version: 66.06
glider: 146
mission: 6
dive: 545
start: 7 18 111 13 9 14
data:
$ID,146
$MISSION,6
$DIVE,545
$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,-281380.59
$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,8
$R_STBD_OVSHOOT,41
$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
$GPS1,124337,2248.852,-15802.534,40,1.2,40,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.9
$GPS2,130819,2248.772,-15802.811,32,1.2,32,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.026
$KALMAN_X,-492991.9,61.8,66.8,482593.5,-2489.4
$KALMAN_Y,209361.6,-185.1,-73.7,-200070.3,669.8
$MHEAD_RNG_PITCHd_Wd,87.2,10176,-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,-70.97,0.000,2,0.000,0.000,475,2093,3280,0,0,0,0,0,0
$GC,94,-1.24,-97.3,3.5,-3.9,9,120,12.85,2.85,-2.30,0.000,4,0.156,0.056,2897,411,3410,0,0,0,0,0,0
$GC,132,-0.09,-97.3,17.0,-28.7,13,142,1.10,2.53,0.00,0.000,6,0.077,0.016,3149,2029,3412,0,0,0,0,0,0
$GC,577,-0.73,-97.3,47.4,-7.7,65,582,0.52,2.70,0.00,0.000,4,0.051,0.045,3012,403,3412,0,0,0,0,0,0
$GC,612,-1.11,-97.3,50.3,-7.7,67,618,0.32,2.47,0.00,0.000,6,0.040,0.015,2916,2051,3412,0,0,0,0,0,0
$GC,1004,-1.11,-97.3,86.6,-8.5,103,1008,0.00,2.35,0.00,0.000,4,0.000,0.028,2916,3530,3412,0,0,0,0,0,0
$GC,1084,-1.16,-97.3,93.4,-8.2,109,1089,0.00,2.42,0.00,0.000,6,0.000,0.028,2916,1979,3412,0,0,0,0,0,0
$GC,1476,-1.16,-97.3,132.8,-10.3,145,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1979,3413,0,0,0,0,0,0
$GC,1864,-1.21,-97.3,172.1,-8.9,182,1869,0.00,2.45,0.00,0.000,4,0.000,0.029,2916,3530,3412,0,0,0,0,0,0
$GC,1882,-1.27,-97.3,173.9,-9.4,183,1886,0.00,2.35,0.00,0.000,6,0.000,0.025,2916,2018,3413,0,0,0,0,0,0
$GC,2288,-1.33,-97.3,206.1,-7.0,215,2293,0.12,2.40,0.00,0.000,4,0.066,0.029,2860,3528,3413,0,0,0,0,0,0
$GC,2321,-1.33,-97.3,209.2,-9.7,215,2327,0.12,2.38,0.00,0.000,6,0.097,0.028,2889,2016,3412,0,0,0,0,0,0
$GC,2694,-1.33,-97.3,238.4,-7.7,225,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2016,3413,0,0,0,0,0,0
$GC,3059,-1.37,-97.3,264.3,-7.2,234,3063,0.00,2.40,0.00,0.000,4,0.000,0.038,2889,3528,3412,0,0,0,0,0,0
$GC,3075,-1.43,-97.3,265.5,-7.0,234,3080,0.10,2.35,0.00,0.000,6,0.082,0.025,2843,2025,3412,0,0,0,0,0,0
$GC,3459,-1.43,-97.3,298.8,-8.7,244,3461,0.10,0.00,0.00,0.000,6,0.113,0.000,2865,2025,3411,0,0,0,0,0,0
$GC,3824,-1.43,-97.3,325.2,-6.9,253,3828,0.00,2.42,0.00,0.000,4,0.000,0.037,2865,3521,3410,0,0,0,0,0,0
$GC,3879,-1.50,-97.3,329.5,-7.8,254,3883,0.00,2.38,0.00,0.000,6,0.000,0.031,2865,2035,3410,0,0,0,0,0,0
$GC,4269,-1.54,-97.3,361.1,-8.3,264,4274,0.10,2.42,0.00,0.000,4,0.084,0.044,2827,3521,3408,0,0,0,0,0,0
$GC,4358,-1.54,-97.3,369.5,-9.5,266,4362,0.00,2.42,0.00,0.000,6,0.000,0.037,2827,2034,3408,0,0,0,0,0,0
$GC,4765,-1.54,-97.3,404.2,-8.7,276,4769,0.00,2.45,0.00,0.000,4,0.000,0.042,2827,3524,3405,0,0,0,0,0,0
$GC,4787,-1.54,-97.3,406.6,-9.6,276,4791,0.00,2.47,0.00,0.000,6,0.000,0.044,2827,2036,3405,0,0,0,0,0,0
$GC,5164,-1.54,-97.3,442.2,-9.7,286,5168,0.00,2.45,0.00,0.000,4,0.000,0.052,2827,3515,3402,0,0,0,0,0,0
$GC,5254,-1.54,-97.3,450.6,-9.0,288,5258,0.00,2.47,0.00,0.000,6,0.000,0.049,2827,2045,3402,0,0,0,0,0,0
$GC,5653,-1.54,-97.3,485.7,-8.9,298,5657,0.00,2.47,0.00,0.000,4,0.000,0.053,2826,3521,3398,0,0,0,0,0,0
$GC,5674,-1.54,-97.3,487.8,-9.4,298,5678,0.00,2.50,0.00,0.000,6,0.000,0.058,2827,2043,3398,0,0,0,0,0,0
$GC,6052,-1.54,-97.3,523.8,-9.8,308,6057,0.00,3.10,0.00,0.000,4,0.000,0.122,2827,418,3396,0,0,0,0,0,0
$GC,6068,-1.54,-97.3,525.8,-10.3,308,6072,0.00,2.55,0.00,0.000,6,0.000,0.041,2827,1960,3395,0,0,0,0,0,0
$GC,6451,-1.54,-97.3,561.5,-8.7,318,6456,0.00,2.90,0.00,0.000,4,0.000,0.089,2826,3591,3393,0,0,0,0,0,0
$GC,6583,-1.54,-97.3,572.3,-8.4,321,6588,0.00,2.67,0.00,0.000,6,0.000,0.067,2827,2041,3391,0,0,0,0,0,0
$GC,6988,-1.54,-97.3,602.8,-7.2,331,6993,0.00,2.70,0.00,0.000,4,0.000,0.074,2826,3591,3388,0,0,0,0,0,0
$GC,7034,-1.54,-97.3,606.1,-7.5,332,7038,0.00,2.70,0.00,0.000,6,0.000,0.070,2827,2045,3388,0,0,0,0,0,0
$GC,7433,-1.54,-97.3,638.4,-8.5,342,7438,0.00,2.80,0.00,0.000,4,0.000,0.094,2827,3592,3386,0,0,0,0,0,0
$GC,7510,-1.54,-97.3,645.4,-8.5,343,7516,0.00,2.78,0.00,0.000,6,0.000,0.085,2827,2058,3385,0,0,0,0,0,0
$GC,7884,-1.54,-97.3,677.0,-8.6,353,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2057,3383,0,0,0,0,0,0
$STATE,8164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8164,begin apogee
$GC,8170,-0.31,0.0,700.3,7.9,360,8254,1.23,0.00,80.30,1.094,6,0.077,0.000,3105,1989,3010,0,0,0,0,0,0
$STATE,8255,end apogee,CONTROL_FINISHED_OK
$STATE,8255,begin climb
$GC,8258,1.24,97.3,702.5,0.0,362,8349,1.45,0.00,87.57,1.071,6,0.038,0.000,3453,1988,2613,0,0,0,0,0,0
$GC,8694,1.08,118.5,681.3,6.9,373,8720,0.20,3.33,19.08,1.001,4,0.121,0.144,3414,407,2525,0,0,0,0,0,0
$GC,8784,0.92,123.6,674.4,7.8,375,8796,0.20,2.83,5.43,0.764,6,0.117,0.078,3375,1990,2506,0,0,0,0,0,0
$GC,9188,0.96,154.0,648.9,6.4,385,9223,0.00,3.15,28.80,1.025,4,0.000,0.114,3375,403,2381,0,0,0,0,0,0
$GC,9303,0.90,154.0,639.2,8.7,386,9308,0.00,2.78,0.00,0.000,6,0.000,0.055,3375,1997,2377,0,0,0,0,0,0
$GC,9677,0.92,169.9,611.9,7.2,395,9697,0.00,3.05,15.05,0.978,4,0.000,0.097,3375,402,2316,0,0,0,0,0,0
$GC,9720,0.88,173.7,608.6,7.8,396,9730,0.00,2.70,4.70,0.713,6,0.000,0.051,3375,1983,2302,0,0,0,0,0,0
$GC,10122,0.92,204.1,581.2,6.3,406,10158,0.00,3.00,29.60,0.996,4,0.000,0.091,3375,403,2176,0,0,0,0,0,0
$GC,10196,0.92,204.1,575.3,9.4,406,10202,0.00,2.67,0.00,0.000,6,0.000,0.038,3375,1988,2173,0,0,0,0,0,0
$GC,10570,0.95,231.8,550.4,6.5,416,10598,0.00,0.00,26.17,0.972,6,0.000,0.000,3375,1988,2064,0,0,0,0,0,0
$GC,10934,0.95,231.8,521.8,8.3,425,10939,0.00,2.88,0.00,0.000,4,0.000,0.086,3375,404,2058,0,0,0,0,0,0
$GC,11022,0.95,231.8,513.4,9.6,427,11027,0.00,2.60,0.00,0.000,6,0.000,0.030,3375,1981,2056,0,0,0,0,0,0
$GC,11424,1.00,231.8,477.9,9.1,437,11428,0.00,2.83,0.00,0.000,4,0.000,0.082,3375,397,2055,0,0,0,0,0,0
$GC,11541,1.00,231.8,465.3,10.5,439,11545,0.00,2.55,0.00,0.000,6,0.000,0.033,3375,1968,2054,0,0,0,0,0,0
$GC,11914,1.05,231.8,432.8,8.1,448,11916,0.12,0.00,0.00,0.000,6,0.084,0.000,3406,1968,2054,0,0,0,0,0,0
$GC,12278,1.06,240.8,403.8,7.5,457,12292,0.00,2.83,7.72,0.778,4,0.000,0.071,3406,402,2027,0,0,0,0,0,0
$GC,12369,1.02,240.8,396.2,9.4,459,12374,0.00,2.55,0.00,0.000,6,0.000,0.030,3406,1972,2026,0,0,0,0,0,0
$GC,12774,1.02,240.8,362.6,8.6,469,12778,0.00,2.75,0.00,0.000,4,0.000,0.073,3406,395,2026,0,0,0,0,0,0
$GC,12824,1.02,240.8,357.8,9.5,470,12829,0.00,2.53,0.00,0.000,6,0.000,0.022,3406,1977,2025,0,0,0,0,0,0
$GC,13220,1.04,252.1,326.6,7.4,480,13239,0.00,2.85,11.90,0.780,4,0.000,0.068,3406,396,1980,0,0,0,0,0,0
$GC,13308,1.04,258.3,319.7,7.7,482,13322,0.00,2.53,7.35,0.704,6,0.000,0.022,3406,1962,1956,0,0,0,0,0,0
$GC,13721,1.09,258.3,288.3,8.0,492,13725,0.00,2.70,0.00,0.000,4,0.000,0.059,3406,400,1953,0,0,0,0,0,0
$GC,13820,1.09,258.3,278.5,9.5,494,13825,0.00,2.47,0.00,0.000,6,0.000,0.025,3406,1954,1953,0,0,0,0,0,0
$GC,14211,1.17,272.3,247.5,7.3,504,14231,0.10,2.72,13.68,0.718,4,0.090,0.058,3435,400,1899,0,0,0,0,0,0
$GC,14292,1.17,272.3,240.4,9.0,505,14298,0.00,2.45,0.00,0.000,6,0.000,0.020,3435,1942,1897,0,0,0,0,0,0
$GC,14664,1.17,273.4,211.4,8.0,515,14666,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1942,1897,0,0,0,0,0,0
$GC,15041,1.17,273.4,181.5,8.7,539,15045,0.00,2.62,0.00,0.000,4,0.000,0.060,3435,399,1897,0,0,0,0,0,0
$GC,15062,1.17,273.4,179.2,9.2,540,15071,0.00,2.45,0.00,0.000,6,0.000,0.020,3435,1946,1897,0,0,0,0,0,0
$GC,15454,1.24,294.2,150.3,6.9,577,15482,0.00,2.72,20.85,0.637,4,0.000,0.059,3435,397,1809,0,0,0,0,0,0
$GC,15560,1.24,294.2,141.2,8.6,586,15564,0.00,2.40,0.00,0.000,6,0.000,0.023,3435,1923,1807,0,0,0,0,0,0
$GC,15949,1.33,295.3,109.9,8.0,622,15954,0.12,2.60,0.00,0.000,4,0.074,0.052,3472,397,1807,0,0,0,0,0,0
$GC,16018,1.33,295.3,103.7,10.5,627,16022,0.00,2.35,0.00,0.000,6,0.000,0.018,3472,1903,1807,0,0,0,0,0,0
$GC,16411,1.38,299.0,71.9,7.8,663,16425,0.00,2.58,5.50,0.453,4,0.000,0.051,3472,401,1791,0,0,0,0,0,0
$GC,16529,1.38,299.0,62.8,10.1,672,16533,0.00,2.30,0.00,0.000,6,0.000,0.018,3472,1889,1791,0,0,0,0,0,0
$GC,16921,1.41,329.7,32.6,6.3,708,16963,0.00,2.60,28.45,0.528,4,0.000,0.049,3472,397,1664,0,0,0,0,0,0
$GC,16989,1.41,329.7,27.5,8.5,714,16998,0.00,2.35,0.00,0.000,6,0.000,0.018,3473,1891,1663,0,0,0,0,0,0
$STATE,17266,end climb,SURFACE_DEPTH_REACHED
$STATE,17266,begin surface coast
$FINISH,0.7,0.974829
$STATE,17331,end surface coast,CONTROL_FINISHED_OK
$STATE,17331,begin surface
$SM_CCo,17355,41.67,0.503,0,0,1460,380.21
$SM_GC,1.52,0.00,0.00,41.67,0.000,0.000,0.503,479,2085,1460,-12.40,2.12,380.21
$IRIDIUM_FIX,2241.69,-15804.53,111000,131325
$TT8_MAMPS,0.026078
$HUMID,62.04
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,102
$24V_AH,23.1,68.063
$10V_AH,9.9,61.684
$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,30.900,162.325,392.150,41.675,0.000,110.614,171.343,817.576,25.500,0.000,34.077,1500.341,12542.850,531.043,2801.045,1496.245,33.406,1513.606,0.000,2780.926,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,277.654,1093.742,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,520.293,385.282,530.224,1000.566,1512.565,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,60528,763
$CAP_FILE_SIZE,154484,0
$CFSIZE,260165632,153210880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,180031,2249.064,-15802.412,38,1.2,38,10.1