0,167,2165,0.00,2.40,0.00,0.000,4,0.000,0.030,2848,3306,3486,0,0,0,0,0,0
$GC,2217,-1.35,-116.8,264.1,-11.0,168,2221,0.00,2.40,0.00,0.000,6,0.000,0.031,2848,1806,3486,0,0,0,0,0,0
$GC,2483,-1.35,-116.8,291.3,-9.8,175,2487,0.00,2.40,0.00,0.000,4,0.000,0.031,2848,3305,3486,0,0,0,0,0,0
$GC,2506,-1.40,-116.8,293.6,-10.1,175,2511,0.00,2.42,0.00,0.000,6,0.000,0.038,2848,1803,3486,0,0,0,0,0,0
$GC,2762,-1.44,-116.8,318.7,-9.8,182,2767,0.15,2.42,0.00,0.000,4,0.065,0.031,2800,3302,3485,0,0,0,0,0,0
$GC,2803,-1.44,-116.8,323.6,-12.3,183,2808,0.00,2.45,0.00,0.000,6,0.000,0.042,2799,1817,3485,0,0,0,0,0,0
$GC,3088,-1.40,-116.8,362.0,-13.6,190,3090,0.10,0.00,0.00,0.000,6,0.123,0.000,2822,1818,3483,0,0,0,0,0,0
$GC,3330,-1.40,-116.8,390.9,-11.7,196,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1818,3483,0,0,0,0,0,0
$GC,3574,-1.40,-116.8,417.5,-10.7,202,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1818,3481,0,0,0,0,0,0
$GC,3819,-1.40,-116.8,443.2,-10.5,208,3823,0.00,2.47,0.00,0.000,4,0.000,0.053,2822,3298,3480,0,0,0,0,0,0
$GC,3840,-1.40,-116.8,445.6,-10.7,208,3844,0.00,2.55,0.00,0.000,6,0.000,0.064,2822,1810,3480,0,0,0,0,0,0
$GC,4096,-1.40,-116.8,472.6,-10.6,215,4100,0.00,2.47,0.00,0.000,4,0.000,0.054,2822,3294,3478,0,0,0,0,0,0
$GC,4141,-1.46,-116.8,477.5,-10.8,216,4145,0.00,2.55,0.00,0.000,6,0.000,0.062,2822,1811,3478,0,0,0,0,0,0
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4381,-0.31,0.0,503.4,11.0,222,4481,1.05,0.00,96.35,0.936,6,0.082,0.000,3059,1930,3000,0,0,0,0,0,0
$STATE,4482,end apogee,CONTROL_FINISHED_OK
$STATE,4482,begin climb
$GC,4484,1.38,116.8,506.9,0.0,224,4594,1.58,3.05,98.57,0.910,4,0.051,0.112,3431,382,2523,0,0,0,0,0,0
$GC,4690,1.31,162.7,500.0,7.4,228,4736,0.00,2.62,39.30,0.885,6,0.000,0.035,3431,1958,2336,0,0,0,0,0,0
$GC,4983,1.34,187.7,475.9,8.6,236,5012,0.00,2.85,21.88,0.863,4,0.000,0.059,3431,3554,2234,0,0,0,0,0,0
$GC,5027,1.33,205.1,471.8,9.0,237,5051,0.00,2.70,16.73,0.834,6,0.000,0.051,3431,1973,2163,0,0,0,0,0,0
$GC,5314,1.33,205.1,440.5,10.9,244,5319,0.00,2.65,0.00,0.000,4,0.000,0.048,3431,3556,2157,0,0,0,0,0,0
$GC,5358,1.33,205.1,435.3,11.7,245,5363,0.00,2.70,0.00,0.000,6,0.000,0.052,3432,1972,2155,0,0,0,0,0,0
$GC,5636,1.33,205.1,406.6,10.2,252,5641,0.00,2.60,0.00,0.000,4,0.000,0.044,3431,3556,2153,0,0,0,0,0,0
$GC,5704,1.33,205.1,400.2,10.0,253,5708,0.00,2.62,0.00,0.000,6,0.000,0.041,3431,1980,2153,0,0,0,0,0,0
$GC,5958,1.34,217.1,376.1,9.3,260,5970,0.00,0.00,9.95,0.773,6,0.000,0.000,3431,1980,2114,0,0,0,0,0,0
$GC,6202,1.34,217.1,351.5,10.2,266,6206,0.00,2.60,0.00,0.000,4,0.000,0.034,3431,3563,2112,0,0,0,0,0,0
$GC,6219,1.34,217.1,349.7,10.2,266,6223,0.00,2.60,0.00,0.000,6,0.000,0.039,3431,1983,2111,0,0,0,0,0,0
$GC,6479,1.36,227.5,324.6,9.4,273,6491,0.00,0.00,10.00,0.752,6,0.000,0.000,3431,1983,2073,0,0,0,0,0,0
$GC,6723,1.37,236.8,301.5,9.5,279,6737,0.00,2.62,9.48,0.732,4,0.000,0.038,3431,3558,2034,0,0,0,0,0,0
$GC,6772,1.37,236.8,296.3,10.7,280,6776,0.00,2.58,0.00,0.000,6,0.000,0.032,3431,1994,2033,0,0,0,0,0,0
$GC,7043,1.37,236.8,266.9,11.1,287,7048,0.00,2.58,0.00,0.000,4,0.000,0.040,3431,3565,2031,0,0,0,0,0,0
$GC,7070,1.37,236.8,263.6,11.7,287,7075,0.00,2.58,0.00,0.000,6,0.000,0.038,3431,1991,2030,0,0,0,0,0,0
$GC,7322,1.37,236.8,236.4,10.8,293,7326,0.00,2.55,0.00,0.000,4,0.000,0.035,3431,3563,2030,0,0,0,0,0,0
$GC,7371,1.41,236.8,231.1,11.0,294,7376,0.00,2.53,0.00,0.000,6,0.000,0.036,3431,2013,2030,0,0,0,0,0,0
$GC,7644,1.47,262.7,206.9,8.5,301,7673,0.00,2.88,23.23,0.727,4,0.000,0.064,3431,402,1929,0,0,0,0,0,0
$GC,7698,1.48,268.3,202.4,9.7,302,7711,0.00,2.60,6.53,0.602,6,0.000,0.020,3431,2051,1906,0,0,0,0,0,0
$GC,7975,1.54,276.3,177.6,9.6,326,7990,0.15,2.50,8.27,0.628,4,0.156,0.041,3471,3556,1873,0,0,0,0,0,0
$GC,8003,1.54,276.3,174.4,12.4,328,8009,0.00,2.50,0.00,0.000,6,0.000,0.035,3471,2025,1873,0,0,0,0,0,0
$GC,8269,1.54,276.3,141.7,11.8,353,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,2025,1872,0,0,0,0,0,0
$GC,8532,1.54,276.3,111.9,11.6,378,8536,0.00,2.50,0.00,0.000,4,0.000,0.032,3470,3570,1871,0,0,0,0,0,0
$GC,8576,1.54,276.3,107.4,10.9,381,8580,0.00,2.50,0.00,0.000,6,0.000,0.029,3471,2026,1870,0,0,0,0,0,0
$GC,8843,1.54,276.3,75.6,11.7,405,8847,0.00,2.78,0.00,0.000,4,0.000,0.061,3471,386,1869,0,0,0,0,0,0
$GC,8877,1.50,276.3,71.2,12.9,407,8881,0.00,2.60,0.00,0.000,6,0.000,0.019,3471,2072,1869,0,0,0,0,0,0
$GC,9144,1.54,276.3,40.6,11.0,431,9148,0.00,2.83,0.00,0.000,4,0.000,0.052,3470,392,1869,0,0,0,0,0,0
$GC,9165,1.54,276.3,38.3,10.6,432,9169,0.00,2.58,0.00,0.000,6,0.000,0.018,3471,2052,1869,0,0,0,0,0,0
$GC,9475,1.61,295.0,10.1,9.0,473,9501,0.00,2.47,16.65,0.534,4,0.000,0.034,3471,3569,1797,0,0,0,0,0,0
$GC,9520,1.61,295.0,5.1,10.9,478,9530,0.00,2.55,0.00,0.000,6,0.000,0.030,3470,2012,1797,0,0,0,0,0,0
$STATE,9537,end climb,SURFACE_DEPTH_REACHED
$STATE,9537,begin surface coast
$FINISH,0.5,0.975420
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9587,begin surface
$SM_CCo,9609,85.00,0.542,0,0,1369,400.08
$SM_GC,1.09,0.00,0.00,85.00,0.000,0.000,0.542,476,1750,1369,-12.21,-0.57,400.08
$IRIDIUM_FIX,2241.69,-15804.53,200800,141449
$TT8_MAMPS,0.026078
$HUMID,57.56
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,47
$24V_AH,23.5,17.213
$10V_AH,10.4,14.800
$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,28.250,123.800,356.925,85.000,0.000,28.441,39.472,212.409,11.750,0.000,54.675,985.277,6250.462,506.590,1852.880,550.837,33.361,1196.257,0.000,1821.041,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,111.982,935.740,541.502,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.652,277.230,377.872,709.320,1072.819,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38540,487
$CAP_FILE_SIZE,102961,0
$CFSIZE,260165632,175157248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,194707,2250.244,-15759.021,30,1.0,30,10.1