version: 66.06
glider: 146
mission: 6
dive: 535
start: 7 16 111 10 45 20
data:
$ID,146
$MISSION,6
$DIVE,535
$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,-281205.31
$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,69
$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
$GPS1,103636,2249.974,-15756.835,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.5
$GPS2,104425,2249.963,-15756.873,9,0.9,14,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,-0.195
$KALMAN_X,-469891.4,140.8,177.5,469440.3,-1720.7
$KALMAN_Y,192569.4,54.9,75.4,-181475.0,316.6
$MHEAD_RNG_PITCHd_Wd,156.2,5711,-17.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.24,-97.3,0.0,0.0,0,89,0.00,0.00,-70.97,0.000,2,0.000,0.000,474,2023,3261,0,0,0,0,0,0
$GC,94,-1.24,-97.3,3.6,-3.9,9,120,12.70,2.70,-2.70,0.000,4,0.151,0.060,2894,415,3409,0,0,0,0,0,0
$GC,203,-1.14,-97.3,28.3,-15.6,24,213,0.10,2.47,0.00,0.000,6,0.097,0.015,2919,2004,3411,0,0,0,0,0,0
$GC,606,-1.10,-97.3,73.9,-11.2,62,610,0.00,2.50,0.00,0.000,4,0.000,0.029,2919,3564,3412,0,0,0,0,0,0
$GC,666,-1.15,-97.3,80.9,-10.0,66,675,0.00,2.53,0.00,0.000,6,0.000,0.024,2919,1993,3412,0,0,0,0,0,0
$GC,1057,-1.15,-97.3,114.3,-8.6,103,1061,0.00,2.50,0.00,0.000,4,0.000,0.029,2919,3566,3413,0,0,0,0,0,0
$GC,1097,-1.20,-97.3,118.2,-9.0,106,1102,0.00,2.42,0.00,0.000,6,0.000,0.021,2919,2023,3413,0,0,0,0,0,0
$GC,1490,-1.25,-97.3,151.1,-8.3,142,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2022,3413,0,0,0,0,0,0
$GC,1878,-1.32,-97.3,183.2,-7.9,179,1883,0.12,2.50,0.00,0.000,4,0.071,0.028,2871,3576,3413,0,0,0,0,0,0
$GC,1945,-1.32,-97.3,188.9,-8.6,184,1949,0.00,2.42,0.00,0.000,6,0.000,0.028,2872,2032,3413,0,0,0,0,0,0
$GC,2334,-1.32,-97.3,220.8,-8.3,203,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2031,3414,0,0,0,0,0,0
$GC,2699,-1.32,-97.3,250.8,-7.9,212,2703,0.00,2.47,0.00,0.000,4,0.000,0.038,2871,3569,3414,0,0,0,0,0,0
$GC,2738,-1.32,-97.3,254.0,-8.1,213,2742,0.00,2.42,0.00,0.000,6,0.000,0.024,2871,2037,3414,0,0,0,0,0,0
$GC,3144,-1.32,-97.3,284.8,-7.5,223,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2037,3414,0,0,0,0,0,0
$GC,3508,-1.32,-97.3,309.3,-6.9,232,3512,0.00,2.47,0.00,0.000,4,0.000,0.035,2871,3559,3413,0,0,0,0,0,0
$GC,3586,-1.38,-97.3,314.9,-6.8,233,3592,0.00,2.45,0.00,0.000,6,0.000,0.030,2871,2037,3412,0,0,0,0,0,0
$GC,3960,-1.42,-97.3,342.5,-7.7,243,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2037,3411,0,0,0,0,0,0
$GC,4324,-1.46,-97.3,371.7,-8.0,252,4329,0.00,2.50,0.00,0.000,4,0.000,0.040,2871,3562,3409,0,0,0,0,0,0
$GC,4358,-1.53,-97.3,374.4,-8.3,252,4364,0.12,2.47,0.00,0.000,6,0.074,0.041,2826,2041,3409,0,0,0,0,0,0
$GC,4731,-1.49,-97.3,408.2,-9.6,262,4736,0.10,2.53,0.00,0.000,4,0.120,0.044,2848,3564,3406,0,0,0,0,0,0
$GC,4792,-1.49,-97.3,414.3,-9.2,263,4796,0.00,2.53,0.00,0.000,6,0.000,0.044,2848,2040,3406,0,0,0,0,0,0
$GC,5177,-1.49,-97.3,443.7,-6.8,273,5181,0.00,2.53,0.00,0.000,4,0.000,0.051,2848,3559,3403,0,0,0,0,0,0
$GC,5198,-1.49,-97.3,445.2,-6.6,273,5202,0.00,2.53,0.00,0.000,6,0.000,0.053,2848,2045,3404,0,0,0,0,0,0
$GC,5576,-1.49,-97.3,468.9,-6.7,283,5581,0.00,3.03,0.00,0.000,4,0.000,0.109,2848,422,3401,0,0,0,0,0,0
$GC,5610,-1.49,-97.3,471.5,-7.8,283,5616,0.00,2.60,0.00,0.000,6,0.000,0.039,2848,2012,3400,0,0,0,0,0,0
$GC,5982,-1.49,-97.3,499.2,-7.3,293,5986,0.00,2.70,0.00,0.000,4,0.000,0.066,2848,3594,3398,0,0,0,0,0,0
$GC,6056,-1.54,-97.3,504.7,-7.6,294,6061,0.00,2.62,0.00,0.000,6,0.000,0.050,2848,2043,3398,0,0,0,0,0,0
$GC,6430,-1.54,-97.3,531.1,-7.2,303,6434,0.00,2.65,0.00,0.000,4,0.000,0.064,2848,3592,3395,0,0,0,0,0,0
$GC,6502,-1.58,-97.3,536.4,-6.9,304,6506,0.00,2.62,0.00,0.000,6,0.000,0.059,2848,2052,3394,0,0,0,0,0,0
$GC,6875,-1.58,-97.3,562.0,-7.0,313,6880,0.00,3.12,0.00,0.000,4,0.000,0.121,2848,424,3393,0,0,0,0,0,0
$GC,6893,-1.58,-97.3,563.4,-7.3,313,6898,0.00,2.70,0.00,0.000,6,0.000,0.044,2848,2054,3393,0,0,0,0,0,0
$GC,7275,-1.58,-97.3,592.5,-7.8,323,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2054,3390,0,0,0,0,0,0
$GC,7643,-1.58,-97.3,621.8,-7.8,332,7647,0.00,2.85,0.00,0.000,4,0.000,0.107,2847,3598,3388,0,0,0,0,0,0
$GC,7692,-1.64,-97.3,626.0,-8.2,333,7698,0.12,2.75,0.00,0.000,6,0.072,0.078,2806,2058,3388,0,0,0,0,0,0
$GC,8087,-1.60,-97.3,658.4,-8.1,343,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2058,3387,0,0,0,0,0,0
$GC,8454,-1.60,-97.3,688.3,-8.4,352,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2058,3385,0,0,0,0,0,0
$STATE,8612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8612,begin apogee
$GC,8618,-0.31,0.0,702.3,8.6,356,8703,1.33,0.00,81.15,1.095,6,0.079,0.000,3106,1990,3010,0,0,0,0,0,0
$STATE,8704,end apogee,CONTROL_FINISHED_OK
$STATE,8704,begin climb
$GC,8707,1.24,97.3,704.1,0.0,358,8804,1.42,3.20,87.85,1.070,4,0.037,0.120,3451,3574,2612,0,0,0,0,0,0
$GC,8824,1.12,161.6,703.6,4.5,361,8889,0.15,3.08,58.30,1.051,6,0.127,0.113,3424,1994,2351,0,0,0,0,0,0
$GC,9269,1.03,161.6,664.3,9.6,372,9275,0.12,3.17,0.00,0.000,4,0.132,0.136,3399,404,2339,0,0,0,0,0,0
$GC,9370,0.92,161.6,653.8,9.4,374,9376,0.12,2.80,0.00,0.000,6,0.123,0.064,3376,1991,2337,0,0,0,0,0,0
$GC,9761,0.92,162.2,622.7,8.0,384,9766,0.00,3.00,0.00,0.000,4,0.000,0.107,3375,399,2336,0,0,0,0,0,0
$GC,9839,0.88,162.2,615.1,9.5,385,9844,0.00,2.70,0.00,0.000,6,0.000,0.053,3375,1981,2334,0,0,0,0,0,0
$GC,10210,0.91,188.9,588.8,6.6,395,10236,0.00,0.00,23.52,0.989,6,0.000,0.000,3375,1981,2240,0,0,0,0,0,0
$GC,10615,0.95,217.1,562.5,6.5,405,10650,0.00,3.05,27.00,0.977,4,0.000,0.096,3375,393,2123,0,0,0,0,0,0
$GC,10746,0.95,217.1,552.0,8.4,408,10751,0.00,2.62,0.00,0.000,6,0.000,0.039,3375,1968,2121,0,0,0,0,0,0
$GC,11153,0.95,217.1,517.6,9.0,418,11158,0.00,2.85,0.00,0.000,4,0.000,0.087,3375,397,2118,0,0,0,0,0,0
$GC,11186,0.95,217.1,514.3,10.6,418,11191,0.00,2.60,0.00,0.000,6,0.000,0.035,3375,1970,2117,0,0,0,0,0,0
$GC,11559,0.95,217.1,481.4,8.5,428,11564,0.00,2.75,0.00,0.000,4,0.000,0.061,3375,3584,2117,0,0,0,0,0,0
$GC,11580,0.95,217.1,479.3,8.1,428,11585,0.00,2.75,0.00,0.000,6,0.000,0.046,3375,1969,2116,0,0,0,0,0,0
$GC,11958,1.01,236.3,452.2,7.0,438,11982,0.00,3.05,17.85,0.896,4,0.000,0.110,3375,403,2045,0,0,0,0,0,0
$GC,12083,1.01,236.3,441.8,8.7,440,12089,0.00,2.53,0.00,0.000,6,0.000,0.030,3375,1968,2042,0,0,0,0,0,0
$GC,12455,1.07,236.3,411.5,8.3,450,12460,0.12,2.78,0.00,0.000,4,0.085,0.069,3408,405,2041,0,0,0,0,0,0
$GC,12542,1.02,236.3,403.4,9.2,452,12546,0.00,2.50,0.00,0.000,6,0.000,0.021,3408,1959,2040,0,0,0,0,0,0
$GC,12947,1.02,237.1,371.1,8.0,462,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1960,2040,0,0,0,0,0,0
$GC,13312,1.04,248.2,342.6,7.4,471,13331,0.00,2.80,11.55,0.788,4,0.000,0.068,3408,403,1997,0,0,0,0,0,0
$GC,13383,1.04,248.2,336.7,9.1,472,13388,0.00,2.50,0.00,0.000,6,0.000,0.022,3408,1957,1995,0,0,0,0,0,0
$GC,13761,1.07,272.8,309.8,6.7,482,13790,0.00,2.75,23.88,0.798,4,0.000,0.064,3408,403,1897,0,0,0,0,0,0
$GC,13831,1.07,272.8,304.0,9.3,483,13835,0.00,2.47,0.00,0.000,6,0.000,0.020,3407,1946,1894,0,0,0,0,0,0
$GC,14208,1.12,272.8,268.8,10.0,493,14213,0.00,2.65,0.00,0.000,4,0.000,0.061,3408,402,1892,0,0,0,0,0,0
$GC,14285,1.12,272.8,260.6,10.3,494,14291,0.00,2.42,0.00,0.000,6,0.000,0.026,3408,1931,1891,0,0,0,0,0,0
$GC,14660,1.22,304.1,234.5,6.3,504,14694,0.15,2.72,28.38,0.731,4,0.069,0.061,3451,401,1770,0,0,0,0,0,0
$GC,14761,1.22,304.1,224.2,11.0,506,14765,0.00,2.42,0.00,0.000,6,0.000,0.020,3451,1924,1767,0,0,0,0,0,0
$GC,15146,1.22,304.1,186.8,9.9,523,15150,0.00,2.60,0.00,0.000,4,0.000,0.061,3451,400,1767,0,0,0,0,0,0
$GC,15191,1.22,304.1,182.3,10.6,526,15195,0.00,2.38,0.00,0.000,6,0.000,0.021,3451,1923,1765,0,0,0,0,0,0
$GC,15579,1.22,304.1,145.6,9.3,562,15583,0.00,2.60,0.00,0.000,4,0.000,0.059,3451,393,1765,0,0,0,0,0,0
$GC,15646,1.22,304.1,139.0,10.2,567,15651,0.00,2.38,0.00,0.000,6,0.000,0.019,3451,1917,1765,0,0,0,0,0,0
$GC,16039,1.27,306.6,106.5,7.9,603,16043,0.00,2.58,0.00,0.000,4,0.000,0.056,3451,393,1765,0,0,0,0,0,0
$GC,16106,1.27,306.6,99.6,9.7,608,16116,0.00,2.38,0.00,0.000,6,0.000,0.018,3451,1914,1765,0,0,0,0,0,0
$GC,16499,1.36,328.7,70.9,6.8,645,16527,0.00,2.60,22.73,0.561,4,0.000,0.050,3451,397,1669,0,0,0,0,0,0
$GC,16646,1.45,351.3,60.9,6.8,656,16672,0.12,2.35,20.42,0.544,6,0.043,0.018,3496,1900,1578,0,0,0,0,0,0
$GC,17078,1.48,371.1,24.5,6.9,701,17103,0.00,2.55,18.62,0.509,4,0.000,0.049,3496,398,1495,0,0,0,0,0,0
$GC,17153,1.48,371.1,14.8,14.2,711,17162,0.00,2.33,0.00,0.000,6,0.000,0.017,3496,1907,1494,0,0,0,0,0,0
$STATE,17259,end climb,SURFACE_DEPTH_REACHED
$STATE,17259,begin surface coast
$FINISH,0.6,0.975011
$STATE,17312,end surface coast,CONTROL_FINISHED_OK
$STATE,17312,begin surface
$SM_CCo,17334,7.30,0.435,0,0,1460,380.21
$SM_GC,1.56,0.00,0.00,7.30,0.000,0.000,0.435,475,2107,1460,-12.42,2.74,380.21
$IRIDIUM_FIX,2239.35,-15900.10,091000,060639
$TT8_MAMPS,0.026078
$HUMID,63.50
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.10
$XPDR_PINGS,99
$24V_AH,23.1,66.614
$10V_AH,9.9,60.147
$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,29.125,163.775,421.250,7.300,0.000,27.334,34.966,247.547,24.750,0.000,16.354,1443.084,12611.905,488.360,2580.289,683.045,33.375,1469.650,0.000,2575.525,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,165.672,1094.509,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,499.135,366.087,491.393,879.973,1331.103,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,57213,733
$CAP_FILE_SIZE,141614,0
$CFSIZE,260165632,153919488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,153607,2248.681,-15758.189,63,1.3,63,10.1