version: 66.06
glider: 146
mission: 6
dive: 534
start: 7 16 111 6 10 44
data:
$ID,146
$MISSION,6
$DIVE,534
$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,290
$T_MISSION,600
$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,-281188.34
$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,7
$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
$GPS1,055855,2249.481,-15757.984,52,1.0,52,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.6
$GPS2,060949,2249.560,-15758.036,9,1.1,14,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.160,0.008
$KALMAN_X,-468509.1,-95.6,-155.7,466646.6,-1025.6
$KALMAN_Y,191628.9,343.2,116.7,-181609.3,678.1
$MHEAD_RNG_PITCHd_Wd,77.1,1948,-23.2,-8.046
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.53,-60.3,0.0,0.0,0,90,0.00,0.00,-70.55,0.000,6,0.000,0.000,473,2077,3255,0,0,0,0,0,0
$GC,93,-1.57,-97.3,3.6,-3.9,9,119,12.32,2.45,-2.92,0.000,4,0.151,0.049,2823,3566,3410,0,0,0,0,0,0
$GC,139,-0.73,-97.3,16.4,-27.7,14,149,0.82,2.55,0.00,0.000,6,0.091,0.025,3007,1989,3411,0,0,0,0,0,0
$GC,567,-1.03,-97.3,51.8,-9.1,61,572,0.25,2.58,0.00,0.000,4,0.045,0.028,2924,3580,3412,0,0,0,0,0,0
$GC,639,-1.21,-97.3,60.3,-11.7,66,648,0.00,2.50,0.00,0.000,6,0.000,0.022,2924,2017,3412,0,0,0,0,0,0
$GC,1032,-1.38,-97.3,100.7,-8.9,103,1037,0.20,0.00,0.00,0.000,6,0.048,0.000,2852,2016,3412,0,0,0,0,0,0
$GC,1421,-1.47,-97.3,145.1,-10.6,140,1425,0.00,2.47,0.00,0.000,4,0.000,0.035,2852,3574,3413,0,0,0,0,0,0
$GC,1514,-1.58,-97.3,155.2,-10.4,147,1524,0.08,2.50,0.00,0.000,6,0.043,0.028,2809,2009,3413,0,0,0,0,0,0
$GC,1907,-1.58,-97.3,195.7,-9.5,184,1912,0.10,2.53,0.00,0.000,4,0.119,0.028,2831,3576,3413,0,0,0,0,0,0
$GC,1969,-1.69,-97.3,202.0,-8.7,188,1974,0.10,2.42,0.00,0.000,6,0.079,0.025,2786,2021,3413,0,0,0,0,0,0
$GC,2352,-1.69,-97.3,241.3,-10.3,198,2357,0.10,2.50,0.00,0.000,4,0.120,0.037,2808,3580,3414,0,0,0,0,0,0
$GC,2398,-1.75,-97.3,246.1,-10.2,199,2402,0.00,2.45,0.00,0.000,6,0.000,0.023,2808,2016,3414,0,0,0,0,0,0
$GC,2797,-1.80,-97.3,284.9,-9.6,209,2802,0.10,2.53,0.00,0.000,4,0.088,0.032,2770,3568,3414,0,0,0,0,0,0
$GC,2860,-1.80,-97.3,291.4,-10.3,210,2864,0.00,2.42,0.00,0.000,6,0.000,0.032,2770,2038,3414,0,0,0,0,0,0
$GC,3242,-1.80,-97.3,333.6,-11.2,220,3246,0.00,2.50,0.00,0.000,4,0.000,0.041,2770,3566,3413,0,0,0,0,0,0
$GC,3358,-1.80,-97.3,346.6,-11.3,222,3363,0.00,2.47,0.00,0.000,6,0.000,0.038,2770,2044,3412,0,0,0,0,0,0
$GC,3732,-1.80,-97.3,385.9,-10.4,231,3736,0.00,2.50,0.00,0.000,4,0.000,0.051,2770,3564,3411,0,0,0,0,0,0
$GC,3826,-1.80,-97.3,396.3,-10.5,233,3831,0.00,2.53,0.00,0.000,6,0.000,0.045,2769,2041,3411,0,0,0,0,0,0
$GC,4222,-1.80,-97.3,436.1,-9.4,243,4227,0.00,2.55,0.00,0.000,4,0.000,0.058,2769,3560,3408,0,0,0,0,0,0
$GC,4323,-1.85,-97.3,445.8,-9.4,245,4327,0.00,2.58,0.00,0.000,6,0.000,0.054,2770,2042,3407,0,0,0,0,0,0
$GC,4711,-1.85,-97.3,481.2,-9.5,255,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2042,3404,0,0,0,0,0,0
$GC,5078,-1.85,-97.3,517.6,-9.9,264,5082,0.00,2.62,0.00,0.000,4,0.000,0.067,2770,3557,3401,0,0,0,0,0,0
$GC,5172,-1.90,-97.3,527.4,-9.8,266,5177,0.00,2.58,0.00,0.000,6,0.000,0.058,2769,2057,3400,0,0,0,0,0,0
$GC,5568,-1.94,-97.3,568.7,-10.8,276,5572,0.00,2.62,0.00,0.000,4,0.000,0.071,2769,3558,3398,0,0,0,0,0,0
$GC,5646,-2.00,-97.3,577.3,-10.3,277,5652,0.12,2.60,0.00,0.000,6,0.071,0.067,2723,2058,3397,0,0,0,0,0,0
$GC,6018,-1.96,-97.3,622.5,-12.4,287,6023,0.12,2.70,0.00,0.000,4,0.115,0.085,2748,3562,3394,0,0,0,0,0,0
$GC,6041,-1.96,-97.3,625.2,-11.9,287,6045,0.00,2.67,0.00,0.000,6,0.000,0.087,2748,2061,3394,0,0,0,0,0,0
$GC,6417,-1.96,-97.3,664.1,-9.9,297,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2061,3392,0,0,0,0,0,0
$GC,6783,-1.96,-97.3,699.1,-9.6,306,6788,0.00,2.90,0.00,0.000,4,0.000,0.130,2748,3552,3389,0,0,0,0,0,0
$STATE,6791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6791,begin apogee
$GC,6801,-0.31,0.0,700.2,9.7,306,6887,1.60,0.00,81.45,1.083,6,0.094,0.000,3101,2000,3010,0,0,0,0,0,0
$STATE,6888,end apogee,CONTROL_FINISHED_OK
$STATE,6888,begin climb
$GC,6890,1.57,97.3,701.7,0.0,308,6989,1.73,3.45,86.57,1.061,4,0.040,0.156,3517,402,2611,0,0,0,0,0,0
$GC,7001,1.42,117.9,700.0,6.2,310,7027,0.17,2.88,19.90,0.993,6,0.130,0.094,3485,1961,2529,0,0,0,0,0,0
$GC,7424,1.35,117.9,659.1,9.9,321,7428,0.00,3.00,0.00,0.000,4,0.000,0.099,3484,3589,2517,0,0,0,0,0,0
$GC,7479,1.27,117.9,653.1,10.7,322,7484,0.15,2.95,0.00,0.000,6,0.136,0.089,3455,1992,2515,0,0,0,0,0,0
$GC,7868,1.27,117.9,620.0,8.2,332,7873,0.00,3.05,0.00,0.000,4,0.000,0.121,3455,406,2513,0,0,0,0,0,0
$GC,7964,1.20,119.3,612.3,7.9,334,7969,0.00,2.72,0.00,0.000,6,0.000,0.048,3455,2005,2511,0,0,0,0,0,0
$GC,8358,1.23,150.1,590.2,5.3,344,8387,0.00,0.00,27.35,0.992,6,0.000,0.000,3455,2005,2398,0,0,0,0,0,0
$GC,8725,1.25,161.7,564.8,7.0,353,8744,0.00,3.08,11.57,0.916,4,0.000,0.097,3455,403,2348,0,0,0,0,0,0
$GC,8817,1.21,161.7,556.3,9.1,355,8822,0.00,2.65,0.00,0.000,6,0.000,0.038,3455,1998,2347,0,0,0,0,0,0
$GC,9218,1.21,161.7,520.9,9.1,365,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1998,2345,0,0,0,0,0,0
$GC,9584,1.21,161.7,488.1,8.9,374,9588,0.00,2.72,0.00,0.000,4,0.000,0.059,3455,3589,2343,0,0,0,0,0,0
$GC,9599,1.21,161.7,486.5,9.2,374,9604,0.00,2.72,0.00,0.000,6,0.000,0.050,3455,1984,2342,0,0,0,0,0,0
$GC,9982,1.21,161.7,451.7,8.7,384,9987,0.00,2.95,0.00,0.000,4,0.000,0.110,3455,400,2341,0,0,0,0,0,0
$GC,10063,1.21,161.7,444.3,9.1,385,10069,0.00,2.60,0.00,0.000,6,0.000,0.030,3455,2004,2340,0,0,0,0,0,0
$GC,10435,1.27,174.1,417.8,6.9,395,10454,0.00,2.85,11.30,0.836,4,0.000,0.070,3455,406,2299,0,0,0,0,0,0
$GC,10488,1.27,174.1,413.7,8.5,396,10492,0.00,2.58,0.00,0.000,6,0.000,0.027,3455,2001,2297,0,0,0,0,0,0
$GC,10884,1.33,174.1,383.2,8.1,406,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2001,2296,0,0,0,0,0,0
$GC,11247,1.39,174.1,353.1,8.1,415,11253,0.10,2.78,0.00,0.000,4,0.092,0.062,3482,399,2296,0,0,0,0,0,0
$GC,11327,1.35,174.1,345.5,10.3,416,11333,0.00,2.53,0.00,0.000,6,0.000,0.027,3482,1983,2294,0,0,0,0,0,0
$GC,11699,1.37,185.7,317.1,7.0,426,11718,0.00,2.83,11.73,0.769,4,0.000,0.061,3482,400,2251,0,0,0,0,0,0
$GC,11782,1.37,185.7,310.4,8.6,427,11787,0.00,2.50,0.00,0.000,6,0.000,0.021,3482,1976,2249,0,0,0,0,0,0
$GC,12154,1.42,196.5,284.6,7.1,437,12167,0.00,0.00,11.10,0.732,6,0.000,0.000,3482,1976,2208,0,0,0,0,0,0
$GC,12519,1.48,200.5,256.6,7.7,446,12530,0.00,2.72,4.95,0.574,4,0.000,0.063,3482,402,2192,0,0,0,0,0,0
$GC,12598,1.48,200.5,249.8,9.4,447,12604,0.00,2.50,0.00,0.000,6,0.000,0.022,3482,1979,2191,0,0,0,0,0,0
$GC,12970,1.56,204.0,220.5,7.7,457,12977,0.12,0.00,4.72,0.539,6,0.079,0.000,3515,1980,2178,0,0,0,0,0,0
$GC,13344,1.57,213.0,191.4,7.2,472,13359,0.00,2.72,9.75,0.636,4,0.000,0.058,3516,400,2141,0,0,0,0,0,0
$GC,13387,1.57,215.0,188.0,7.9,475,13391,0.00,2.47,0.00,0.000,6,0.000,0.019,3516,1983,2139,0,0,0,0,0,0
$GC,13779,1.59,231.0,161.4,6.6,511,13804,0.00,2.75,17.35,0.642,4,0.000,0.052,3516,408,2067,0,0,0,0,0,0
$GC,13905,1.59,231.0,150.4,9.4,522,13909,0.00,2.45,0.00,0.000,6,0.000,0.024,3516,1966,2065,0,0,0,0,0,0
$GC,14294,1.68,251.7,121.3,6.2,558,14319,0.10,2.70,19.70,0.604,4,0.087,0.051,3545,396,1982,0,0,0,0,0,0
$GC,14348,1.63,251.7,116.9,9.1,562,14358,0.00,2.50,0.00,0.000,6,0.000,0.025,3546,1964,1980,0,0,0,0,0,0
$GC,14741,1.68,251.7,82.0,8.5,599,14745,0.00,2.65,0.00,0.000,4,0.000,0.050,3545,392,1980,0,0,0,0,0,0
$GC,14812,1.68,251.7,75.4,8.7,604,14821,0.00,2.47,0.00,0.000,6,0.000,0.025,3546,1960,1980,0,0,0,0,0,0
$GC,15203,1.68,251.7,43.8,8.3,641,15212,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1961,1980,0,0,0,0,0,0
$GC,15649,1.75,276.9,12.1,5.8,698,15683,0.00,2.67,23.45,0.505,4,0.000,0.049,3546,397,1880,0,0,0,0,0,0
$STATE,15737,end climb,SURFACE_DEPTH_REACHED
$STATE,15737,begin surface coast
$FINISH,1.5,0.980039
$STATE,15764,end surface coast,CONTROL_FINISHED_OK
$STATE,15764,begin surface
$SM_CCo,15789,84.30,0.507,0,0,1459,380.21
$SM_GC,1.52,0.00,0.00,84.30,0.000,0.000,0.507,475,2023,1459,-12.42,0.40,380.21
$IRIDIUM_FIX,2244.02,-15754.11,091000,060606
$TT8_MAMPS,0.026078
$HUMID,61.41
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,97
$24V_AH,23.2,66.481
$10V_AH,9.9,60.004
$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,30.725,148.750,340.900,84.300,0.000,47.380,86.469,298.760,24.250,0.000,16.193,1380.676,11253.159,510.663,2590.489,786.094,33.372,1435.557,0.000,2592.095,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,156.468,1083.004,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.822,356.173,503.300,958.603,1449.706,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,54264,713
$CAP_FILE_SIZE,133912,0
$CFSIZE,260165632,153997312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,103636,2249.974,-15756.835,38,1.2,38,10.1