version: 66.06
glider: 146
mission: 6
dive: 523
start: 7 14 111 2 52 9
data:
$ID,146
$MISSION,6
$DIVE,523
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,260
$T_MISSION,540
$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,100
$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,-280964.31
$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,3175
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,59
$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
$GPS1,024207,2248.245,-15758.311,26,1.1,26,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.3
$GPS2,025114,2248.335,-15758.362,12,1.3,12,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,-0.179
$KALMAN_X,-449904.8,-273.1,-173.9,447678.8,-1340.0
$KALMAN_Y,174888.7,430.8,-326.6,-166790.0,1970.1
$MHEAD_RNG_PITCHd_Wd,139.2,2652,-19.8,-8.974
$D_GRID,700
$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,-1.36,-97.3,0.0,0.0,0,89,0.00,0.00,-70.85,0.000,2,0.000,0.000,476,2088,3252,0,0,0,0,0,0
$GC,92,-1.36,-97.3,3.5,-4.4,9,118,12.40,2.78,-2.97,0.000,4,0.146,0.051,2870,427,3409,0,0,0,0,0,0
$GC,184,-1.28,-97.3,22.5,-13.7,21,192,0.08,2.45,0.00,0.000,6,0.175,0.015,2889,2010,3411,0,0,0,0,0,0
$GC,530,-1.23,-97.3,68.1,-13.6,56,534,0.00,2.45,0.00,0.000,4,0.000,0.035,2888,3559,3411,0,0,0,0,0,0
$GC,590,-1.23,-97.3,76.5,-13.8,60,595,0.00,2.47,0.00,0.000,6,0.000,0.028,2889,1993,3411,0,0,0,0,0,0
$GC,915,-1.23,-97.3,114.8,-9.8,90,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1993,3412,0,0,0,0,0,0
$GC,1237,-1.23,-97.3,143.8,-9.2,120,1241,0.00,2.50,0.00,0.000,4,0.000,0.035,2889,3559,3413,0,0,0,0,0,0
$GC,1270,-1.31,-97.3,147.3,-9.8,122,1279,0.00,2.45,0.00,0.000,6,0.000,0.025,2889,2017,3413,0,0,0,0,0,0
$GC,1597,-1.36,-97.3,175.2,-8.6,153,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2017,3413,0,0,0,0,0,0
$GC,1924,-1.42,-97.3,204.0,-9.2,181,1928,0.00,2.47,0.00,0.000,4,0.000,0.035,2889,3566,3414,0,0,0,0,0,0
$GC,1956,-1.51,-97.3,207.4,-9.9,181,1962,0.17,2.40,0.00,0.000,6,0.053,0.027,2825,2019,3414,0,0,0,0,0,0
$GC,2289,-1.46,-97.3,243.5,-10.8,190,2294,0.15,2.45,0.00,0.000,4,0.100,0.028,2858,3555,3414,0,0,0,0,0,0
$GC,2305,-1.46,-97.3,245.5,-10.2,190,2309,0.00,2.40,0.00,0.000,6,0.000,0.027,2858,2024,3414,0,0,0,0,0,0
$GC,2655,-1.46,-97.3,275.1,-8.1,199,2659,0.00,2.45,0.00,0.000,4,0.000,0.037,2858,3562,3414,0,0,0,0,0,0
$GC,2722,-1.53,-97.3,280.7,-7.9,200,2726,0.00,2.42,0.00,0.000,6,0.000,0.022,2858,2032,3414,0,0,0,0,0,0
$GC,3059,-1.58,-97.3,305.8,-7.5,209,3064,0.12,2.47,0.00,0.000,4,0.067,0.033,2811,3553,3414,0,0,0,0,0,0
$GC,3078,-1.58,-97.3,307.3,-7.6,209,3082,0.00,2.40,0.00,0.000,6,0.000,0.025,2811,2039,3414,0,0,0,0,0,0
$GC,3419,-1.58,-97.3,340.6,-9.5,218,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2039,3413,0,0,0,0,0,0
$GC,3744,-1.58,-97.3,372.4,-9.8,226,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2039,3413,0,0,0,0,0,0
$GC,4071,-1.58,-97.3,406.4,-10.5,234,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2039,3410,0,0,0,0,0,0
$GC,4395,-1.58,-97.3,436.5,-8.2,242,4399,0.00,2.53,0.00,0.000,4,0.000,0.057,2811,3553,3408,0,0,0,0,0,0
$GC,4450,-1.58,-97.3,440.4,-6.6,243,4454,0.00,2.55,0.00,0.000,6,0.000,0.051,2811,2042,3408,0,0,0,0,0,0
$GC,4799,-1.58,-97.3,463.2,-6.7,252,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2042,3405,0,0,0,0,0,0
$GC,5122,-1.58,-97.3,489.8,-8.5,260,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2042,3403,0,0,0,0,0,0
$GC,5447,-1.58,-97.3,521.4,-10.0,268,5452,0.00,3.08,0.00,0.000,4,0.000,0.117,2811,421,3400,0,0,0,0,0,0
$GC,5520,-1.58,-97.3,529.3,-11.3,269,5525,0.00,2.60,0.00,0.000,6,0.000,0.048,2811,1989,3400,0,0,0,0,0,0
$GC,5851,-1.58,-97.3,560.2,-9.1,277,5856,0.00,2.85,0.00,0.000,4,0.000,0.091,2810,3591,3398,0,0,0,0,0,0
$GC,5890,-1.58,-97.3,563.7,-8.9,278,5895,0.00,2.65,0.00,0.000,6,0.000,0.058,2810,2045,3398,0,0,0,0,0,0
$GC,6216,-1.58,-97.3,589.4,-7.7,286,6220,0.00,2.70,0.00,0.000,4,0.000,0.077,2811,3590,3395,0,0,0,0,0,0
$GC,6271,-1.58,-97.3,594.0,-8.4,287,6276,0.00,2.67,0.00,0.000,6,0.000,0.069,2811,2055,3395,0,0,0,0,0,0
$GC,6619,-1.58,-97.3,620.8,-7.7,296,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2055,3393,0,0,0,0,0,0
$GC,6945,-1.58,-97.3,645.5,-7.4,304,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2055,3391,0,0,0,0,0,0
$GC,7269,-1.58,-97.3,669.8,-7.3,312,7273,0.00,2.88,0.00,0.000,4,0.000,0.106,2811,3595,3388,0,0,0,0,0,0
$GC,7296,-1.58,-97.3,671.9,-8.0,312,7300,0.00,2.85,0.00,0.000,6,0.000,0.097,2811,2055,3388,0,0,0,0,0,0
$GC,7629,-1.58,-97.3,696.0,-7.4,320,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2055,3387,0,0,0,0,0,0
$STATE,7705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7705,begin apogee
$GC,7712,-0.31,0.0,702.2,7.7,322,7796,1.30,0.00,80.70,1.103,6,0.082,0.000,3103,1997,3010,0,0,0,0,0,0
$STATE,7797,end apogee,CONTROL_FINISHED_OK
$STATE,7797,begin climb
$GC,7799,1.36,97.3,704.0,0.0,324,7891,1.55,0.00,87.32,1.074,6,0.050,0.000,3474,1996,2613,0,0,0,0,0,0
$GC,8195,1.24,142.7,686.9,6.2,334,8244,0.15,3.05,40.70,1.042,4,0.130,0.107,3446,3577,2427,0,0,0,0,0,0
$GC,8281,1.16,153.3,681.4,8.3,336,8297,0.00,3.03,10.57,0.929,6,0.000,0.101,3446,1990,2385,0,0,0,0,0,0
$GC,8609,1.09,163.6,654.8,8.3,344,8622,0.17,0.00,10.32,0.933,6,0.124,0.000,3412,1990,2342,0,0,0,0,0,0
$GC,8930,1.10,179.6,629.0,8.0,352,8951,0.00,3.15,15.55,0.979,4,0.000,0.121,3411,400,2278,0,0,0,0,0,0
$GC,8998,1.05,179.6,623.0,9.8,353,9003,0.00,2.75,0.00,0.000,6,0.000,0.052,3412,1992,2276,0,0,0,0,0,0
$GC,9334,1.06,192.3,595.4,8.2,362,9353,0.00,3.03,12.70,0.945,4,0.000,0.093,3412,408,2225,0,0,0,0,0,0
$GC,9379,1.01,192.3,591.3,9.6,363,9383,0.00,2.67,0.00,0.000,6,0.000,0.041,3412,1989,2223,0,0,0,0,0,0
$GC,9704,1.01,192.3,562.1,9.1,371,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1990,2221,0,0,0,0,0,0
$GC,10027,1.01,196.7,533.5,8.7,379,10037,0.00,2.80,4.85,0.719,4,0.000,0.071,3412,3580,2208,0,0,0,0,0,0
$GC,10060,1.02,201.6,530.4,8.7,379,10073,0.00,2.75,6.38,0.798,6,0.000,0.050,3412,1977,2187,0,0,0,0,0,0
$GC,10396,1.05,226.5,504.0,7.4,388,10426,0.00,3.08,24.27,0.943,4,0.000,0.113,3412,408,2086,0,0,0,0,0,0
$GC,10534,1.05,227.7,492.2,8.9,391,10539,0.00,2.60,0.00,0.000,6,0.000,0.037,3411,1980,2082,0,0,0,0,0,0
$GC,10848,1.11,240.8,467.1,8.2,399,10864,0.00,0.00,14.12,0.884,6,0.000,0.000,3412,1980,2028,0,0,0,0,0,0
$GC,11173,1.15,240.8,435.5,10.1,407,11177,0.00,2.78,0.00,0.000,4,0.000,0.076,3412,405,2024,0,0,0,0,0,0
$GC,11218,1.15,240.8,430.1,12.1,408,11222,0.00,2.55,0.00,0.000,6,0.000,0.029,3412,1974,2023,0,0,0,0,0,0
$GC,11536,1.20,240.8,395.0,11.0,416,11541,0.10,2.78,0.00,0.000,4,0.104,0.071,3437,398,2022,0,0,0,0,0,0
$GC,11558,1.20,240.8,392.2,12.1,416,11562,0.00,2.55,0.00,0.000,6,0.000,0.028,3437,1968,2022,0,0,0,0,0,0
$GC,11895,1.20,240.8,356.6,9.7,425,11900,0.00,2.70,0.00,0.000,4,0.000,0.064,3438,399,2022,0,0,0,0,0,0
$GC,11928,1.20,240.8,353.3,9.8,425,11934,0.00,2.53,0.00,0.000,6,0.000,0.028,3437,1965,2021,0,0,0,0,0,0
$GC,12259,1.23,263.8,327.0,7.6,434,12283,0.00,0.00,21.88,0.818,6,0.000,0.000,3437,1965,1934,0,0,0,0,0,0
$GC,12586,1.27,263.8,298.3,9.6,442,12590,0.00,2.67,0.00,0.000,4,0.000,0.059,3437,403,1930,0,0,0,0,0,0
$GC,12629,1.27,263.8,293.0,11.5,443,12634,0.00,2.50,0.00,0.000,6,0.000,0.027,3437,1968,1928,0,0,0,0,0,0
$GC,12950,1.33,263.8,262.8,9.1,451,12952,0.12,0.00,0.00,0.000,6,0.084,0.000,3470,1968,1928,0,0,0,0,0,0
$GC,13273,1.33,263.8,229.9,10.4,459,13277,0.00,2.67,0.00,0.000,4,0.000,0.060,3470,402,1928,0,0,0,0,0,0
$GC,13289,1.33,263.8,228.0,11.2,459,13293,0.00,2.45,0.00,0.000,6,0.000,0.025,3470,1958,1928,0,0,0,0,0,0
$GC,13602,1.33,263.8,197.1,9.2,468,13606,0.00,2.60,0.00,0.000,4,0.000,0.041,3470,3556,1927,0,0,0,0,0,0
$GC,13622,1.34,268.8,195.6,8.7,469,13634,0.00,2.62,4.85,0.530,6,0.000,0.031,3470,1940,1914,0,0,0,0,0,0
$GC,13952,1.34,270.1,167.6,8.9,500,13957,0.00,2.60,0.00,0.000,4,0.000,0.060,3470,400,1913,0,0,0,0,0,0
$GC,14006,1.34,270.1,162.4,10.6,504,14010,0.00,2.40,0.00,0.000,6,0.000,0.019,3470,1952,1913,0,0,0,0,0,0
$GC,14331,1.38,270.1,130.3,10.0,534,14335,0.00,2.62,0.00,0.000,4,0.000,0.058,3470,400,1913,0,0,0,0,0,0
$GC,14423,1.38,270.1,120.7,11.0,541,14427,0.00,2.38,0.00,0.000,6,0.000,0.021,3470,1929,1913,0,0,0,0,0,0
$GC,14754,1.49,307.6,94.5,6.6,571,14802,0.12,2.67,35.72,0.598,4,0.077,0.054,3508,400,1754,0,0,0,0,0,0
$GC,14815,1.50,313.0,89.3,8.6,576,14829,0.00,2.38,6.28,0.482,6,0.000,0.017,3508,1926,1733,0,0,0,0,0,0
$GC,15148,1.51,317.1,60.1,8.7,607,15163,0.00,2.62,4.85,0.426,4,0.000,0.051,3508,401,1717,0,0,0,0,0,0
$GC,15180,1.51,317.1,56.7,9.5,609,15190,0.00,2.40,0.00,0.000,6,0.000,0.018,3508,1926,1716,0,0,0,0,0,0
$GC,15518,1.51,317.1,26.1,9.9,642,15528,0.00,2.60,0.00,0.000,4,0.000,0.054,3508,402,1716,0,0,0,0,0,0
$GC,15647,1.51,317.1,12.8,10.8,660,15656,0.00,2.35,0.00,0.000,6,0.000,0.016,3508,1916,1716,0,0,0,0,0,0
$STATE,15732,end climb,SURFACE_DEPTH_REACHED
$STATE,15732,begin surface coast
$FINISH,0.7,0.975430
$STATE,15786,end surface coast,CONTROL_FINISHED_OK
$STATE,15786,begin surface
$SM_CCo,15808,52.78,0.513,0,0,1460,380.21
$SM_GC,1.37,0.00,0.00,52.78,0.000,0.000,0.513,477,2086,1460,-12.42,2.15,380.21
$IRIDIUM_FIX,2237.01,-15754.99,071000,020259
$TT8_MAMPS,0.026078
$HUMID,63.82
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.50
$XPDR_PINGS,81
$24V_AH,23.2,64.900
$10V_AH,10.0,58.443
$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,28.750,147.475,381.075,52.775,0.000,51.982,67.344,223.886,20.250,0.000,14.176,1335.444,11549.784,538.910,2277.393,709.424,33.369,1389.274,0.000,2288.854,0.000,0.534,0.000
$DEVICE_MAMPS,174.876,166.439,1102.946,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,462.523,334.889,460.359,817.217,1235.953,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,54218,679
$CAP_FILE_SIZE,133492,0
$CFSIZE,260165632,154738688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140711,071737,2247.663,-15758.099,24,1.5,24,10.1