version: 66.06
glider: 146
mission: 6
dive: 524
start: 7 14 111 7 34 55
data:
$ID,146
$MISSION,6
$DIVE,524
$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,-280982.06
$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,13
$R_STBD_OVSHOOT,58
$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
$GPS1,071737,2247.663,-15758.099,24,1.5,24,10.1
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.5
$GPS2,073358,2247.693,-15758.167,15,1.9,15,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,0.008
$KALMAN_X,-451704.8,-144.3,168.6,449339.3,-1580.6
$KALMAN_Y,175507.6,551.7,544.1,-169582.3,-879.9
$MHEAD_RNG_PITCHd_Wd,262.2,8352,-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,-71.18,0.000,2,0.000,0.000,476,2087,3265,0,0,0,0,0,0
$GC,92,-1.36,-97.3,3.4,-4.2,9,118,12.48,2.42,-2.78,0.000,4,0.148,0.042,2871,3566,3410,0,0,0,0,0,0
$GC,262,-1.36,-97.3,33.4,-13.6,32,272,0.00,2.55,0.00,0.000,6,0.000,0.023,2872,1982,3410,0,0,0,0,0,0
$GC,593,-1.30,-97.3,77.3,-12.1,63,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1982,3411,0,0,0,0,0,0
$GC,918,-1.30,-97.3,114.0,-11.2,94,923,0.00,2.53,0.00,0.000,4,0.000,0.034,2872,3576,3412,0,0,0,0,0,0
$GC,986,-1.35,-97.3,120.8,-9.9,99,991,0.00,2.50,0.00,0.000,6,0.000,0.028,2872,1992,3412,0,0,0,0,0,0
$GC,1310,-1.35,-97.3,152.2,-9.3,129,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1992,3412,0,0,0,0,0,0
$GC,1631,-1.35,-97.3,181.3,-8.0,159,1635,0.00,2.50,0.00,0.000,4,0.000,0.028,2871,3571,3413,0,0,0,0,0,0
$GC,1697,-1.41,-97.3,186.7,-8.2,164,1701,0.00,2.45,0.00,0.000,6,0.000,0.026,2871,2012,3413,0,0,0,0,0,0
$GC,2038,-1.46,-97.3,215.0,-8.7,184,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2012,3413,0,0,0,0,0,0
$GC,2363,-1.51,-97.3,244.8,-8.9,192,2368,0.10,2.67,0.00,0.000,4,0.087,0.064,2832,434,3413,0,0,0,0,0,0
$GC,2384,-1.51,-97.3,247.3,-9.9,192,2389,0.00,2.42,0.00,0.000,6,0.000,0.023,2832,2021,3413,0,0,0,0,0,0
$GC,2727,-1.51,-97.3,280.6,-9.4,201,2731,0.00,2.47,0.00,0.000,4,0.000,0.031,2832,3573,3413,0,0,0,0,0,0
$GC,2789,-1.51,-97.3,285.9,-8.6,202,2794,0.00,2.45,0.00,0.000,6,0.000,0.024,2832,2031,3412,0,0,0,0,0,0
$GC,3131,-1.51,-97.3,319.9,-10.8,211,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2031,3412,0,0,0,0,0,0
$GC,3456,-1.51,-97.3,346.3,-6.6,219,3461,0.00,2.47,0.00,0.000,4,0.000,0.038,2832,3558,3411,0,0,0,0,0,0
$GC,3537,-1.55,-97.3,352.3,-8.0,220,3542,0.00,2.50,0.00,0.000,6,0.000,0.036,2832,2036,3411,0,0,0,0,0,0
$GC,3868,-1.55,-97.3,386.5,-10.7,229,3872,0.00,2.53,0.00,0.000,4,0.000,0.044,2832,3562,3409,0,0,0,0,0,0
$GC,3889,-1.58,-97.3,388.7,-10.1,229,3893,0.00,2.55,0.00,0.000,6,0.000,0.042,2832,2030,3409,0,0,0,0,0,0
$GC,4225,-1.58,-97.3,414.4,-7.1,238,4230,0.00,2.55,0.00,0.000,4,0.000,0.045,2832,3562,3407,0,0,0,0,0,0
$GC,4270,-1.64,-97.3,417.9,-8.1,239,4275,0.00,2.58,0.00,0.000,6,0.000,0.047,2832,2029,3406,0,0,0,0,0,0
$GC,4590,-1.68,-97.3,444.9,-8.6,247,4591,0.10,0.00,0.00,0.000,6,0.081,0.000,2789,2029,3404,0,0,0,0,0,0
$GC,4916,-1.64,-97.3,479.8,-11.0,255,4921,0.12,2.60,0.00,0.000,4,0.115,0.055,2815,3551,3402,0,0,0,0,0,0
$GC,4955,-1.64,-97.3,484.2,-10.5,256,4960,0.00,2.55,0.00,0.000,6,0.000,0.052,2815,2048,3402,0,0,0,0,0,0
$GC,5281,-1.64,-97.3,513.5,-8.7,264,5285,0.00,2.58,0.00,0.000,4,0.000,0.066,2814,3552,3399,0,0,0,0,0,0
$GC,5302,-1.64,-97.3,515.5,-8.6,264,5306,0.00,2.60,0.00,0.000,6,0.000,0.061,2814,2030,3399,0,0,0,0,0,0
$GC,5638,-1.64,-97.3,545.1,-9.1,273,5642,0.00,2.65,0.00,0.000,4,0.000,0.067,2815,3555,3397,0,0,0,0,0,0
$GC,5670,-1.64,-97.3,548.5,-10.2,273,5676,0.00,2.60,0.00,0.000,6,0.000,0.065,2814,2049,3397,0,0,0,0,0,0
$GC,6003,-1.64,-97.3,581.7,-10.1,282,6007,0.00,2.65,0.00,0.000,4,0.000,0.074,2815,3551,3394,0,0,0,0,0,0
$GC,6018,-1.64,-97.3,583.5,-10.0,282,6023,0.00,2.62,0.00,0.000,6,0.000,0.071,2814,2045,3394,0,0,0,0,0,0
$GC,6361,-1.64,-97.3,615.2,-8.9,291,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2045,3392,0,0,0,0,0,0
$GC,6688,-1.64,-97.3,642.3,-8.4,299,6693,0.00,3.25,0.00,0.000,4,0.000,0.143,2814,424,3389,0,0,0,0,0,0
$GC,6722,-1.64,-97.3,645.4,-9.2,299,6728,0.00,2.78,0.00,0.000,6,0.000,0.072,2815,2007,3389,0,0,0,0,0,0
$GC,7053,-1.64,-97.3,673.6,-8.4,308,7058,0.00,3.03,0.00,0.000,4,0.000,0.125,2815,3597,3387,0,0,0,0,0,0
$GC,7078,-1.64,-97.3,675.7,-9.4,308,7082,0.00,2.90,0.00,0.000,6,0.000,0.106,2815,2044,3387,0,0,0,0,0,0
$STATE,7371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7371,begin apogee
$GC,7377,-0.31,0.0,701.5,8.5,316,7461,1.30,0.00,80.88,1.092,6,0.081,0.000,3107,1987,3010,0,0,0,0,0,0
$STATE,7462,end apogee,CONTROL_FINISHED_OK
$STATE,7462,begin climb
$GC,7465,1.36,97.3,703.1,0.0,318,7556,1.52,0.00,87.65,1.065,6,0.036,0.000,3477,1987,2613,0,0,0,0,0,0
$GC,7861,1.21,111.1,679.9,8.1,328,7880,0.17,3.08,12.55,0.957,4,0.124,0.104,3440,3577,2555,0,0,0,0,0,0
$GC,7892,1.13,131.9,677.2,7.7,328,7918,0.00,2.97,20.15,0.992,6,0.000,0.104,3441,2001,2472,0,0,0,0,0,0
$GC,8229,1.04,135.2,647.8,8.8,337,8234,0.17,2.92,0.00,0.000,4,0.127,0.091,3406,3582,2464,0,0,0,0,0,0
$GC,8252,1.02,156.7,645.7,7.6,337,8281,0.00,2.90,22.88,1.003,6,0.000,0.084,3405,2000,2370,0,0,0,0,0,0
$GC,8599,1.04,179.2,619.0,7.6,346,8628,0.00,3.20,21.50,0.991,4,0.000,0.117,3405,406,2278,0,0,0,0,0,0
$GC,8679,0.99,179.2,611.4,10.0,347,8684,0.00,2.75,0.00,0.000,6,0.000,0.054,3406,2008,2275,0,0,0,0,0,0
$GC,9012,1.02,196.9,584.9,7.9,356,9030,0.00,0.00,16.95,0.963,6,0.000,0.000,3406,2008,2207,0,0,0,0,0,0
$GC,9335,1.02,197.1,556.5,9.0,364,9339,0.00,2.78,0.00,0.000,4,0.000,0.074,3406,3577,2202,0,0,0,0,0,0
$GC,9374,1.02,197.1,552.8,9.7,365,9378,0.00,2.72,0.00,0.000,6,0.000,0.057,3406,1996,2200,0,0,0,0,0,0
$GC,9699,1.02,202.0,523.6,8.7,373,9710,0.00,3.05,5.25,0.743,4,0.000,0.110,3406,404,2186,0,0,0,0,0,0
$GC,9788,1.02,202.0,514.8,9.6,375,9793,0.00,2.62,0.00,0.000,6,0.000,0.038,3406,2001,2185,0,0,0,0,0,0
$GC,10107,1.04,217.1,489.0,8.0,383,10128,0.00,2.90,15.25,0.917,4,0.000,0.077,3406,404,2124,0,0,0,0,0,0
$GC,10174,1.04,217.1,483.1,9.3,384,10179,0.00,2.60,0.00,0.000,6,0.000,0.028,3406,1989,2122,0,0,0,0,0,0
$GC,10511,1.08,217.9,454.1,8.9,393,10515,0.00,2.83,0.00,0.000,4,0.000,0.077,3406,402,2120,0,0,0,0,0,0
$GC,10567,1.08,217.9,447.8,10.9,394,10572,0.00,2.58,0.00,0.000,6,0.000,0.026,3406,1976,2119,0,0,0,0,0,0
$GC,10915,1.13,217.9,413.4,9.4,403,10919,0.00,2.78,0.00,0.000,4,0.000,0.075,3406,397,2119,0,0,0,0,0,0
$GC,10941,1.13,217.9,410.6,9.7,403,10946,0.00,2.58,0.00,0.000,6,0.000,0.028,3406,1978,2118,0,0,0,0,0,0
$GC,11275,1.22,245.2,385.3,7.3,411,11304,0.15,0.00,26.55,0.872,6,0.074,0.000,3446,1978,2010,0,0,0,0,0,0
$GC,11598,1.22,245.2,355.4,9.4,419,11602,0.00,2.72,0.00,0.000,4,0.000,0.065,3446,402,2005,0,0,0,0,0,0
$GC,11619,1.22,245.2,353.0,10.6,419,11623,0.00,2.55,0.00,0.000,6,0.000,0.029,3447,1980,2003,0,0,0,0,0,0
$GC,11957,1.22,245.2,317.9,10.7,428,11961,0.00,2.75,0.00,0.000,4,0.000,0.061,3446,397,2003,0,0,0,0,0,0
$GC,11996,1.18,245.2,313.8,10.1,429,12001,0.00,2.53,0.00,0.000,6,0.000,0.022,3446,1968,2002,0,0,0,0,0,0
$GC,12320,1.20,255.5,285.8,8.3,437,12335,0.00,2.67,10.07,0.736,4,0.000,0.039,3446,3567,1967,0,0,0,0,0,0
$GC,12347,1.20,255.5,283.2,9.2,437,12352,0.00,2.70,0.00,0.000,6,0.000,0.032,3447,1942,1966,0,0,0,0,0,0
$GC,12681,1.24,255.5,250.6,9.4,445,12685,0.00,2.67,0.00,0.000,4,0.000,0.036,3447,3569,1965,0,0,0,0,0,0
$GC,12726,1.29,255.5,246.2,9.0,446,12731,0.00,2.67,0.00,0.000,6,0.000,0.032,3446,1941,1964,0,0,0,0,0,0
$GC,13045,1.35,262.5,218.9,8.5,454,13061,0.10,2.72,7.45,0.639,4,0.092,0.068,3475,401,1938,0,0,0,0,0,0
$GC,13133,1.31,262.5,210.0,10.6,455,13139,0.00,2.47,0.00,0.000,6,0.000,0.021,3475,1962,1937,0,0,0,0,0,0
$GC,13452,1.31,262.5,180.8,9.1,477,13456,0.00,2.60,0.00,0.000,4,0.000,0.038,3475,3556,1937,0,0,0,0,0,0
$GC,13474,1.31,262.5,179.3,9.6,478,13478,0.00,2.62,0.00,0.000,6,0.000,0.031,3475,1946,1937,0,0,0,0,0,0
$GC,13804,1.31,267.3,150.1,8.7,508,13815,0.00,2.60,5.88,0.537,4,0.000,0.061,3475,415,1919,0,0,0,0,0,0
$GC,13842,1.31,267.3,146.2,9.6,511,13847,0.00,2.42,0.00,0.000,6,0.000,0.019,3475,1962,1918,0,0,0,0,0,0
$GC,14172,1.37,282.3,118.4,8.0,541,14196,0.00,2.70,14.90,0.601,4,0.000,0.054,3475,414,1858,0,0,0,0,0,0
$GC,14236,1.37,282.3,112.1,9.2,546,14246,0.00,2.45,0.00,0.000,6,0.000,0.021,3475,1955,1857,0,0,0,0,0,0
$GC,14565,1.47,312.3,87.2,7.1,577,14599,0.00,2.67,27.35,0.584,4,0.000,0.052,3475,411,1735,0,0,0,0,0,0
$GC,14617,1.54,333.4,83.5,7.7,581,14642,0.15,2.42,19.60,0.564,6,0.071,0.018,3516,1951,1651,0,0,0,0,0,0
$GC,14960,1.54,333.4,48.9,10.9,613,14965,0.00,2.60,0.00,0.000,4,0.000,0.056,3516,414,1647,0,0,0,0,0,0
$GC,15104,1.54,333.4,33.1,10.7,624,15108,0.00,2.35,0.00,0.000,6,0.000,0.018,3516,1922,1646,0,0,0,0,0,0
$STATE,15410,end climb,SURFACE_DEPTH_REACHED
$STATE,15411,begin surface coast
$FINISH,0.6,0.979978
$STATE,15462,end surface coast,CONTROL_FINISHED_OK
$STATE,15462,begin surface
$SM_CCo,15485,38.30,0.508,0,0,1460,380.21
$SM_GC,1.36,0.00,0.00,38.30,0.000,0.000,0.508,475,2082,1460,-12.42,2.04,380.21
$IRIDIUM_FIX,2241.69,-15759.32,071000,070751
$TT8_MAMPS,0.026078
$HUMID,64.84
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,20.70
$XPDR_PINGS,84
$24V_AH,23.2,65.052
$10V_AH,9.9,58.582
$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,28.700,170.325,394.850,38.300,0.000,78.245,107.885,506.962,21.000,0.000,17.130,1352.871,11202.817,545.271,2331.898,1071.235,33.408,1416.575,0.000,2332.159,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,276.120,1092.208,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,459.914,346.390,462.525,827.626,1251.547,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,54139,675
$CAP_FILE_SIZE,145885,0
$CFSIZE,260165632,154660864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140711,115506,2248.503,-15800.633,39,1.1,45,10.1