version: 66.06
glider: 146
mission: 6
dive: 546
start: 7 18 111 18 17 15
data:
$ID,146
$MISSION,6
$DIVE,546
$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,-281398.5
$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,53
$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
$GPS1,180031,2249.064,-15802.412,38,1.2,38,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-68.2
$GPS2,181620,2249.171,-15802.558,14,1.9,14,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.185,-0.079
$KALMAN_X,-495337.5,-457.5,-102.3,486059.9,-1844.9
$KALMAN_Y,210747.9,-514.5,30.6,-200509.9,1595.9
$MHEAD_RNG_PITCHd_Wd,103.0,9610,-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,-71.03,0.000,2,0.000,0.000,478,2085,3261,0,0,0,0,0,0
$GC,94,-1.24,-97.3,3.4,-3.7,9,120,12.82,2.85,-2.75,0.000,4,0.155,0.058,2895,406,3410,0,0,0,0,0,0
$GC,132,-0.15,-97.3,15.5,-25.5,13,140,1.05,2.53,0.00,0.000,6,0.089,0.015,3136,2023,3411,0,0,0,0,0,0
$GC,574,-0.78,-97.3,47.5,-7.4,66,580,0.52,2.67,0.00,0.000,4,0.051,0.044,2998,408,3412,0,0,0,0,0,0
$GC,622,-0.98,-97.3,50.8,-6.2,69,627,0.15,2.42,0.00,0.000,6,0.064,0.015,2948,2029,3411,0,0,0,0,0,0
$GC,1014,-1.03,-97.3,86.3,-9.4,105,1018,0.00,2.40,0.00,0.000,4,0.000,0.028,2947,3538,3411,0,0,0,0,0,0
$GC,1054,-1.14,-97.3,90.5,-9.5,108,1059,0.00,2.47,0.00,0.000,6,0.000,0.025,2947,1972,3412,0,0,0,0,0,0
$GC,1443,-1.21,-97.3,124.9,-8.8,144,1448,0.15,2.50,0.00,0.000,4,0.061,0.035,2895,3538,3412,0,0,0,0,0,0
$GC,1472,-1.21,-97.3,128.1,-11.5,146,1476,0.00,2.42,0.00,0.000,6,0.000,0.029,2895,1998,3412,0,0,0,0,0,0
$GC,1860,-1.21,-97.3,168.2,-9.0,182,1864,0.00,2.45,0.00,0.000,4,0.000,0.028,2895,3537,3413,0,0,0,0,0,0
$GC,1900,-1.26,-97.3,171.9,-9.0,185,1904,0.00,2.40,0.00,0.000,6,0.000,0.025,2894,1993,3413,0,0,0,0,0,0
$GC,2297,-1.26,-97.3,203.3,-7.3,219,2301,0.00,2.45,0.00,0.000,4,0.000,0.035,2895,3538,3413,0,0,0,0,0,0
$GC,2330,-1.32,-97.3,205.8,-7.6,219,2336,0.00,2.38,0.00,0.000,6,0.000,0.027,2895,2007,3413,0,0,0,0,0,0
$GC,2704,-1.35,-97.3,232.5,-7.6,229,2708,0.00,2.42,0.00,0.000,4,0.000,0.035,2895,3537,3413,0,0,0,0,0,0
$GC,2760,-1.42,-97.3,237.6,-9.0,230,2765,0.12,2.42,0.00,0.000,6,0.069,0.026,2844,2001,3413,0,0,0,0,0,0
$GC,3150,-1.38,-97.3,273.6,-8.6,240,3155,0.12,2.47,0.00,0.000,4,0.105,0.038,2872,3534,3413,0,0,0,0,0,0
$GC,3178,-1.38,-97.3,275.8,-6.9,240,3182,0.00,2.40,0.00,0.000,6,0.000,0.025,2872,2015,3413,0,0,0,0,0,0
$GC,3555,-1.38,-97.3,299.6,-6.8,250,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2015,3412,0,0,0,0,0,0
$GC,3922,-1.38,-97.3,333.0,-9.9,259,3926,0.00,2.47,0.00,0.000,4,0.000,0.042,2872,3537,3411,0,0,0,0,0,0
$GC,3979,-1.45,-97.3,339.0,-10.5,260,3983,0.00,2.42,0.00,0.000,6,0.000,0.036,2872,2024,3411,0,0,0,0,0,0
$GC,4369,-1.50,-97.3,372.6,-8.0,270,4374,0.10,2.50,0.00,0.000,4,0.087,0.044,2834,3537,3409,0,0,0,0,0,0
$GC,4430,-1.50,-97.3,378.2,-8.6,271,4434,0.00,2.47,0.00,0.000,6,0.000,0.041,2834,2028,3408,0,0,0,0,0,0
$GC,4818,-1.50,-97.3,408.7,-7.8,281,4823,0.00,2.50,0.00,0.000,4,0.000,0.051,2834,3532,3406,0,0,0,0,0,0
$GC,4910,-1.50,-97.3,415.5,-7.1,283,4914,0.00,2.53,0.00,0.000,6,0.000,0.046,2834,2025,3405,0,0,0,0,0,0
$GC,5309,-1.50,-97.3,446.4,-8.1,293,5313,0.00,2.53,0.00,0.000,4,0.000,0.054,2834,3529,3402,0,0,0,0,0,0
$GC,5384,-1.50,-97.3,452.7,-8.1,294,5388,0.00,2.50,0.00,0.000,6,0.000,0.051,2834,2036,3402,0,0,0,0,0,0
$GC,5755,-1.50,-97.3,486.4,-9.3,303,5759,0.00,2.53,0.00,0.000,4,0.000,0.052,2834,3529,3399,0,0,0,0,0,0
$GC,5783,-1.50,-97.3,489.0,-9.3,303,5787,0.00,2.53,0.00,0.000,6,0.000,0.051,2834,2037,3399,0,0,0,0,0,0
$GC,6157,-1.50,-97.3,519.9,-7.7,312,6161,0.00,2.55,0.00,0.000,4,0.000,0.065,2834,3529,3396,0,0,0,0,0,0
$GC,6184,-1.50,-97.3,522.1,-7.2,312,6188,0.00,2.53,0.00,0.000,6,0.000,0.055,2834,2035,3397,0,0,0,0,0,0
$GC,6556,-1.50,-97.3,547.7,-7.1,321,6560,0.00,2.58,0.00,0.000,4,0.000,0.068,2834,3527,3394,0,0,0,0,0,0
$GC,6629,-1.50,-97.3,553.2,-7.6,322,6634,0.00,2.53,0.00,0.000,6,0.000,0.065,2834,2049,3393,0,0,0,0,0,0
$GC,7001,-1.50,-97.3,582.1,-8.0,331,7005,0.00,2.58,0.00,0.000,4,0.000,0.075,2834,3521,3390,0,0,0,0,0,0
$GC,7095,-1.50,-97.3,590.3,-8.4,333,7099,0.00,2.53,0.00,0.000,6,0.000,0.072,2834,2057,3389,0,0,0,0,0,0
$GC,7492,-1.50,-97.3,622.6,-7.8,343,7496,0.00,3.17,0.00,0.000,4,0.000,0.134,2834,424,3387,0,0,0,0,0,0
$GC,7536,-1.50,-97.3,626.1,-7.5,344,7540,0.00,2.67,0.00,0.000,6,0.000,0.059,2834,1985,3387,0,0,0,0,0,0
$GC,7937,-1.50,-97.3,653.6,-6.8,354,7942,0.00,3.00,0.00,0.000,4,0.000,0.114,2834,3591,3385,0,0,0,0,0,0
$GC,7981,-1.50,-97.3,657.1,-7.7,355,7986,0.00,2.80,0.00,0.000,6,0.000,0.087,2834,2053,3384,0,0,0,0,0,0
$GC,8380,-1.50,-97.3,689.3,-8.6,365,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2053,3382,0,0,0,0,0,0
$STATE,8499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8500,begin apogee
$GC,8507,-0.31,0.0,700.0,8.9,368,8591,1.20,0.00,80.50,1.092,6,0.074,0.000,3108,1996,3010,0,0,0,0,0,0
$STATE,8592,end apogee,CONTROL_FINISHED_OK
$STATE,8592,begin climb
$GC,8595,1.24,97.3,703.0,0.0,370,8692,1.38,3.38,87.22,1.068,4,0.035,0.150,3448,408,2611,0,0,0,0,0,0
$GC,8728,1.04,142.2,703.3,5.5,373,8777,0.22,2.95,40.95,1.034,6,0.120,0.091,3405,1994,2430,0,0,0,0,0,0
$GC,9167,0.97,151.6,672.1,7.5,384,9181,0.00,3.22,8.15,0.887,4,0.000,0.124,3405,404,2391,0,0,0,0,0,0
$GC,9240,0.85,151.6,665.3,9.9,385,9246,0.22,2.83,0.00,0.000,6,0.116,0.070,3361,1997,2389,0,0,0,0,0,0
$GC,9618,0.87,168.0,638.1,7.1,395,9642,0.00,3.08,16.33,0.983,4,0.000,0.112,3361,407,2323,0,0,0,0,0,0
$GC,9672,0.87,169.9,634.0,7.9,396,9677,0.00,2.72,0.00,0.000,6,0.000,0.058,3361,1990,2321,0,0,0,0,0,0
$GC,10066,0.92,203.5,607.8,6.2,406,10107,0.00,3.05,33.38,1.009,4,0.000,0.098,3361,404,2180,0,0,0,0,0,0
$GC,10190,0.92,203.5,598.1,8.8,408,10196,0.00,2.67,0.00,0.000,6,0.000,0.044,3361,1981,2175,0,0,0,0,0,0
$GC,10563,0.98,218.5,571.0,7.2,418,10584,0.12,2.95,14.43,0.944,4,0.084,0.090,3395,404,2118,0,0,0,0,0,0
$GC,10660,0.93,218.5,562.0,10.2,420,10665,0.00,2.62,0.00,0.000,6,0.000,0.041,3396,1970,2116,0,0,0,0,0,0
$GC,11054,0.93,222.4,529.5,7.8,430,11060,0.00,0.00,4.40,0.673,6,0.000,0.000,3395,1970,2103,0,0,0,0,0,0
$GC,11419,0.93,222.4,499.9,8.2,439,11424,0.00,2.80,0.00,0.000,4,0.000,0.080,3395,403,2101,0,0,0,0,0,0
$GC,11521,0.90,222.4,490.1,10.7,441,11526,0.12,2.55,0.00,0.000,6,0.123,0.029,3371,1966,2100,0,0,0,0,0,0
$GC,11909,0.95,222.4,455.5,9.2,451,11914,0.00,2.78,0.00,0.000,4,0.000,0.081,3371,397,2100,0,0,0,0,0,0
$GC,11966,0.95,222.4,449.9,9.7,452,11970,0.00,2.58,0.00,0.000,6,0.000,0.034,3371,1971,2099,0,0,0,0,0,0
$GC,12354,1.04,250.6,420.8,6.5,462,12390,0.12,2.88,27.15,0.887,4,0.080,0.070,3406,404,1987,0,0,0,0,0,0
$GC,12467,1.04,250.6,411.7,8.2,464,12472,0.00,2.53,0.00,0.000,6,0.000,0.032,3406,1961,1983,0,0,0,0,0,0
$GC,12845,1.05,259.3,384.4,7.6,474,12859,0.00,2.78,9.20,0.785,4,0.000,0.068,3405,403,1951,0,0,0,0,0,0
$GC,12905,1.05,259.3,378.8,9.8,475,12910,0.00,2.53,0.00,0.000,6,0.000,0.024,3406,1955,1950,0,0,0,0,0,0
$GC,13295,1.05,259.3,341.7,9.9,485,13300,0.00,2.70,0.00,0.000,4,0.000,0.064,3405,397,1948,0,0,0,0,0,0
$GC,13322,1.05,259.3,338.6,10.5,485,13326,0.00,2.50,0.00,0.000,6,0.000,0.030,3406,1947,1948,0,0,0,0,0,0
$GC,13701,1.09,259.3,304.1,8.6,495,13705,0.00,2.67,0.00,0.000,4,0.000,0.061,3406,401,1948,0,0,0,0,0,0
$GC,13772,1.09,259.3,297.4,8.7,496,13777,0.00,2.45,0.00,0.000,6,0.000,0.025,3405,1950,1947,0,0,0,0,0,0
$GC,14145,1.18,281.9,271.9,6.8,505,14174,0.10,2.80,21.40,0.759,4,0.087,0.064,3435,394,1859,0,0,0,0,0,0
$GC,14269,1.18,281.9,258.7,11.3,507,14275,0.00,2.42,0.00,0.000,6,0.000,0.026,3435,1927,1856,0,0,0,0,0,0
$GC,14641,1.18,281.9,219.0,10.8,517,14646,0.00,2.62,0.00,0.000,4,0.000,0.064,3435,400,1856,0,0,0,0,0,0
$GC,14682,1.18,281.9,214.6,11.2,518,14687,0.00,2.42,0.00,0.000,6,0.000,0.019,3435,1934,1855,0,0,0,0,0,0
$GC,15067,1.21,307.6,180.5,6.6,543,15096,0.00,2.67,23.42,0.677,4,0.000,0.058,3435,400,1754,0,0,0,0,0,0
$GC,15145,1.22,311.8,174.8,7.8,549,15159,0.00,2.42,5.22,0.520,6,0.000,0.025,3435,1931,1737,0,0,0,0,0,0
$GC,15540,1.27,311.8,145.9,8.1,586,15544,0.00,2.60,0.00,0.000,4,0.000,0.055,3435,396,1736,0,0,0,0,0,0
$GC,15654,1.27,311.8,134.3,10.6,595,15658,0.00,2.38,0.00,0.000,6,0.000,0.025,3436,1921,1735,0,0,0,0,0,0
$GC,16047,1.35,311.8,97.8,8.2,631,16052,0.15,2.58,0.00,0.000,4,0.068,0.053,3479,397,1735,0,0,0,0,0,0
$GC,16127,1.35,311.8,89.7,9.6,637,16132,0.00,2.38,0.00,0.000,6,0.000,0.019,3479,1920,1735,0,0,0,0,0,0
$GC,16521,1.36,319.6,58.0,7.6,673,16535,0.00,2.58,8.25,0.501,4,0.000,0.049,3479,397,1707,0,0,0,0,0,0
$GC,16565,1.36,319.6,54.3,9.2,676,16569,0.00,2.38,0.00,0.000,6,0.000,0.018,3479,1924,1706,0,0,0,0,0,0
$GC,16992,1.36,319.6,18.4,8.1,722,17001,0.00,2.58,0.00,0.000,4,0.000,0.050,3479,402,1706,0,0,0,0,0,0
$GC,17086,1.36,319.6,9.3,10.1,735,17095,0.00,2.35,0.00,0.000,6,0.000,0.021,3479,1902,1707,0,0,0,0,0,0
$STATE,17137,end climb,SURFACE_DEPTH_REACHED
$STATE,17137,begin surface coast
$FINISH,0.6,0.975509
$STATE,17186,end surface coast,CONTROL_FINISHED_OK
$STATE,17187,begin surface
$SM_CCo,17210,50.97,0.512,0,0,1460,380.21
$SM_GC,1.34,0.00,0.00,50.97,0.000,0.000,0.512,474,2128,1460,-12.42,3.34,380.21
$IRIDIUM_FIX,2239.35,-15945.24,111000,181856
$TT8_MAMPS,0.026078
$HUMID,63.62
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.50
$XPDR_PINGS,105
$24V_AH,23.1,68.214
$10V_AH,10.0,61.842
$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,30.825,188.225,380.000,50.975,0.000,88.124,164.597,397.473,26.250,0.000,17.295,1514.222,12325.636,515.789,2792.545,1056.153,33.385,1542.214,0.000,2786.032,0.000,0.535,0.000
$DEVICE_MAMPS,154.934,162.604,1092.208,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,511.012,390.669,518.039,974.295,1472.730,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,57428,749
$CAP_FILE_SIZE,155018,0
$CFSIZE,260165632,153141248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,230630,2249.419,-15801.489,51,1.7,51,10.1