version: 66.06
glider: 146
mission: 6
dive: 536
start: 7 16 111 15 59 3
data:
$ID,146
$MISSION,6
$DIVE,536
$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,-281219.31
$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,12
$R_STBD_OVSHOOT,45
$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
$GPS1,153607,2248.681,-15758.189,63,1.3,63,10.1
$_CALLS,4
$_XMS_NAKs,44
$_XMS_TOUTs,3
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.5
$GPS2,155808,2248.853,-15758.482,11,1.3,11,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,-0.164
$KALMAN_X,-472653.4,-71.5,-411.9,470270.8,-1614.2
$KALMAN_Y,194262.8,-162.9,-63.8,-184875.7,1589.2
$MHEAD_RNG_PITCHd_Wd,134.3,3624,-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,-97.3,0.0,0.0,0,81,0.00,0.00,-63.45,0.000,2,0.000,0.000,474,2107,3066,0,0,0,0,0,0
$GC,85,-1.24,-97.3,3.0,-3.4,8,111,12.90,2.85,-7.05,0.000,4,0.157,0.061,2895,407,3408,0,0,0,0,0,0
$GC,155,-1.12,-97.3,16.1,-12.7,17,165,0.12,2.53,0.00,0.000,6,0.143,0.015,2926,2035,3409,0,0,0,0,0,0
$GC,584,-1.12,-97.3,60.9,-11.4,64,588,0.00,2.42,0.00,0.000,4,0.000,0.028,2926,3559,3410,0,0,0,0,0,0
$GC,629,-1.12,-97.3,66.6,-12.4,67,634,0.00,2.50,0.00,0.000,6,0.000,0.028,2926,1985,3410,0,0,0,0,0,0
$GC,1022,-1.12,-97.3,109.7,-10.2,103,1026,0.00,2.50,0.00,0.000,4,0.000,0.035,2926,3558,3410,0,0,0,0,0,0
$GC,1066,-1.20,-97.3,114.2,-9.0,106,1075,0.00,2.47,0.00,0.000,6,0.000,0.022,2926,2008,3410,0,0,0,0,0,0
$GC,1459,-1.24,-97.3,146.7,-8.1,143,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2008,3411,0,0,0,0,0,0
$GC,1848,-1.31,-97.3,180.5,-7.9,180,1853,0.15,2.47,0.00,0.000,4,0.064,0.033,2871,3557,3411,0,0,0,0,0,0
$GC,1882,-1.31,-97.3,183.8,-9.9,182,1888,0.00,2.42,0.00,0.000,6,0.000,0.022,2871,2014,3410,0,0,0,0,0,0
$GC,2286,-1.31,-97.3,216.9,-8.0,206,2290,0.00,2.47,0.00,0.000,4,0.000,0.029,2871,3560,3411,0,0,0,0,0,0
$GC,2325,-1.31,-97.3,220.6,-8.4,207,2329,0.00,2.42,0.00,0.000,6,0.000,0.026,2871,2019,3411,0,0,0,0,0,0
$GC,2730,-1.31,-97.3,254.4,-8.4,217,2734,0.00,2.47,0.00,0.000,4,0.000,0.031,2871,3553,3411,0,0,0,0,0,0
$GC,2797,-1.31,-97.3,260.6,-9.2,218,2802,0.00,2.40,0.00,0.000,6,0.000,0.022,2871,2037,3411,0,0,0,0,0,0
$GC,3175,-1.31,-97.3,292.8,-8.0,228,3179,0.00,2.45,0.00,0.000,4,0.000,0.039,2872,3552,3411,0,0,0,0,0,0
$GC,3192,-1.31,-97.3,294.1,-7.3,228,3196,0.00,2.40,0.00,0.000,6,0.000,0.025,2871,2033,3411,0,0,0,0,0,0
$GC,3576,-1.31,-97.3,320.6,-7.1,238,3581,0.00,2.47,0.00,0.000,4,0.000,0.035,2871,3551,3409,0,0,0,0,0,0
$GC,3593,-1.35,-97.3,322.1,-7.4,238,3597,0.00,2.45,0.00,0.000,6,0.000,0.031,2871,2033,3409,0,0,0,0,0,0
$GC,3976,-1.39,-97.3,352.8,-8.1,248,3980,0.00,2.47,0.00,0.000,4,0.000,0.038,2871,3555,3408,0,0,0,0,0,0
$GC,4010,-1.46,-97.3,355.4,-8.1,248,4016,0.00,2.50,0.00,0.000,6,0.000,0.040,2871,2029,3407,0,0,0,0,0,0
$GC,4382,-1.51,-97.3,383.4,-7.6,258,4387,0.10,2.53,0.00,0.000,4,0.088,0.045,2834,3554,3406,0,0,0,0,0,0
$GC,4404,-1.51,-97.3,385.5,-8.8,258,4408,0.00,2.50,0.00,0.000,6,0.000,0.046,2833,2028,3405,0,0,0,0,0,0
$GC,4782,-1.51,-97.3,419.1,-8.7,268,4787,0.00,2.53,0.00,0.000,4,0.000,0.051,2834,3549,3402,0,0,0,0,0,0
$GC,4867,-1.51,-97.3,426.7,-9.1,270,4871,0.00,2.53,0.00,0.000,6,0.000,0.051,2833,2044,3402,0,0,0,0,0,0
$GC,5273,-1.51,-97.3,461.9,-8.7,280,5277,0.00,2.55,0.00,0.000,4,0.000,0.052,2833,3552,3398,0,0,0,0,0,0
$GC,5300,-1.51,-97.3,464.4,-8.9,280,5304,0.00,2.55,0.00,0.000,6,0.000,0.048,2834,2035,3399,0,0,0,0,0,0
$GC,5678,-1.51,-97.3,495.4,-7.9,290,5682,0.00,2.55,0.00,0.000,4,0.000,0.060,2833,3543,3396,0,0,0,0,0,0
$GC,5751,-1.51,-97.3,501.4,-8.1,291,5755,0.00,2.55,0.00,0.000,6,0.000,0.053,2833,2041,3396,0,0,0,0,0,0
$GC,6122,-1.51,-97.3,531.4,-8.2,300,6127,0.00,2.58,0.00,0.000,4,0.000,0.064,2833,3541,3393,0,0,0,0,0,0
$GC,6162,-1.51,-97.3,534.9,-8.9,301,6166,0.00,2.58,0.00,0.000,6,0.000,0.058,2834,2041,3393,0,0,0,0,0,0
$GC,6568,-1.51,-97.3,566.9,-7.5,311,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2041,3389,0,0,0,0,0,0
$GC,6933,-1.51,-97.3,593.9,-7.7,320,6938,0.00,3.20,0.00,0.000,4,0.000,0.135,2833,421,3387,0,0,0,0,0,0
$GC,6972,-1.51,-97.3,597.1,-8.3,321,6977,0.00,2.67,0.00,0.000,6,0.000,0.057,2833,1997,3387,0,0,0,0,0,0
$GC,7379,-1.51,-97.3,628.7,-7.6,331,7380,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1998,3385,0,0,0,0,0,0
$GC,7743,-1.51,-97.3,655.4,-7.3,340,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1998,3383,0,0,0,0,0,0
$GC,8108,-1.51,-97.3,681.8,-7.0,349,8113,0.00,3.08,0.00,0.000,4,0.000,0.127,2833,3589,3381,0,0,0,0,0,0
$GC,8160,-1.54,-97.3,685.5,-7.1,350,8165,0.00,2.92,0.00,0.000,6,0.000,0.105,2833,2034,3381,0,0,0,0,0,0
$STATE,8388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8389,begin apogee
$GC,8395,-0.31,0.0,701.5,6.9,356,8479,1.20,0.00,80.25,1.090,6,0.076,0.000,3107,1990,3010,0,0,0,0,0,0
$STATE,8479,end apogee,CONTROL_FINISHED_OK
$STATE,8479,begin climb
$GC,8482,1.24,97.3,703.2,0.0,358,8581,1.40,3.17,87.65,1.069,4,0.037,0.121,3449,3577,2612,0,0,0,0,0,0
$GC,8638,1.08,124.3,700.2,6.5,361,8669,0.20,3.08,24.92,1.026,6,0.124,0.117,3411,1989,2503,0,0,0,0,0,0
$GC,9056,1.00,135.4,670.2,7.4,372,9072,0.00,3.25,9.95,0.928,4,0.000,0.135,3411,400,2458,0,0,0,0,0,0
$GC,9096,0.85,135.4,666.7,8.5,373,9101,0.25,2.85,0.00,0.000,6,0.111,0.071,3362,1992,2456,0,0,0,0,0,0
$GC,9504,0.88,161.3,640.0,6.6,383,9534,0.00,3.12,24.75,1.011,4,0.000,0.114,3361,404,2351,0,0,0,0,0,0
$GC,9575,0.88,161.3,634.6,8.4,384,9579,0.00,2.72,0.00,0.000,6,0.000,0.054,3361,1989,2348,0,0,0,0,0,0
$GC,9948,0.91,185.4,609.0,6.7,393,9973,0.00,0.00,23.25,0.992,6,0.000,0.000,3361,1988,2254,0,0,0,0,0,0
$GC,10313,0.95,213.1,584.4,6.5,402,10346,0.00,3.05,26.25,0.985,4,0.000,0.099,3361,400,2139,0,0,0,0,0,0
$GC,10500,0.95,213.1,568.4,8.8,406,10504,0.00,2.65,0.00,0.000,6,0.000,0.041,3361,1977,2135,0,0,0,0,0,0
$GC,10894,1.03,229.7,539.6,7.1,416,10918,0.15,2.92,15.95,0.936,4,0.075,0.086,3400,399,2071,0,0,0,0,0,0
$GC,10972,0.97,229.7,532.4,10.2,417,10976,0.00,2.60,0.00,0.000,6,0.000,0.033,3400,1959,2069,0,0,0,0,0,0
$GC,11343,0.97,229.7,499.3,8.5,426,11348,0.00,2.80,0.00,0.000,4,0.000,0.079,3400,399,2067,0,0,0,0,0,0
$GC,11383,0.91,229.7,495.7,9.4,427,11388,0.12,2.58,0.00,0.000,6,0.122,0.035,3376,1966,2066,0,0,0,0,0,0
$GC,11792,0.99,252.7,467.2,6.8,437,11821,0.00,2.88,21.90,0.911,4,0.000,0.058,3375,3580,1978,0,0,0,0,0,0
$GC,11840,1.06,267.0,463.3,7.2,438,11861,0.12,2.80,14.65,0.871,6,0.081,0.051,3408,1953,1921,0,0,0,0,0,0
$GC,12242,1.06,267.0,423.4,10.6,448,12246,0.00,2.85,0.00,0.000,4,0.000,0.099,3408,404,1916,0,0,0,0,0,0
$GC,12302,1.06,267.0,415.1,12.8,449,12307,0.00,2.53,0.00,0.000,6,0.000,0.023,3408,1972,1915,0,0,0,0,0,0
$GC,12687,1.06,267.0,372.7,10.4,459,12691,0.00,2.78,0.00,0.000,4,0.000,0.070,3408,396,1914,0,0,0,0,0,0
$GC,12736,1.06,267.0,367.1,10.2,460,12740,0.00,2.50,0.00,0.000,6,0.000,0.027,3408,1952,1913,0,0,0,0,0,0
$GC,13130,1.06,267.0,331.6,8.8,470,13135,0.00,2.70,0.00,0.000,4,0.000,0.068,3408,400,1913,0,0,0,0,0,0
$GC,13221,1.06,267.0,322.0,11.0,472,13225,0.00,2.45,0.00,0.000,6,0.000,0.028,3408,1932,1912,0,0,0,0,0,0
$GC,13621,1.11,267.0,286.6,8.3,482,13625,0.00,2.62,0.00,0.000,4,0.000,0.061,3408,396,1912,0,0,0,0,0,0
$GC,13677,1.11,267.0,281.0,11.0,483,13681,0.00,2.45,0.00,0.000,6,0.000,0.026,3408,1938,1912,0,0,0,0,0,0
$GC,14066,1.17,269.3,248.3,7.9,493,14070,0.00,2.60,0.00,0.000,4,0.000,0.058,3408,400,1911,0,0,0,0,0,0
$GC,14120,1.17,269.3,243.7,8.3,494,14125,0.00,2.42,0.00,0.000,6,0.000,0.026,3408,1939,1911,0,0,0,0,0,0
$GC,14511,1.24,279.7,215.0,7.5,504,14531,0.15,2.72,11.48,0.676,4,0.070,0.060,3451,397,1868,0,0,0,0,0,0
$GC,14542,1.20,279.7,212.1,9.1,504,14546,0.00,2.45,0.00,0.000,6,0.000,0.024,3451,1946,1868,0,0,0,0,0,0
$GC,14925,1.20,279.7,178.6,8.3,528,14929,0.00,2.62,0.00,0.000,4,0.000,0.058,3451,400,1868,0,0,0,0,0,0
$GC,15004,1.20,279.7,171.1,9.5,534,15013,0.00,2.38,0.00,0.000,6,0.000,0.021,3451,1905,1867,0,0,0,0,0,0
$GC,15397,1.21,284.8,141.0,7.8,571,15408,0.00,2.58,5.70,0.519,4,0.000,0.051,3451,393,1850,0,0,0,0,0,0
$GC,15484,1.21,284.8,132.6,9.3,578,15493,0.00,2.38,0.00,0.000,6,0.000,0.019,3451,1900,1849,0,0,0,0,0,0
$GC,15877,1.27,298.3,102.5,7.3,615,15901,0.00,2.60,14.20,0.578,4,0.000,0.054,3451,400,1792,0,0,0,0,0,0
$GC,15952,1.27,298.3,96.2,8.5,621,15956,0.00,2.33,0.00,0.000,6,0.000,0.024,3451,1899,1790,0,0,0,0,0,0
$GC,16344,1.38,320.6,68.7,6.8,657,16371,0.10,2.70,21.00,0.555,4,0.089,0.029,3483,3554,1700,0,0,0,0,0,0
$GC,16415,1.45,320.6,62.9,9.8,662,16424,0.00,2.78,0.00,0.000,6,0.000,0.030,3483,1876,1699,0,0,0,0,0,0
$GC,16807,1.45,320.6,29.1,8.5,699,16816,0.00,2.50,0.00,0.000,4,0.000,0.054,3483,400,1699,0,0,0,0,0,0
$GC,16896,1.45,320.6,20.3,10.7,711,16905,0.00,2.33,0.00,0.000,6,0.000,0.024,3483,1887,1699,0,0,0,0,0,0
$STATE,17078,end climb,SURFACE_DEPTH_REACHED
$STATE,17078,begin surface coast
$FINISH,0.8,0.976615
$STATE,17161,end surface coast,CONTROL_FINISHED_OK
$STATE,17162,begin surface
$SM_CCo,17186,49.03,0.504,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,49.03,0.000,0.000,0.504,480,2059,1459,-12.40,1.36,380.21
$IRIDIUM_FIX,2239.35,-15800.20,091000,151558
$TT8_MAMPS,0.026078
$HUMID,63.03
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,98
$24V_AH,23.1,66.782
$10V_AH,9.9,60.306
$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,29.175,178.975,381.900,49.025,0.000,108.098,163.714,682.801,24.500,0.000,13.391,1481.014,12481.053,520.154,2706.652,1360.598,33.385,1516.760,0.000,2705.005,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,175.643,1089.907,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,510.593,365.062,514.200,942.636,1424.043,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,57162,749
$CAP_FILE_SIZE,157575,0
$CFSIZE,260165632,153837568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,204827,2248.238,-15758.745,67,99.0,86,10.1