version: 66.06
glider: 146
mission: 6
dive: 548
start: 7 19 111 4 23 45
data:
$ID,146
$MISSION,6
$DIVE,548
$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,621.34491
$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,-281431.47
$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,47
$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
$GPS1,040455,2249.204,-15800.758,38,1.5,38,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.8
$GPS2,042250,2249.318,-15800.906,14,1.5,14,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.193,-0.057
$KALMAN_X,-499654.4,149.4,-71.4,492562.2,-1825.8
$KALMAN_Y,212941.5,482.6,-302.4,-203088.9,1284.5
$MHEAD_RNG_PITCHd_Wd,96.4,6787,-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,-71.20,0.000,2,0.000,0.000,471,2106,3294,0,0,0,0,0,0
$GC,92,-1.24,-97.3,3.7,-4.3,9,118,12.75,2.88,-2.08,0.000,4,0.153,0.061,2894,408,3410,0,0,0,0,0,0
$GC,171,-1.09,-97.3,23.5,-17.4,19,179,0.15,2.53,0.00,0.000,6,0.094,0.015,2932,2034,3411,0,0,0,0,0,0
$GC,580,-1.09,-97.3,71.5,-11.4,60,585,0.00,2.45,0.00,0.000,4,0.000,0.028,2932,3567,3411,0,0,0,0,0,0
$GC,641,-1.17,-97.3,78.3,-10.8,64,646,0.00,2.50,0.00,0.000,6,0.000,0.028,2932,1979,3411,0,0,0,0,0,0
$GC,1030,-1.21,-97.3,117.6,-9.2,100,1034,0.00,2.50,0.00,0.000,4,0.000,0.027,2932,3561,3411,0,0,0,0,0,0
$GC,1052,-1.27,-97.3,119.2,-9.2,101,1057,0.15,2.42,0.00,0.000,6,0.059,0.023,2874,2010,3411,0,0,0,0,0,0
$GC,1441,-1.22,-97.3,158.3,-8.7,137,1446,0.15,2.50,0.00,0.000,4,0.101,0.028,2907,3562,3412,0,0,0,0,0,0
$GC,1510,-1.29,-97.3,163.1,-7.1,142,1514,0.00,2.40,0.00,0.000,6,0.000,0.028,2907,2019,3413,0,0,0,0,0,0
$GC,1904,-1.32,-97.3,194.7,-8.4,178,1908,0.00,2.50,0.00,0.000,4,0.000,0.032,2907,3570,3412,0,0,0,0,0,0
$GC,1949,-1.39,-97.3,199.1,-9.1,181,1955,0.15,2.42,0.00,0.000,6,0.063,0.025,2851,2025,3412,0,0,0,0,0,0
$GC,2332,-1.34,-97.3,236.7,-9.7,192,2337,0.15,2.47,0.00,0.000,4,0.097,0.032,2886,3566,3412,0,0,0,0,0,0
$GC,2357,-1.34,-97.3,238.9,-9.2,192,2361,0.00,2.40,0.00,0.000,6,0.000,0.023,2886,2026,3412,0,0,0,0,0,0
$GC,2734,-1.34,-97.3,269.1,-7.9,202,2738,0.00,2.45,0.00,0.000,4,0.000,0.037,2886,3572,3412,0,0,0,0,0,0
$GC,2824,-1.41,-97.3,275.4,-6.7,204,2828,0.00,2.40,0.00,0.000,6,0.000,0.021,2886,2040,3412,0,0,0,0,0,0
$GC,3225,-1.47,-97.3,301.9,-6.9,214,3230,0.12,2.47,0.00,0.000,4,0.067,0.034,2834,3563,3411,0,0,0,0,0,0
$GC,3303,-1.47,-97.3,309.2,-9.1,215,3309,0.10,2.40,0.00,0.000,6,0.110,0.025,2857,2048,3411,0,0,0,0,0,0
$GC,3677,-1.47,-97.3,337.7,-7.7,225,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2048,3410,0,0,0,0,0,0
$GC,4040,-1.47,-97.3,366.1,-8.3,234,4044,0.00,2.47,0.00,0.000,4,0.000,0.045,2857,3557,3408,0,0,0,0,0,0
$GC,4081,-1.51,-97.3,369.3,-8.7,235,4086,0.00,2.42,0.00,0.000,6,0.000,0.041,2857,2057,3408,0,0,0,0,0,0
$GC,4488,-1.51,-97.3,405.2,-8.7,245,4493,0.00,2.92,0.00,0.000,4,0.000,0.088,2857,418,3405,0,0,0,0,0,0
$GC,4527,-1.51,-97.3,408.8,-9.0,246,4532,0.00,2.58,0.00,0.000,6,0.000,0.037,2857,2016,3405,0,0,0,0,0,0
$GC,4934,-1.51,-97.3,440.8,-7.8,256,4938,0.00,2.65,0.00,0.000,4,0.000,0.054,2857,3592,3402,0,0,0,0,0,0
$GC,4973,-1.56,-97.3,444.0,-8.2,257,4978,0.00,2.55,0.00,0.000,6,0.000,0.052,2857,2053,3402,0,0,0,0,0,0
$GC,5379,-1.60,-97.3,479.7,-8.8,267,5381,0.12,0.00,0.00,0.000,6,0.074,0.000,2815,2053,3399,0,0,0,0,0,0
$GC,5746,-1.56,-97.3,515.6,-9.4,276,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2053,3396,0,0,0,0,0,0
$GC,6110,-1.52,-97.3,547.8,-8.3,285,6115,0.12,2.72,0.00,0.000,4,0.108,0.074,2841,3587,3394,0,0,0,0,0,0
$GC,6207,-1.57,-97.3,554.7,-6.6,287,6212,0.00,2.62,0.00,0.000,6,0.000,0.064,2841,2052,3394,0,0,0,0,0,0
$GC,6603,-1.57,-97.3,583.7,-7.8,297,6608,0.00,3.17,0.00,0.000,4,0.000,0.137,2841,421,3391,0,0,0,0,0,0
$GC,6635,-1.57,-97.3,586.8,-9.4,297,6641,0.00,2.75,0.00,0.000,6,0.000,0.057,2841,2047,3390,0,0,0,0,0,0
$GC,7009,-1.57,-97.3,618.6,-8.6,307,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2047,3388,0,0,0,0,0,0
$GC,7374,-1.61,-97.3,649.2,-8.0,316,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2047,3386,0,0,0,0,0,0
$GC,7739,-1.64,-97.3,676.3,-7.6,325,7741,0.10,0.00,0.00,0.000,6,0.086,0.000,2807,2047,3384,0,0,0,0,0,0
$STATE,8020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8021,begin apogee
$GC,8028,-0.31,0.0,701.1,8.8,332,8112,1.33,0.00,80.30,1.095,6,0.081,0.000,3106,1997,3010,0,0,0,0,0,0
$STATE,8113,end apogee,CONTROL_FINISHED_OK
$STATE,8113,begin climb
$GC,8116,1.24,97.3,703.2,0.0,334,8213,1.40,3.38,86.75,1.070,4,0.039,0.145,3450,413,2612,0,0,0,0,0,0
$GC,8237,1.06,148.0,702.0,5.2,336,8292,0.22,2.95,46.20,1.037,6,0.119,0.092,3405,1988,2406,0,0,0,0,0,0
$GC,8693,0.99,156.0,667.0,7.6,348,8707,0.00,3.15,6.68,0.835,4,0.000,0.119,3405,3583,2374,0,0,0,0,0,0
$GC,8720,0.91,156.0,664.9,8.5,348,8726,0.15,3.00,0.00,0.000,6,0.125,0.094,3376,1983,2373,0,0,0,0,0,0
$GC,9098,0.94,179.8,638.9,6.7,358,9127,0.00,3.17,23.25,1.006,4,0.000,0.122,3376,406,2276,0,0,0,0,0,0
$GC,9147,0.92,197.7,635.3,7.0,359,9172,0.00,2.78,17.80,0.974,6,0.000,0.059,3376,2000,2204,0,0,0,0,0,0
$GC,9550,0.92,197.7,601.7,8.6,369,9555,0.00,2.97,0.00,0.000,4,0.000,0.097,3376,406,2197,0,0,0,0,0,0
$GC,9634,0.92,197.7,593.4,10.0,371,9639,0.00,2.62,0.00,0.000,6,0.000,0.047,3376,1979,2195,0,0,0,0,0,0
$GC,10041,0.93,207.3,560.7,7.5,381,10055,0.00,2.92,9.02,0.888,4,0.000,0.092,3376,400,2164,0,0,0,0,0,0
$GC,10146,0.93,207.3,552.2,8.2,383,10151,0.00,2.62,0.00,0.000,6,0.000,0.034,3376,1977,2162,0,0,0,0,0,0
$GC,10536,0.98,247.3,528.5,5.8,393,10581,0.00,2.97,38.03,0.973,4,0.000,0.087,3376,403,2000,0,0,0,0,0,0
$GC,10609,0.98,247.3,523.3,8.0,394,10614,0.00,2.60,0.00,0.000,6,0.000,0.030,3376,1966,1998,0,0,0,0,0,0
$GC,10983,1.04,266.3,496.9,7.0,403,11008,0.12,2.92,18.02,0.916,4,0.084,0.081,3408,402,1924,0,0,0,0,0,0
$GC,11036,0.98,266.3,491.9,10.0,404,11041,0.00,2.58,0.00,0.000,6,0.000,0.031,3408,1962,1921,0,0,0,0,0,0
$GC,11431,0.98,266.3,457.7,8.8,414,11436,0.00,2.78,0.00,0.000,4,0.000,0.080,3408,403,1919,0,0,0,0,0,0
$GC,11486,0.94,266.3,451.5,11.2,415,11492,0.12,2.55,0.00,0.000,6,0.120,0.033,3382,1969,1918,0,0,0,0,0,0
$GC,11875,0.99,266.3,413.4,10.2,425,11880,0.00,2.78,0.00,0.000,4,0.000,0.071,3382,401,1918,0,0,0,0,0,0
$GC,11903,0.99,266.3,410.3,11.4,425,11908,0.00,2.53,0.00,0.000,6,0.000,0.031,3382,1968,1916,0,0,0,0,0,0
$GC,12275,1.05,266.3,375.4,9.0,434,12280,0.00,2.72,0.00,0.000,4,0.000,0.071,3382,402,1917,0,0,0,0,0,0
$GC,12330,1.05,266.3,370.0,9.4,435,12334,0.00,2.47,0.00,0.000,6,0.000,0.023,3382,1952,1916,0,0,0,0,0,0
$GC,12721,1.14,285.1,341.1,7.0,445,12747,0.17,2.80,17.55,0.811,4,0.066,0.067,3427,400,1846,0,0,0,0,0,0
$GC,12799,1.10,285.1,333.9,10.0,446,12803,0.00,2.47,0.00,0.000,6,0.000,0.025,3427,1942,1845,0,0,0,0,0,0
$GC,13172,1.10,285.1,299.6,9.6,455,13177,0.00,2.67,0.00,0.000,4,0.000,0.062,3427,400,1843,0,0,0,0,0,0
$GC,13216,1.10,285.1,294.7,10.9,456,13220,0.00,2.45,0.00,0.000,6,0.000,0.024,3427,1939,1843,0,0,0,0,0,0
$GC,13623,1.10,285.1,255.0,8.9,466,13627,0.00,2.65,0.00,0.000,4,0.000,0.061,3427,400,1843,0,0,0,0,0,0
$GC,13655,1.10,285.1,251.9,8.8,466,13661,0.00,2.42,0.00,0.000,6,0.000,0.025,3427,1928,1842,0,0,0,0,0,0
$GC,14028,1.15,295.9,224.3,7.4,476,14044,0.00,2.67,10.68,0.678,4,0.000,0.059,3427,392,1801,0,0,0,0,0,0
$GC,14068,1.15,295.9,221.0,8.8,477,14073,0.00,2.45,0.00,0.000,6,0.000,0.023,3427,1932,1799,0,0,0,0,0,0
$GC,14455,1.20,295.9,185.8,9.1,496,14460,0.00,2.62,0.00,0.000,4,0.000,0.056,3427,399,1799,0,0,0,0,0,0
$GC,14548,1.20,295.9,176.1,9.7,503,14554,0.00,2.40,0.00,0.000,6,0.000,0.019,3427,1923,1798,0,0,0,0,0,0
$GC,14937,1.30,316.8,144.9,6.9,540,14964,0.12,2.70,19.58,0.634,4,0.077,0.059,3463,394,1717,0,0,0,0,0,0
$GC,15049,1.30,316.8,135.8,8.5,549,15053,0.00,2.40,0.00,0.000,6,0.000,0.019,3463,1916,1715,0,0,0,0,0,0
$GC,15442,1.34,316.8,104.4,8.2,585,15447,0.00,2.67,0.00,0.000,4,0.000,0.038,3463,3575,1715,0,0,0,0,0,0
$GC,15464,1.38,316.8,102.0,8.1,586,15473,0.00,2.78,0.00,0.000,6,0.000,0.036,3463,1885,1715,0,0,0,0,0,0
$GC,15857,1.45,316.8,70.4,8.2,623,15862,0.12,2.53,0.00,0.000,4,0.073,0.054,3502,396,1715,0,0,0,0,0,0
$GC,15951,1.40,316.8,60.7,10.1,630,15956,0.10,2.35,0.00,0.000,6,0.126,0.018,3480,1917,1714,0,0,0,0,0,0
$GC,16354,1.40,316.8,24.9,8.5,670,16363,0.00,2.60,0.00,0.000,4,0.000,0.056,3480,392,1714,0,0,0,0,0,0
$GC,16409,1.40,316.8,19.4,9.7,677,16418,0.00,2.35,0.00,0.000,6,0.000,0.018,3479,1898,1715,0,0,0,0,0,0
$STATE,16599,end climb,SURFACE_DEPTH_REACHED
$STATE,16599,begin surface coast
$FINISH,0.6,0.975706
$STATE,16655,end surface coast,CONTROL_FINISHED_OK
$STATE,16656,begin surface
$SM_CCo,16678,244.45,0.505,0,0,477,621.34
$SM_GC,1.15,0.00,0.00,244.45,0.000,0.000,0.505,476,2106,477,-12.41,2.71,621.34
$IRIDIUM_FIX,2239.35,-15757.16,121000,040445
$TT8_MAMPS,0.026078
$HUMID,59.60
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.20
$XPDR_PINGS,91
$24V_AH,23.1,68.530
$10V_AH,9.9,62.137
$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,30.125,169.325,373.850,244.450,0.000,137.415,355.309,173.050,22.750,0.000,15.679,1416.693,12317.924,697.667,2520.101,1040.690,33.389,1641.884,0.000,2511.871,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,154.934,1094.509,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.240,365.840,483.691,867.148,1306.023,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,53928,712
$CAP_FILE_SIZE,143478,0
$CFSIZE,260165632,153006080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190711,090727,2249.496,-15759.872,35,2.6,54,10.1