version: 66.06
glider: 146
mission: 6
dive: 541
start: 7 17 111 17 2 27
data:
$ID,146
$MISSION,6
$DIVE,541
$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,-281298.66
$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,42
$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
$GPS1,164737,2247.563,-15803.441,38,1.2,38,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.3
$GPS2,170132,2247.654,-15803.571,12,1.2,12,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,-0.134
$KALMAN_X,-484359.9,-207.2,12.1,472980.8,-2454.4
$KALMAN_Y,203297.3,13.2,-305.8,-196055.8,2140.6
$MHEAD_RNG_PITCHd_Wd,121.7,1555,-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,-97.3,0.0,0.0,0,89,0.00,0.00,-71.20,0.000,2,0.000,0.000,474,2099,3274,0,0,0,0,0,0
$GC,94,-1.24,-97.3,3.5,-3.9,9,120,12.48,2.85,-2.47,0.000,4,0.143,0.059,2898,414,3410,0,0,0,0,0,0
$GC,158,-0.96,-97.3,19.4,-18.4,17,168,0.28,2.53,0.00,0.000,6,0.084,0.015,2963,2036,3411,0,0,0,0,0,0
$GC,581,-1.00,-97.3,59.2,-9.4,62,585,0.00,2.45,0.00,0.000,4,0.000,0.026,2963,3562,3411,0,0,0,0,0,0
$GC,615,-1.07,-97.3,63.3,-13.0,64,619,0.00,2.50,0.00,0.000,6,0.000,0.021,2963,1983,3411,0,0,0,0,0,0
$GC,1003,-1.15,-97.3,99.8,-6.8,100,1008,0.17,2.53,0.00,0.000,4,0.057,0.028,2905,3559,3411,0,0,0,0,0,0
$GC,1032,-1.15,-97.3,102.1,-8.7,102,1037,0.00,2.42,0.00,0.000,6,0.000,0.029,2905,2013,3412,0,0,0,0,0,0
$GC,1420,-1.15,-97.3,133.1,-8.1,138,1424,0.00,2.47,0.00,0.000,4,0.000,0.034,2905,3561,3412,0,0,0,0,0,0
$GC,1441,-1.15,-97.3,134.6,-8.8,139,1445,0.00,2.42,0.00,0.000,6,0.000,0.027,2905,2018,3412,0,0,0,0,0,0
$GC,1833,-1.15,-97.3,170.8,-9.1,175,1837,0.00,2.65,0.00,0.000,4,0.000,0.059,2905,435,3413,0,0,0,0,0,0
$GC,1854,-1.15,-97.3,173.3,-9.2,176,1860,0.00,2.40,0.00,0.000,6,0.000,0.015,2904,2026,3413,0,0,0,0,0,0
$GC,2261,-1.19,-97.3,206.3,-7.3,209,2265,0.00,2.40,0.00,0.000,4,0.000,0.036,2904,3552,3413,0,0,0,0,0,0
$GC,2294,-1.26,-97.3,209.0,-7.9,209,2300,0.00,2.42,0.00,0.000,6,0.000,0.028,2904,2014,3413,0,0,0,0,0,0
$GC,2668,-1.31,-97.3,235.6,-7.3,219,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2014,3413,0,0,0,0,0,0
$GC,3032,-1.38,-97.3,264.3,-7.8,228,3037,0.12,2.50,0.00,0.000,4,0.066,0.031,2851,3551,3413,0,0,0,0,0,0
$GC,3053,-1.38,-97.3,266.4,-9.2,228,3058,0.10,2.42,0.00,0.000,6,0.110,0.029,2875,2016,3413,0,0,0,0,0,0
$GC,3438,-1.38,-97.3,295.9,-7.3,238,3442,0.00,2.47,0.00,0.000,4,0.000,0.035,2875,3548,3412,0,0,0,0,0,0
$GC,3471,-1.43,-97.3,298.5,-7.2,238,3476,0.00,2.42,0.00,0.000,6,0.000,0.030,2875,2025,3412,0,0,0,0,0,0
$GC,3843,-1.47,-97.3,322.2,-6.2,248,3848,0.00,2.75,0.00,0.000,4,0.000,0.075,2875,435,3411,0,0,0,0,0,0
$GC,3866,-1.47,-97.3,324.0,-7.4,248,3870,0.00,2.45,0.00,0.000,6,0.000,0.028,2875,1985,3411,0,0,0,0,0,0
$GC,4243,-1.52,-97.3,353.6,-8.2,258,4248,0.12,2.62,0.00,0.000,4,0.073,0.049,2834,3587,3410,0,0,0,0,0,0
$GC,4356,-1.52,-97.3,364.9,-10.2,260,4361,0.00,2.55,0.00,0.000,6,0.000,0.041,2834,2035,3409,0,0,0,0,0,0
$GC,4733,-1.52,-97.3,401.6,-9.3,270,4737,0.00,2.58,0.00,0.000,4,0.000,0.049,2834,3587,3407,0,0,0,0,0,0
$GC,4799,-1.52,-97.3,407.8,-8.8,271,4803,0.00,2.58,0.00,0.000,6,0.000,0.044,2834,2037,3406,0,0,0,0,0,0
$GC,5183,-1.52,-97.3,437.3,-7.4,281,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2037,3404,0,0,0,0,0,0
$GC,5547,-1.52,-97.3,467.0,-8.6,290,5551,0.00,2.60,0.00,0.000,4,0.000,0.053,2834,3585,3401,0,0,0,0,0,0
$GC,5596,-1.52,-97.3,471.6,-9.1,291,5601,0.00,2.60,0.00,0.000,6,0.000,0.048,2834,2041,3400,0,0,0,0,0,0
$GC,5992,-1.52,-97.3,509.1,-9.6,301,5996,0.00,2.60,0.00,0.000,4,0.000,0.064,2833,3575,3398,0,0,0,0,0,0
$GC,6041,-1.52,-97.3,514.1,-9.7,302,6046,0.00,2.62,0.00,0.000,6,0.000,0.054,2834,2036,3398,0,0,0,0,0,0
$GC,6436,-1.52,-97.3,551.8,-9.4,312,6440,0.00,2.67,0.00,0.000,4,0.000,0.068,2834,3573,3395,0,0,0,0,0,0
$GC,6566,-1.52,-97.3,563.7,-9.2,315,6571,0.00,2.62,0.00,0.000,6,0.000,0.067,2834,2055,3394,0,0,0,0,0,0
$GC,6971,-1.52,-97.3,595.4,-7.3,325,6976,0.00,3.20,0.00,0.000,4,0.000,0.133,2833,423,3391,0,0,0,0,0,0
$GC,7000,-1.52,-97.3,597.5,-7.3,325,7005,0.00,2.72,0.00,0.000,6,0.000,0.058,2834,2031,3391,0,0,0,0,0,0
$GC,7372,-1.52,-97.3,622.6,-6.9,334,7377,0.00,3.03,0.00,0.000,4,0.000,0.112,2834,420,3388,0,0,0,0,0,0
$GC,7411,-1.52,-97.3,625.8,-8.4,335,7416,0.00,2.80,0.00,0.000,6,0.000,0.060,2834,2054,3388,0,0,0,0,0,0
$GC,7818,-1.52,-97.3,660.5,-9.0,345,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2054,3386,0,0,0,0,0,0
$GC,8181,-1.52,-97.3,692.7,-8.7,354,8186,0.00,3.03,0.00,0.000,4,0.000,0.140,2833,3590,3384,0,0,0,0,0,0
$GC,8204,-1.52,-97.3,694.6,-8.9,354,8209,0.00,2.90,0.00,0.000,6,0.000,0.108,2834,2057,3384,0,0,0,0,0,0
$STATE,8294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8294,begin apogee
$GC,8302,-0.31,0.0,702.2,8.3,357,8386,1.17,0.00,80.28,1.098,6,0.072,0.000,3105,1986,3010,0,0,0,0,0,0
$STATE,8386,end apogee,CONTROL_FINISHED_OK
$STATE,8387,begin climb
$GC,8389,1.24,97.3,704.5,0.0,359,8486,1.45,3.20,87.50,1.066,4,0.035,0.120,3455,3578,2612,0,0,0,0,0,0
$GC,8515,1.09,143.1,704.0,5.5,362,8565,0.20,3.10,42.15,1.035,6,0.121,0.112,3416,1988,2426,0,0,0,0,0,0
$GC,8949,1.00,143.1,668.9,8.2,373,8954,0.12,3.15,0.00,0.000,4,0.130,0.133,3391,404,2414,0,0,0,0,0,0
$GC,8991,0.90,143.1,665.3,8.4,374,8996,0.00,2.83,0.00,0.000,6,0.000,0.074,3391,1993,2412,0,0,0,0,0,0
$GC,9398,0.88,163.3,636.5,6.9,384,9423,0.12,3.12,17.17,0.983,4,0.128,0.111,3367,406,2343,0,0,0,0,0,0
$GC,9447,0.86,178.6,633.1,7.2,385,9468,0.00,2.75,15.82,0.965,6,0.000,0.052,3367,1998,2281,0,0,0,0,0,0
$GC,9848,0.87,191.4,604.3,7.3,395,9867,0.00,3.08,12.48,0.939,4,0.000,0.097,3367,406,2228,0,0,0,0,0,0
$GC,9959,0.87,191.4,594.7,8.6,397,9963,0.00,2.67,0.00,0.000,6,0.000,0.046,3367,1989,2226,0,0,0,0,0,0
$GC,10341,0.90,215.8,566.6,6.7,407,10371,0.00,3.03,23.33,0.973,4,0.000,0.094,3367,404,2130,0,0,0,0,0,0
$GC,10446,0.90,215.8,558.8,8.2,409,10450,0.00,2.65,0.00,0.000,6,0.000,0.036,3367,1981,2126,0,0,0,0,0,0
$GC,10836,0.96,226.6,531.0,7.4,419,10849,0.00,0.00,10.70,0.890,6,0.000,0.000,3367,1981,2086,0,0,0,0,0,0
$GC,11200,1.01,226.6,500.4,8.5,428,11205,0.12,2.85,0.00,0.000,4,0.114,0.080,3398,402,2083,0,0,0,0,0,0
$GC,11276,0.96,226.6,492.4,11.2,429,11280,0.00,2.60,0.00,0.000,6,0.000,0.035,3399,1976,2082,0,0,0,0,0,0
$GC,11647,0.96,226.6,457.8,8.8,438,11652,0.00,2.83,0.00,0.000,4,0.000,0.075,3398,396,2081,0,0,0,0,0,0
$GC,11697,0.92,226.6,453.1,9.5,439,11702,0.10,2.60,0.00,0.000,6,0.130,0.030,3378,1979,2080,0,0,0,0,0,0
$GC,12092,0.97,226.6,421.0,8.3,449,12096,0.00,2.78,0.00,0.000,4,0.000,0.071,3378,402,2079,0,0,0,0,0,0
$GC,12169,0.97,226.6,413.4,10.0,450,12175,0.00,2.55,0.00,0.000,6,0.000,0.031,3378,1973,2079,0,0,0,0,0,0
$GC,12543,1.03,226.6,380.9,8.2,460,12547,0.00,2.75,0.00,0.000,4,0.000,0.067,3378,400,2078,0,0,0,0,0,0
$GC,12592,1.03,226.6,376.1,9.0,461,12596,0.00,2.50,0.00,0.000,6,0.000,0.030,3378,1954,2079,0,0,0,0,0,0
$GC,12989,1.14,267.7,351.1,5.8,471,13034,0.20,2.83,38.40,0.841,4,0.067,0.067,3430,396,1917,0,0,0,0,0,0
$GC,13064,1.07,267.7,344.8,10.0,472,13068,0.00,2.53,0.00,0.000,6,0.000,0.026,3431,1948,1915,0,0,0,0,0,0
$GC,13435,1.07,267.7,310.5,9.7,481,13440,0.00,2.70,0.00,0.000,4,0.000,0.061,3430,394,1911,0,0,0,0,0,0
$GC,13511,1.03,267.7,302.5,10.9,482,13516,0.15,2.47,0.00,0.000,6,0.115,0.027,3400,1945,1910,0,0,0,0,0,0
$GC,13883,1.10,267.7,270.5,8.4,491,13888,0.00,2.65,0.00,0.000,4,0.000,0.064,3399,393,1910,0,0,0,0,0,0
$GC,13925,1.15,267.7,266.9,9.2,492,13930,0.12,2.45,0.00,0.000,6,0.077,0.022,3433,1939,1910,0,0,0,0,0,0
$GC,14330,1.15,267.7,231.5,8.5,502,14335,0.00,2.67,0.00,0.000,4,0.000,0.040,3433,3567,1909,0,0,0,0,0,0
$GC,14357,1.15,267.7,229.2,8.5,502,14361,0.00,2.70,0.00,0.000,6,0.000,0.037,3433,1916,1908,0,0,0,0,0,0
$GC,14730,1.15,267.7,197.1,8.6,511,14735,0.00,2.60,0.00,0.000,4,0.000,0.068,3433,391,1908,0,0,0,0,0,0
$GC,14809,1.15,267.7,189.8,10.2,517,14813,0.00,2.40,0.00,0.000,6,0.000,0.024,3433,1933,1908,0,0,0,0,0,0
$GC,15202,1.21,282.3,157.5,7.2,553,15223,0.00,2.67,13.27,0.627,4,0.000,0.058,3433,401,1857,0,0,0,0,0,0
$GC,15286,1.21,282.3,150.5,8.3,560,15292,0.00,2.42,0.00,0.000,6,0.000,0.026,3433,1937,1856,0,0,0,0,0,0
$GC,15679,1.28,289.2,121.0,7.7,597,15694,0.00,2.70,7.25,0.535,4,0.000,0.054,3434,392,1831,0,0,0,0,0,0
$GC,15752,1.28,289.2,114.9,8.2,603,15756,0.00,2.42,0.00,0.000,6,0.000,0.020,3433,1930,1829,0,0,0,0,0,0
$GC,16145,1.38,303.8,87.5,7.2,639,16171,0.17,2.67,14.60,0.559,4,0.061,0.053,3483,393,1770,0,0,0,0,0,0
$GC,16200,1.34,303.8,82.6,9.7,643,16204,0.00,2.40,0.00,0.000,6,0.000,0.019,3483,1916,1769,0,0,0,0,0,0
$GC,16592,1.34,303.8,47.1,8.1,679,16596,0.00,2.55,0.00,0.000,4,0.000,0.050,3483,388,1769,0,0,0,0,0,0
$GC,16652,1.34,303.8,41.4,9.1,683,16661,0.00,2.40,0.00,0.000,6,0.000,0.019,3483,1909,1769,0,0,0,0,0,0
$STATE,17100,end climb,SURFACE_DEPTH_REACHED
$STATE,17100,begin surface coast
$FINISH,0.6,0.975571
$STATE,17160,end surface coast,CONTROL_FINISHED_OK
$STATE,17160,begin surface
$SM_CCo,17182,63.50,0.508,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,63.50,0.000,0.000,0.508,473,2082,1460,-12.43,2.04,380.21
$IRIDIUM_FIX,2244.02,-15814.09,101000,171715
$TT8_MAMPS,0.026078
$HUMID,63.30
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,107
$24V_AH,23.1,67.465
$10V_AH,10.0,61.071
$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,29.475,186.350,362.950,63.500,0.000,69.470,160.004,304.367,26.750,0.000,14.519,1490.281,12414.471,532.266,2690.465,945.169,33.385,1505.298,0.000,2696.985,0.000,0.535,0.000
$DEVICE_MAMPS,142.662,154.934,1097.577,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,510.614,370.775,518.010,946.089,1430.391,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,57409,749
$CAP_FILE_SIZE,150733,0
$CFSIZE,260165632,153489408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170711,215106,2247.567,-15803.243,31,1.6,31,10.1