version: 66.06
glider: 146
mission: 6
dive: 141
start: 5 28 111 7 28 50
data:
$ID,146
$MISSION,6
$DIVE,141
$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,-270653
$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,29
$R_STBD_OVSHOOT,50
$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
$GPS1,071850,2247.587,-15757.686,7,1.8,7,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.7
$GPS2,072755,2247.634,-15757.781,34,1.9,39,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,0.019
$KALMAN_X,-84435.9,-87.1,143.1,82699.5,-665.1
$KALMAN_Y,-136910.2,161.0,113.4,143547.7,-582.2
$MHEAD_RNG_PITCHd_Wd,264.5,8988,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.18,0.000,2,0.000,0.000,474,1859,3339,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-6.2,10,126,12.57,2.40,-2.55,0.000,4,0.163,0.044,2820,3349,3481,0,0,0,0,0,0
$GC,387,-1.30,-116.8,61.6,-16.5,39,397,0.10,2.55,0.00,0.000,6,0.104,0.031,2844,1778,3483,0,0,0,0,0,0
$GC,650,-1.22,-116.8,101.4,-15.5,64,655,0.00,2.70,0.00,0.000,4,0.000,0.062,2844,189,3484,0,0,0,0,0,0
$GC,752,-1.13,-116.8,119.2,-16.8,72,757,0.17,2.40,0.00,0.000,6,0.115,0.021,2880,1800,3484,0,0,0,0,0,0
$GC,1016,-1.13,-116.8,146.9,-9.5,96,1019,0.00,2.35,0.00,0.000,4,0.000,0.026,2880,3308,3485,0,0,0,0,0,0
$GC,1045,-1.19,-116.8,150.1,-9.5,98,1054,0.00,2.50,0.00,0.000,6,0.000,0.027,2880,1756,3485,0,0,0,0,0,0
$GC,1308,-1.24,-116.8,175.7,-10.5,123,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1756,3486,0,0,0,0,0,0
$GC,1578,-1.30,-116.8,205.1,-10.9,146,1583,0.15,2.45,0.00,0.000,4,0.067,0.025,2832,3305,3486,0,0,0,0,0,0
$GC,1607,-1.30,-116.8,208.5,-12.7,146,1611,0.00,2.50,0.00,0.000,6,0.000,0.027,2831,1744,3486,0,0,0,0,0,0
$GC,1858,-1.30,-116.8,238.0,-11.7,152,1862,0.00,2.47,0.00,0.000,4,0.000,0.032,2831,3302,3486,0,0,0,0,0,0
$GC,1885,-1.30,-116.8,241.3,-11.2,152,1889,0.00,2.47,0.00,0.000,6,0.000,0.033,2831,1750,3486,0,0,0,0,0,0
$GC,2136,-1.30,-116.8,269.9,-11.5,158,2140,0.00,2.47,0.00,0.000,4,0.000,0.030,2831,3310,3486,0,0,0,0,0,0
$GC,2168,-1.30,-116.8,273.8,-11.6,158,2174,0.00,2.50,0.00,0.000,6,0.000,0.032,2831,1768,3486,0,0,0,0,0,0
$GC,2418,-1.30,-116.8,302.1,-11.4,165,2422,0.00,2.45,0.00,0.000,4,0.000,0.037,2831,3301,3486,0,0,0,0,0,0
$GC,2474,-1.30,-116.8,308.2,-10.9,166,2479,0.00,2.50,0.00,0.000,6,0.000,0.041,2831,1782,3486,0,0,0,0,0,0
$GC,2741,-1.30,-116.8,337.1,-10.9,173,2745,0.00,2.47,0.00,0.000,4,0.000,0.040,2831,3298,3484,0,0,0,0,0,0
$GC,2786,-1.35,-116.8,342.2,-11.2,174,2791,0.00,2.53,0.00,0.000,6,0.000,0.048,2831,1784,3484,0,0,0,0,0,0
$GC,3071,-1.35,-116.8,373.4,-11.1,181,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1784,3483,0,0,0,0,0,0
$GC,3313,-1.35,-116.8,399.3,-10.4,187,3318,0.00,2.47,0.00,0.000,4,0.000,0.041,2831,3294,3481,0,0,0,0,0,0
$GC,3414,-1.40,-116.8,409.6,-10.1,189,3418,0.00,2.53,0.00,0.000,6,0.000,0.053,2831,1800,3481,0,0,0,0,0,0
$GC,3681,-1.40,-116.8,435.6,-9.9,196,3686,0.00,2.47,0.00,0.000,4,0.000,0.049,2831,3298,3479,0,0,0,0,0,0
$GC,3715,-1.45,-116.8,439.1,-10.0,196,3720,0.00,2.58,0.00,0.000,6,0.000,0.057,2832,1793,3479,0,0,0,0,0,0
$GC,3965,-1.45,-116.8,462.5,-9.5,203,3969,0.00,2.50,0.00,0.000,4,0.000,0.050,2831,3300,3478,0,0,0,0,0,0
$GC,4028,-1.51,-116.8,468.7,-9.9,204,4033,0.12,2.55,0.00,0.000,6,0.069,0.064,2786,1820,3477,0,0,0,0,0,0
$GC,4289,-1.47,-116.8,499.3,-11.7,211,4294,0.10,2.47,0.00,0.000,4,0.123,0.061,2807,3290,3475,0,0,0,0,0,0
$STATE,4297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4297,begin apogee
$GC,4306,-0.31,0.0,500.6,11.5,211,4407,1.10,0.00,96.60,0.929,6,0.088,0.000,3056,1969,3000,0,0,0,0,0,0
$STATE,4407,end apogee,CONTROL_FINISHED_OK
$STATE,4407,begin climb
$GC,4410,1.38,116.8,503.4,0.0,213,4519,1.58,2.72,100.00,0.904,4,0.048,0.058,3428,3495,2523,0,0,0,0,0,0
$GC,4532,1.43,201.7,500.9,5.1,216,4612,0.00,2.65,72.88,0.891,6,0.000,0.055,3428,1969,2177,0,0,0,0,0,0
$GC,4862,1.43,201.7,468.8,10.2,225,4867,0.00,2.55,0.00,0.000,4,0.000,0.048,3428,3492,2169,0,0,0,0,0,0
$GC,4878,1.43,201.7,467.0,10.3,225,4883,0.00,2.62,0.00,0.000,6,0.000,0.054,3428,1968,2167,0,0,0,0,0,0
$GC,5141,1.43,201.7,440.7,10.1,232,5145,0.00,2.55,0.00,0.000,4,0.000,0.044,3428,3495,2165,0,0,0,0,0,0
$GC,5190,1.43,203.8,435.4,9.9,233,5195,0.00,2.58,0.00,0.000,6,0.000,0.053,3428,1976,2164,0,0,0,0,0,0
$GC,5463,1.45,219.9,410.4,9.1,240,5482,0.00,2.55,14.62,0.821,4,0.000,0.041,3428,3500,2103,0,0,0,0,0,0
$GC,5517,1.45,219.9,405.0,10.1,241,5521,0.00,2.55,0.00,0.000,6,0.000,0.041,3428,1991,2102,0,0,0,0,0,0
$GC,5789,1.45,223.1,378.4,9.9,248,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1991,2099,0,0,0,0,0,0
$GC,6033,1.46,225.3,354.4,9.9,254,6043,0.00,2.47,5.68,0.663,4,0.000,0.038,3428,3496,2081,0,0,0,0,0,0
$GC,6073,1.46,227.0,350.5,9.9,255,6078,0.00,2.47,0.00,0.000,6,0.000,0.044,3428,1993,2080,0,0,0,0,0,0
$GC,6357,1.48,242.1,323.9,9.2,262,6376,0.10,0.00,16.20,0.792,6,0.097,0.000,3456,1993,2014,0,0,0,0,0,0
$GC,6602,1.48,242.1,298.3,10.6,268,6606,0.00,2.47,0.00,0.000,4,0.000,0.038,3456,3509,2009,0,0,0,0,0,0
$GC,6617,1.48,242.1,296.3,10.8,268,6621,0.00,2.47,0.00,0.000,6,0.000,0.038,3456,2001,2009,0,0,0,0,0,0
$GC,6884,1.48,242.1,265.7,11.6,275,6888,0.00,2.45,0.00,0.000,4,0.000,0.037,3456,3505,2008,0,0,0,0,0,0
$GC,6932,1.48,242.1,259.7,12.1,276,6936,0.00,2.42,0.00,0.000,6,0.000,0.034,3456,2020,2007,0,0,0,0,0,0
$GC,7211,1.48,242.1,229.0,11.1,283,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2019,2006,0,0,0,0,0,0
$GC,7454,1.49,252.7,205.5,9.4,289,7469,0.00,2.83,9.65,0.670,4,0.000,0.069,3456,392,1970,0,0,0,0,0,0
$GC,7486,1.49,254.0,202.3,10.0,289,7491,0.00,2.50,0.00,0.000,6,0.000,0.019,3456,1991,1969,0,0,0,0,0,0
$GC,7746,1.49,254.0,173.0,12.2,311,7750,0.00,2.50,0.00,0.000,4,0.000,0.033,3456,3537,1968,0,0,0,0,0,0
$GC,7790,1.49,254.0,167.4,12.6,314,7796,0.00,2.45,0.00,0.000,6,0.000,0.029,3456,2022,1967,0,0,0,0,0,0
$GC,8058,1.51,270.6,138.8,9.1,339,8083,0.00,2.85,16.45,0.650,4,0.000,0.063,3456,395,1898,0,0,0,0,0,0
$GC,8110,1.51,270.6,133.3,11.1,343,8114,0.00,2.58,0.00,0.000,6,0.000,0.019,3456,2034,1897,0,0,0,0,0,0
$GC,8377,1.51,270.6,107.5,10.9,367,8381,0.00,2.40,0.00,0.000,4,0.000,0.031,3456,3533,1896,0,0,0,0,0,0
$GC,8409,1.57,270.6,103.4,12.1,369,8413,0.00,2.47,0.00,0.000,6,0.000,0.037,3456,2002,1894,0,0,0,0,0,0
$GC,8677,1.63,281.3,76.1,9.4,393,8695,0.12,2.78,10.60,0.565,4,0.077,0.057,3492,401,1853,0,0,0,0,0,0
$GC,8720,1.56,281.3,71.0,11.0,396,8729,0.00,2.55,0.00,0.000,6,0.000,0.018,3492,2018,1852,0,0,0,0,0,0
$GC,8986,1.57,282.8,43.3,10.0,421,8991,0.00,2.72,0.00,0.000,4,0.000,0.052,3492,396,1852,0,0,0,0,0,0
$GC,9046,1.53,282.8,36.2,12.6,425,9051,0.12,2.50,0.00,0.000,6,0.115,0.018,3464,2018,1852,0,0,0,0,0,0
$GC,9364,1.59,296.7,5.8,9.2,469,9382,0.00,0.00,14.48,0.515,6,0.000,0.000,3464,2020,1790,0,0,0,0,0,0
$STATE,9391,end climb,SURFACE_DEPTH_REACHED
$STATE,9391,begin surface coast
$FINISH,0.5,0.978818
$STATE,9446,end surface coast,CONTROL_FINISHED_OK
$STATE,9446,begin surface
$SM_CCo,9469,83.80,0.535,0,0,1370,400.08
$SM_GC,1.36,0.00,0.00,83.80,0.000,0.000,0.535,476,1754,1370,-12.21,-0.45,400.08
$IRIDIUM_FIX,2237.01,-15825.37,210800,070753
$TT8_MAMPS,0.026078
$HUMID,57.48
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.90
$XPDR_PINGS,49
$24V_AH,23.5,17.837
$10V_AH,10.4,15.356
$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,28.350,126.650,357.150,83.800,0.000,51.682,114.899,160.653,12.250,0.000,40.680,980.499,6144.222,516.594,1864.217,597.265,33.365,1209.965,0.000,1835.114,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,69.030,928.837,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.596,282.023,372.212,718.161,1087.294,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38418,480
$CAP_FILE_SIZE,102816,0
$CFSIZE,260165632,174891008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,100936,2247.346,-15759.353,39,1.0,51,10.1