version: 66.06
glider: 146
mission: 6
dive: 540
start: 7 17 111 11 53 59
data:
$ID,146
$MISSION,6
$DIVE,540
$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,-281283.5
$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,20
$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
$GPS1,113531,2247.980,-15803.658,58,1.3,58,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-67.9
$GPS2,115304,2247.902,-15803.846,15,2.0,15,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.184,-0.082
$KALMAN_X,-482236.6,339.1,82.8,469783.0,-2978.4
$KALMAN_Y,201527.8,378.1,109.9,-194620.4,1182.7
$MHEAD_RNG_PITCHd_Wd,104.1,2209,-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,-63.38,0.000,2,0.000,0.000,479,2068,3076,0,0,0,0,0,0
$GC,84,-1.24,-97.3,3.3,-3.6,8,111,12.48,2.75,-6.80,0.000,4,0.144,0.053,2894,410,3406,0,0,0,0,0,0
$GC,137,-0.52,-97.3,15.1,-23.1,14,145,0.70,2.55,0.00,0.000,6,0.076,0.015,3057,2067,3408,0,0,0,0,0,0
$GC,582,-0.77,-97.3,39.9,-5.5,68,587,0.20,2.75,0.00,0.000,4,0.052,0.044,2990,410,3408,0,0,0,0,0,0
$GC,605,-0.96,-97.3,41.4,-5.2,69,610,0.12,2.53,0.00,0.000,6,0.071,0.015,2945,2061,3408,0,0,0,0,0,0
$GC,1001,-1.00,-97.3,79.0,-9.9,105,1005,0.00,2.47,0.00,0.000,4,0.000,0.029,2945,3609,3409,0,0,0,0,0,0
$GC,1032,-1.07,-97.3,82.5,-9.9,107,1037,0.00,2.60,0.00,0.000,6,0.000,0.029,2945,1974,3409,0,0,0,0,0,0
$GC,1425,-1.15,-97.3,114.1,-6.6,143,1429,0.00,2.60,0.00,0.000,4,0.000,0.028,2945,3609,3409,0,0,0,0,0,0
$GC,1457,-1.25,-97.3,116.1,-6.3,145,1462,0.17,2.53,0.00,0.000,6,0.055,0.022,2881,1993,3410,0,0,0,0,0,0
$GC,1849,-1.25,-97.3,150.2,-9.2,181,1854,0.10,2.60,0.00,0.000,4,0.114,0.029,2903,3607,3410,0,0,0,0,0,0
$GC,1871,-1.25,-97.3,152.7,-9.3,182,1876,0.00,2.50,0.00,0.000,6,0.000,0.021,2904,2009,3410,0,0,0,0,0,0
$GC,2260,-1.29,-97.3,185.7,-8.3,219,2264,0.00,2.53,0.00,0.000,4,0.000,0.036,2904,3605,3410,0,0,0,0,0,0
$GC,2300,-1.37,-97.3,189.2,-8.9,222,2305,0.12,2.50,0.00,0.000,6,0.067,0.022,2851,2012,3410,0,0,0,0,0,0
$GC,2700,-1.31,-97.3,228.8,-9.9,239,2705,0.17,2.58,0.00,0.000,4,0.089,0.031,2892,3607,3410,0,0,0,0,0,0
$GC,2750,-1.39,-97.3,233.8,-8.9,240,2755,0.00,2.47,0.00,0.000,6,0.000,0.024,2892,2024,3410,0,0,0,0,0,0
$GC,3147,-1.44,-97.3,264.3,-7.4,250,3148,0.12,0.00,0.00,0.000,6,0.070,0.000,2843,2024,3410,0,0,0,0,0,0
$GC,3511,-1.40,-97.3,294.2,-8.0,259,3516,0.10,2.60,0.00,0.000,4,0.115,0.035,2868,3609,3409,0,0,0,0,0,0
$GC,3596,-1.46,-97.3,300.5,-7.3,261,3600,0.00,2.47,0.00,0.000,6,0.000,0.025,2867,2044,3409,0,0,0,0,0,0
$GC,4003,-1.46,-97.3,329.6,-7.5,271,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2044,3407,0,0,0,0,0,0
$GC,4367,-1.46,-97.3,357.7,-7.6,280,4371,0.00,2.55,0.00,0.000,4,0.000,0.039,2868,3607,3406,0,0,0,0,0,0
$GC,4469,-1.52,-97.3,365.4,-7.3,282,4474,0.10,2.55,0.00,0.000,6,0.080,0.041,2826,2050,3405,0,0,0,0,0,0
$GC,4857,-1.52,-97.3,396.9,-8.4,292,4861,0.00,2.58,0.00,0.000,4,0.000,0.048,2826,3602,3402,0,0,0,0,0,0
$GC,4878,-1.52,-97.3,398.6,-7.4,292,4883,0.00,2.55,0.00,0.000,6,0.000,0.041,2827,2048,3402,0,0,0,0,0,0
$GC,5257,-1.52,-97.3,430.0,-8.6,302,5262,0.00,2.60,0.00,0.000,4,0.000,0.049,2827,3603,3399,0,0,0,0,0,0
$GC,5312,-1.52,-97.3,435.2,-9.4,303,5317,0.00,2.58,0.00,0.000,6,0.000,0.054,2826,2056,3399,0,0,0,0,0,0
$GC,5701,-1.52,-97.3,472.7,-9.7,313,5705,0.00,2.60,0.00,0.000,4,0.000,0.059,2826,3594,3397,0,0,0,0,0,0
$GC,5718,-1.52,-97.3,474.3,-9.4,313,5722,0.00,2.62,0.00,0.000,6,0.000,0.054,2826,2043,3397,0,0,0,0,0,0
$GC,6100,-1.52,-97.3,504.8,-7.5,323,6105,0.00,2.62,0.00,0.000,4,0.000,0.059,2826,3591,3394,0,0,0,0,0,0
$GC,6133,-1.52,-97.3,507.2,-7.3,323,6139,0.00,2.62,0.00,0.000,6,0.000,0.057,2827,2044,3394,0,0,0,0,0,0
$GC,6507,-1.52,-97.3,534.7,-7.5,333,6511,0.00,2.67,0.00,0.000,4,0.000,0.064,2827,3594,3391,0,0,0,0,0,0
$GC,6670,-1.52,-97.3,548.1,-9.0,336,6675,0.00,2.62,0.00,0.000,6,0.000,0.061,2827,2066,3390,0,0,0,0,0,0
$GC,7043,-1.52,-97.3,580.2,-8.7,345,7048,0.00,2.67,0.00,0.000,4,0.000,0.072,2827,3590,3388,0,0,0,0,0,0
$GC,7065,-1.52,-97.3,582.5,-9.2,345,7069,0.00,2.62,0.00,0.000,6,0.000,0.065,2827,2069,3387,0,0,0,0,0,0
$GC,7442,-1.52,-97.3,616.1,-9.2,355,7447,0.00,3.17,0.00,0.000,4,0.000,0.128,2826,424,3385,0,0,0,0,0,0
$GC,7465,-1.52,-97.3,618.2,-10.0,355,7470,0.00,2.80,0.00,0.000,6,0.000,0.058,2826,2062,3385,0,0,0,0,0,0
$GC,7842,-1.52,-97.3,649.7,-7.9,365,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2062,3383,0,0,0,0,0,0
$GC,8208,-1.52,-97.3,677.3,-7.5,374,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2062,3381,0,0,0,0,0,0
$STATE,8530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8530,begin apogee
$GC,8538,-0.31,0.0,701.6,7.5,382,8621,1.23,0.00,79.80,1.096,6,0.075,0.000,3107,1998,3010,0,0,0,0,0,0
$STATE,8622,end apogee,CONTROL_FINISHED_OK
$STATE,8622,begin climb
$GC,8625,1.24,97.3,703.1,0.0,384,8722,1.42,3.22,87.32,1.067,4,0.038,0.131,3451,3567,2612,0,0,0,0,0,0
$GC,8748,1.09,142.4,702.0,5.5,387,8798,0.20,3.08,41.35,1.036,6,0.126,0.111,3413,1993,2428,0,0,0,0,0,0
$GC,9188,1.01,143.0,667.3,8.0,398,9193,0.00,3.17,0.00,0.000,4,0.000,0.131,3413,400,2417,0,0,0,0,0,0
$GC,9211,0.87,143.0,665.2,8.7,398,9217,0.22,2.83,0.00,0.000,6,0.114,0.073,3368,1989,2415,0,0,0,0,0,0
$GC,9589,0.92,177.8,641.4,6.1,408,9630,0.00,3.10,31.20,1.019,4,0.000,0.109,3368,400,2285,0,0,0,0,0,0
$GC,9690,0.92,179.0,634.2,8.0,410,9695,0.00,2.75,0.00,0.000,6,0.000,0.054,3368,1997,2282,0,0,0,0,0,0
$GC,10084,0.95,202.0,607.3,6.8,420,10113,0.00,3.08,23.23,0.999,4,0.000,0.101,3368,410,2185,0,0,0,0,0,0
$GC,10153,0.95,202.0,601.5,9.2,421,10158,0.00,2.67,0.00,0.000,6,0.000,0.044,3368,1990,2183,0,0,0,0,0,0
$GC,10532,0.96,210.6,572.1,7.6,431,10546,0.00,2.97,8.50,0.881,4,0.000,0.092,3368,397,2151,0,0,0,0,0,0
$GC,10626,0.96,210.6,563.9,8.5,433,10630,0.00,2.65,0.00,0.000,6,0.000,0.036,3368,1984,2148,0,0,0,0,0,0
$GC,11027,1.00,211.8,532.4,8.0,443,11029,0.10,0.00,0.00,0.000,6,0.102,0.000,3395,1984,2147,0,0,0,0,0,0
$GC,11391,1.00,211.8,501.9,8.3,452,11395,0.00,2.75,0.00,0.000,4,0.000,0.062,3395,3578,2146,0,0,0,0,0,0
$GC,11417,1.00,211.8,499.3,9.5,452,11422,0.00,2.72,0.00,0.000,6,0.000,0.051,3395,1969,2145,0,0,0,0,0,0
$GC,11791,1.01,217.9,469.6,7.7,461,11806,0.00,3.03,7.40,0.815,4,0.000,0.113,3395,409,2120,0,0,0,0,0,0
$GC,11896,1.01,217.9,460.5,8.5,463,11900,0.00,2.53,0.00,0.000,6,0.000,0.026,3395,1975,2119,0,0,0,0,0,0
$GC,12286,1.01,217.9,430.4,8.2,473,12291,0.00,2.75,0.00,0.000,4,0.000,0.071,3395,406,2119,0,0,0,0,0,0
$GC,12319,1.01,217.9,427.2,9.4,473,12325,0.00,2.53,0.00,0.000,6,0.000,0.028,3395,1970,2118,0,0,0,0,0,0
$GC,12691,1.01,217.9,394.3,8.8,483,12695,0.00,2.72,0.00,0.000,4,0.000,0.073,3395,404,2118,0,0,0,0,0,0
$GC,12770,1.01,217.9,386.8,9.5,484,12775,0.00,2.47,0.00,0.000,6,0.000,0.028,3395,1955,2117,0,0,0,0,0,0
$GC,13141,1.02,232.0,358.0,7.3,494,13157,0.00,0.00,13.95,0.819,6,0.000,0.000,3395,1955,2064,0,0,0,0,0,0
$GC,13507,1.13,285.8,336.9,5.0,503,13566,0.10,2.83,50.62,0.834,4,0.097,0.069,3423,402,1844,0,0,0,0,0,0
$GC,13591,1.09,285.8,331.0,9.1,505,13595,0.00,2.53,0.00,0.000,6,0.000,0.027,3423,1961,1842,0,0,0,0,0,0
$GC,13996,1.09,285.8,294.2,9.7,515,14000,0.00,2.67,0.00,0.000,4,0.000,0.062,3423,403,1838,0,0,0,0,0,0
$GC,14092,1.09,285.8,283.5,11.3,517,14096,0.00,2.45,0.00,0.000,6,0.000,0.026,3423,1947,1837,0,0,0,0,0,0
$GC,14486,1.13,285.8,247.2,8.5,527,14490,0.00,2.65,0.00,0.000,4,0.000,0.058,3423,401,1837,0,0,0,0,0,0
$GC,14547,1.13,285.8,241.3,9.8,528,14552,0.00,2.42,0.00,0.000,6,0.000,0.026,3423,1941,1836,0,0,0,0,0,0
$GC,14931,1.18,285.8,207.1,8.8,538,14935,0.00,2.62,0.00,0.000,4,0.000,0.055,3423,394,1836,0,0,0,0,0,0
$GC,14970,1.18,285.8,203.3,9.8,539,14974,0.00,2.42,0.00,0.000,6,0.000,0.019,3423,1941,1836,0,0,0,0,0,0
$GC,15360,1.26,285.8,171.1,8.2,573,15365,0.10,2.60,0.00,0.000,4,0.097,0.060,3452,394,1836,0,0,0,0,0,0
$GC,15428,1.26,285.8,164.5,9.4,578,15434,0.00,2.42,0.00,0.000,6,0.000,0.021,3453,1944,1836,0,0,0,0,0,0
$GC,15821,1.27,295.1,131.9,7.5,615,15835,0.00,2.67,8.32,0.557,4,0.000,0.054,3452,396,1806,0,0,0,0,0,0
$GC,15957,1.27,295.1,121.3,8.4,626,15966,0.00,2.40,0.00,0.000,6,0.000,0.018,3452,1918,1805,0,0,0,0,0,0
$GC,16350,1.33,300.4,92.8,7.7,663,16362,0.00,2.58,6.50,0.491,4,0.000,0.049,3452,400,1785,0,0,0,0,0,0
$GC,16404,1.33,300.4,87.9,9.0,667,16410,0.00,2.38,0.00,0.000,6,0.000,0.024,3452,1932,1784,0,0,0,0,0,0
$GC,16797,1.43,310.6,58.1,7.5,704,16816,0.15,0.00,10.80,0.511,6,0.067,0.000,3498,1933,1743,0,0,0,0,0,0
$GC,17216,1.46,337.1,23.5,6.6,749,17251,0.00,2.65,24.35,0.512,4,0.000,0.048,3498,396,1634,0,0,0,0,0,0
$GC,17336,1.46,337.1,12.6,10.5,765,17345,0.00,2.38,0.00,0.000,6,0.000,0.018,3498,1914,1632,0,0,0,0,0,0
$STATE,17427,end climb,SURFACE_DEPTH_REACHED
$STATE,17427,begin surface coast
$FINISH,0.6,0.973878
$STATE,17479,end surface coast,CONTROL_FINISHED_OK
$STATE,17479,begin surface
$SM_CCo,17501,34.83,0.499,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,34.83,0.000,0.000,0.499,474,2098,1460,-12.42,2.49,380.21
$IRIDIUM_FIX,2239.35,-15805.41,101000,111116
$TT8_MAMPS,0.026078
$HUMID,61.85
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,104
$24V_AH,23.1,67.323
$10V_AH,9.9,60.917
$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,30.200,175.450,393.350,34.825,0.000,112.305,214.082,369.322,26.000,0.000,17.316,1531.369,12621.083,524.870,2813.245,1092.739,33.385,1514.117,0.000,2809.996,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,145.730,1096.043,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,534.881,426.986,550.024,1049.270,1581.441,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,60651,785
$CAP_FILE_SIZE,152624,0
$CFSIZE,260165632,153559040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,164737,2247.563,-15803.441,38,1.2,38,10.1