version: 66.06
glider: 146
mission: 6
dive: 527
start: 7 14 111 21 51 55
data:
$ID,146
$MISSION,6
$DIVE,527
$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,-281053.25
$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,11
$R_STBD_OVSHOOT,19
$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
$GPS1,214336,2247.260,-15803.537,39,1.1,44,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.5
$GPS2,215101,2247.254,-15803.595,9,1.2,9,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,0.143
$KALMAN_X,-457598.4,-275.7,-15.3,446284.8,-1769.7
$KALMAN_Y,182093.1,163.4,219.7,-176273.7,750.5
$MHEAD_RNG_PITCHd_Wd,36.5,5186,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.36,-97.3,0.0,0.0,0,104,0.00,0.00,-85.97,0.000,2,0.000,0.000,477,2116,3314,0,0,0,0,0,0
$GC,108,-1.36,-97.3,4.0,-6.1,11,135,12.45,2.42,-1.65,0.000,4,0.147,0.048,2870,3601,3410,0,0,0,0,0,0
$GC,192,-1.31,-97.3,24.1,-14.7,22,201,0.00,2.60,0.00,0.000,6,0.000,0.029,2870,1990,3412,0,0,0,0,0,0
$GC,536,-1.22,-97.3,72.9,-13.8,56,541,0.17,2.60,0.00,0.000,4,0.116,0.035,2906,3607,3412,0,0,0,0,0,0
$GC,595,-1.27,-97.3,80.2,-11.5,60,599,0.00,2.53,0.00,0.000,6,0.000,0.022,2905,2013,3412,0,0,0,0,0,0
$GC,919,-1.31,-97.3,115.1,-10.3,90,923,0.00,2.62,0.00,0.000,4,0.000,0.052,2905,430,3413,0,0,0,0,0,0
$GC,976,-1.35,-97.3,121.1,-10.5,94,986,0.08,2.53,0.00,0.000,6,0.048,0.015,2869,2062,3413,0,0,0,0,0,0
$GC,1300,-1.35,-97.3,152.7,-9.5,125,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2063,3413,0,0,0,0,0,0
$GC,1620,-1.35,-97.3,182.8,-9.5,155,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2063,3414,0,0,0,0,0,0
$GC,1934,-1.39,-97.3,210.8,-8.7,176,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2063,3415,0,0,0,0,0,0
$GC,2257,-1.44,-97.3,240.7,-9.7,184,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2063,3415,0,0,0,0,0,0
$GC,2582,-1.50,-97.3,272.5,-9.1,192,2586,0.00,2.50,0.00,0.000,4,0.000,0.037,2869,3610,3414,0,0,0,0,0,0
$GC,2668,-1.60,-97.3,279.6,-7.8,194,2674,0.17,2.53,0.00,0.000,6,0.052,0.025,2805,2013,3415,0,0,0,0,0,0
$GC,2993,-1.55,-97.3,311.1,-10.0,202,2998,0.15,2.60,0.00,0.000,4,0.102,0.041,2838,3604,3414,0,0,0,0,0,0
$GC,3067,-1.61,-97.3,318.3,-9.9,203,3072,0.00,2.55,0.00,0.000,6,0.000,0.029,2838,2028,3414,0,0,0,0,0,0
$GC,3398,-1.61,-97.3,353.8,-10.8,211,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2028,3413,0,0,0,0,0,0
$GC,3724,-1.64,-97.3,382.3,-8.0,219,3728,0.00,2.58,0.00,0.000,4,0.000,0.042,2838,3599,3411,0,0,0,0,0,0
$GC,3787,-1.71,-97.3,387.0,-7.7,220,3792,0.15,2.62,0.00,0.000,6,0.061,0.044,2786,2029,3411,0,0,0,0,0,0
$GC,4129,-1.66,-97.3,417.2,-9.2,229,4131,0.12,0.00,0.00,0.000,6,0.110,0.000,2813,2028,3409,0,0,0,0,0,0
$GC,4456,-1.66,-97.3,448.1,-9.8,237,4460,0.00,2.65,0.00,0.000,4,0.000,0.054,2813,3597,3407,0,0,0,0,0,0
$GC,4527,-1.66,-97.3,455.9,-10.9,238,4532,0.00,2.65,0.00,0.000,6,0.000,0.054,2813,2037,3406,0,0,0,0,0,0
$GC,4858,-1.66,-97.3,489.5,-10.0,246,4863,0.00,2.65,0.00,0.000,4,0.000,0.057,2813,3594,3404,0,0,0,0,0,0
$GC,4881,-1.66,-97.3,491.7,-10.3,246,4886,0.00,2.67,0.00,0.000,6,0.000,0.058,2813,2027,3404,0,0,0,0,0,0
$GC,5217,-1.66,-97.3,523.3,-9.1,255,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2027,3401,0,0,0,0,0,0
$GC,5542,-1.66,-97.3,552.7,-9.4,263,5547,0.00,3.12,0.00,0.000,4,0.000,0.132,2813,424,3398,0,0,0,0,0,0
$GC,5569,-1.66,-97.3,555.6,-11.0,263,5574,0.00,2.70,0.00,0.000,6,0.000,0.048,2813,2030,3399,0,0,0,0,0,0
$GC,5902,-1.66,-97.3,585.6,-8.8,271,5907,0.00,2.85,0.00,0.000,4,0.000,0.103,2813,3591,3397,0,0,0,0,0,0
$GC,5935,-1.70,-97.3,588.7,-9.3,271,5940,0.00,2.75,0.00,0.000,6,0.000,0.068,2813,2026,3396,0,0,0,0,0,0
$GC,6266,-1.70,-97.3,620.1,-9.7,280,6270,0.00,2.80,0.00,0.000,4,0.000,0.084,2813,3591,3394,0,0,0,0,0,0
$GC,6294,-1.73,-97.3,622.8,-10.0,280,6299,0.00,2.83,0.00,0.000,6,0.000,0.087,2813,2023,3394,0,0,0,0,0,0
$GC,6625,-1.73,-97.3,655.0,-9.6,288,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2022,3392,0,0,0,0,0,0
$GC,6950,-1.73,-97.3,682.9,-8.2,296,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2022,3389,0,0,0,0,0,0
$STATE,7191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7191,begin apogee
$GC,7199,-0.31,0.0,702.9,8.2,302,7285,1.30,0.00,82.03,1.091,6,0.078,0.000,3107,1993,3010,0,0,0,0,0,0
$STATE,7286,end apogee,CONTROL_FINISHED_OK
$STATE,7286,begin climb
$GC,7288,1.36,97.3,704.9,0.0,304,7385,1.52,3.22,87.65,1.068,4,0.035,0.129,3477,3580,2612,0,0,0,0,0,0
$GC,7411,1.25,164.8,704.6,4.8,307,7480,0.15,3.12,60.95,1.051,6,0.135,0.118,3450,1991,2338,0,0,0,0,0,0
$GC,7805,1.16,164.8,668.4,9.8,317,7807,0.10,0.00,0.00,0.000,6,0.143,0.000,3430,1991,2327,0,0,0,0,0,0
$GC,8131,1.11,169.1,639.8,8.7,325,8135,0.00,3.12,0.00,0.000,4,0.000,0.130,3429,404,2323,0,0,0,0,0,0
$GC,8170,1.01,169.1,635.7,10.1,326,8176,0.17,2.75,0.00,0.000,6,0.127,0.058,3395,1986,2322,0,0,0,0,0,0
$GC,8496,1.03,189.8,610.4,7.7,334,8525,0.00,3.10,21.50,0.990,4,0.000,0.102,3395,404,2235,0,0,0,0,0,0
$GC,8538,1.04,196.7,606.8,8.5,335,8552,0.00,2.72,8.07,0.861,6,0.000,0.046,3395,1994,2207,0,0,0,0,0,0
$GC,8866,1.05,201.8,578.7,8.7,343,8877,0.00,2.97,5.68,0.781,4,0.000,0.094,3395,403,2186,0,0,0,0,0,0
$GC,8889,1.08,230.0,576.9,7.2,343,8924,0.00,2.65,27.35,0.983,6,0.000,0.038,3395,1990,2073,0,0,0,0,0,0
$GC,9234,1.16,250.1,550.2,7.7,352,9260,0.15,3.00,19.45,0.951,4,0.081,0.090,3432,402,1989,0,0,0,0,0,0
$GC,9343,1.11,250.1,539.1,11.4,354,9348,0.00,2.62,0.00,0.000,6,0.000,0.038,3432,1975,1986,0,0,0,0,0,0
$GC,9687,1.11,250.1,501.6,11.4,363,9691,0.00,2.83,0.00,0.000,4,0.000,0.084,3432,401,1984,0,0,0,0,0,0
$GC,9744,1.08,250.1,494.2,13.2,364,9749,0.12,2.58,0.00,0.000,6,0.127,0.033,3408,1974,1983,0,0,0,0,0,0
$GC,10092,1.12,250.1,455.7,10.9,373,10096,0.00,2.80,0.00,0.000,4,0.000,0.074,3408,401,1982,0,0,0,0,0,0
$GC,10118,1.12,250.1,452.4,11.2,373,10123,0.00,2.58,0.00,0.000,6,0.000,0.034,3407,1972,1981,0,0,0,0,0,0
$GC,10451,1.17,250.1,421.0,9.2,381,10453,0.10,0.00,0.00,0.000,6,0.095,0.000,3435,1972,1981,0,0,0,0,0,0
$GC,10775,1.17,250.1,389.6,9.7,389,10779,0.00,2.75,0.00,0.000,4,0.000,0.069,3435,396,1980,0,0,0,0,0,0
$GC,10835,1.17,250.1,383.0,10.5,390,10839,0.00,2.55,0.00,0.000,6,0.000,0.025,3434,1975,1979,0,0,0,0,0,0
$GC,11179,1.17,250.1,348.9,10.6,399,11183,0.00,2.75,0.00,0.000,4,0.000,0.064,3435,395,1979,0,0,0,0,0,0
$GC,11218,1.17,250.1,344.0,12.2,400,11222,0.00,2.50,0.00,0.000,6,0.000,0.025,3435,1964,1978,0,0,0,0,0,0
$GC,11543,1.21,251.8,313.0,8.9,408,11548,0.00,2.70,0.00,0.000,4,0.000,0.063,3435,392,1978,0,0,0,0,0,0
$GC,11576,1.22,256.3,310.0,8.7,408,11586,0.00,2.53,5.12,0.630,6,0.000,0.028,3435,1971,1965,0,0,0,0,0,0
$GC,11907,1.28,261.6,282.1,8.6,417,11916,0.00,0.00,6.60,0.670,6,0.000,0.000,3435,1971,1943,0,0,0,0,0,0
$GC,12232,1.36,269.7,254.1,8.5,425,12244,0.15,0.00,9.12,0.694,6,0.069,0.000,3477,1971,1910,0,0,0,0,0,0
$GC,12555,1.36,269.7,224.0,9.1,433,12559,0.00,2.70,0.00,0.000,4,0.000,0.058,3477,397,1908,0,0,0,0,0,0
$GC,12645,1.32,269.7,215.1,10.0,435,12650,0.00,2.47,0.00,0.000,6,0.000,0.020,3478,1973,1907,0,0,0,0,0,0
$GC,12971,1.33,282.0,188.1,8.2,452,12996,0.00,2.75,12.45,0.654,4,0.000,0.055,3477,403,1859,0,0,0,0,0,0
$GC,13012,1.33,282.0,184.2,9.2,455,13018,0.00,2.45,0.00,0.000,6,0.000,0.024,3477,1964,1858,0,0,0,0,0,0
$GC,13337,1.33,282.0,153.1,10.6,486,13342,0.00,2.65,0.00,0.000,4,0.000,0.055,3477,399,1858,0,0,0,0,0,0
$GC,13442,1.33,282.0,141.6,10.3,494,13452,0.00,2.42,0.00,0.000,6,0.000,0.021,3477,1934,1857,0,0,0,0,0,0
$GC,13771,1.41,310.9,117.4,7.2,525,13805,0.00,2.67,26.60,0.611,4,0.000,0.054,3477,389,1740,0,0,0,0,0,0
$GC,13835,1.41,310.9,111.8,9.6,530,13844,0.00,2.45,0.00,0.000,6,0.000,0.018,3477,1925,1739,0,0,0,0,0,0
$GC,14163,1.49,310.9,83.7,9.0,561,14168,0.10,2.60,0.00,0.000,4,0.096,0.054,3507,397,1739,0,0,0,0,0,0
$GC,14308,1.49,310.9,69.0,10.8,572,14312,0.00,2.33,0.00,0.000,6,0.000,0.018,3507,1905,1739,0,0,0,0,0,0
$GC,14636,1.49,310.9,38.0,9.4,602,14641,0.00,2.53,0.00,0.000,4,0.000,0.050,3507,388,1739,0,0,0,0,0,0
$GC,14672,1.49,310.9,34.0,10.1,604,14681,0.00,2.38,0.00,0.000,6,0.000,0.018,3507,1901,1739,0,0,0,0,0,0
$STATE,14992,end climb,SURFACE_DEPTH_REACHED
$STATE,14992,begin surface coast
$FINISH,0.7,0.975035
$STATE,15048,end surface coast,CONTROL_FINISHED_OK
$STATE,15048,begin surface
$SM_CCo,15072,57.25,0.509,0,0,1460,380.21
$SM_GC,1.33,0.00,0.00,57.25,0.000,0.000,0.509,472,2056,1460,-12.44,1.30,380.21
$IRIDIUM_FIX,2241.69,-15804.53,071000,161606
$TT8_MAMPS,0.026078
$HUMID,62.56
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.20
$XPDR_PINGS,90
$24V_AH,23.1,65.483
$10V_AH,9.9,59.001
$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,29.400,144.800,372.575,57.250,0.000,30.543,34.871,218.067,22.500,0.000,10.968,1296.457,10798.341,517.146,2319.817,632.756,33.378,1392.255,0.000,2318.904,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,204.022,1091.441,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,447.642,323.061,454.430,822.815,1239.535,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,50908,658
$CAP_FILE_SIZE,129109,0
$CFSIZE,260165632,154476544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,020537,2249.440,-15802.951,50,1.6,50,10.1