version: 66.06
glider: 146
mission: 6
dive: 537
start: 7 16 111 20 57 21
data:
$ID,146
$MISSION,6
$DIVE,537
$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,-281233.25
$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,11
$R_STBD_OVSHOOT,97
$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
$GPS1,204827,2248.238,-15758.745,67,99.0,86,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.0
$GPS2,205626,2248.272,-15758.807,11,1.3,11,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.153,-0.131
$KALMAN_X,-475186.5,-516.9,-28.4,472304.5,-1702.3
$KALMAN_Y,195590.2,-9.3,232.6,-187722.7,964.5
$MHEAD_RNG_PITCHd_Wd,120.5,2917,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.24,-97.3,0.0,0.0,0,92,0.00,0.00,-71.05,0.000,2,0.000,0.000,479,2059,3288,0,0,0,0,0,0
$GC,95,-1.24,-97.3,3.9,-4.4,9,121,12.57,2.78,-2.25,0.000,4,0.148,0.054,2896,415,3411,0,0,0,0,0,0
$GC,146,-0.47,-97.3,18.0,-27.4,15,155,0.75,2.42,0.00,0.000,6,0.077,0.015,3070,1976,3412,0,0,0,0,0,0
$GC,578,-0.75,-97.3,43.2,-5.1,65,583,0.25,2.53,0.00,0.000,4,0.045,0.028,2988,3563,3413,0,0,0,0,0,0
$GC,601,-0.96,-97.3,44.9,-6.1,66,606,0.10,2.50,0.00,0.000,6,0.077,0.021,2943,1984,3413,0,0,0,0,0,0
$GC,990,-1.01,-97.3,81.8,-9.0,102,994,0.00,2.53,0.00,0.000,4,0.000,0.032,2943,3569,3413,0,0,0,0,0,0
$GC,1037,-1.10,-97.3,85.6,-9.8,105,1041,0.00,2.45,0.00,0.000,6,0.000,0.022,2943,2021,3413,0,0,0,0,0,0
$GC,1429,-1.18,-97.3,120.5,-8.0,141,1435,0.10,0.00,0.00,0.000,6,0.083,0.000,2899,2021,3414,0,0,0,0,0,0
$GC,1822,-1.18,-97.3,158.4,-10.5,178,1826,0.00,2.47,0.00,0.000,4,0.000,0.033,2899,3569,3414,0,0,0,0,0,0
$GC,1854,-1.18,-97.3,162.3,-10.7,180,1864,0.00,2.45,0.00,0.000,6,0.000,0.025,2899,2027,3414,0,0,0,0,0,0
$GC,2246,-1.18,-97.3,196.2,-7.8,217,2250,0.00,2.65,0.00,0.000,4,0.000,0.054,2899,433,3415,0,0,0,0,0,0
$GC,2267,-1.18,-97.3,198.3,-7.8,218,2273,0.00,2.45,0.00,0.000,6,0.000,0.016,2899,2045,3415,0,0,0,0,0,0
$GC,2662,-1.23,-97.3,226.5,-6.9,230,2666,0.00,2.40,0.00,0.000,4,0.000,0.030,2899,3553,3415,0,0,0,0,0,0
$GC,2679,-1.28,-97.3,227.7,-6.8,230,2683,0.00,2.42,0.00,0.000,6,0.000,0.022,2899,2015,3416,0,0,0,0,0,0
$GC,3068,-1.34,-97.3,255.4,-7.7,240,3072,0.00,2.47,0.00,0.000,4,0.000,0.038,2899,3561,3415,0,0,0,0,0,0
$GC,3119,-1.43,-97.3,260.0,-9.1,241,3124,0.15,2.42,0.00,0.000,6,0.064,0.022,2843,2031,3415,0,0,0,0,0,0
$GC,3513,-1.39,-97.3,296.4,-8.7,251,3518,0.12,2.47,0.00,0.000,4,0.104,0.033,2871,3551,3414,0,0,0,0,0,0
$GC,3600,-1.44,-97.3,303.4,-8.0,253,3604,0.00,2.40,0.00,0.000,6,0.000,0.028,2871,2045,3415,0,0,0,0,0,0
$GC,4010,-1.44,-97.3,335.7,-8.5,263,4015,0.00,2.45,0.00,0.000,4,0.000,0.037,2871,3548,3413,0,0,0,0,0,0
$GC,4055,-1.50,-97.3,339.8,-9.5,264,4060,0.10,2.42,0.00,0.000,6,0.085,0.038,2832,2055,3413,0,0,0,0,0,0
$GC,4456,-1.50,-97.3,379.3,-10.0,274,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2055,3412,0,0,0,0,0,0
$GC,4820,-1.50,-97.3,412.7,-8.7,283,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2055,3409,0,0,0,0,0,0
$GC,5186,-1.50,-97.3,441.4,-7.8,292,5190,0.00,2.53,0.00,0.000,4,0.000,0.058,2832,3548,3407,0,0,0,0,0,0
$GC,5237,-1.50,-97.3,445.8,-8.4,293,5241,0.00,2.53,0.00,0.000,6,0.000,0.055,2832,2049,3406,0,0,0,0,0,0
$GC,5630,-1.50,-97.3,479.3,-8.3,303,5634,0.00,2.55,0.00,0.000,4,0.000,0.055,2831,3549,3404,0,0,0,0,0,0
$GC,5703,-1.50,-97.3,485.4,-8.6,304,5708,0.00,2.53,0.00,0.000,6,0.000,0.057,2832,2056,3403,0,0,0,0,0,0
$GC,6075,-1.50,-97.3,515.4,-8.1,313,6080,0.00,3.10,0.00,0.000,4,0.000,0.117,2832,423,3400,0,0,0,0,0,0
$GC,6147,-1.50,-97.3,521.8,-8.9,314,6151,0.00,2.62,0.00,0.000,6,0.000,0.046,2831,2014,3399,0,0,0,0,0,0
$GC,6519,-1.50,-97.3,553.0,-8.6,323,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2014,3397,0,0,0,0,0,0
$GC,6884,-1.50,-97.3,582.6,-7.8,332,6889,0.00,2.85,0.00,0.000,4,0.000,0.097,2831,3590,3395,0,0,0,0,0,0
$GC,6906,-1.50,-97.3,584.4,-7.6,332,6910,0.00,2.65,0.00,0.000,6,0.000,0.067,2832,2062,3395,0,0,0,0,0,0
$GC,7284,-1.50,-97.3,611.4,-6.9,342,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2063,3392,0,0,0,0,0,0
$GC,7648,-1.50,-97.3,636.2,-7.2,351,7653,0.00,3.22,0.00,0.000,4,0.000,0.133,2831,423,3390,0,0,0,0,0,0
$GC,7688,-1.50,-97.3,639.3,-7.9,352,7692,0.00,2.83,0.00,0.000,6,0.000,0.067,2831,2053,3390,0,0,0,0,0,0
$GC,8094,-1.50,-97.3,670.6,-7.7,362,8099,0.00,2.95,0.00,0.000,4,0.000,0.123,2830,3599,3388,0,0,0,0,0,0
$GC,8138,-1.50,-97.3,674.7,-9.0,363,8143,0.00,2.85,0.00,0.000,6,0.000,0.099,2832,2063,3387,0,0,0,0,0,0
$STATE,8454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8454,begin apogee
$GC,8461,-0.31,0.0,701.6,8.6,371,8546,1.20,0.00,81.25,1.095,6,0.072,0.000,3107,2001,3010,0,0,0,0,0,0
$STATE,8546,end apogee,CONTROL_FINISHED_OK
$STATE,8546,begin climb
$GC,8551,1.24,97.3,704.6,0.0,373,8646,1.42,3.15,87.53,1.071,4,0.035,0.116,3452,3580,2612,0,0,0,0,0,0
$GC,8688,1.11,159.3,705.0,4.6,376,8753,0.17,3.10,56.50,1.048,6,0.123,0.112,3419,1993,2360,0,0,0,0,0,0
$GC,9147,1.01,159.3,667.9,8.7,388,9149,0.12,0.00,0.00,0.000,6,0.135,0.000,3395,1993,2349,0,0,0,0,0,0
$GC,9514,0.96,159.3,637.1,8.5,397,9519,0.00,2.90,0.00,0.000,4,0.000,0.086,3396,3585,2346,0,0,0,0,0,0
$GC,9536,0.92,159.3,634.9,9.4,397,9540,0.00,2.88,0.00,0.000,6,0.000,0.079,3395,1995,2345,0,0,0,0,0,0
$GC,9913,0.88,159.3,602.7,8.4,407,9919,0.15,3.05,0.00,0.000,4,0.121,0.111,3366,402,2344,0,0,0,0,0,0
$GC,10006,0.85,164.6,595.1,7.7,409,10011,0.00,2.70,0.00,0.000,6,0.000,0.045,3365,2004,2342,0,0,0,0,0,0
$GC,10406,0.89,198.9,569.1,6.1,419,10447,0.00,3.03,34.53,0.997,4,0.000,0.091,3366,400,2198,0,0,0,0,0,0
$GC,10538,0.89,198.9,559.4,8.2,422,10542,0.00,2.65,0.00,0.000,6,0.000,0.040,3366,1982,2194,0,0,0,0,0,0
$GC,10943,0.94,204.8,529.4,7.7,432,10951,0.00,0.00,5.90,0.782,6,0.000,0.000,3366,1981,2175,0,0,0,0,0,0
$GC,11310,0.98,204.8,499.8,8.1,441,11315,0.10,2.88,0.00,0.000,4,0.101,0.085,3391,400,2172,0,0,0,0,0,0
$GC,11455,0.98,204.8,484.6,10.6,444,11460,0.00,2.60,0.00,0.000,6,0.000,0.029,3391,1980,2171,0,0,0,0,0,0
$GC,11845,0.98,204.8,451.1,8.1,454,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1980,2171,0,0,0,0,0,0
$GC,12209,1.00,223.3,424.6,7.0,463,12234,0.00,2.90,17.95,0.881,4,0.000,0.075,3392,400,2099,0,0,0,0,0,0
$GC,12302,1.00,223.3,416.9,8.7,465,12306,0.00,2.58,0.00,0.000,6,0.000,0.028,3392,1973,2096,0,0,0,0,0,0
$GC,12703,1.02,238.3,388.2,7.2,475,12723,0.00,2.85,14.93,0.837,4,0.000,0.074,3391,394,2037,0,0,0,0,0,0
$GC,12779,1.02,238.3,381.9,8.9,476,12785,0.00,2.58,0.00,0.000,6,0.000,0.025,3391,1975,2035,0,0,0,0,0,0
$GC,13154,1.08,254.4,354.9,7.1,486,13177,0.00,2.80,16.25,0.817,4,0.000,0.064,3392,396,1970,0,0,0,0,0,0
$GC,13240,1.08,254.4,347.7,8.4,488,13244,0.00,2.53,0.00,0.000,6,0.000,0.025,3392,1960,1969,0,0,0,0,0,0
$GC,13647,1.15,254.4,315.8,8.3,498,13652,0.15,2.72,0.00,0.000,4,0.074,0.067,3432,400,1968,0,0,0,0,0,0
$GC,13680,1.09,254.4,312.2,10.3,498,13686,0.00,2.50,0.00,0.000,6,0.000,0.027,3432,1962,1967,0,0,0,0,0,0
$GC,14052,1.11,267.8,282.3,7.3,508,14067,0.00,0.00,12.98,0.743,6,0.000,0.000,3432,1962,1918,0,0,0,0,0,0
$GC,14419,1.11,270.2,254.2,7.9,517,14420,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1962,1915,0,0,0,0,0,0
$GC,14783,1.11,270.2,224.5,8.1,526,14787,0.00,2.67,0.00,0.000,4,0.000,0.061,3432,399,1915,0,0,0,0,0,0
$GC,14871,1.11,270.2,215.6,10.1,528,14876,0.00,2.45,0.00,0.000,6,0.000,0.025,3432,1963,1914,0,0,0,0,0,0
$GC,15260,1.16,277.8,181.7,7.6,551,15276,0.00,2.70,10.43,0.629,4,0.000,0.054,3432,399,1875,0,0,0,0,0,0
$GC,15341,1.16,277.8,174.8,8.4,557,15346,0.00,2.42,0.00,0.000,6,0.000,0.023,3432,1944,1874,0,0,0,0,0,0
$GC,15730,1.24,301.2,146.3,6.7,594,15757,0.00,2.65,21.92,0.631,4,0.000,0.039,3432,3554,1782,0,0,0,0,0,0
$GC,15779,1.35,326.7,143.0,6.6,598,15809,0.15,2.67,23.90,0.623,6,0.069,0.030,3475,1924,1677,0,0,0,0,0,0
$GC,16192,1.35,326.7,106.1,9.9,636,16196,0.00,2.60,0.00,0.000,4,0.000,0.062,3475,398,1673,0,0,0,0,0,0
$GC,16298,1.35,326.7,94.7,10.3,644,16307,0.00,2.42,0.00,0.000,6,0.000,0.021,3475,1937,1673,0,0,0,0,0,0
$GC,16690,1.40,326.8,62.3,8.0,681,16694,0.00,2.58,0.00,0.000,4,0.000,0.050,3475,396,1673,0,0,0,0,0,0
$GC,16747,1.40,326.8,57.1,8.3,685,16751,0.00,2.38,0.00,0.000,6,0.000,0.018,3475,1932,1673,0,0,0,0,0,0
$GC,17154,1.44,326.8,23.3,9.0,726,17163,0.00,2.60,0.00,0.000,4,0.000,0.051,3475,403,1673,0,0,0,0,0,0
$GC,17242,1.44,326.8,14.9,9.1,738,17251,0.00,2.35,0.00,0.000,6,0.000,0.017,3475,1926,1673,0,0,0,0,0,0
$STATE,17347,end climb,SURFACE_DEPTH_REACHED
$STATE,17347,begin surface coast
$FINISH,0.7,0.980040
$STATE,17400,end surface coast,CONTROL_FINISHED_OK
$STATE,17401,begin surface
$SM_CCo,17423,43.97,0.505,0,0,1459,380.21
$SM_GC,1.43,0.00,0.00,43.97,0.000,0.000,0.505,474,2055,1459,-12.43,1.27,380.21
$IRIDIUM_FIX,2241.69,-15759.32,091000,161636
$TT8_MAMPS,0.025311
$HUMID,62.64
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.20
$XPDR_PINGS,99
$24V_AH,23.1,66.915
$10V_AH,9.9,60.461
$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,29.800,158.975,384.050,43.975,0.000,29.744,35.148,253.966,24.750,0.000,13.325,1485.597,12523.852,511.247,2705.916,711.931,33.376,1484.638,0.000,2722.330,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,178.711,1094.509,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,517.785,411.981,525.140,980.067,1482.350,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,60628,760
$CAP_FILE_SIZE,142412,0
$CFSIZE,260165632,153776128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,014954,2247.583,-15758.204,43,1.2,43,10.1