version: 66.06
glider: 146
mission: 6
dive: 28
start: 5 14 111 8 28 38
data:
$ID,146
$MISSION,6
$DIVE,28
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$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,200
$T_MISSION,600
$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,-267867.84
$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,3060
$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,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,29
$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
$GPS1,082136,2247.208,-15801.489,42,1.4,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.2
$GPS2,082744,2247.148,-15801.508,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.120,0.154
$KALMAN_X,-27828.6,369.1,-32.4,19441.2,-1100.3
$KALMAN_Y,-49779.4,-185.9,-122.7,56096.0,-2114.3
$MHEAD_RNG_PITCHd_Wd,311.8,2563,-24.2,-10.000
$D_GRID,600
$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,-1.61,-79.6,0.0,0.0,0,97,0.00,0.00,-77.28,0.000,6,0.000,0.000,476,1738,3326,0,0,0,0,0,0
$GC,100,-1.63,-98.7,4.2,-8.4,10,127,12.45,2.65,-1.40,0.000,4,0.177,0.044,2697,3356,3408,0,0,0,0,0,0
$GC,405,-1.41,-98.7,84.4,-22.5,40,410,0.28,2.53,0.00,0.000,6,0.134,0.032,2748,1786,3410,0,0,0,0,0,0
$GC,669,-1.31,-98.7,132.1,-18.2,64,674,0.12,2.75,0.00,0.000,4,0.153,0.064,2769,196,3411,0,0,0,0,0,0
$GC,691,-1.21,-98.7,135.7,-17.1,65,696,0.12,2.42,0.00,0.000,6,0.146,0.016,2792,1810,3411,0,0,0,0,0,0
$GC,955,-1.21,-98.7,171.1,-11.6,89,959,0.00,2.38,0.00,0.000,4,0.000,0.031,2792,3312,3412,0,0,0,0,0,0
$GC,971,-1.21,-98.7,173.5,-12.3,90,975,0.00,2.47,0.00,0.000,6,0.000,0.025,2792,1753,3412,0,0,0,0,0,0
$GC,1250,-1.21,-98.7,211.8,-14.0,110,1254,0.00,2.45,0.00,0.000,4,0.000,0.030,2792,3306,3413,0,0,0,0,0,0
$GC,1267,-1.21,-98.7,214.3,-14.4,110,1271,0.00,2.47,0.00,0.000,6,0.000,0.026,2792,1765,3412,0,0,0,0,0,0
$GC,1527,-1.25,-98.7,250.2,-13.3,117,1532,0.00,2.47,0.00,0.000,4,0.000,0.035,2792,3311,3413,0,0,0,0,0,0
$GC,1618,-1.32,-98.7,261.7,-11.9,119,1622,0.00,2.47,0.00,0.000,6,0.000,0.031,2792,1786,3413,0,0,0,0,0,0
$GC,1895,-1.37,-98.7,294.6,-11.7,126,1897,0.12,0.00,0.00,0.000,6,0.079,0.000,2753,1786,3413,0,0,0,0,0,0
$GC,2139,-1.37,-98.7,327.9,-14.1,132,2143,0.00,2.45,0.00,0.000,4,0.000,0.041,2753,3299,3412,0,0,0,0,0,0
$GC,2229,-1.37,-98.7,340.0,-13.1,134,2233,0.00,2.53,0.00,0.000,6,0.000,0.051,2753,1798,3413,0,0,0,0,0,0
$GC,2506,-1.37,-98.7,377.0,-13.6,141,2510,0.00,2.45,0.00,0.000,4,0.000,0.039,2753,3298,3412,0,0,0,0,0,0
$GC,2527,-1.37,-98.7,379.9,-13.5,141,2531,0.00,2.55,0.00,0.000,6,0.000,0.055,2753,1800,3411,0,0,0,0,0,0
$GC,2784,-1.37,-98.7,414.2,-13.7,148,2788,0.00,2.50,0.00,0.000,4,0.000,0.052,2753,3297,3411,0,0,0,0,0,0
$GC,2844,-1.42,-98.7,422.9,-13.1,149,2849,0.00,2.55,0.00,0.000,6,0.000,0.065,2753,1815,3410,0,0,0,0,0,0
$GC,3107,-1.42,-98.7,457.4,-13.4,156,3111,0.00,2.47,0.00,0.000,4,0.000,0.051,2753,3295,3409,0,0,0,0,0,0
$GC,3152,-1.46,-98.7,464.0,-14.0,157,3156,0.00,2.55,0.00,0.000,6,0.000,0.063,2753,1827,3408,0,0,0,0,0,0
$GC,3429,-1.46,-98.7,499.9,-12.6,164,3433,0.00,2.53,0.00,0.000,4,0.000,0.062,2753,3292,3406,0,0,0,0,0,0
$GC,3450,-1.50,-98.7,502.7,-12.6,164,3454,0.00,2.58,0.00,0.000,6,0.000,0.071,2753,1823,3406,0,0,0,0,0,0
$GC,3706,-1.50,-98.7,532.4,-11.5,171,3710,0.00,2.55,0.00,0.000,4,0.000,0.071,2753,3288,3405,0,0,0,0,0,0
$GC,3772,-1.55,-98.7,540.5,-11.8,172,3777,0.15,2.55,0.00,0.000,6,0.075,0.074,2713,1842,3405,0,0,0,0,0,0
$GC,4028,-1.51,-98.7,572.4,-12.6,179,4033,0.00,3.38,0.00,0.000,4,0.000,0.148,2714,187,3403,0,0,0,0,0,0
$GC,4051,-1.43,-98.7,575.7,-14.3,179,4056,0.15,2.67,0.00,0.000,6,0.130,0.055,2742,1768,3402,0,0,0,0,0,0
$STATE,4304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4304,begin apogee
$GC,4310,-0.31,0.0,604.7,11.1,186,4397,1.17,0.00,82.82,1.017,6,0.110,0.000,2988,1820,3001,0,0,0,0,0,0
$STATE,4397,end apogee,CONTROL_FINISHED_OK
$STATE,4398,begin climb
$GC,4401,1.63,98.7,607.6,0.0,188,4498,1.88,3.17,85.60,0.991,4,0.074,0.119,3408,241,2597,0,0,0,0,0,0
$GC,4566,1.66,124.0,599.9,7.9,191,4596,0.00,2.75,22.85,0.943,6,0.000,0.061,3408,1824,2494,0,0,0,0,0,0
$GC,4860,1.80,154.5,578.3,7.4,199,4895,0.20,2.97,26.73,0.953,4,0.071,0.084,3457,3405,2370,0,0,0,0,0,0
$GC,5020,1.82,165.8,564.2,9.0,202,5036,0.00,2.78,10.95,0.873,6,0.000,0.071,3457,1849,2325,0,0,0,0,0,0
$GC,5280,1.86,171.4,539.8,9.5,209,5288,0.00,0.00,6.05,0.762,6,0.000,0.000,3457,1849,2301,0,0,0,0,0,0
$GC,5524,1.91,174.6,516.4,9.7,215,5533,0.00,2.70,4.03,0.612,4,0.000,0.058,3457,3409,2289,0,0,0,0,0,0
$GC,5614,1.95,174.6,506.5,12.2,217,5620,0.12,2.72,0.00,0.000,6,0.094,0.058,3487,1854,2288,0,0,0,0,0,0
$GC,5898,1.95,174.6,470.0,13.0,224,5902,0.00,2.65,0.00,0.000,4,0.000,0.048,3487,3420,2286,0,0,0,0,0,0
$GC,5926,1.95,174.6,466.3,13.3,224,5930,0.00,2.70,0.00,0.000,6,0.000,0.054,3487,1862,2285,0,0,0,0,0,0
$GC,6175,1.95,174.6,435.6,12.2,230,6180,0.00,2.60,0.00,0.000,4,0.000,0.046,3487,3418,2285,0,0,0,0,0,0
$GC,6297,1.95,174.6,420.9,11.6,232,6303,0.00,2.60,0.00,0.000,6,0.000,0.048,3487,1886,2284,0,0,0,0,0,0
$GC,6548,1.96,176.9,395.3,9.8,239,6552,0.00,2.53,0.00,0.000,4,0.000,0.044,3487,3417,2283,0,0,0,0,0,0
$GC,6631,1.96,176.9,386.3,11.5,241,6636,0.00,2.58,0.00,0.000,6,0.000,0.045,3487,1887,2282,0,0,0,0,0,0
$GC,6915,1.96,177.2,357.7,10.0,248,6919,0.00,2.53,0.00,0.000,4,0.000,0.036,3487,3422,2281,0,0,0,0,0,0
$GC,6988,1.96,177.2,349.8,11.4,249,6992,0.00,2.55,0.00,0.000,6,0.000,0.040,3487,1894,2280,0,0,0,0,0,0
$GC,7237,1.96,177.2,323.2,10.4,255,7241,0.00,2.50,0.00,0.000,4,0.000,0.036,3488,3421,2280,0,0,0,0,0,0
$GC,7405,1.96,177.2,305.1,10.1,258,7410,0.00,2.47,0.00,0.000,6,0.000,0.037,3487,1915,2279,0,0,0,0,0,0
$GC,7655,1.96,182.7,281.1,9.5,265,7669,0.00,2.53,7.10,0.701,4,0.000,0.038,3487,3417,2255,0,0,0,0,0,0
$GC,7806,2.00,186.2,266.5,9.7,268,7815,0.00,2.42,4.75,0.591,6,0.000,0.035,3487,1945,2241,0,0,0,0,0,0
$GC,8072,2.06,195.8,241.8,9.2,275,8087,0.00,2.42,10.10,0.713,4,0.000,0.038,3487,3418,2201,0,0,0,0,0,0
$GC,8185,2.11,195.8,230.3,10.4,277,8190,0.15,2.42,0.00,0.000,6,0.081,0.035,3524,1949,2199,0,0,0,0,0,0
$GC,8440,2.11,195.8,202.0,11.0,284,8444,0.00,2.40,0.00,0.000,4,0.000,0.033,3524,3422,2198,0,0,0,0,0,0
$GC,8455,2.11,195.8,200.1,11.2,284,8459,0.00,2.40,0.00,0.000,6,0.000,0.037,3524,1958,2199,0,0,0,0,0,0
$GC,8725,2.11,195.8,172.8,10.0,308,8730,0.00,3.03,0.00,0.000,4,0.000,0.068,3524,226,2198,0,0,0,0,0,0
$GC,8766,2.04,195.8,167.8,12.0,311,8770,0.00,2.83,0.00,0.000,6,0.000,0.025,3524,2015,2197,0,0,0,0,0,0
$GC,9033,2.05,200.2,141.4,9.6,335,9040,0.00,0.00,4.82,0.513,6,0.000,0.000,3524,2015,2184,0,0,0,0,0,0
$GC,9296,2.05,200.2,112.8,11.1,360,9300,0.00,3.08,0.00,0.000,4,0.000,0.061,3524,226,2184,0,0,0,0,0,0
$GC,9349,1.99,200.2,106.5,11.8,364,9355,0.15,2.83,0.00,0.000,6,0.121,0.020,3495,2022,2183,0,0,0,0,0,0
$GC,9612,2.11,223.9,82.6,8.0,388,9640,0.10,2.33,21.92,0.608,4,0.100,0.038,3523,3423,2087,0,0,0,0,0,0
$GC,9654,2.17,240.6,78.9,8.6,391,9677,0.00,2.40,15.77,0.584,6,0.000,0.031,3523,1971,2019,0,0,0,0,0,0
$GC,9934,2.23,240.9,51.4,10.0,417,9938,0.10,2.38,0.00,0.000,4,0.099,0.037,3550,3428,2017,0,0,0,0,0,0
$GC,10072,2.23,240.9,34.7,11.6,427,10081,0.00,2.38,0.00,0.000,6,0.000,0.031,3551,1980,2016,0,0,0,0,0,0
$STATE,10336,end climb,SURFACE_DEPTH_REACHED
$STATE,10336,begin surface coast
$FINISH,0.5,0.975333
$STATE,10387,end surface coast,CONTROL_FINISHED_OK
$STATE,10387,begin surface
$SM_CCo,10411,129.05,0.538,0,0,1370,400.08
$SM_GC,1.08,0.00,0.00,129.05,0.000,0.000,0.538,476,1740,1370,-11.89,-0.85,400.08
$IRIDIUM_FIX,2237.01,-15800.20,070800,050512
$TT8_MAMPS,0.026078
$HUMID,54.96
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.80
$XPDR_PINGS,51
$24V_AH,23.3,4.038
$10V_AH,10.4,3.129
$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,29.950,140.475,303.500,129.050,0.000,23.452,40.809,175.566,12.750,0.000,15.220,1027.848,6938.995,506.133,1925.212,510.699,33.355,1275.118,0.000,1913.474,0.000,0.534,0.000
$DEVICE_MAMPS,177.177,291.460,1017.042,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.262,245.328,336.423,616.628,932.611,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38339,471
$CAP_FILE_SIZE,113149,0
$CFSIZE,260165632,180846592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,112527,2246.632,-15802.807,8,99.0,27,10.1