version: 66.06
glider: 146
mission: 6
dive: 29
start: 5 14 111 11 32 56
data:
$ID,146
$MISSION,6
$DIVE,29
$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,-267912.31
$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,33
$R_STBD_OVSHOOT,15
$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
$GPS1,112527,2246.632,-15802.807,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.5
$GPS2,113201,2246.567,-15802.831,42,1.6,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.034,0.232
$KALMAN_X,-28001.2,-139.9,-165.7,17997.2,-443.4
$KALMAN_Y,-52344.5,-387.6,-261.5,57934.0,-2060.8
$MHEAD_RNG_PITCHd_Wd,358.3,6365,-19.7,-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,12,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,-78.43,0.000,2,0.000,0.000,476,1740,3345,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.7,-6.8,10,125,12.73,2.65,-2.42,0.000,4,0.176,0.042,2749,3374,3481,0,0,0,0,0,0
$GC,361,-1.14,-116.8,69.6,-20.1,36,371,0.28,2.62,0.00,0.000,6,0.114,0.029,2807,1772,3483,0,0,0,0,0,0
$GC,628,-1.00,-116.8,114.4,-16.0,61,633,0.17,2.55,0.00,0.000,4,0.129,0.029,2840,3374,3483,0,0,0,0,0,0
$GC,663,-0.93,-116.8,120.2,-15.1,63,668,0.00,2.58,0.00,0.000,6,0.000,0.028,2840,1764,3484,0,0,0,0,0,0
$GC,927,-0.88,-116.8,155.5,-12.5,87,932,0.12,2.72,0.00,0.000,4,0.130,0.072,2864,197,3484,0,0,0,0,0,0
$GC,982,-0.88,-116.8,162.4,-12.7,91,987,0.00,2.47,0.00,0.000,6,0.000,0.017,2864,1825,3484,0,0,0,0,0,0
$GC,1250,-0.88,-116.8,190.4,-10.6,115,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1825,3485,0,0,0,0,0,0
$GC,1533,-0.88,-116.8,222.3,-10.8,128,1538,0.00,2.83,0.00,0.000,4,0.000,0.070,2864,196,3485,0,0,0,0,0,0
$GC,1572,-0.88,-116.8,227.1,-12.4,129,1576,0.00,2.47,0.00,0.000,6,0.000,0.020,2864,1814,3485,0,0,0,0,0,0
$GC,1856,-0.92,-116.8,256.9,-10.3,136,1861,0.00,2.40,0.00,0.000,4,0.000,0.035,2864,3329,3485,0,0,0,0,0,0
$GC,1906,-1.01,-116.8,262.7,-10.7,137,1911,0.10,2.50,0.00,0.000,6,0.088,0.032,2831,1775,3485,0,0,0,0,0,0
$GC,2178,-1.01,-116.8,295.4,-12.1,144,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1775,3485,0,0,0,0,0,0
$GC,2423,-1.01,-116.8,320.1,-9.9,150,2428,0.00,2.53,0.00,0.000,4,0.000,0.038,2832,3325,3485,0,0,0,0,0,0
$GC,2529,-1.05,-116.8,331.0,-9.6,152,2534,0.00,2.60,0.00,0.000,6,0.000,0.044,2832,1775,3485,0,0,0,0,0,0
$GC,2791,-1.05,-116.8,355.5,-9.4,159,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1775,3484,0,0,0,0,0,0
$GC,3033,-1.05,-116.8,380.1,-10.2,165,3038,0.00,2.55,0.00,0.000,4,0.000,0.044,2832,3323,3483,0,0,0,0,0,0
$GC,3061,-1.05,-116.8,382.8,-9.8,165,3065,0.00,2.60,0.00,0.000,6,0.000,0.058,2831,1777,3482,0,0,0,0,0,0
$GC,3311,-1.05,-116.8,407.0,-9.9,171,3315,0.00,2.55,0.00,0.000,4,0.000,0.041,2831,3325,3481,0,0,0,0,0,0
$GC,3373,-1.10,-116.8,413.4,-10.8,172,3378,0.00,2.62,0.00,0.000,6,0.000,0.058,2832,1786,3481,0,0,0,0,0,0
$GC,3633,-1.10,-116.8,440.8,-10.5,179,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1785,3479,0,0,0,0,0,0
$GC,3877,-1.10,-116.8,466.0,-10.2,185,3881,0.00,2.58,0.00,0.000,4,0.000,0.056,2832,3317,3478,0,0,0,0,0,0
$GC,3933,-1.16,-116.8,471.5,-10.0,186,3938,0.10,2.65,0.00,0.000,6,0.087,0.070,2797,1797,3477,0,0,0,0,0,0
$GC,4200,-1.16,-116.8,501.3,-11.2,193,4205,0.00,3.15,0.00,0.000,4,0.000,0.130,2797,184,3476,0,0,0,0,0,0
$GC,4227,-1.09,-116.8,504.6,-12.2,193,4232,0.12,2.60,0.00,0.000,6,0.126,0.044,2821,1753,3475,0,0,0,0,0,0
$GC,4478,-1.09,-116.8,528.4,-9.3,199,4483,0.00,2.80,0.00,0.000,4,0.000,0.077,2821,3363,3474,0,0,0,0,0,0
$GC,4567,-1.14,-116.8,536.6,-8.5,201,4572,0.00,2.72,0.00,0.000,6,0.000,0.071,2821,1803,3474,0,0,0,0,0,0
$GC,4846,-1.14,-116.8,560.1,-8.5,208,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1802,3472,0,0,0,0,0,0
$GC,5089,-1.14,-116.8,582.3,-9.2,214,5094,0.00,2.75,0.00,0.000,4,0.000,0.076,2821,3357,3470,0,0,0,0,0,0
$GC,5134,-1.20,-116.8,586.5,-9.6,215,5139,0.10,2.75,0.00,0.000,6,0.094,0.078,2793,1815,3470,0,0,0,0,0,0
$STATE,5288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5288,begin apogee
$GC,5294,-0.31,0.0,603.2,10.9,219,5395,0.93,0.00,96.88,1.021,6,0.104,0.000,2989,1814,3001,0,0,0,0,0,0
$STATE,5395,end apogee,CONTROL_FINISHED_OK
$STATE,5395,begin climb
$GC,5398,1.38,116.8,607.5,0.0,221,5505,1.67,0.00,102.57,0.993,6,0.071,0.000,3361,1814,2523,0,0,0,0,0,0
$GC,5734,1.55,206.4,596.5,4.8,230,5816,0.15,0.00,78.28,0.984,6,0.081,0.000,3398,1814,2159,0,0,0,0,0,0
$GC,6063,1.56,215.4,568.0,9.5,238,6077,0.00,2.88,8.23,0.825,4,0.000,0.069,3398,3400,2121,0,0,0,0,0,0
$GC,6156,1.60,215.4,558.6,10.2,240,6160,0.00,2.80,0.00,0.000,6,0.000,0.074,3398,1834,2119,0,0,0,0,0,0
$GC,6435,1.61,228.2,532.8,9.3,247,6454,0.00,2.80,12.25,0.887,4,0.000,0.054,3398,3404,2069,0,0,0,0,0,0
$GC,6505,1.66,234.2,526.0,9.7,248,6521,0.10,2.75,6.85,0.785,6,0.100,0.065,3421,1848,2045,0,0,0,0,0,0
$GC,6766,1.66,234.2,498.4,10.7,255,6770,0.00,2.65,0.00,0.000,4,0.000,0.053,3421,3408,2042,0,0,0,0,0,0
$GC,6805,1.66,234.2,494.0,11.5,256,6809,0.00,2.75,0.00,0.000,6,0.000,0.066,3421,1843,2041,0,0,0,0,0,0
$GC,7087,1.66,234.2,464.7,10.5,263,7092,0.00,2.62,0.00,0.000,4,0.000,0.046,3421,3412,2040,0,0,0,0,0,0
$GC,7143,1.66,234.2,458.5,12.0,264,7148,0.00,2.70,0.00,0.000,6,0.000,0.061,3421,1856,2039,0,0,0,0,0,0
$GC,7409,1.66,234.2,430.6,10.3,271,7413,0.00,2.60,0.00,0.000,4,0.000,0.041,3421,3417,2038,0,0,0,0,0,0
$GC,7475,1.66,234.2,423.8,10.2,272,7480,0.00,2.62,0.00,0.000,6,0.000,0.052,3421,1870,2037,0,0,0,0,0,0
$GC,7731,1.69,252.4,400.4,9.0,279,7755,0.00,2.60,16.77,0.865,4,0.000,0.036,3421,3418,1971,0,0,0,0,0,0
$GC,7806,1.69,253.9,393.1,9.9,280,7810,0.00,2.62,0.00,0.000,6,0.000,0.051,3421,1874,1968,0,0,0,0,0,0
$GC,8057,1.69,259.4,368.7,9.7,286,8066,0.00,0.00,7.38,0.749,6,0.000,0.000,3421,1874,1943,0,0,0,0,0,0
$GC,8299,1.69,259.4,343.7,10.4,292,8303,0.00,2.53,0.00,0.000,4,0.000,0.040,3421,3412,1940,0,0,0,0,0,0
$GC,8371,1.74,259.4,336.0,10.5,293,8375,0.00,2.53,0.00,0.000,6,0.000,0.044,3421,1899,1939,0,0,0,0,0,0
$GC,8622,1.74,259.4,311.1,10.1,299,8626,0.00,2.47,0.00,0.000,4,0.000,0.035,3421,3415,1938,0,0,0,0,0,0
$GC,8722,1.79,259.4,299.5,11.5,301,8727,0.12,2.50,0.00,0.000,6,0.090,0.041,3453,1906,1938,0,0,0,0,0,0
$GC,8988,1.79,259.4,266.9,12.3,308,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1906,1937,0,0,0,0,0,0
$GC,9233,1.79,259.4,238.2,11.6,314,9237,0.00,2.47,0.00,0.000,4,0.000,0.039,3453,3425,1937,0,0,0,0,0,0
$GC,9300,1.79,259.4,229.9,11.5,315,9304,0.00,2.45,0.00,0.000,6,0.000,0.040,3453,1928,1937,0,0,0,0,0,0
$GC,9560,1.79,259.4,200.0,11.4,322,9565,0.00,2.97,0.00,0.000,4,0.000,0.071,3453,229,1937,0,0,0,0,0,0
$GC,9589,1.73,259.4,196.7,12.7,322,9593,0.00,2.78,0.00,0.000,6,0.000,0.026,3453,1981,1936,0,0,0,0,0,0
$GC,9855,1.73,259.4,168.9,10.4,346,9859,0.00,2.30,0.00,0.000,4,0.000,0.036,3453,3415,1936,0,0,0,0,0,0
$GC,9933,1.73,259.4,161.0,10.2,352,9938,0.00,2.38,0.00,0.000,6,0.000,0.038,3453,1934,1935,0,0,0,0,0,0
$GC,10196,1.74,263.2,135.9,9.8,376,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1934,1936,0,0,0,0,0,0
$GC,10450,1.74,263.2,110.3,10.4,400,10455,0.00,2.38,0.00,0.000,4,0.000,0.031,3453,3418,1935,0,0,0,0,0,0
$GC,10520,1.77,263.2,102.1,11.6,405,10526,0.00,2.40,0.00,0.000,6,0.000,0.035,3454,1927,1936,0,0,0,0,0,0
$GC,10788,1.82,263.2,70.6,11.8,430,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1926,1935,0,0,0,0,0,0
$GC,11054,1.89,270.8,42.7,9.6,455,11072,0.00,2.45,10.75,0.535,4,0.000,0.029,3453,3422,1896,0,0,0,0,0,0
$GC,11120,1.98,275.9,36.5,9.7,460,11136,0.15,2.42,6.00,0.468,6,0.071,0.031,3496,1925,1877,0,0,0,0,0,0
$STATE,11417,end climb,SURFACE_DEPTH_REACHED
$STATE,11418,begin surface coast
$FINISH,0.4,0.980175
$STATE,11462,end surface coast,CONTROL_FINISHED_OK
$STATE,11462,begin surface
$SM_CCo,11485,100.80,0.538,0,0,1370,400.08
$SM_GC,1.27,0.00,0.00,100.80,0.000,0.000,0.538,475,1729,1370,-11.89,-1.13,400.08
$IRIDIUM_FIX,2239.35,-15804.53,070800,080822
$TT8_MAMPS,0.026078
$HUMID,55.47
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.70
$XPDR_PINGS,51
$24V_AH,23.3,4.162
$10V_AH,10.4,3.237
$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,29.225,130.950,345.950,100.800,0.000,27.196,33.088,179.122,12.750,0.000,43.829,1071.352,7919.338,557.077,1928.222,507.340,33.361,1292.467,0.000,1895.482,0.000,0.534,0.000
$DEVICE_MAMPS,176.410,130.390,1020.877,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.980,266.010,355.984,651.784,985.760,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41469,507
$CAP_FILE_SIZE,112559,0
$CFSIZE,260165632,180785152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,144706,2247.201,-15803.400,23,1.8,23,10.1