version: 66.06
glider: 146
mission: 6
dive: 142
start: 5 28 111 10 26 25
data:
$ID,146
$MISSION,6
$DIVE,142
$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,-270671.34
$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,45
$R_STBD_OVSHOOT,67
$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
$GPS1,100936,2247.346,-15759.353,39,1.0,51,10.1
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.4
$GPS2,102532,2247.485,-15759.400,7,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,-0.039
$KALMAN_X,-84477.0,-182.0,-160.5,80369.8,-145.6
$KALMAN_Y,-136842.1,74.0,-333.7,143735.8,30.4
$MHEAD_RNG_PITCHd_Wd,250.3,6212,-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,-78.20,0.000,2,0.000,0.000,475,1754,3386,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.0,-7.6,10,125,12.55,2.67,-1.65,0.000,4,0.162,0.067,2820,207,3480,0,0,0,0,0,0
$GC,337,-1.15,-116.8,63.5,-23.3,34,342,0.28,2.38,0.00,0.000,6,0.115,0.014,2877,1793,3482,0,0,0,0,0,0
$GC,599,-1.15,-116.8,95.8,-11.1,58,604,0.00,2.35,0.00,0.000,4,0.000,0.024,2876,3310,3483,0,0,0,0,0,0
$GC,621,-1.15,-116.8,97.9,-10.8,59,626,0.00,2.42,0.00,0.000,6,0.000,0.025,2877,1784,3483,0,0,0,0,0,0
$GC,888,-1.15,-116.8,128.9,-12.5,83,892,0.00,2.67,0.00,0.000,4,0.000,0.061,2877,199,3483,0,0,0,0,0,0
$GC,920,-1.15,-116.8,132.9,-12.4,85,925,0.00,2.38,0.00,0.000,6,0.000,0.020,2877,1787,3483,0,0,0,0,0,0
$GC,1189,-1.19,-116.8,161.4,-10.0,109,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1788,3484,0,0,0,0,0,0
$GC,1451,-1.24,-116.8,188.0,-10.5,134,1455,0.00,2.35,0.00,0.000,4,0.000,0.025,2877,3301,3484,0,0,0,0,0,0
$GC,1475,-1.30,-116.8,190.5,-10.2,135,1483,0.10,2.45,0.00,0.000,6,0.037,0.027,2831,1781,3484,0,0,0,0,0,0
$GC,1758,-1.30,-116.8,228.8,-13.9,148,1762,0.00,2.38,0.00,0.000,4,0.000,0.030,2832,3298,3484,0,0,0,0,0,0
$GC,1775,-1.30,-116.8,231.0,-14.0,148,1779,0.00,2.45,0.00,0.000,6,0.000,0.030,2831,1770,3484,0,0,0,0,0,0
$GC,2035,-1.30,-116.8,262.5,-11.6,155,2039,0.00,2.42,0.00,0.000,4,0.000,0.031,2832,3295,3483,0,0,0,0,0,0
$GC,2056,-1.30,-116.8,264.8,-10.6,155,2060,0.00,2.45,0.00,0.000,6,0.000,0.034,2831,1775,3483,0,0,0,0,0,0
$GC,2317,-1.30,-116.8,293.4,-11.4,162,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1775,3483,0,0,0,0,0,0
$GC,2562,-1.30,-116.8,324.3,-13.0,168,2566,0.00,2.45,0.00,0.000,4,0.000,0.041,2831,3292,3482,0,0,0,0,0,0
$GC,2646,-1.34,-116.8,334.8,-11.9,170,2651,0.00,2.50,0.00,0.000,6,0.000,0.044,2831,1790,3482,0,0,0,0,0,0
$GC,2931,-1.34,-116.8,365.3,-10.5,177,2935,0.00,2.45,0.00,0.000,4,0.000,0.043,2831,3295,3481,0,0,0,0,0,0
$GC,2954,-1.34,-116.8,367.9,-10.4,177,2958,0.00,2.53,0.00,0.000,6,0.000,0.048,2831,1789,3481,0,0,0,0,0,0
$GC,3208,-1.34,-116.8,397.1,-11.9,184,3213,0.00,2.45,0.00,0.000,4,0.000,0.041,2831,3298,3479,0,0,0,0,0,0
$GC,3236,-1.38,-116.8,400.5,-12.3,184,3240,0.00,2.53,0.00,0.000,6,0.000,0.061,2831,1810,3479,0,0,0,0,0,0
$GC,3487,-1.38,-116.8,429.9,-11.6,190,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1810,3477,0,0,0,0,0,0
$GC,3730,-1.38,-116.8,454.7,-9.6,196,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1810,3476,0,0,0,0,0,0
$GC,3974,-1.42,-116.8,476.8,-9.1,202,3978,0.00,2.50,0.00,0.000,4,0.000,0.059,2831,3292,3474,0,0,0,0,0,0
$GC,4015,-1.49,-116.8,480.4,-9.6,203,4020,0.10,2.58,0.00,0.000,6,0.082,0.069,2791,1805,3474,0,0,0,0,0,0
$STATE,4214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4214,begin apogee
$GC,4220,-0.31,0.0,503.2,11.4,208,4320,1.20,0.00,96.03,0.922,6,0.090,0.000,3058,1924,3001,0,0,0,0,0,0
$STATE,4321,end apogee,CONTROL_FINISHED_OK
$STATE,4321,begin climb
$GC,4323,1.38,116.8,506.2,0.0,210,4434,1.58,2.83,99.12,0.900,4,0.052,0.062,3430,3538,2522,0,0,0,0,0,0
$GC,4479,1.38,171.2,501.5,6.9,213,4533,0.00,2.72,46.65,0.879,6,0.000,0.058,3430,1964,2302,0,0,0,0,0,0
$GC,4817,1.40,182.8,470.9,9.4,222,4834,0.00,3.10,10.55,0.788,4,0.000,0.122,3430,384,2254,0,0,0,0,0,0
$GC,4845,1.35,182.8,468.1,10.1,222,4849,0.00,2.60,0.00,0.000,6,0.000,0.035,3430,1951,2253,0,0,0,0,0,0
$GC,5096,1.35,182.8,443.3,10.1,228,5100,0.00,2.72,0.00,0.000,4,0.000,0.057,3430,3564,2250,0,0,0,0,0,0
$GC,5162,1.35,182.8,436.1,11.0,229,5166,0.00,2.67,0.00,0.000,6,0.000,0.042,3430,1975,2248,0,0,0,0,0,0
$GC,5423,1.37,198.5,412.0,9.1,236,5439,0.00,0.00,14.12,0.816,6,0.000,0.000,3430,1974,2191,0,0,0,0,0,0
$GC,5667,1.37,199.8,388.1,10.0,242,5672,0.00,2.88,0.00,0.000,4,0.000,0.086,3430,384,2187,0,0,0,0,0,0
$GC,5683,1.37,199.8,386.2,10.1,242,5687,0.00,2.60,0.00,0.000,6,0.000,0.027,3430,2006,2184,0,0,0,0,0,0
$GC,5943,1.37,199.8,358.3,10.8,249,5948,0.00,2.53,0.00,0.000,4,0.000,0.044,3430,3544,2184,0,0,0,0,0,0
$GC,5994,1.37,199.8,353.2,10.7,250,5998,0.00,2.60,0.00,0.000,6,0.000,0.041,3430,1978,2183,0,0,0,0,0,0
$GC,6266,1.41,231.3,329.8,8.2,257,6296,0.00,0.00,28.77,0.816,6,0.000,0.000,3430,1977,2058,0,0,0,0,0,0
$GC,6509,1.43,252.8,308.8,8.8,263,6531,0.00,0.00,20.15,0.785,6,0.000,0.000,3430,1977,1970,0,0,0,0,0,0
$GC,6754,1.43,252.8,281.6,11.4,269,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1977,1965,0,0,0,0,0,0
$GC,6997,1.47,252.8,255.3,10.6,275,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1977,1963,0,0,0,0,0,0
$GC,7241,1.53,267.2,231.6,9.2,281,7261,0.12,2.62,13.00,0.705,4,0.084,0.033,3465,3541,1910,0,0,0,0,0,0
$GC,7284,1.54,271.3,227.2,9.8,282,7294,0.00,2.55,5.00,0.551,6,0.000,0.037,3465,1984,1894,0,0,0,0,0,0
$GC,7569,1.54,271.3,195.2,11.7,289,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1984,1891,0,0,0,0,0,0
$GC,7827,1.54,271.3,164.0,11.1,313,7831,0.00,2.53,0.00,0.000,4,0.000,0.032,3465,3546,1891,0,0,0,0,0,0
$GC,7885,1.54,271.3,156.7,11.6,317,7891,0.00,2.53,0.00,0.000,6,0.000,0.030,3466,1986,1890,0,0,0,0,0,0
$GC,8148,1.54,271.3,127.8,10.9,342,8152,0.00,2.53,0.00,0.000,4,0.000,0.035,3465,3551,1890,0,0,0,0,0,0
$GC,8216,1.54,271.3,120.5,11.6,347,8220,0.00,2.53,0.00,0.000,6,0.000,0.031,3465,1986,1890,0,0,0,0,0,0
$GC,8482,1.54,271.3,91.6,10.6,371,8486,0.00,2.67,0.00,0.000,4,0.000,0.060,3465,394,1890,0,0,0,0,0,0
$GC,8527,1.54,271.3,85.6,12.1,374,8536,0.00,2.53,0.00,0.000,6,0.000,0.018,3465,2012,1889,0,0,0,0,0,0
$GC,8795,1.57,271.3,54.9,11.8,399,8799,0.00,2.42,0.00,0.000,4,0.000,0.031,3465,3532,1889,0,0,0,0,0,0
$GC,8853,1.64,273.9,47.6,9.9,403,8862,0.00,2.50,0.00,0.000,6,0.000,0.029,3465,1994,1889,0,0,0,0,0,0
$GC,9128,1.73,307.0,27.8,8.1,430,9169,0.17,2.78,30.90,0.552,4,0.065,0.054,3515,390,1747,0,0,0,0,0,0
$GC,9275,1.67,307.0,11.2,13.7,450,9283,0.08,2.50,0.00,0.000,6,0.087,0.017,3495,1996,1745,0,0,0,0,0,0
$STATE,9331,end climb,SURFACE_DEPTH_REACHED
$STATE,9331,begin surface coast
$FINISH,0.6,0.975688
$STATE,9376,end surface coast,CONTROL_FINISHED_OK
$STATE,9376,begin surface
$SM_CCo,9398,75.30,0.532,0,0,1369,400.08
$SM_GC,1.26,0.00,0.00,75.30,0.000,0.000,0.532,478,1744,1369,-12.20,-0.74,400.08
$IRIDIUM_FIX,2237.01,-15758.03,210800,101017
$TT8_MAMPS,0.026078
$HUMID,57.67
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,37
$24V_AH,23.5,17.968
$10V_AH,10.4,15.464
$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,28.450,107.825,364.300,75.300,0.000,117.434,194.078,309.847,9.250,0.000,17.708,940.125,6376.073,498.458,1707.491,910.211,33.363,1149.921,0.000,1713.747,0.000,0.538,0.000
$DEVICE_MAMPS,161.837,121.953,921.934,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.604,259.182,354.987,669.291,1012.402,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,35322,464
$CAP_FILE_SIZE,102519,0
$CFSIZE,260165632,174841856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,130528,2247.211,-15800.971,8,5.5,27,10.1