version: 66.06
glider: 146
mission: 6
dive: 529
start: 7 15 111 6 57 38
data:
$ID,146
$MISSION,6
$DIVE,529
$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,-281110.38
$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,12
$R_STBD_OVSHOOT,54
$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
$GPS1,063707,2249.680,-15802.275,31,1.5,31,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.9
$GPS2,065646,2249.823,-15802.324,15,99.0,34,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.058
$KALMAN_X,-460554.3,-55.8,-190.7,451359.7,-716.9
$KALMAN_Y,186257.5,220.4,298.2,-175815.9,991.8
$MHEAD_RNG_PITCHd_Wd,96.0,9095,-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,18,-1.36,-97.3,0.0,0.0,0,90,0.00,0.00,-69.62,0.000,2,0.000,0.000,476,2082,3226,0,0,0,0,0,0
$GC,93,-1.36,-97.3,3.2,-4.1,9,119,12.40,2.45,-3.53,0.000,4,0.146,0.048,2868,3574,3409,0,0,0,0,0,0
$GC,171,-1.31,-97.3,19.9,-14.1,19,181,0.00,2.55,0.00,0.000,6,0.000,0.031,2869,1991,3410,0,0,0,0,0,0
$GC,522,-1.22,-97.3,67.6,-13.7,55,527,0.17,2.55,0.00,0.000,4,0.110,0.028,2906,3580,3410,0,0,0,0,0,0
$GC,584,-1.27,-97.3,75.6,-12.0,59,593,0.00,2.50,0.00,0.000,6,0.000,0.029,2906,2018,3410,0,0,0,0,0,0
$GC,910,-1.31,-97.3,111.5,-10.1,90,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2018,3411,0,0,0,0,0,0
$GC,1231,-1.39,-97.3,140.3,-8.4,120,1236,0.15,2.50,0.00,0.000,4,0.058,0.029,2842,3573,3412,0,0,0,0,0,0
$GC,1252,-1.39,-97.3,142.2,-8.7,121,1257,0.12,2.42,0.00,0.000,6,0.098,0.021,2872,2020,3412,0,0,0,0,0,0
$GC,1580,-1.39,-97.3,175.7,-10.3,151,1585,0.00,2.65,0.00,0.000,4,0.000,0.054,2873,438,3412,0,0,0,0,0,0
$GC,1624,-1.39,-97.3,180.2,-10.8,154,1629,0.00,2.42,0.00,0.000,6,0.000,0.021,2872,2039,3412,0,0,0,0,0,0
$GC,1969,-1.43,-97.3,211.2,-8.7,177,1973,0.00,2.42,0.00,0.000,4,0.000,0.036,2872,3559,3412,0,0,0,0,0,0
$GC,2024,-1.52,-97.3,216.3,-8.9,178,2029,0.12,2.40,0.00,0.000,6,0.069,0.022,2823,2024,3412,0,0,0,0,0,0
$GC,2372,-1.52,-97.3,251.7,-10.6,187,2376,0.00,2.50,0.00,0.000,4,0.000,0.038,2823,3556,3412,0,0,0,0,0,0
$GC,2417,-1.52,-97.3,256.6,-10.8,188,2421,0.00,2.42,0.00,0.000,6,0.000,0.025,2823,2028,3412,0,0,0,0,0,0
$GC,2735,-1.52,-97.3,287.0,-9.2,196,2739,0.00,2.45,0.00,0.000,4,0.000,0.033,2823,3558,3411,0,0,0,0,0,0
$GC,2795,-1.52,-97.3,292.8,-9.0,197,2800,0.00,2.40,0.00,0.000,6,0.000,0.030,2823,2043,3412,0,0,0,0,0,0
$GC,3139,-1.52,-97.3,326.2,-10.2,206,3144,0.00,2.47,0.00,0.000,4,0.000,0.042,2823,3559,3411,0,0,0,0,0,0
$GC,3155,-1.52,-97.3,328.2,-10.4,206,3160,0.00,2.42,0.00,0.000,6,0.000,0.033,2823,2048,3411,0,0,0,0,0,0
$GC,3498,-1.52,-97.3,363.7,-10.1,215,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2048,3409,0,0,0,0,0,0
$GC,3825,-1.52,-97.3,392.5,-8.6,223,3829,0.00,2.50,0.00,0.000,4,0.000,0.042,2823,3556,3407,0,0,0,0,0,0
$GC,3864,-1.56,-97.3,396.0,-8.8,224,3869,0.00,2.50,0.00,0.000,6,0.000,0.050,2823,2047,3407,0,0,0,0,0,0
$GC,4188,-1.56,-97.3,421.5,-7.9,232,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2047,3405,0,0,0,0,0,0
$GC,4513,-1.56,-97.3,450.9,-9.4,240,4517,0.00,2.53,0.00,0.000,4,0.000,0.052,2823,3547,3402,0,0,0,0,0,0
$GC,4545,-1.60,-97.3,454.4,-10.2,240,4551,0.00,2.55,0.00,0.000,6,0.000,0.054,2823,2043,3402,0,0,0,0,0,0
$GC,4876,-1.60,-97.3,487.4,-9.8,249,4881,0.00,2.55,0.00,0.000,4,0.000,0.058,2823,3545,3400,0,0,0,0,0,0
$GC,4934,-1.65,-97.3,492.9,-9.5,250,4938,0.00,2.55,0.00,0.000,6,0.000,0.058,2823,2045,3399,0,0,0,0,0,0
$GC,5281,-1.68,-97.3,525.1,-9.2,259,5286,0.00,3.12,0.00,0.000,4,0.000,0.125,2823,424,3397,0,0,0,0,0,0
$GC,5314,-1.68,-97.3,528.2,-9.8,259,5320,0.00,2.62,0.00,0.000,6,0.000,0.042,2823,2008,3396,0,0,0,0,0,0
$GC,5648,-1.73,-97.3,557.2,-8.9,268,5649,0.10,0.00,0.00,0.000,6,0.091,0.000,2790,2008,3394,0,0,0,0,0,0
$GC,5970,-1.73,-97.3,589.6,-9.7,276,5975,0.00,2.90,0.00,0.000,4,0.000,0.100,2790,3588,3392,0,0,0,0,0,0
$GC,5991,-1.73,-97.3,591.7,-9.5,276,5996,0.00,2.67,0.00,0.000,6,0.000,0.074,2790,2058,3392,0,0,0,0,0,0
$GC,6329,-1.73,-97.3,624.2,-9.4,285,6334,0.00,2.75,0.00,0.000,4,0.000,0.091,2790,3590,3389,0,0,0,0,0,0
$GC,6350,-1.73,-97.3,626.4,-9.2,285,6355,0.00,2.72,0.00,0.000,6,0.000,0.081,2790,2058,3388,0,0,0,0,0,0
$GC,6687,-1.73,-97.3,654.1,-8.3,294,6692,0.00,3.28,0.00,0.000,4,0.000,0.142,2789,421,3387,0,0,0,0,0,0
$GC,6738,-1.68,-97.3,659.1,-10.1,295,6743,0.00,2.85,0.00,0.000,6,0.000,0.074,2789,2043,3386,0,0,0,0,0,0
$GC,7051,-1.68,-97.3,688.0,-9.4,303,7056,0.00,3.00,0.00,0.000,4,0.000,0.127,2789,3596,3385,0,0,0,0,0,0
$GC,7083,-1.68,-97.3,691.2,-10.0,303,7089,0.00,2.90,0.00,0.000,6,0.000,0.110,2789,2061,3385,0,0,0,0,0,0
$STATE,7209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7209,begin apogee
$GC,7217,-0.31,0.0,703.3,9.5,307,7301,1.42,0.00,80.62,1.091,6,0.087,0.000,3106,1990,3010,0,0,0,0,0,0
$STATE,7302,end apogee,CONTROL_FINISHED_OK
$STATE,7302,begin climb
$GC,7305,1.36,97.3,705.8,0.0,309,7401,1.55,3.20,87.28,1.071,4,0.037,0.121,3479,3580,2612,0,0,0,0,0,0
$GC,7416,1.27,177.0,706.0,4.0,312,7500,0.12,3.10,72.00,1.051,6,0.135,0.115,3455,1995,2287,0,0,0,0,0,0
$GC,7823,1.17,177.0,665.3,10.9,322,7829,0.12,3.20,0.00,0.000,4,0.136,0.133,3432,405,2277,0,0,0,0,0,0
$GC,7842,1.06,177.0,663.1,11.2,322,7847,0.12,2.83,0.00,0.000,6,0.137,0.071,3408,2004,2276,0,0,0,0,0,0
$GC,8184,1.06,177.0,629.1,9.7,331,8189,0.00,3.05,0.00,0.000,4,0.000,0.110,3408,400,2273,0,0,0,0,0,0
$GC,8299,1.01,177.0,616.7,10.8,333,8304,0.00,2.72,0.00,0.000,6,0.000,0.053,3408,1992,2272,0,0,0,0,0,0
$GC,8635,1.01,178.1,586.5,8.9,342,8640,0.00,2.95,0.00,0.000,4,0.000,0.100,3408,404,2271,0,0,0,0,0,0
$GC,8690,0.97,178.1,580.8,10.8,343,8696,0.10,2.65,0.00,0.000,6,0.139,0.041,3388,1985,2269,0,0,0,0,0,0
$GC,9040,1.06,219.5,556.7,6.4,352,9085,0.00,2.97,36.92,0.988,4,0.000,0.084,3388,3583,2113,0,0,0,0,0,0
$GC,9102,1.15,251.8,552.3,7.0,353,9142,0.17,2.83,31.08,0.964,6,0.071,0.062,3431,1976,1982,0,0,0,0,0,0
$GC,9451,1.15,251.8,518.5,9.6,362,9456,0.00,3.03,0.00,0.000,4,0.000,0.114,3430,401,1974,0,0,0,0,0,0
$GC,9592,1.10,251.8,503.5,11.3,365,9597,0.00,2.58,0.00,0.000,6,0.000,0.036,3431,1968,1973,0,0,0,0,0,0
$GC,9907,1.10,251.8,472.2,10.3,373,9911,0.00,2.83,0.00,0.000,4,0.000,0.078,3431,399,1972,0,0,0,0,0,0
$GC,9950,1.10,251.8,466.9,11.8,374,9955,0.00,2.55,0.00,0.000,6,0.000,0.035,3431,1964,1971,0,0,0,0,0,0
$GC,10271,1.10,251.8,432.9,10.7,382,10275,0.00,2.78,0.00,0.000,4,0.000,0.079,3431,403,1970,0,0,0,0,0,0
$GC,10310,1.06,251.8,427.8,13.4,383,10315,0.12,2.55,0.00,0.000,6,0.127,0.031,3407,1968,1970,0,0,0,0,0,0
$GC,10635,1.12,251.8,392.7,10.8,391,10639,0.00,2.75,0.00,0.000,4,0.000,0.072,3406,403,1969,0,0,0,0,0,0
$GC,10680,1.12,251.8,387.4,12.0,392,10684,0.00,2.53,0.00,0.000,6,0.000,0.029,3407,1964,1969,0,0,0,0,0,0
$GC,10998,1.19,251.8,356.1,9.2,400,11000,0.10,0.00,0.00,0.000,6,0.094,0.000,3434,1964,1969,0,0,0,0,0,0
$GC,11323,1.20,266.3,329.2,8.1,408,11342,0.00,2.83,12.05,0.784,4,0.000,0.064,3434,397,1923,0,0,0,0,0,0
$GC,11400,1.20,266.3,321.7,10.5,409,11404,0.00,2.53,0.00,0.000,6,0.000,0.026,3434,1964,1922,0,0,0,0,0,0
$GC,11731,1.24,266.3,291.4,9.1,417,11736,0.00,2.70,0.00,0.000,4,0.000,0.061,3435,401,1921,0,0,0,0,0,0
$GC,11765,1.24,266.3,287.8,11.7,417,11771,0.00,2.45,0.00,0.000,6,0.000,0.027,3435,1948,1921,0,0,0,0,0,0
$GC,12097,1.31,273.4,258.1,8.5,426,12107,0.10,0.00,7.78,0.674,6,0.087,0.000,3464,1948,1895,0,0,0,0,0,0
$GC,12421,1.31,273.4,228.3,9.0,434,12425,0.00,2.65,0.00,0.000,4,0.000,0.060,3464,400,1894,0,0,0,0,0,0
$GC,12455,1.31,273.4,225.1,9.5,434,12460,0.00,2.45,0.00,0.000,6,0.000,0.025,3464,1947,1892,0,0,0,0,0,0
$GC,12766,1.31,273.4,195.9,9.3,444,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1947,1892,0,0,0,0,0,0
$GC,13088,1.32,284.1,167.8,8.3,474,13106,0.00,2.70,11.10,0.630,4,0.000,0.058,3464,399,1850,0,0,0,0,0,0
$GC,13139,1.32,284.1,163.4,9.3,478,13144,0.00,2.42,0.00,0.000,6,0.000,0.025,3463,1951,1850,0,0,0,0,0,0
$GC,13466,1.38,284.1,132.9,9.4,508,13470,0.00,2.62,0.00,0.000,4,0.000,0.055,3463,396,1849,0,0,0,0,0,0
$GC,13565,1.38,284.1,123.2,9.0,516,13569,0.00,2.40,0.00,0.000,6,0.000,0.018,3463,1932,1849,0,0,0,0,0,0
$GC,13891,1.50,316.6,99.7,7.0,546,13929,0.15,2.67,29.95,0.598,4,0.069,0.051,3507,401,1717,0,0,0,0,0,0
$GC,14005,1.50,316.6,89.1,9.5,555,14010,0.00,2.38,0.00,0.000,6,0.000,0.025,3507,1923,1715,0,0,0,0,0,0
$GC,14334,1.50,316.6,58.9,9.3,585,14338,0.00,2.58,0.00,0.000,4,0.000,0.057,3507,399,1716,0,0,0,0,0,0
$GC,14442,1.50,316.6,47.5,10.8,593,14446,0.00,2.38,0.00,0.000,6,0.000,0.018,3507,1922,1716,0,0,0,0,0,0
$GC,14814,1.50,316.6,11.5,9.5,636,14824,0.00,2.60,0.00,0.000,4,0.000,0.054,3507,395,1715,0,0,0,0,0,0
$GC,14841,1.50,316.6,8.5,10.8,639,14850,0.00,2.38,0.00,0.000,6,0.000,0.021,3507,1915,1715,0,0,0,0,0,0
$STATE,14885,end climb,SURFACE_DEPTH_REACHED
$STATE,14885,begin surface coast
$FINISH,0.6,0.976344
$STATE,14934,end surface coast,CONTROL_FINISHED_OK
$STATE,14934,begin surface
$SM_CCo,14958,53.22,0.511,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,53.22,0.000,0.000,0.511,476,2076,1459,-12.42,1.87,380.21
$IRIDIUM_FIX,2239.35,-15802.37,081000,060655
$TT8_MAMPS,0.026078
$HUMID,63.54
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.70
$XPDR_PINGS,83
$24V_AH,23.1,65.774
$10V_AH,9.9,59.281
$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,29.425,175.600,368.775,53.225,0.000,79.738,111.666,673.681,20.750,0.000,37.047,1315.608,10744.492,514.248,2360.578,1248.911,33.369,1416.439,0.000,2336.168,0.000,0.535,0.000
$DEVICE_MAMPS,146.497,158.002,1091.441,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,443.845,317.864,447.987,803.676,1210.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,50953,652
$CAP_FILE_SIZE,146160,0
$CFSIZE,260165632,154324992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,110936,2249.621,-15801.179,64,0.8,64,10.1