version: 66.06
glider: 146
mission: 6
dive: 532
start: 7 15 111 20 34 31
data:
$ID,146
$MISSION,6
$DIVE,532
$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,-281157.62
$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,15
$R_STBD_OVSHOOT,90
$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
$GPS1,202254,2249.176,-15759.797,66,1.4,66,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.9
$GPS2,203337,2249.247,-15759.845,10,1.5,15,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,-0.031
$KALMAN_X,-465310.8,-122.9,17.1,460204.6,-1347.9
$KALMAN_Y,189774.4,-371.9,269.7,-179772.0,1018.2
$MHEAD_RNG_PITCHd_Wd,88.5,5052,-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,12,begin dive
$GC,15,-1.36,-97.3,0.0,0.0,0,88,0.00,0.00,-70.88,0.000,2,0.000,0.000,476,2050,3313,0,0,0,0,0,0
$GC,91,-1.36,-97.3,4.2,-6.4,9,109,12.52,0.00,-1.75,0.000,6,0.150,0.000,2872,2050,3409,0,0,0,0,0,0
$GC,458,-1.27,-97.3,63.8,-14.1,50,463,0.12,2.40,0.00,0.000,4,0.129,0.027,2897,3540,3412,0,0,0,0,0,0
$GC,503,-1.27,-97.3,70.4,-13.5,53,508,0.00,2.45,0.00,0.000,6,0.000,0.023,2896,1984,3412,0,0,0,0,0,0
$GC,832,-1.27,-97.3,109.0,-10.3,83,836,0.00,2.47,0.00,0.000,4,0.000,0.034,2897,3536,3413,0,0,0,0,0,0
$GC,872,-1.34,-97.3,113.5,-10.1,86,877,0.00,2.40,0.00,0.000,6,0.000,0.030,2897,2006,3413,0,0,0,0,0,0
$GC,1199,-1.40,-97.3,141.3,-8.7,116,1204,0.12,2.45,0.00,0.000,4,0.071,0.033,2848,3544,3414,0,0,0,0,0,0
$GC,1221,-1.40,-97.3,143.4,-9.9,117,1226,0.10,2.40,0.00,0.000,6,0.114,0.026,2871,2007,3414,0,0,0,0,0,0
$GC,1545,-1.40,-97.3,174.6,-9.2,147,1550,0.00,2.42,0.00,0.000,4,0.000,0.031,2871,3544,3414,0,0,0,0,0,0
$GC,1566,-1.44,-97.3,176.2,-9.4,148,1571,0.00,2.38,0.00,0.000,6,0.000,0.021,2870,2014,3414,0,0,0,0,0,0
$GC,1891,-1.48,-97.3,210.1,-11.1,172,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2014,3414,0,0,0,0,0,0
$GC,2213,-1.53,-97.3,241.0,-9.1,180,2218,0.12,2.47,0.00,0.000,4,0.072,0.035,2824,3543,3415,0,0,0,0,0,0
$GC,2252,-1.53,-97.3,245.0,-10.8,181,2256,0.00,2.42,0.00,0.000,6,0.000,0.029,2824,2007,3415,0,0,0,0,0,0
$GC,2577,-1.53,-97.3,278.1,-10.5,189,2581,0.00,2.45,0.00,0.000,4,0.000,0.039,2824,3536,3415,0,0,0,0,0,0
$GC,2604,-1.53,-97.3,281.4,-11.4,189,2608,0.00,2.38,0.00,0.000,6,0.000,0.030,2824,2026,3415,0,0,0,0,0,0
$GC,2935,-1.53,-97.3,316.8,-10.2,197,2939,0.00,2.45,0.00,0.000,4,0.000,0.036,2824,3533,3414,0,0,0,0,0,0
$GC,3031,-1.53,-97.3,325.8,-8.9,199,3036,0.00,2.40,0.00,0.000,6,0.000,0.030,2823,2034,3414,0,0,0,0,0,0
$GC,3344,-1.53,-97.3,350.1,-7.9,207,3349,0.00,2.45,0.00,0.000,4,0.000,0.038,2824,3528,3413,0,0,0,0,0,0
$GC,3499,-1.53,-97.3,363.1,-7.9,210,3503,0.00,2.45,0.00,0.000,6,0.000,0.039,2824,2040,3412,0,0,0,0,0,0
$GC,3840,-1.53,-97.3,392.7,-9.1,219,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2040,3411,0,0,0,0,0,0
$GC,4165,-1.53,-97.3,424.2,-9.7,227,4170,0.00,2.47,0.00,0.000,4,0.000,0.049,2824,3526,3408,0,0,0,0,0,0
$GC,4200,-1.57,-97.3,427.6,-9.9,227,4206,0.00,2.47,0.00,0.000,6,0.000,0.048,2824,2043,3407,0,0,0,0,0,0
$GC,4531,-1.57,-97.3,460.2,-10.0,236,4535,0.00,2.50,0.00,0.000,4,0.000,0.055,2824,3531,3406,0,0,0,0,0,0
$GC,4558,-1.62,-97.3,462.9,-9.9,236,4563,0.00,2.53,0.00,0.000,6,0.000,0.052,2824,2041,3406,0,0,0,0,0,0
$GC,4891,-1.62,-97.3,490.8,-8.5,244,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2041,3403,0,0,0,0,0,0
$GC,5215,-1.65,-97.3,518.0,-8.1,252,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2041,3400,0,0,0,0,0,0
$GC,5540,-1.69,-97.3,542.4,-7.3,260,5544,0.00,2.58,0.00,0.000,4,0.000,0.067,2824,3521,3398,0,0,0,0,0,0
$GC,5636,-1.75,-97.3,549.6,-7.5,262,5641,0.12,2.58,0.00,0.000,6,0.074,0.064,2779,2035,3398,0,0,0,0,0,0
$GC,5949,-1.71,-97.3,577.5,-9.1,270,5951,0.10,0.00,0.00,0.000,6,0.129,0.000,2799,2035,3396,0,0,0,0,0,0
$GC,6276,-1.71,-97.3,605.5,-8.7,278,6281,0.00,3.20,0.00,0.000,4,0.000,0.142,2799,420,3394,0,0,0,0,0,0
$GC,6291,-1.71,-97.3,607.3,-9.0,278,6296,0.00,2.62,0.00,0.000,6,0.000,0.061,2799,1971,3394,0,0,0,0,0,0
$GC,6633,-1.71,-97.3,639.3,-9.4,287,6638,0.00,3.03,0.00,0.000,4,0.000,0.110,2799,3600,3392,0,0,0,0,0,0
$GC,6724,-1.71,-97.3,648.3,-9.8,289,6728,0.00,2.85,0.00,0.000,6,0.000,0.094,2799,2044,3391,0,0,0,0,0,0
$GC,7042,-1.71,-97.3,677.8,-9.2,297,7047,0.00,3.28,0.00,0.000,4,0.000,0.152,2799,420,3388,0,0,0,0,0,0
$GC,7057,-1.71,-97.3,679.4,-9.0,297,7062,0.00,2.90,0.00,0.000,6,0.000,0.086,2799,2046,3388,0,0,0,0,0,0
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7316,begin apogee
$GC,7323,-0.31,0.0,703.1,8.9,304,7409,1.38,0.00,81.62,1.093,6,0.087,0.000,3105,1994,3010,0,0,0,0,0,0
$STATE,7410,end apogee,CONTROL_FINISHED_OK
$STATE,7410,begin climb
$GC,7412,1.36,97.3,705.1,0.0,306,7504,1.52,0.00,87.88,1.068,6,0.039,0.000,3475,1994,2613,0,0,0,0,0,0
$GC,7822,1.21,119.0,683.1,7.6,316,7848,0.17,3.10,19.27,1.001,4,0.123,0.115,3441,3588,2525,0,0,0,0,0,0
$GC,7877,1.11,128.7,678.6,8.4,317,7893,0.12,3.03,10.32,0.922,6,0.140,0.100,3418,2000,2484,0,0,0,0,0,0
$GC,8227,1.09,147.6,651.2,7.8,326,8251,0.00,3.25,17.95,0.991,4,0.000,0.130,3418,403,2407,0,0,0,0,0,0
$GC,8338,0.99,147.6,641.0,10.0,328,8344,0.15,2.78,0.00,0.000,6,0.127,0.063,3389,2005,2404,0,0,0,0,0,0
$GC,8683,1.03,182.3,616.3,6.8,337,8717,0.00,0.00,32.55,1.012,6,0.000,0.000,3389,2005,2266,0,0,0,0,0,0
$GC,9044,1.09,197.4,587.9,8.0,345,9065,0.10,3.08,14.25,0.949,4,0.091,0.097,3415,398,2204,0,0,0,0,0,0
$GC,9107,1.04,197.4,581.6,10.6,346,9112,0.00,2.70,0.00,0.000,6,0.000,0.039,3415,2007,2202,0,0,0,0,0,0
$GC,9449,1.04,199.8,550.2,8.8,355,9454,0.00,2.95,0.00,0.000,4,0.000,0.088,3415,400,2200,0,0,0,0,0,0
$GC,9510,1.00,199.8,544.1,10.1,356,9515,0.12,2.65,0.00,0.000,6,0.123,0.037,3390,1994,2198,0,0,0,0,0,0
$GC,9853,1.06,210.8,516.5,8.3,365,9868,0.00,0.00,12.95,0.912,6,0.000,0.000,3390,1994,2150,0,0,0,0,0,0
$GC,10178,1.13,221.1,488.6,8.3,373,10197,0.12,2.90,11.15,0.877,4,0.100,0.081,3423,403,2106,0,0,0,0,0,0
$GC,10273,1.09,221.1,479.0,10.8,375,10278,0.00,2.62,0.00,0.000,6,0.000,0.030,3423,1991,2103,0,0,0,0,0,0
$GC,10591,1.09,221.1,448.4,9.8,383,10596,0.00,2.83,0.00,0.000,4,0.000,0.077,3423,397,2102,0,0,0,0,0,0
$GC,10693,1.06,221.1,437.7,11.2,385,10698,0.00,2.60,0.00,0.000,6,0.000,0.032,3423,1985,2101,0,0,0,0,0,0
$GC,11040,1.06,221.1,403.9,9.9,394,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1985,2101,0,0,0,0,0,0
$GC,11365,1.06,222.0,374.1,8.9,402,11370,0.00,2.75,0.00,0.000,4,0.000,0.066,3423,400,2101,0,0,0,0,0,0
$GC,11478,1.06,222.0,362.7,9.2,404,11483,0.00,2.55,0.00,0.000,6,0.000,0.025,3423,1984,2100,0,0,0,0,0,0
$GC,11815,1.10,224.2,333.3,8.8,413,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1985,2100,0,0,0,0,0,0
$GC,12140,1.18,248.9,307.3,7.4,421,12170,0.00,2.67,25.45,0.807,4,0.000,0.039,3423,3578,1994,0,0,0,0,0,0
$GC,12195,1.28,278.1,303.2,7.2,422,12230,0.12,2.70,28.00,0.791,6,0.083,0.038,3458,1959,1875,0,0,0,0,0,0
$GC,12550,1.28,278.1,269.7,9.5,431,12555,0.00,2.70,0.00,0.000,4,0.000,0.073,3458,411,1870,0,0,0,0,0,0
$GC,12594,1.28,278.1,264.7,11.0,432,12598,0.00,2.50,0.00,0.000,6,0.000,0.026,3458,1985,1868,0,0,0,0,0,0
$GC,12918,1.28,278.1,232.8,9.7,440,12923,0.00,2.70,0.00,0.000,4,0.000,0.056,3458,410,1868,0,0,0,0,0,0
$GC,12975,1.28,278.1,226.9,10.0,441,12980,0.00,2.45,0.00,0.000,6,0.000,0.020,3458,1969,1867,0,0,0,0,0,0
$GC,13324,1.34,296.4,198.5,7.8,450,13348,0.00,2.75,16.30,0.681,4,0.000,0.061,3458,406,1800,0,0,0,0,0,0
$GC,13437,1.34,296.4,187.6,10.3,459,13446,0.00,2.47,0.00,0.000,6,0.000,0.025,3458,1953,1798,0,0,0,0,0,0
$GC,13765,1.39,296.4,156.2,9.3,490,13770,0.00,2.62,0.00,0.000,4,0.000,0.058,3458,409,1798,0,0,0,0,0,0
$GC,13795,1.39,296.4,153.1,9.8,492,13799,0.00,2.42,0.00,0.000,6,0.000,0.024,3458,1956,1797,0,0,0,0,0,0
$GC,14120,1.51,332.2,128.2,6.8,522,14159,0.20,2.67,32.40,0.628,4,0.064,0.054,3513,410,1654,0,0,0,0,0,0
$GC,14227,1.46,332.2,117.3,11.7,530,14236,0.00,2.42,0.00,0.000,6,0.000,0.024,3513,1930,1652,0,0,0,0,0,0
$GC,14555,1.46,332.2,80.6,10.7,561,14560,0.00,2.58,0.00,0.000,4,0.000,0.052,3513,408,1652,0,0,0,0,0,0
$GC,14614,1.46,332.2,74.2,11.9,565,14618,0.00,2.38,0.00,0.000,6,0.000,0.018,3513,1932,1651,0,0,0,0,0,0
$GC,14944,1.46,332.2,40.4,9.9,595,14948,0.00,2.58,0.00,0.000,4,0.000,0.051,3513,403,1651,0,0,0,0,0,0
$GC,14977,1.46,332.2,36.8,10.6,597,14981,0.00,2.38,0.00,0.000,6,0.000,0.018,3513,1931,1651,0,0,0,0,0,0
$STATE,15291,end climb,SURFACE_DEPTH_REACHED
$STATE,15291,begin surface coast
$FINISH,0.7,0.980041
$STATE,15334,end surface coast,CONTROL_FINISHED_OK
$STATE,15334,begin surface
$SM_CCo,15358,40.25,0.512,0,0,1460,380.21
$SM_GC,1.52,0.00,0.00,40.25,0.000,0.000,0.512,475,2081,1460,-12.42,2.01,380.21
$IRIDIUM_FIX,2241.69,-15751.94,081000,202023
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,20.30
$XPDR_PINGS,93
$24V_AH,23.1,66.195
$10V_AH,9.9,59.693
$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,29.550,152.825,390.100,40.250,0.000,50.651,91.506,269.193,23.250,0.000,16.679,1315.791,11135.760,499.955,2295.366,787.845,33.378,1381.578,0.000,2297.770,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,151.866,1092.975,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,439.449,328.455,431.747,757.596,1145.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,51017,644
$CAP_FILE_SIZE,136474,0
$CFSIZE,260165632,154128384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,005237,2249.388,-15758.645,45,1.3,45,10.1