version: 66.06
glider: 146
mission: 6
dive: 543
start: 7 18 111 3 2 49
data:
$ID,146
$MISSION,6
$DIVE,543
$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,-281327.5
$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,10
$R_STBD_OVSHOOT,30
$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
$GPS1,024754,2250.268,-15802.917,49,1.5,49,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,030150,2250.382,-15803.089,12,1.6,12,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,-0.152
$KALMAN_X,-488318.1,27.2,107.7,477435.3,-1735.2
$KALMAN_Y,207570.9,1.4,-182.4,-195399.2,2611.5
$MHEAD_RNG_PITCHd_Wd,129.0,10417,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.24,-97.3,0.0,0.0,0,88,0.00,0.00,-70.70,0.000,2,0.000,0.000,475,2108,3297,0,0,0,0,0,0
$GC,91,-1.24,-97.3,4.1,-5.2,9,117,12.60,2.85,-2.05,0.000,4,0.147,0.051,2897,410,3411,0,0,0,0,0,0
$GC,163,-1.09,-97.3,21.1,-16.1,18,173,0.15,2.55,0.00,0.000,6,0.093,0.021,2933,2043,3411,0,0,0,0,0,0
$GC,578,-1.09,-97.3,66.7,-10.7,60,583,0.00,2.45,0.00,0.000,4,0.000,0.036,2933,3572,3412,0,0,0,0,0,0
$GC,614,-1.14,-97.3,70.1,-9.9,62,618,0.00,2.53,0.00,0.000,6,0.000,0.023,2933,1983,3412,0,0,0,0,0,0
$GC,1003,-1.18,-97.3,104.7,-7.4,98,1007,0.00,2.53,0.00,0.000,4,0.000,0.030,2933,3567,3413,0,0,0,0,0,0
$GC,1027,-1.24,-97.3,106.5,-7.5,99,1034,0.12,2.45,0.00,0.000,6,0.064,0.021,2878,2013,3413,0,0,0,0,0,0
$GC,1416,-1.19,-97.3,143.9,-9.1,136,1418,0.17,0.00,0.00,0.000,6,0.091,0.000,2918,2012,3413,0,0,0,0,0,0
$GC,1803,-1.24,-97.3,172.1,-7.1,172,1807,0.00,2.47,0.00,0.000,4,0.000,0.035,2918,3572,3413,0,0,0,0,0,0
$GC,1870,-1.33,-97.3,177.6,-7.9,177,1879,0.10,2.47,0.00,0.000,6,0.037,0.022,2866,2018,3414,0,0,0,0,0,0
$GC,2262,-1.33,-97.3,217.6,-10.8,203,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2018,3413,0,0,0,0,0,0
$GC,2627,-1.33,-97.3,254.4,-9.5,212,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2018,3414,0,0,0,0,0,0
$GC,2994,-1.33,-97.3,286.4,-8.8,221,2999,0.00,2.50,0.00,0.000,4,0.000,0.039,2867,3562,3414,0,0,0,0,0,0
$GC,3021,-1.33,-97.3,289.3,-9.4,221,3026,0.00,2.42,0.00,0.000,6,0.000,0.031,2867,2038,3414,0,0,0,0,0,0
$GC,3393,-1.33,-97.3,320.2,-8.1,230,3398,0.00,2.45,0.00,0.000,4,0.000,0.035,2866,3558,3413,0,0,0,0,0,0
$GC,3415,-1.33,-97.3,322.1,-8.3,230,3419,0.00,2.45,0.00,0.000,6,0.000,0.028,2866,2028,3412,0,0,0,0,0,0
$GC,3800,-1.33,-97.3,351.9,-7.8,240,3804,0.00,2.53,0.00,0.000,4,0.000,0.038,2867,3564,3411,0,0,0,0,0,0
$GC,3855,-1.41,-97.3,356.6,-8.2,241,3860,0.00,2.50,0.00,0.000,6,0.000,0.040,2866,2040,3411,0,0,0,0,0,0
$GC,4245,-1.41,-97.3,387.0,-8.1,251,4249,0.00,2.90,0.00,0.000,4,0.000,0.091,2866,428,3410,0,0,0,0,0,0
$GC,4271,-1.41,-97.3,389.8,-9.6,251,4276,0.00,2.50,0.00,0.000,6,0.000,0.035,2866,2003,3409,0,0,0,0,0,0
$GC,4644,-1.46,-97.3,423.8,-9.1,260,4648,0.00,2.62,0.00,0.000,4,0.000,0.054,2866,3586,3407,0,0,0,0,0,0
$GC,4723,-1.52,-97.3,431.4,-9.4,261,4728,0.00,2.60,0.00,0.000,6,0.000,0.054,2866,2042,3406,0,0,0,0,0,0
$GC,5095,-1.57,-97.3,461.5,-7.8,271,5100,0.15,2.60,0.00,0.000,4,0.065,0.054,2817,3584,3404,0,0,0,0,0,0
$GC,5118,-1.57,-97.3,463.5,-8.6,271,5123,0.00,2.62,0.00,0.000,6,0.000,0.052,2816,2040,3404,0,0,0,0,0,0
$GC,5498,-1.53,-97.3,500.0,-9.6,281,5503,0.10,2.67,0.00,0.000,4,0.119,0.061,2838,3590,3401,0,0,0,0,0,0
$GC,5553,-1.53,-97.3,505.7,-9.9,282,5557,0.00,2.65,0.00,0.000,6,0.000,0.062,2838,2045,3400,0,0,0,0,0,0
$GC,5943,-1.53,-97.3,539.0,-8.2,292,5948,0.00,2.67,0.00,0.000,4,0.000,0.067,2839,3582,3397,0,0,0,0,0,0
$GC,5993,-1.53,-97.3,543.5,-8.6,293,5998,0.00,2.62,0.00,0.000,6,0.000,0.060,2838,2056,3397,0,0,0,0,0,0
$GC,6388,-1.53,-97.3,574.0,-7.8,303,6393,0.00,3.22,0.00,0.000,4,0.000,0.134,2838,416,3394,0,0,0,0,0,0
$GC,6411,-1.53,-97.3,575.9,-8.5,303,6415,0.00,2.75,0.00,0.000,6,0.000,0.052,2838,2047,3394,0,0,0,0,0,0
$GC,6787,-1.53,-97.3,609.2,-9.1,313,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2047,3392,0,0,0,0,0,0
$GC,7153,-1.53,-97.3,643.4,-9.5,322,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2047,3389,0,0,0,0,0,0
$GC,7518,-1.53,-97.3,675.9,-8.7,331,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2047,3387,0,0,0,0,0,0
$STATE,7841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7841,begin apogee
$GC,7849,-0.31,0.0,703.2,8.3,339,7934,1.17,0.00,81.43,1.088,6,0.077,0.000,3107,1997,3010,0,0,0,0,0,0
$STATE,7935,end apogee,CONTROL_FINISHED_OK
$STATE,7935,begin climb
$GC,7937,1.24,97.3,705.8,0.0,341,8030,1.42,0.00,88.22,1.065,6,0.038,0.000,3451,1997,2613,0,0,0,0,0,0
$GC,8371,1.09,128.6,686.5,6.3,352,8403,0.17,0.00,28.48,1.026,6,0.122,0.000,3416,1997,2485,0,0,0,0,0,0
$GC,8735,1.01,142.9,660.5,7.3,361,8755,0.00,3.20,13.27,0.966,4,0.000,0.127,3415,408,2426,0,0,0,0,0,0
$GC,8789,0.85,142.9,655.9,9.2,362,8795,0.28,2.83,0.00,0.000,6,0.111,0.064,3361,1997,2424,0,0,0,0,0,0
$GC,9186,0.91,191.5,632.5,5.3,372,9233,0.00,0.00,45.97,1.029,6,0.000,0.000,3361,1997,2228,0,0,0,0,0,0
$GC,9590,0.96,227.7,607.6,6.0,382,9632,0.10,3.08,33.67,1.002,4,0.094,0.100,3387,406,2080,0,0,0,0,0,0
$GC,9788,0.96,227.7,590.5,9.6,386,9793,0.00,2.67,0.00,0.000,6,0.000,0.042,3387,1989,2076,0,0,0,0,0,0
$GC,10171,0.96,227.7,558.2,8.8,396,10176,0.00,2.90,0.00,0.000,4,0.000,0.088,3388,403,2073,0,0,0,0,0,0
$GC,10267,0.96,227.7,549.0,10.1,398,10271,0.00,2.62,0.00,0.000,6,0.000,0.037,3388,1976,2071,0,0,0,0,0,0
$GC,10662,0.96,227.7,514.8,8.9,408,10666,0.00,2.85,0.00,0.000,4,0.000,0.084,3387,401,2071,0,0,0,0,0,0
$GC,10713,0.96,227.7,509.8,10.5,409,10717,0.00,2.60,0.00,0.000,6,0.000,0.035,3387,1978,2069,0,0,0,0,0,0
$GC,11106,0.96,227.7,472.8,9.6,419,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1978,2069,0,0,0,0,0,0
$GC,11472,0.96,227.7,439.0,9.0,428,11476,0.00,2.80,0.00,0.000,4,0.000,0.075,3387,398,2068,0,0,0,0,0,0
$GC,11625,0.96,227.7,424.4,9.2,431,11630,0.00,2.58,0.00,0.000,6,0.000,0.031,3388,1981,2067,0,0,0,0,0,0
$GC,12008,1.00,227.7,389.4,9.1,441,12009,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1981,2067,0,0,0,0,0,0
$GC,12375,1.07,252.1,362.2,6.7,450,12404,0.00,2.83,21.40,0.840,4,0.000,0.065,3387,400,1980,0,0,0,0,0,0
$GC,12499,1.07,252.1,352.5,8.4,452,12505,0.00,2.55,0.00,0.000,6,0.000,0.025,3387,1979,1978,0,0,0,0,0,0
$GC,12874,1.17,283.8,328.4,6.3,462,12910,0.17,2.83,29.70,0.817,4,0.066,0.063,3433,396,1852,0,0,0,0,0,0
$GC,12973,1.11,283.8,318.6,11.7,463,12978,0.00,2.53,0.00,0.000,6,0.000,0.024,3434,1965,1849,0,0,0,0,0,0
$GC,13363,1.11,283.8,278.0,10.6,473,13368,0.00,2.72,0.00,0.000,4,0.000,0.061,3434,391,1848,0,0,0,0,0,0
$GC,13407,1.11,283.8,272.8,10.8,474,13411,0.00,2.50,0.00,0.000,6,0.000,0.021,3434,1949,1846,0,0,0,0,0,0
$GC,13807,1.11,283.8,237.7,8.5,484,13811,0.00,2.65,0.00,0.000,4,0.000,0.058,3434,394,1846,0,0,0,0,0,0
$GC,13858,1.11,283.8,232.5,11.1,485,13862,0.00,2.47,0.00,0.000,6,0.000,0.021,3434,1954,1846,0,0,0,0,0,0
$GC,14235,1.11,283.8,196.7,9.6,496,14240,0.00,2.67,0.00,0.000,4,0.000,0.061,3434,390,1846,0,0,0,0,0,0
$GC,14299,1.11,283.8,189.8,10.1,501,14303,0.00,2.45,0.00,0.000,6,0.000,0.020,3434,1944,1845,0,0,0,0,0,0
$GC,14688,1.19,302.8,158.7,7.0,537,14708,0.00,0.00,17.25,0.642,6,0.000,0.000,3434,1946,1774,0,0,0,0,0,0
$GC,15095,1.30,326.8,129.6,6.7,575,15124,0.10,2.67,22.42,0.617,4,0.084,0.054,3466,397,1676,0,0,0,0,0,0
$GC,15203,1.30,326.8,119.9,9.4,583,15209,0.00,2.42,0.00,0.000,6,0.000,0.025,3465,1931,1674,0,0,0,0,0,0
$GC,15592,1.37,334.1,89.1,7.6,620,15605,0.00,2.60,7.07,0.503,4,0.000,0.050,3466,397,1648,0,0,0,0,0,0
$GC,15658,1.41,334.1,83.8,9.2,625,15662,0.00,2.40,0.00,0.000,6,0.000,0.023,3466,1932,1648,0,0,0,0,0,0
$GC,16051,1.50,343.1,52.8,7.5,661,16067,0.15,2.67,9.90,0.505,4,0.070,0.051,3508,393,1610,0,0,0,0,0,0
$GC,16122,1.44,343.1,45.7,12.0,666,16126,0.00,2.40,0.00,0.000,6,0.000,0.018,3508,1925,1609,0,0,0,0,0,0
$STATE,16533,end climb,SURFACE_DEPTH_REACHED
$STATE,16534,begin surface coast
$FINISH,0.8,0.972311
$STATE,16580,end surface coast,CONTROL_FINISHED_OK
$STATE,16580,begin surface
$SM_CCo,16602,30.98,0.502,0,0,1459,380.21
$SM_GC,1.23,0.00,0.00,30.98,0.000,0.000,0.502,480,2100,1459,-12.40,2.54,380.21
$IRIDIUM_FIX,2241.69,-15802.37,111000,030324
$TT8_MAMPS,0.025311
$HUMID,63.90
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.20
$XPDR_PINGS,85
$24V_AH,23.1,67.751
$10V_AH,10.0,61.362
$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,29.275,137.325,398.800,30.975,0.000,78.026,115.868,351.909,21.250,0.000,14.430,1398.538,12147.412,520.888,2480.279,919.687,33.389,1392.388,0.000,2487.642,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,154.934,1088.373,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.744,353.757,497.953,886.382,1341.073,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,57395,723
$CAP_FILE_SIZE,134524,0
$CFSIZE,260165632,153370624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,074136,2249.702,-15803.060,41,1.1,53,10.1