version: 66.06
glider: 146
mission: 6
dive: 75
start: 5 20 111 12 32 33
data:
$ID,146
$MISSION,6
$DIVE,75
$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,-268935.09
$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,3090
$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,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$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
$GPS1,121800,2246.963,-15801.595,64,1.1,64,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.4
$GPS2,123137,2246.862,-15801.647,15,1.3,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.008,0.235
$KALMAN_X,-53711.6,275.2,192.8,44960.4,-957.3
$KALMAN_Y,-102095.3,168.2,348.6,107059.8,-2241.3
$MHEAD_RNG_PITCHd_Wd,351.9,2325,-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,-78.12,0.000,2,0.000,0.000,479,1749,3354,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.6,-6.6,10,125,12.40,2.60,-2.28,0.000,4,0.163,0.038,2782,3349,3480,0,0,0,0,0,0
$GC,170,-1.21,-116.8,25.2,-21.2,19,180,0.17,2.58,0.00,0.000,6,0.102,0.029,2821,1774,3481,0,0,0,0,0,0
$GC,444,-1.10,-116.8,69.4,-14.7,45,453,0.12,0.00,0.00,0.000,6,0.130,0.000,2845,1774,3482,0,0,0,0,0,0
$GC,706,-1.06,-116.8,106.0,-13.8,70,711,0.00,2.70,0.00,0.000,4,0.000,0.065,2845,192,3483,0,0,0,0,0,0
$GC,736,-0.98,-116.8,110.5,-15.6,72,741,0.12,2.47,0.00,0.000,6,0.128,0.019,2872,1827,3483,0,0,0,0,0,0
$GC,998,-0.98,-116.8,144.5,-12.1,96,1003,0.00,2.80,0.00,0.000,4,0.000,0.064,2872,189,3483,0,0,0,0,0,0
$GC,1045,-0.98,-116.8,150.1,-13.9,99,1049,0.00,2.45,0.00,0.000,6,0.000,0.018,2872,1804,3483,0,0,0,0,0,0
$GC,1308,-1.04,-116.8,179.4,-10.0,123,1312,0.00,2.38,0.00,0.000,4,0.000,0.029,2872,3324,3484,0,0,0,0,0,0
$GC,1423,-1.13,-116.8,190.8,-9.1,132,1433,0.10,2.53,0.00,0.000,6,0.043,0.029,2831,1765,3484,0,0,0,0,0,0
$GC,1676,-1.13,-116.8,218.1,-10.8,145,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1765,3484,0,0,0,0,0,0
$GC,1921,-1.13,-116.8,244.8,-11.2,151,1925,0.00,2.45,0.00,0.000,4,0.000,0.028,2830,3313,3484,0,0,0,0,0,0
$GC,1987,-1.13,-116.8,252.7,-11.6,152,1992,0.00,2.50,0.00,0.000,6,0.000,0.036,2830,1759,3484,0,0,0,0,0,0
$GC,2243,-1.13,-116.8,281.5,-11.1,159,2247,0.00,2.50,0.00,0.000,4,0.000,0.030,2831,3317,3484,0,0,0,0,0,0
$GC,2275,-1.13,-116.8,285.2,-10.8,159,2281,0.00,2.50,0.00,0.000,6,0.000,0.038,2830,1769,3484,0,0,0,0,0,0
$GC,2526,-1.13,-116.8,313.4,-11.4,166,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1769,3483,0,0,0,0,0,0
$GC,2768,-1.13,-116.8,340.8,-11.4,172,2773,0.00,2.50,0.00,0.000,4,0.000,0.043,2830,3317,3482,0,0,0,0,0,0
$GC,2795,-1.13,-116.8,344.1,-11.7,172,2799,0.00,2.58,0.00,0.000,6,0.000,0.045,2830,1774,3482,0,0,0,0,0,0
$GC,3046,-1.13,-116.8,371.7,-10.9,178,3051,0.00,2.50,0.00,0.000,4,0.000,0.038,2830,3315,3480,0,0,0,0,0,0
$GC,3119,-1.19,-116.8,379.8,-10.8,179,3123,0.00,2.60,0.00,0.000,6,0.000,0.051,2830,1779,3480,0,0,0,0,0,0
$GC,3369,-1.19,-116.8,403.1,-9.2,185,3373,0.00,2.50,0.00,0.000,4,0.000,0.045,2830,3307,3479,0,0,0,0,0,0
$GC,3425,-1.25,-116.8,408.5,-9.3,186,3430,0.00,2.60,0.00,0.000,6,0.000,0.055,2830,1787,3478,0,0,0,0,0,0
$GC,3692,-1.25,-116.8,433.6,-9.6,193,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1786,3477,0,0,0,0,0,0
$GC,3936,-1.28,-116.8,456.3,-9.2,199,3940,0.00,2.55,0.00,0.000,4,0.000,0.049,2830,3312,3475,0,0,0,0,0,0
$GC,3981,-1.36,-116.8,460.5,-9.4,200,3986,0.15,2.60,0.00,0.000,6,0.071,0.066,2786,1793,3475,0,0,0,0,0,0
$GC,4259,-1.32,-116.8,491.6,-11.2,207,4264,0.00,2.55,0.00,0.000,4,0.000,0.054,2786,3299,3473,0,0,0,0,0,0
$GC,4281,-1.32,-116.8,494.3,-11.8,207,4285,0.00,2.60,0.00,0.000,6,0.000,0.069,2786,1801,3473,0,0,0,0,0,0
$STATE,4331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4331,begin apogee
$GC,4338,-0.31,0.0,500.2,11.4,209,4438,1.08,0.00,95.72,0.923,6,0.091,0.000,3021,1890,3000,0,0,0,0,0,0
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4439,begin climb
$GC,4441,1.38,116.8,503.4,0.0,211,4551,1.60,2.78,98.75,0.897,4,0.058,0.060,3389,3482,2523,0,0,0,0,0,0
$GC,4563,1.51,216.6,500.8,4.3,214,4656,0.12,2.72,84.85,0.884,6,0.084,0.056,3422,1914,2118,0,0,0,0,0,0
$GC,4930,1.51,222.8,467.1,9.7,223,4941,0.00,2.67,5.75,0.667,4,0.000,0.045,3421,3487,2091,0,0,0,0,0,0
$GC,4957,1.52,228.4,464.2,9.7,223,4969,0.00,2.72,6.45,0.693,6,0.000,0.054,3422,1920,2069,0,0,0,0,0,0
$GC,5213,1.53,235.4,439.5,9.6,230,5227,0.00,2.70,7.30,0.729,4,0.000,0.042,3422,3489,2041,0,0,0,0,0,0
$GC,5278,1.53,235.4,432.6,10.9,231,5283,0.00,2.65,0.00,0.000,6,0.000,0.051,3422,1940,2039,0,0,0,0,0,0
$GC,5539,1.53,235.4,404.3,10.8,238,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1939,2037,0,0,0,0,0,0
$GC,5782,1.53,235.4,377.4,10.9,244,5787,0.00,2.58,0.00,0.000,4,0.000,0.035,3422,3500,2035,0,0,0,0,0,0
$GC,5850,1.53,235.4,369.8,11.2,245,5855,0.00,2.60,0.00,0.000,6,0.000,0.040,3423,1941,2034,0,0,0,0,0,0
$GC,6105,1.53,235.4,343.0,10.3,252,6109,0.00,2.55,0.00,0.000,4,0.000,0.037,3422,3493,2033,0,0,0,0,0,0
$GC,6131,1.53,235.4,340.0,10.7,252,6136,0.00,2.55,0.00,0.000,6,0.000,0.041,3422,1942,2032,0,0,0,0,0,0
$GC,6383,1.54,247.2,316.0,9.4,258,6399,0.00,2.85,10.77,0.753,4,0.000,0.079,3422,338,1991,0,0,0,0,0,0
$GC,6410,1.57,271.9,313.2,8.6,258,6439,0.00,2.58,23.50,0.794,6,0.000,0.021,3422,1962,1891,0,0,0,0,0,0
$GC,6710,1.63,275.9,284.7,9.8,266,6719,0.00,2.53,4.05,0.528,4,0.000,0.038,3422,3488,1876,0,0,0,0,0,0
$GC,6764,1.69,275.9,278.7,10.4,267,6770,0.15,2.53,0.00,0.000,6,0.078,0.035,3461,1958,1875,0,0,0,0,0,0
$GC,7038,1.69,275.9,244.2,13.2,274,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1958,1874,0,0,0,0,0,0
$GC,7283,1.69,275.9,210.9,13.8,280,7287,0.00,2.50,0.00,0.000,4,0.000,0.033,3461,3497,1873,0,0,0,0,0,0
$GC,7401,1.69,275.9,195.1,13.1,285,7405,0.00,2.45,0.00,0.000,6,0.000,0.035,3461,1997,1872,0,0,0,0,0,0
$GC,7665,1.69,275.9,165.8,11.3,309,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1998,1871,0,0,0,0,0,0
$GC,7920,1.70,282.8,140.3,9.6,333,7934,0.00,2.50,6.80,0.574,4,0.000,0.032,3460,3500,1847,0,0,0,0,0,0
$GC,7978,1.74,282.8,134.2,10.6,338,7982,0.00,2.42,0.00,0.000,6,0.000,0.035,3461,2008,1847,0,0,0,0,0,0
$GC,8240,1.74,282.8,107.5,10.3,362,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2008,1846,0,0,0,0,0,0
$GC,8494,1.74,283.0,81.1,10.0,386,8499,0.00,2.85,0.00,0.000,4,0.000,0.058,3461,333,1846,0,0,0,0,0,0
$GC,8515,1.74,283.0,79.3,10.4,387,8519,0.00,2.62,0.00,0.000,6,0.000,0.023,3460,2026,1845,0,0,0,0,0,0
$GC,8783,1.79,288.2,52.6,9.7,411,8798,0.00,2.38,6.47,0.493,4,0.000,0.031,3461,3487,1824,0,0,0,0,0,0
$GC,8878,1.88,288.2,42.1,10.7,418,8888,0.12,2.40,0.00,0.000,6,0.044,0.030,3503,2012,1823,0,0,0,0,0,0
$GC,9184,1.88,288.2,6.2,12.7,457,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2012,1823,0,0,0,0,0,0
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9201,begin surface coast
$FINISH,0.5,0.974201
$STATE,9245,end surface coast,CONTROL_FINISHED_OK
$STATE,9245,begin surface
$SM_CCo,9268,91.15,0.532,0,0,1369,400.08
$SM_GC,1.25,0.00,0.00,91.15,0.000,0.000,0.532,478,1753,1369,-12.02,-0.48,400.08
$IRIDIUM_FIX,2239.35,-15802.37,130800,121254
$TT8_MAMPS,0.026078
$HUMID,57.56
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,44
$24V_AH,23.5,9.666
$10V_AH,10.4,8.222
$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,28.400,113.675,350.425,91.150,0.000,84.047,105.090,346.989,11.000,0.000,34.403,947.590,6118.112,501.274,1810.371,803.693,33.357,1180.858,0.000,1791.834,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,155.701,922.701,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.778,260.099,359.963,683.028,1034.174,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38417,465
$CAP_FILE_SIZE,105733,0
$CFSIZE,260165632,178302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,150936,2247.261,-15802.150,12,1.4,22,10.1