version: 66.06
glider: 146
mission: 6
dive: 547
start: 7 18 111 23 19 15
data:
$ID,146
$MISSION,6
$DIVE,547
$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,-281415.16
$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,40
$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
$GPS1,230630,2249.419,-15801.489,51,1.7,51,10.1
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.1
$GPS2,231820,2249.482,-15801.623,14,1.7,14,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.069
$KALMAN_X,-497234.2,-285.8,-10.0,489283.8,-1203.1
$KALMAN_Y,212096.4,13.7,99.3,-201878.6,1457.8
$MHEAD_RNG_PITCHd_Wd,100.0,7950,-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,-71.38,0.000,2,0.000,0.000,474,2128,3287,0,0,0,0,0,0
$GC,94,-1.24,-97.3,3.8,-4.3,9,120,12.80,2.38,-2.20,0.000,4,0.153,0.039,2897,3587,3411,0,0,0,0,0,0
$GC,164,-1.16,-97.3,21.2,-14.7,18,174,0.08,2.58,0.00,0.000,6,0.100,0.023,2917,1986,3412,0,0,0,0,0,0
$GC,578,-1.16,-97.3,70.7,-10.2,60,583,0.00,2.58,0.00,0.000,4,0.000,0.027,2917,3594,3413,0,0,0,0,0,0
$GC,624,-1.20,-97.3,75.9,-11.2,63,629,0.00,2.53,0.00,0.000,6,0.000,0.023,2917,2002,3413,0,0,0,0,0,0
$GC,1016,-1.20,-97.3,113.6,-9.8,99,1021,0.00,2.60,0.00,0.000,4,0.000,0.058,2917,440,3414,0,0,0,0,0,0
$GC,1033,-1.20,-97.3,115.7,-9.5,100,1038,0.00,2.45,0.00,0.000,6,0.000,0.020,2917,2053,3414,0,0,0,0,0,0
$GC,1422,-1.25,-97.3,148.3,-8.6,136,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2054,3414,0,0,0,0,0,0
$GC,1808,-1.31,-97.3,180.6,-8.3,172,1813,0.12,2.35,0.00,0.000,4,0.076,0.030,2873,3554,3415,0,0,0,0,0,0
$GC,1827,-1.35,-97.3,182.3,-8.0,173,1832,0.00,2.42,0.00,0.000,6,0.000,0.028,2873,2015,3415,0,0,0,0,0,0
$GC,2212,-1.35,-97.3,212.2,-7.4,197,2216,0.00,2.45,0.00,0.000,4,0.000,0.032,2873,3552,3415,0,0,0,0,0,0
$GC,2253,-1.35,-97.3,215.6,-8.2,198,2257,0.00,2.42,0.00,0.000,6,0.000,0.021,2873,2016,3415,0,0,0,0,0,0
$GC,2657,-1.35,-97.3,251.2,-9.0,208,2662,0.00,2.47,0.00,0.000,4,0.000,0.029,2873,3557,3415,0,0,0,0,0,0
$GC,2679,-1.35,-97.3,253.4,-9.1,208,2683,0.00,2.42,0.00,0.000,6,0.000,0.028,2873,2018,3415,0,0,0,0,0,0
$GC,3058,-1.35,-97.3,280.5,-6.7,218,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2018,3414,0,0,0,0,0,0
$GC,3421,-1.35,-97.3,308.2,-8.1,227,3425,0.00,2.50,0.00,0.000,4,0.000,0.040,2873,3547,3413,0,0,0,0,0,0
$GC,3443,-1.39,-97.3,310.3,-8.9,227,3448,0.00,2.42,0.00,0.000,6,0.000,0.032,2873,2027,3413,0,0,0,0,0,0
$GC,3822,-1.43,-97.3,343.3,-8.3,237,3826,0.00,2.53,0.00,0.000,4,0.000,0.038,2873,3555,3412,0,0,0,0,0,0
$GC,3855,-1.49,-97.3,346.1,-8.0,237,3860,0.00,2.47,0.00,0.000,6,0.000,0.029,2873,2026,3412,0,0,0,0,0,0
$GC,4227,-1.53,-97.3,368.5,-5.7,247,4232,0.12,2.53,0.00,0.000,4,0.074,0.041,2832,3551,3410,0,0,0,0,0,0
$GC,4256,-1.53,-97.3,370.5,-6.9,247,4261,0.00,2.50,0.00,0.000,6,0.000,0.041,2831,2030,3410,0,0,0,0,0,0
$GC,4628,-1.53,-97.3,400.2,-8.6,256,4632,0.00,2.50,0.00,0.000,4,0.000,0.042,2831,3548,3407,0,0,0,0,0,0
$GC,4677,-1.53,-97.3,404.9,-9.6,257,4681,0.00,2.53,0.00,0.000,6,0.000,0.044,2832,2028,3407,0,0,0,0,0,0
$GC,5078,-1.53,-97.3,438.3,-8.1,267,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2028,3405,0,0,0,0,0,0
$GC,5442,-1.53,-97.3,469.3,-8.9,276,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2028,3402,0,0,0,0,0,0
$GC,5808,-1.53,-97.3,499.4,-8.0,285,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2028,3399,0,0,0,0,0,0
$GC,6175,-1.53,-97.3,528.4,-8.2,294,6179,0.00,2.62,0.00,0.000,4,0.000,0.074,2831,3536,3398,0,0,0,0,0,0
$GC,6252,-1.53,-97.3,535.6,-9.0,295,6258,0.00,2.55,0.00,0.000,6,0.000,0.060,2832,2042,3397,0,0,0,0,0,0
$GC,6624,-1.53,-97.3,569.1,-9.0,305,6628,0.00,2.60,0.00,0.000,4,0.000,0.067,2831,3534,3395,0,0,0,0,0,0
$GC,6658,-1.53,-97.3,572.3,-9.6,305,6663,0.00,2.58,0.00,0.000,6,0.000,0.067,2831,2044,3394,0,0,0,0,0,0
$GC,7029,-1.53,-97.3,603.3,-7.8,315,7034,0.00,3.12,0.00,0.000,4,0.000,0.130,2831,417,3392,0,0,0,0,0,0
$GC,7079,-1.53,-97.3,607.8,-8.9,316,7083,0.00,2.62,0.00,0.000,6,0.000,0.051,2832,1982,3392,0,0,0,0,0,0
$GC,7475,-1.53,-97.3,638.5,-7.7,326,7479,0.00,2.97,0.00,0.000,4,0.000,0.106,2831,3591,3389,0,0,0,0,0,0
$GC,7502,-1.53,-97.3,640.9,-7.7,326,7506,0.00,2.75,0.00,0.000,6,0.000,0.081,2831,2041,3389,0,0,0,0,0,0
$GC,7873,-1.53,-97.3,669.5,-7.9,335,7878,0.00,2.88,0.00,0.000,4,0.000,0.102,2831,3591,3387,0,0,0,0,0,0
$GC,7902,-1.53,-97.3,671.8,-8.8,335,7906,0.00,2.85,0.00,0.000,6,0.000,0.095,2831,2038,3387,0,0,0,0,0,0
$STATE,8271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8271,begin apogee
$GC,8277,-0.31,0.0,701.6,7.9,344,8362,1.20,0.00,81.25,1.091,6,0.075,0.000,3104,1993,3010,0,0,0,0,0,0
$STATE,8363,end apogee,CONTROL_FINISHED_OK
$STATE,8363,begin climb
$GC,8366,1.24,97.3,704.2,0.0,346,8458,1.45,0.00,88.35,1.068,6,0.036,0.000,3454,1993,2613,0,0,0,0,0,0
$GC,8801,1.09,127.6,685.5,6.4,357,8836,0.20,3.10,27.17,1.022,4,0.119,0.108,3415,3574,2489,0,0,0,0,0,0
$GC,8915,0.98,127.6,676.9,8.2,359,8920,0.12,2.97,0.00,0.000,6,0.137,0.097,3392,1994,2484,0,0,0,0,0,0
$GC,9295,0.96,148.4,650.3,6.9,369,9320,0.00,3.22,19.35,0.999,4,0.000,0.129,3391,405,2403,0,0,0,0,0,0
$GC,9332,0.89,159.8,647.4,7.4,370,9352,0.12,2.80,12.27,0.943,6,0.129,0.063,3369,1998,2357,0,0,0,0,0,0
$GC,9745,0.91,177.3,617.7,7.1,380,9769,0.00,3.12,16.52,0.978,4,0.000,0.102,3368,403,2285,0,0,0,0,0,0
$GC,9839,0.87,177.3,609.8,8.7,382,9843,0.00,2.70,0.00,0.000,6,0.000,0.045,3368,1998,2283,0,0,0,0,0,0
$GC,10240,0.88,180.8,578.7,7.8,392,10249,0.00,2.97,4.15,0.665,4,0.000,0.096,3368,400,2272,0,0,0,0,0,0
$GC,10363,0.88,180.8,567.6,8.9,394,10368,0.00,2.62,0.00,0.000,6,0.000,0.038,3368,1982,2270,0,0,0,0,0,0
$GC,10737,0.89,190.5,538.4,7.5,403,10752,0.00,2.92,10.45,0.905,4,0.000,0.086,3369,398,2232,0,0,0,0,0,0
$GC,10780,0.89,190.5,534.8,8.4,404,10785,0.00,2.65,0.00,0.000,6,0.000,0.039,3368,1980,2230,0,0,0,0,0,0
$GC,11182,0.96,220.1,508.1,6.4,414,11217,0.00,2.97,28.35,0.953,4,0.000,0.088,3368,403,2111,0,0,0,0,0,0
$GC,11229,1.01,253.6,504.9,6.2,415,11269,0.10,2.60,32.20,0.943,6,0.097,0.038,3396,1971,1975,0,0,0,0,0,0
$GC,11674,1.01,253.6,462.7,10.1,426,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1971,1968,0,0,0,0,0,0
$GC,12040,1.01,253.6,423.1,10.8,435,12044,0.00,2.80,0.00,0.000,4,0.000,0.074,3396,401,1967,0,0,0,0,0,0
$GC,12095,1.01,253.6,416.8,11.4,436,12099,0.00,2.58,0.00,0.000,6,0.000,0.029,3396,1984,1966,0,0,0,0,0,0
$GC,12483,1.04,279.6,386.3,6.6,446,12513,0.00,2.85,23.83,0.861,4,0.000,0.071,3396,396,1868,0,0,0,0,0,0
$GC,12577,1.05,291.1,379.6,7.4,448,12595,0.00,2.58,11.60,0.802,6,0.000,0.024,3396,1979,1823,0,0,0,0,0,0
$GC,12983,1.11,291.1,345.5,9.6,458,12987,0.00,2.75,0.00,0.000,4,0.000,0.065,3396,397,1819,0,0,0,0,0,0
$GC,13094,1.11,291.1,332.5,11.5,460,13098,0.00,2.53,0.00,0.000,6,0.000,0.023,3396,1968,1817,0,0,0,0,0,0
$GC,13473,1.18,291.1,296.0,9.2,470,13478,0.15,2.75,0.00,0.000,4,0.076,0.063,3435,393,1817,0,0,0,0,0,0
$GC,13606,1.18,291.1,282.3,10.3,473,13610,0.00,2.47,0.00,0.000,6,0.000,0.026,3435,1959,1816,0,0,0,0,0,0
$GC,14012,1.18,291.1,250.0,8.1,483,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1959,1816,0,0,0,0,0,0
$GC,14376,1.18,291.1,215.4,9.4,492,14380,0.00,2.65,0.00,0.000,4,0.000,0.056,3435,394,1816,0,0,0,0,0,0
$GC,14487,1.18,291.1,205.4,8.7,494,14491,0.00,2.45,0.00,0.000,6,0.000,0.022,3435,1945,1816,0,0,0,0,0,0
$GC,14878,1.22,291.1,174.7,8.1,525,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1946,1816,0,0,0,0,0,0
$GC,15265,1.29,296.8,141.4,7.7,561,15276,0.00,2.62,5.12,0.495,4,0.000,0.056,3435,392,1801,0,0,0,0,0,0
$GC,15347,1.29,296.8,134.1,8.7,568,15351,0.00,2.40,0.00,0.000,6,0.000,0.019,3435,1943,1800,0,0,0,0,0,0
$GC,15736,1.39,314.0,106.3,7.1,604,15761,0.17,2.67,17.58,0.586,4,0.062,0.053,3485,389,1727,0,0,0,0,0,0
$GC,15850,1.34,314.0,95.4,10.9,613,15854,0.00,2.40,0.00,0.000,6,0.000,0.021,3485,1932,1726,0,0,0,0,0,0
$GC,16242,1.34,315.8,61.2,7.9,649,16246,0.00,2.60,0.00,0.000,4,0.000,0.051,3485,389,1726,0,0,0,0,0,0
$GC,16300,1.34,315.8,56.4,8.2,653,16304,0.00,2.38,0.00,0.000,6,0.000,0.018,3485,1933,1726,0,0,0,0,0,0
$GC,16707,1.34,315.8,23.1,8.8,694,16716,0.00,2.60,0.00,0.000,4,0.000,0.051,3485,401,1726,0,0,0,0,0,0
$GC,16817,1.34,315.8,13.0,9.5,709,16826,0.00,2.35,0.00,0.000,6,0.000,0.018,3485,1910,1726,0,0,0,0,0,0
$STATE,16915,end climb,SURFACE_DEPTH_REACHED
$STATE,16916,begin surface coast
$FINISH,0.7,0.977576
$STATE,16980,end surface coast,CONTROL_FINISHED_OK
$STATE,16980,begin surface
$SM_CCo,17003,54.97,0.509,0,0,1460,380.21
$SM_GC,1.31,0.00,0.00,54.97,0.000,0.000,0.509,472,2106,1460,-12.43,2.71,380.21
$IRIDIUM_FIX,2239.35,-15800.20,111000,232350
$TT8_MAMPS,0.026078
$HUMID,61.81
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.10
$XPDR_PINGS,98
$24V_AH,23.1,68.356
$10V_AH,9.8,61.990
$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,28.825,158.500,378.200,54.975,0.000,54.239,75.490,344.623,24.500,0.000,16.028,1437.619,12353.710,528.284,2571.688,869.865,33.387,1452.039,0.000,2580.608,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,174.109,1091.441,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,499.369,355.985,500.721,897.947,1357.944,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,57214,732
$CAP_FILE_SIZE,139914,0
$CFSIZE,260165632,153088000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190711,040455,2249.204,-15800.758,38,1.5,38,10.1