version: 66.06
glider: 146
mission: 6
dive: 538
start: 7 17 111 1 57 29
data:
$ID,146
$MISSION,6
$DIVE,538
$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,-281247.75
$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,9
$R_STBD_OVSHOOT,100
$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
$GPS1,014954,2247.583,-15758.204,43,1.2,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.7
$GPS2,015632,2247.594,-15758.298,12,1.6,12,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.158,-0.125
$KALMAN_X,-477340.3,-392.5,205.7,474963.1,-1977.5
$KALMAN_Y,196847.2,228.9,-237.8,-190001.5,1525.8
$MHEAD_RNG_PITCHd_Wd,221.5,8104,-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,15,-1.24,-97.3,0.0,0.0,0,88,0.00,0.00,-70.30,0.000,2,0.000,0.000,473,2055,3260,0,0,0,0,0,0
$GC,93,-1.24,-97.3,3.8,-4.2,9,119,12.82,2.80,-2.67,0.000,4,0.155,0.056,2897,409,3411,0,0,0,0,0,0
$GC,273,-1.14,-97.3,36.4,-13.4,32,278,0.12,2.40,0.00,0.000,6,0.127,0.015,2922,1979,3411,0,0,0,0,0,0
$GC,665,-1.10,-97.3,81.0,-10.5,68,669,0.00,2.50,0.00,0.000,4,0.000,0.029,2922,3555,3413,0,0,0,0,0,0
$GC,711,-1.10,-97.3,85.8,-10.2,71,716,0.00,2.50,0.00,0.000,6,0.000,0.028,2923,1985,3413,0,0,0,0,0,0
$GC,1103,-1.10,-97.3,126.4,-9.6,107,1107,0.00,2.50,0.00,0.000,4,0.000,0.035,2922,3556,3413,0,0,0,0,0,0
$GC,1143,-1.18,-97.3,130.6,-9.7,110,1147,0.00,2.45,0.00,0.000,6,0.000,0.022,2922,2003,3414,0,0,0,0,0,0
$GC,1532,-1.24,-97.3,159.7,-6.8,146,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2003,3414,0,0,0,0,0,0
$GC,1915,-1.32,-97.3,191.7,-8.0,182,1917,0.15,0.00,0.00,0.000,6,0.062,0.000,2868,2003,3415,0,0,0,0,0,0
$GC,2293,-1.32,-97.3,225.1,-8.6,198,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2003,3415,0,0,0,0,0,0
$GC,2658,-1.32,-97.3,258.5,-9.3,207,2663,0.00,2.50,0.00,0.000,4,0.000,0.035,2867,3554,3415,0,0,0,0,0,0
$GC,2740,-1.32,-97.3,265.6,-8.0,208,2745,0.00,2.45,0.00,0.000,6,0.000,0.022,2867,2007,3415,0,0,0,0,0,0
$GC,3111,-1.32,-97.3,296.6,-8.1,218,3116,0.00,2.50,0.00,0.000,4,0.000,0.039,2868,3552,3415,0,0,0,0,0,0
$GC,3151,-1.32,-97.3,299.9,-8.4,219,3155,0.00,2.45,0.00,0.000,6,0.000,0.031,2868,2018,3415,0,0,0,0,0,0
$GC,3557,-1.32,-97.3,334.1,-8.4,229,3561,0.00,2.50,0.00,0.000,4,0.000,0.041,2867,3550,3414,0,0,0,0,0,0
$GC,3601,-1.38,-97.3,337.7,-8.2,230,3605,0.00,2.47,0.00,0.000,6,0.000,0.038,2868,2027,3414,0,0,0,0,0,0
$GC,4002,-1.42,-97.3,367.0,-7.1,240,4007,0.00,2.85,0.00,0.000,4,0.000,0.083,2867,423,3413,0,0,0,0,0,0
$GC,4024,-1.42,-97.3,368.8,-7.4,240,4028,0.00,2.50,0.00,0.000,6,0.000,0.031,2867,1998,3413,0,0,0,0,0,0
$GC,4401,-1.46,-97.3,397.5,-7.7,250,4406,0.00,2.60,0.00,0.000,4,0.000,0.053,2867,3585,3410,0,0,0,0,0,0
$GC,4480,-1.52,-97.3,404.1,-8.7,251,4487,0.10,2.58,0.00,0.000,6,0.083,0.048,2832,2039,3410,0,0,0,0,0,0
$GC,4852,-1.52,-97.3,439.6,-9.7,261,4856,0.00,2.58,0.00,0.000,4,0.000,0.049,2832,3584,3408,0,0,0,0,0,0
$GC,4873,-1.52,-97.3,441.7,-9.3,261,4877,0.00,2.58,0.00,0.000,6,0.000,0.053,2832,2052,3407,0,0,0,0,0,0
$GC,5252,-1.52,-97.3,473.8,-8.5,271,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2052,3404,0,0,0,0,0,0
$GC,5616,-1.52,-97.3,504.5,-8.2,280,5620,0.00,2.62,0.00,0.000,4,0.000,0.059,2832,3579,3402,0,0,0,0,0,0
$GC,5700,-1.52,-97.3,511.5,-8.2,282,5704,0.00,2.60,0.00,0.000,6,0.000,0.054,2832,2055,3401,0,0,0,0,0,0
$GC,6106,-1.52,-97.3,548.3,-9.3,292,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2056,3399,0,0,0,0,0,0
$GC,6471,-1.52,-97.3,577.6,-7.5,301,6475,0.00,3.17,0.00,0.000,4,0.000,0.134,2832,421,3397,0,0,0,0,0,0
$GC,6497,-1.52,-97.3,579.8,-8.2,301,6502,0.00,2.75,0.00,0.000,6,0.000,0.054,2832,2049,3396,0,0,0,0,0,0
$GC,6871,-1.52,-97.3,606.5,-7.4,310,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2049,3394,0,0,0,0,0,0
$GC,7235,-1.52,-97.3,633.2,-7.3,319,7240,0.00,3.08,0.00,0.000,4,0.000,0.117,2832,425,3392,0,0,0,0,0,0
$GC,7257,-1.52,-97.3,635.0,-8.0,319,7261,0.00,2.80,0.00,0.000,6,0.000,0.066,2832,2051,3392,0,0,0,0,0,0
$GC,7635,-1.52,-97.3,666.2,-8.6,329,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2051,3390,0,0,0,0,0,0
$GC,7999,-1.52,-97.3,698.6,-8.9,338,8004,0.00,3.03,0.00,0.000,4,0.000,0.138,2832,3594,3388,0,0,0,0,0,0
$STATE,8012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8012,begin apogee
$GC,8021,-0.31,0.0,700.0,8.6,338,8107,1.17,0.00,81.80,1.085,6,0.076,0.000,3102,2000,3011,0,0,0,0,0,0
$STATE,8108,end apogee,CONTROL_FINISHED_OK
$STATE,8108,begin climb
$GC,8112,1.24,97.3,702.2,0.0,340,8210,1.45,3.15,87.65,1.064,4,0.036,0.119,3454,3586,2612,0,0,0,0,0,0
$GC,8268,1.06,120.6,700.4,6.8,344,8297,0.22,3.10,21.92,1.005,6,0.123,0.114,3410,1988,2518,0,0,0,0,0,0
$GC,8698,0.97,121.5,667.5,8.0,355,8700,0.12,0.00,0.00,0.000,6,0.130,0.000,3386,1988,2507,0,0,0,0,0,0
$GC,9066,0.97,156.1,643.6,6.1,364,9109,0.00,3.22,31.60,1.019,4,0.000,0.125,3386,401,2372,0,0,0,0,0,0
$GC,9120,0.93,177.1,639.9,6.9,365,9147,0.00,2.80,20.88,0.983,6,0.000,0.061,3386,1996,2288,0,0,0,0,0,0
$GC,9512,0.97,203.5,613.5,6.6,374,9543,0.00,3.05,24.80,0.992,4,0.000,0.100,3386,404,2180,0,0,0,0,0,0
$GC,9619,0.92,203.5,604.6,9.5,376,9624,0.00,2.67,0.00,0.000,6,0.000,0.048,3386,1979,2176,0,0,0,0,0,0
$GC,10001,0.92,203.5,571.6,8.8,386,10006,0.00,2.90,0.00,0.000,4,0.000,0.091,3386,403,2173,0,0,0,0,0,0
$GC,10087,0.88,203.5,563.2,10.4,388,10092,0.00,2.62,0.00,0.000,6,0.000,0.040,3386,1979,2172,0,0,0,0,0,0
$GC,10493,0.88,203.5,525.7,9.3,398,10498,0.00,2.85,0.00,0.000,4,0.000,0.088,3386,398,2171,0,0,0,0,0,0
$GC,10540,0.88,203.5,521.0,11.0,399,10544,0.00,2.60,0.00,0.000,6,0.000,0.035,3386,1971,2170,0,0,0,0,0,0
$GC,10939,0.88,203.5,484.8,8.7,409,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1972,2170,0,0,0,0,0,0
$GC,11305,0.88,203.5,454.6,8.1,418,11309,0.00,2.80,0.00,0.000,4,0.000,0.080,3386,396,2169,0,0,0,0,0,0
$GC,11338,0.88,203.5,451.9,8.4,418,11344,0.00,2.58,0.00,0.000,6,0.000,0.029,3386,1969,2168,0,0,0,0,0,0
$GC,11710,0.93,247.5,429.7,5.6,428,11755,0.00,2.80,39.55,0.902,4,0.000,0.050,3386,3585,2000,0,0,0,0,0,0
$GC,11774,1.00,267.6,425.5,6.9,429,11800,0.00,2.75,19.98,0.861,6,0.000,0.045,3386,1966,1919,0,0,0,0,0,0
$GC,12198,1.06,267.6,392.4,8.2,440,12202,0.00,2.85,0.00,0.000,4,0.000,0.091,3386,406,1912,0,0,0,0,0,0
$GC,12241,1.06,267.6,387.9,10.1,441,12246,0.00,2.53,0.00,0.000,6,0.000,0.026,3386,1988,1911,0,0,0,0,0,0
$GC,12642,1.12,267.6,353.3,8.6,451,12647,0.15,2.75,0.00,0.000,4,0.077,0.066,3424,405,1910,0,0,0,0,0,0
$GC,12744,1.07,267.6,341.9,11.3,453,12749,0.00,2.47,0.00,0.000,6,0.000,0.026,3424,1954,1909,0,0,0,0,0,0
$GC,13134,1.07,267.6,308.0,8.2,463,13139,0.00,2.65,0.00,0.000,4,0.000,0.037,3424,3559,1909,0,0,0,0,0,0
$GC,13178,1.07,267.6,304.1,8.9,464,13182,0.00,2.67,0.00,0.000,6,0.000,0.037,3425,1940,1908,0,0,0,0,0,0
$GC,13577,1.07,267.6,268.3,8.9,474,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1940,1907,0,0,0,0,0,0
$GC,13945,1.14,288.6,242.8,6.9,483,13965,0.00,0.00,18.70,0.724,6,0.000,0.000,3424,1939,1833,0,0,0,0,0,0
$GC,14309,1.18,288.6,211.1,8.9,492,14313,0.00,2.65,0.00,0.000,4,0.000,0.067,3424,400,1830,0,0,0,0,0,0
$GC,14352,1.18,288.6,206.8,9.4,493,14356,0.00,2.45,0.00,0.000,6,0.000,0.023,3424,1956,1830,0,0,0,0,0,0
$GC,14744,1.26,302.2,174.5,7.3,522,14763,0.10,2.70,13.48,0.639,4,0.088,0.058,3454,395,1776,0,0,0,0,0,0
$GC,14873,1.26,302.2,163.4,8.8,532,14877,0.00,2.45,0.00,0.000,6,0.000,0.021,3454,1946,1774,0,0,0,0,0,0
$GC,15263,1.26,302.2,127.9,9.6,568,15267,0.00,2.62,0.00,0.000,4,0.000,0.058,3454,395,1774,0,0,0,0,0,0
$GC,15315,1.26,302.2,122.4,9.9,572,15319,0.00,2.40,0.00,0.000,6,0.000,0.025,3454,1927,1774,0,0,0,0,0,0
$GC,15705,1.34,321.1,92.1,7.0,608,15729,0.00,2.60,18.05,0.572,4,0.000,0.050,3454,399,1700,0,0,0,0,0,0
$GC,15801,1.38,321.1,84.6,8.1,616,15806,0.10,2.38,0.00,0.000,6,0.085,0.025,3487,1926,1698,0,0,0,0,0,0
$GC,16193,1.38,321.1,53.0,8.6,652,16197,0.00,2.55,0.00,0.000,4,0.000,0.056,3487,399,1698,0,0,0,0,0,0
$GC,16239,1.38,321.1,48.9,9.4,655,16243,0.00,2.33,0.00,0.000,6,0.000,0.018,3486,1914,1698,0,0,0,0,0,0
$GC,16684,1.38,321.1,8.5,8.8,707,16693,0.00,2.55,0.00,0.000,4,0.000,0.048,3487,397,1698,0,0,0,0,0,0
$STATE,16749,end climb,SURFACE_DEPTH_REACHED
$STATE,16749,begin surface coast
$FINISH,0.6,0.980057
$STATE,16822,end surface coast,CONTROL_FINISHED_OK
$STATE,16822,begin surface
$SM_CCo,16846,49.30,0.505,0,0,1458,380.21
$SM_GC,1.30,0.00,0.00,49.30,0.000,0.000,0.505,476,2042,1458,-12.42,0.90,380.21
$IRIDIUM_FIX,2237.01,-15758.03,091000,212149
$TT8_MAMPS,0.026078
$HUMID,62.44
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,100
$24V_AH,23.1,67.044
$10V_AH,10.0,60.602
$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,28.800,154.875,378.400,49.300,0.000,25.162,31.726,187.884,25.000,0.000,13.890,1413.980,12236.875,495.914,2542.215,601.873,33.384,1411.276,0.000,2538.111,0.000,0.534,0.000
$DEVICE_MAMPS,154.934,138.060,1085.305,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.937,353.622,493.058,888.545,1343.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,57340,726
$CAP_FILE_SIZE,133102,0
$CFSIZE,260165632,153718784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,064101,2247.956,-15800.938,73,0.9,73,10.1