version: 66.06
glider: 146
mission: 6
dive: 285
start: 6 14 111 16 28 44
data:
$ID,146
$MISSION,6
$DIVE,285
$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,380
$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,-274845.53
$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,3160
$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,1850
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,62
$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,3010
$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
$GPS1,161754,2249.917,-15758.066,38,1.5,38,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.6
$GPS2,162750,2250.008,-15758.156,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.087
$KALMAN_X,-130621.3,-219.1,-41.7,128562.1,-1213.4
$KALMAN_Y,-59885.0,-542.0,-101.4,71835.0,859.1
$MHEAD_RNG_PITCHd_Wd,101.6,1974,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,474,1818,3253,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.4,-5.8,9,118,12.05,2.58,-4.38,0.000,4,0.137,0.064,2850,301,3488,0,0,0,0,0,0
$GC,131,-0.42,-116.8,16.4,-33.6,13,140,0.95,2.40,0.00,0.000,6,0.092,0.021,3062,1870,3489,0,0,0,0,0,0
$GC,430,-0.71,-116.8,39.7,-6.3,49,435,0.22,2.38,0.00,0.000,4,0.046,0.031,2988,3384,3491,0,0,0,0,0,0
$GC,467,-0.91,-116.8,42.6,-8.3,51,472,0.10,2.38,0.00,0.000,6,0.077,0.022,2942,1870,3490,0,0,0,0,0,0
$GC,734,-0.97,-116.8,73.8,-11.6,75,738,0.00,2.65,0.00,0.000,4,0.000,0.052,2942,276,3491,0,0,0,0,0,0
$GC,769,-1.03,-116.8,78.7,-12.5,77,779,0.00,2.38,0.00,0.000,6,0.000,0.014,2942,1840,3491,0,0,0,0,0,0
$GC,1032,-1.13,-116.8,106.1,-10.3,102,1037,0.12,2.45,0.00,0.000,4,0.067,0.033,2889,3401,3492,0,0,0,0,0,0
$GC,1104,-1.17,-116.8,115.3,-12.7,107,1110,0.00,2.47,0.00,0.000,6,0.000,0.031,2889,1845,3491,0,0,0,0,0,0
$GC,1367,-1.17,-116.8,149.8,-12.1,132,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1845,3492,0,0,0,0,0,0
$GC,1620,-1.17,-116.8,176.5,-9.7,156,1624,0.00,2.42,0.00,0.000,4,0.000,0.025,2889,3396,3492,0,0,0,0,0,0
$GC,1696,-1.28,-116.8,183.7,-9.2,162,1701,0.00,2.42,0.00,0.000,6,0.000,0.024,2889,1846,3493,0,0,0,0,0,0
$GC,1968,-1.34,-116.8,209.5,-10.3,181,1972,0.00,2.62,0.00,0.000,4,0.000,0.065,2889,280,3493,0,0,0,0,0,0
$GC,2011,-1.34,-116.8,214.8,-11.6,182,2015,0.00,2.38,0.00,0.000,6,0.000,0.022,2889,1858,3493,0,0,0,0,0,0
$GC,2290,-1.40,-116.8,244.4,-10.5,189,2295,0.15,2.42,0.00,0.000,4,0.065,0.035,2839,3393,3494,0,0,0,0,0,0
$GC,2340,-1.40,-116.8,250.3,-11.1,190,2345,0.00,2.42,0.00,0.000,6,0.000,0.032,2839,1867,3493,0,0,0,0,0,0
$GC,2613,-1.40,-116.8,279.5,-10.5,197,2617,0.00,2.40,0.00,0.000,4,0.000,0.035,2839,3391,3494,0,0,0,0,0,0
$GC,2668,-1.45,-116.8,284.9,-9.7,198,2673,0.00,2.45,0.00,0.000,6,0.000,0.031,2839,1866,3494,0,0,0,0,0,0
$GC,2936,-1.45,-116.8,309.0,-9.1,205,2940,0.00,2.42,0.00,0.000,4,0.000,0.035,2839,3396,3493,0,0,0,0,0,0
$GC,2968,-1.49,-116.8,312.8,-10.8,205,2974,0.00,2.47,0.00,0.000,6,0.000,0.041,2839,1875,3493,0,0,0,0,0,0
$GC,3218,-1.49,-116.8,337.2,-9.8,212,3223,0.00,2.85,0.00,0.000,4,0.000,0.082,2839,264,3493,0,0,0,0,0,0
$GC,3246,-1.49,-116.8,340.3,-11.5,212,3251,0.00,2.47,0.00,0.000,6,0.000,0.027,2839,1827,3493,0,0,0,0,0,0
$GC,3496,-1.49,-116.8,366.1,-10.2,218,3500,0.00,2.62,0.00,0.000,4,0.000,0.047,2839,3432,3491,0,0,0,0,0,0
$GC,3537,-1.54,-116.8,370.4,-11.0,219,3542,0.00,2.58,0.00,0.000,6,0.000,0.048,2839,1881,3492,0,0,0,0,0,0
$GC,3822,-1.54,-116.8,398.2,-9.7,226,3826,0.00,2.55,0.00,0.000,4,0.000,0.040,2839,3435,3490,0,0,0,0,0,0
$GC,3911,-1.61,-116.8,406.7,-9.0,228,3916,0.12,2.60,0.00,0.000,6,0.070,0.054,2795,1894,3489,0,0,0,0,0,0
$GC,4191,-1.56,-116.8,435.7,-10.4,235,4196,0.10,2.55,0.00,0.000,4,0.118,0.042,2816,3434,3487,0,0,0,0,0,0
$GC,4217,-1.56,-116.8,438.8,-10.0,235,4222,0.00,2.60,0.00,0.000,6,0.000,0.058,2816,1895,3487,0,0,0,0,0,0
$GC,4468,-1.56,-116.8,462.3,-9.5,241,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1895,3486,0,0,0,0,0,0
$GC,4713,-1.56,-116.8,485.2,-9.5,247,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1895,3484,0,0,0,0,0,0
$STATE,4871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4871,begin apogee
$GC,4878,-0.31,0.0,501.7,10.2,251,4979,1.20,0.00,97.28,0.915,6,0.081,0.000,3089,2019,3010,0,0,0,0,0,0
$STATE,4979,end apogee,CONTROL_FINISHED_OK
$STATE,4979,begin climb
$GC,4982,1.38,116.8,504.2,0.0,253,5090,1.58,2.67,100.18,0.896,4,0.041,0.061,3465,3552,2532,0,0,0,0,0,0
$GC,5104,1.34,197.5,503.3,5.4,256,5180,0.00,2.70,70.15,0.881,6,0.000,0.048,3465,1988,2203,0,0,0,0,0,0
$GC,5438,1.25,197.5,464.1,13.3,265,5443,0.15,2.62,0.00,0.000,4,0.122,0.049,3434,3560,2195,0,0,0,0,0,0
$GC,5482,1.25,197.5,458.0,12.5,266,5486,0.00,2.70,0.00,0.000,6,0.000,0.056,3435,1991,2193,0,0,0,0,0,0
$GC,5759,1.25,197.5,423.9,12.2,273,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1991,2191,0,0,0,0,0,0
$GC,6003,1.25,197.5,397.7,10.4,279,6007,0.00,2.60,0.00,0.000,4,0.000,0.044,3434,3557,2189,0,0,0,0,0,0
$GC,6043,1.25,197.5,393.7,10.5,280,6048,0.00,2.65,0.00,0.000,6,0.000,0.044,3435,1986,2188,0,0,0,0,0,0
$GC,6326,1.28,217.3,367.7,8.9,287,6348,0.00,2.62,16.15,0.798,4,0.000,0.038,3435,3562,2123,0,0,0,0,0,0
$GC,6371,1.29,228.3,363.5,9.4,288,6388,0.00,2.65,11.15,0.755,6,0.000,0.040,3435,1983,2079,0,0,0,0,0,0
$GC,6649,1.29,228.3,334.7,10.7,295,6653,0.00,2.60,0.00,0.000,4,0.000,0.040,3435,3563,2074,0,0,0,0,0,0
$GC,6698,1.29,228.3,329.1,11.0,296,6703,0.00,2.60,0.00,0.000,6,0.000,0.037,3435,1994,2072,0,0,0,0,0,0
$GC,6972,1.31,243.3,302.6,9.2,303,6991,0.00,2.83,13.90,0.755,4,0.000,0.077,3434,411,2018,0,0,0,0,0,0
$GC,7021,1.27,246.5,297.8,9.9,304,7030,0.00,2.53,4.30,0.539,6,0.000,0.027,3434,1997,2005,0,0,0,0,0,0
$GC,7305,1.31,279.1,273.9,8.2,311,7337,0.00,0.00,30.50,0.764,6,0.000,0.000,3434,1998,1872,0,0,0,0,0,0
$GC,7549,1.38,300.3,252.4,8.8,317,7574,0.10,2.60,19.48,0.727,4,0.088,0.038,3464,3561,1784,0,0,0,0,0,0
$GC,7654,1.38,300.3,239.8,13.0,319,7659,0.00,2.60,0.00,0.000,6,0.000,0.035,3464,1985,1781,0,0,0,0,0,0
$GC,7922,1.38,300.3,204.4,13.2,326,7926,0.00,2.72,0.00,0.000,4,0.000,0.069,3464,407,1779,0,0,0,0,0,0
$GC,7955,1.33,300.3,199.4,14.7,326,7960,0.00,2.50,0.00,0.000,6,0.000,0.022,3464,2001,1778,0,0,0,0,0,0
$GC,8218,1.33,300.3,166.6,11.3,351,8223,0.00,2.70,0.00,0.000,4,0.000,0.057,3464,413,1777,0,0,0,0,0,0
$GC,8241,1.33,300.3,164.2,11.7,352,8245,0.00,2.47,0.00,0.000,6,0.000,0.025,3464,1998,1776,0,0,0,0,0,0
$GC,8504,1.37,301.3,136.0,10.0,376,8508,0.00,2.47,0.00,0.000,4,0.000,0.035,3464,3549,1776,0,0,0,0,0,0
$GC,8539,1.42,301.3,132.0,10.8,378,8548,0.00,2.55,0.00,0.000,6,0.000,0.035,3464,1988,1776,0,0,0,0,0,0
$GC,8805,1.47,301.3,103.6,11.1,403,8810,0.00,2.65,0.00,0.000,4,0.000,0.057,3464,417,1775,0,0,0,0,0,0
$GC,8847,1.47,301.3,98.0,12.7,406,8851,0.00,2.45,0.00,0.000,6,0.000,0.019,3464,2004,1775,0,0,0,0,0,0
$GC,9113,1.54,301.3,71.0,10.2,430,9122,0.12,0.00,0.00,0.000,6,0.077,0.000,3500,2005,1775,0,0,0,0,0,0
$GC,9379,1.54,307.9,43.8,9.7,455,9393,0.00,2.47,6.72,0.477,4,0.000,0.031,3500,3550,1752,0,0,0,0,0,0
$GC,9410,1.54,307.9,40.7,10.1,457,9414,0.00,2.53,0.00,0.000,6,0.000,0.028,3500,1985,1752,0,0,0,0,0,0
$GC,9724,1.54,307.9,7.8,11.4,496,9733,0.00,2.65,0.00,0.000,4,0.000,0.051,3500,410,1752,0,0,0,0,0,0
$STATE,9754,end climb,SURFACE_DEPTH_REACHED
$STATE,9754,begin surface coast
$FINISH,0.7,0.980056
$STATE,9797,end surface coast,CONTROL_FINISHED_OK
$STATE,9797,begin surface
$SM_CCo,9821,59.25,0.522,0,0,1460,380.21
$SM_GC,1.22,0.00,0.00,59.25,0.000,0.000,0.522,480,1882,1460,-12.33,0.90,380.21
$IRIDIUM_FIX,2241.69,-15757.16,070900,161646
$TT8_MAMPS,0.026078
$HUMID,60.63
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,46
$24V_AH,23.5,35.927
$10V_AH,10.3,31.333
$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,29.200,132.525,369.800,59.250,0.000,59.607,68.586,265.349,11.500,0.000,15.308,1041.637,6264.702,512.082,1973.339,688.946,33.374,1217.540,0.000,1977.958,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,82.069,915.031,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.292,287.978,397.073,786.767,1191.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38307,506
$CAP_FILE_SIZE,110914,0
$CFSIZE,260165632,167321600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,191437,2250.034,-15757.544,30,1.5,30,10.1