version: 66.06
glider: 146
mission: 6
dive: 539
start: 7 17 111 6 48 57
data:
$ID,146
$MISSION,6
$DIVE,539
$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,-281265.56
$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,14
$R_STBD_OVSHOOT,77
$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
$GPS1,064101,2247.956,-15800.938,73,0.9,73,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.3
$GPS2,064802,2248.020,-15801.001,14,1.0,14,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.139,-0.142
$KALMAN_X,-479318.5,316.5,-397.7,472217.8,-989.3
$KALMAN_Y,198929.2,336.3,514.1,-192165.2,588.1
$MHEAD_RNG_PITCHd_Wd,214.4,3902,-18.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.25,-94.7,0.0,0.0,0,89,0.00,0.00,-70.90,0.000,2,0.000,0.000,476,2042,3312,0,0,0,0,0,0
$GC,94,-1.26,-97.3,4.3,-5.2,9,120,12.55,2.75,-1.70,0.000,4,0.147,0.054,2892,411,3411,0,0,0,0,0,0
$GC,177,-1.16,-97.3,23.8,-14.2,20,186,0.10,2.47,0.00,0.000,6,0.100,0.015,2917,2004,3412,0,0,0,0,0,0
$GC,580,-1.12,-97.3,68.1,-11.0,60,585,0.00,2.50,0.00,0.000,4,0.000,0.033,2917,3569,3413,0,0,0,0,0,0
$GC,614,-1.12,-97.3,71.9,-10.3,62,619,0.00,2.50,0.00,0.000,6,0.000,0.025,2917,1988,3413,0,0,0,0,0,0
$GC,1002,-1.12,-97.3,110.9,-9.9,98,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1987,3414,0,0,0,0,0,0
$GC,1385,-1.17,-97.3,147.7,-7.5,134,1389,0.00,2.53,0.00,0.000,4,0.000,0.035,2917,3568,3414,0,0,0,0,0,0
$GC,1433,-1.26,-97.3,151.2,-7.5,137,1439,0.00,2.45,0.00,0.000,6,0.000,0.022,2917,2013,3414,0,0,0,0,0,0
$GC,1822,-1.33,-97.3,182.4,-8.0,174,1827,0.12,2.60,0.00,0.000,4,0.073,0.054,2869,440,3415,0,0,0,0,0,0
$GC,1846,-1.33,-97.3,184.7,-9.6,175,1852,0.00,2.40,0.00,0.000,6,0.000,0.017,2869,2037,3415,0,0,0,0,0,0
$GC,2225,-1.33,-97.3,217.6,-8.1,197,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2037,3415,0,0,0,0,0,0
$GC,2593,-1.33,-97.3,249.5,-9.3,206,2597,0.00,2.40,0.00,0.000,4,0.000,0.038,2869,3550,3415,0,0,0,0,0,0
$GC,2659,-1.37,-97.3,256.8,-11.1,207,2663,0.00,2.42,0.00,0.000,6,0.000,0.024,2869,2022,3415,0,0,0,0,0,0
$GC,3036,-1.37,-97.3,286.8,-6.7,217,3040,0.00,2.47,0.00,0.000,4,0.000,0.039,2869,3552,3415,0,0,0,0,0,0
$GC,3071,-1.42,-97.3,289.2,-7.0,217,3076,0.00,2.40,0.00,0.000,6,0.000,0.031,2869,2032,3415,0,0,0,0,0,0
$GC,3442,-1.42,-97.3,319.8,-8.6,227,3447,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3552,3414,0,0,0,0,0,0
$GC,3504,-1.48,-97.3,325.5,-8.7,228,3508,0.00,2.42,0.00,0.000,6,0.000,0.034,2868,2043,3414,0,0,0,0,0,0
$GC,3888,-1.52,-97.3,353.8,-6.7,238,3890,0.12,0.00,0.00,0.000,6,0.068,0.000,2818,2043,3413,0,0,0,0,0,0
$GC,4252,-1.47,-97.3,385.7,-8.9,247,4257,0.17,2.50,0.00,0.000,4,0.099,0.046,2856,3543,3411,0,0,0,0,0,0
$GC,4320,-1.52,-97.3,390.9,-7.2,248,4325,0.00,2.47,0.00,0.000,6,0.000,0.039,2856,2039,3411,0,0,0,0,0,0
$GC,4697,-1.52,-97.3,421.1,-8.4,258,4701,0.00,2.50,0.00,0.000,4,0.000,0.051,2856,3542,3408,0,0,0,0,0,0
$GC,4775,-1.58,-97.3,427.8,-8.2,259,4781,0.10,2.50,0.00,0.000,6,0.083,0.044,2817,2046,3407,0,0,0,0,0,0
$GC,5148,-1.54,-97.3,459.4,-8.3,269,5153,0.10,2.53,0.00,0.000,4,0.120,0.057,2838,3541,3405,0,0,0,0,0,0
$GC,5243,-1.54,-97.3,467.1,-7.2,271,5247,0.00,2.50,0.00,0.000,6,0.000,0.055,2838,2064,3403,0,0,0,0,0,0
$GC,5639,-1.54,-97.3,498.2,-8.5,281,5643,0.00,2.50,0.00,0.000,4,0.000,0.054,2838,3539,3401,0,0,0,0,0,0
$GC,5786,-1.58,-97.3,512.1,-9.6,284,5790,0.00,2.47,0.00,0.000,6,0.000,0.051,2838,2080,3400,0,0,0,0,0,0
$GC,6175,-1.58,-97.3,548.4,-9.0,294,6180,0.00,3.20,0.00,0.000,4,0.000,0.127,2838,422,3398,0,0,0,0,0,0
$GC,6208,-1.58,-97.3,551.8,-10.3,294,6214,0.00,2.67,0.00,0.000,6,0.000,0.048,2838,2023,3397,0,0,0,0,0,0
$GC,6580,-1.58,-97.3,582.8,-7.9,304,6585,0.00,2.88,0.00,0.000,4,0.000,0.100,2838,3597,3395,0,0,0,0,0,0
$GC,6626,-1.62,-97.3,586.4,-7.7,305,6630,0.00,2.62,0.00,0.000,6,0.000,0.069,2838,2084,3395,0,0,0,0,0,0
$GC,7025,-1.62,-97.3,614.4,-6.8,315,7030,0.00,2.65,0.00,0.000,4,0.000,0.081,2838,3595,3392,0,0,0,0,0,0
$GC,7098,-1.66,-97.3,619.6,-7.1,316,7103,0.12,2.65,0.00,0.000,6,0.073,0.073,2797,2098,3393,0,0,0,0,0,0
$GC,7471,-1.61,-97.3,651.8,-9.0,325,7477,0.12,3.30,0.00,0.000,4,0.117,0.142,2822,427,3389,0,0,0,0,0,0
$GC,7499,-1.61,-97.3,654.9,-10.0,325,7504,0.00,2.92,0.00,0.000,6,0.000,0.072,2822,2105,3389,0,0,0,0,0,0
$GC,7872,-1.61,-97.3,686.3,-8.5,334,7877,0.00,2.85,0.00,0.000,4,0.000,0.125,2822,3596,3387,0,0,0,0,0,0
$GC,7916,-1.61,-97.3,690.1,-8.6,335,7920,0.00,2.80,0.00,0.000,6,0.000,0.104,2822,2106,3387,0,0,0,0,0,0
$STATE,8070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8070,begin apogee
$GC,8076,-0.31,0.0,702.1,7.7,339,8162,1.25,0.00,81.78,1.090,6,0.079,0.000,3105,1995,3010,0,0,0,0,0,0
$STATE,8163,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8167,1.26,97.3,703.9,0.0,341,8261,1.42,0.00,87.40,1.066,6,0.038,0.000,3451,1995,2612,0,0,0,0,0,0
$GC,8658,1.13,136.8,682.1,5.8,353,8700,0.15,3.30,35.25,1.035,4,0.125,0.138,3423,402,2450,0,0,0,0,0,0
$GC,8737,0.97,145.9,677.0,7.5,354,8753,0.17,2.88,9.50,0.907,6,0.125,0.078,3389,1993,2414,0,0,0,0,0,0
$GC,9157,0.98,159.0,647.8,7.3,365,9176,0.00,3.15,12.77,0.955,4,0.000,0.112,3389,406,2360,0,0,0,0,0,0
$GC,9240,0.90,159.0,640.3,10.0,366,9246,0.00,2.78,0.00,0.000,6,0.000,0.059,3388,2002,2358,0,0,0,0,0,0
$GC,9612,0.90,159.0,610.2,8.2,376,9616,0.00,3.00,0.00,0.000,4,0.000,0.098,3389,400,2355,0,0,0,0,0,0
$GC,9750,0.83,159.0,597.6,9.3,379,9756,0.15,2.67,0.00,0.000,6,0.122,0.047,3359,1987,2354,0,0,0,0,0,0
$GC,10153,0.92,195.3,571.6,6.0,389,10194,0.00,3.00,33.75,0.990,4,0.000,0.092,3359,404,2212,0,0,0,0,0,0
$GC,10253,0.92,199.2,565.0,7.8,391,10263,0.00,2.62,4.85,0.708,6,0.000,0.041,3359,1971,2197,0,0,0,0,0,0
$GC,10650,1.00,218.0,538.1,7.0,401,10676,0.15,2.95,18.55,0.947,4,0.081,0.088,3397,405,2121,0,0,0,0,0,0
$GC,10839,0.95,218.0,519.8,10.0,405,10843,0.00,2.55,0.00,0.000,6,0.000,0.037,3396,1946,2116,0,0,0,0,0,0
$GC,11234,0.95,218.0,485.8,8.4,415,11238,0.00,2.75,0.00,0.000,4,0.000,0.077,3397,400,2115,0,0,0,0,0,0
$GC,11324,0.91,218.0,476.9,9.9,417,11329,0.10,2.55,0.00,0.000,6,0.129,0.035,3377,1945,2114,0,0,0,0,0,0
$GC,11728,0.96,218.0,442.6,8.7,427,11732,0.00,2.75,0.00,0.000,4,0.000,0.074,3376,398,2114,0,0,0,0,0,0
$GC,11771,0.96,218.0,438.0,9.9,428,11775,0.00,2.50,0.00,0.000,6,0.000,0.032,3376,1932,2112,0,0,0,0,0,0
$GC,12177,1.02,218.0,403.5,8.2,438,12182,0.10,2.67,0.00,0.000,4,0.100,0.073,3403,399,2113,0,0,0,0,0,0
$GC,12245,1.02,218.0,397.1,10.4,439,12250,0.00,2.47,0.00,0.000,6,0.000,0.025,3403,1930,2111,0,0,0,0,0,0
$GC,12623,1.05,237.9,369.5,6.9,449,12648,0.00,2.78,18.08,0.836,4,0.000,0.072,3403,399,2040,0,0,0,0,0,0
$GC,12694,1.05,237.9,364.0,8.1,450,12698,0.00,2.47,0.00,0.000,6,0.000,0.024,3403,1920,2037,0,0,0,0,0,0
$GC,13071,1.08,237.9,334.1,8.2,460,13075,0.00,2.78,0.00,0.000,4,0.000,0.047,3403,3591,2036,0,0,0,0,0,0
$GC,13092,1.08,237.9,332.3,8.4,460,13096,0.00,2.80,0.00,0.000,6,0.000,0.039,3403,1898,2035,0,0,0,0,0,0
$GC,13471,1.15,259.5,305.7,6.8,470,13500,0.10,2.65,21.08,0.792,4,0.098,0.074,3432,401,1950,0,0,0,0,0,0
$GC,13512,1.15,259.5,302.3,8.5,471,13516,0.00,2.45,0.00,0.000,6,0.000,0.025,3432,1940,1949,0,0,0,0,0,0
$GC,13918,1.15,259.5,261.8,10.4,481,13923,0.00,2.65,0.00,0.000,4,0.000,0.063,3432,400,1947,0,0,0,0,0,0
$GC,14012,1.15,259.5,251.8,10.6,483,14017,0.00,2.42,0.00,0.000,6,0.000,0.027,3432,1924,1946,0,0,0,0,0,0
$GC,14407,1.16,265.0,221.2,7.7,493,14418,0.00,2.62,5.95,0.594,4,0.000,0.057,3432,394,1927,0,0,0,0,0,0
$GC,14470,1.16,265.0,215.3,9.9,494,14474,0.00,2.42,0.00,0.000,6,0.000,0.021,3432,1921,1926,0,0,0,0,0,0
$GC,14853,1.26,308.0,185.4,5.6,518,14900,0.00,2.70,39.28,0.690,4,0.000,0.061,3432,376,1753,0,0,0,0,0,0
$GC,14987,1.26,308.0,174.4,9.7,529,14993,0.00,2.45,0.00,0.000,6,0.000,0.021,3431,1919,1750,0,0,0,0,0,0
$GC,15376,1.33,308.0,137.5,9.3,566,15381,0.12,2.60,0.00,0.000,4,0.081,0.054,3469,391,1749,0,0,0,0,0,0
$GC,15495,1.29,308.0,125.1,10.5,575,15500,0.00,2.38,0.00,0.000,6,0.000,0.025,3469,1898,1748,0,0,0,0,0,0
$GC,15883,1.29,308.0,92.6,8.7,612,15887,0.00,2.53,0.00,0.000,4,0.000,0.051,3469,389,1749,0,0,0,0,0,0
$GC,15963,1.29,308.0,84.0,10.7,618,15973,0.00,2.35,0.00,0.000,6,0.000,0.019,3469,1885,1748,0,0,0,0,0,0
$GC,16356,1.33,308.0,53.7,8.4,655,16360,0.00,2.50,0.00,0.000,4,0.000,0.050,3469,397,1749,0,0,0,0,0,0
$GC,16388,1.34,313.9,51.1,7.7,657,16403,0.00,2.30,6.47,0.466,6,0.000,0.018,3470,1885,1729,0,0,0,0,0,0
$GC,16813,1.43,347.5,20.6,6.1,705,16855,0.00,2.60,30.33,0.520,4,0.000,0.051,3469,393,1591,0,0,0,0,0,0
$GC,16962,1.47,347.5,7.3,12.8,725,16970,0.05,2.28,0.00,0.000,6,0.061,0.018,3496,1852,1589,0,0,0,0,0,0
$STATE,16992,end climb,SURFACE_DEPTH_REACHED
$STATE,16992,begin surface coast
$FINISH,0.7,0.979181
$STATE,17042,end surface coast,CONTROL_FINISHED_OK
$STATE,17042,begin surface
$SM_CCo,17066,26.92,0.499,0,0,1459,380.21
$SM_GC,1.34,0.00,0.00,26.92,0.000,0.000,0.499,480,2068,1459,-12.40,1.64,380.21
$IRIDIUM_FIX,2241.69,-15759.32,101000,020202
$TT8_MAMPS,0.026078
$HUMID,62.83
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.30
$XPDR_PINGS,105
$24V_AH,23.1,67.173
$10V_AH,9.9,60.751
$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,29.650,179.125,405.025,26.925,0.000,27.269,32.909,204.696,26.250,0.000,17.185,1483.898,12123.538,500.504,2734.723,665.764,33.380,1542.802,0.000,2734.853,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,141.895,1089.907,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,500.642,388.560,503.265,915.606,1384.492,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,57229,736
$CAP_FILE_SIZE,148613,0
$CFSIZE,260165632,153636864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,113531,2247.980,-15803.658,58,1.3,58,10.1