version: 66.06
glider: 146
mission: 6
dive: 549
start: 7 19 111 9 24 22
data:
$ID,146
$MISSION,6
$DIVE,549
$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,-281467.06
$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,34
$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
$GPS1,090727,2249.496,-15759.872,35,2.6,54,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.4
$GPS2,092328,2249.561,-15759.977,13,2.5,32,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,0.017
$KALMAN_X,-501636.6,335.3,-50.5,495920.2,-2087.9
$KALMAN_Y,214026.5,214.5,319.0,-204082.1,-79.6
$MHEAD_RNG_PITCHd_Wd,74.9,5145,-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,-97.3,0.0,0.0,0,127,0.00,0.00,-109.57,0.000,2,0.000,0.000,475,2106,3361,0,0,0,0,0,0
$GC,130,-1.24,-97.3,4.4,-5.7,14,157,12.65,2.85,-0.80,0.000,4,0.150,0.051,2899,407,3410,0,0,0,0,0,0
$GC,176,-0.22,-97.3,19.5,-32.3,19,186,0.98,2.55,0.00,0.000,6,0.075,0.022,3123,2041,3410,0,0,0,0,0,0
$GC,594,-0.82,-97.3,55.3,-6.8,63,599,0.50,2.45,0.00,0.000,4,0.052,0.028,2993,3578,3411,0,0,0,0,0,0
$GC,620,-1.24,-97.3,57.6,-7.6,64,630,0.32,2.55,0.00,0.000,6,0.024,0.021,2886,1974,3410,0,0,0,0,0,0
$GC,1012,-1.18,-97.3,99.1,-8.7,101,1017,0.15,2.55,0.00,0.000,4,0.096,0.030,2921,3568,3410,0,0,0,0,0,0
$GC,1055,-1.23,-97.3,102.9,-8.2,104,1059,0.00,2.45,0.00,0.000,6,0.000,0.022,2921,2016,3411,0,0,0,0,0,0
$GC,1445,-1.27,-97.3,139.1,-10.0,140,1450,0.10,2.50,0.00,0.000,4,0.083,0.032,2880,3574,3411,0,0,0,0,0,0
$GC,1479,-1.27,-97.3,143.0,-10.8,142,1489,0.00,2.45,0.00,0.000,6,0.000,0.026,2880,2034,3411,0,0,0,0,0,0
$GC,1869,-1.27,-97.3,178.5,-8.6,179,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2034,3411,0,0,0,0,0,0
$GC,2264,-1.27,-97.3,214.4,-8.7,205,2268,0.00,2.45,0.00,0.000,4,0.000,0.034,2880,3569,3411,0,0,0,0,0,0
$GC,2284,-1.27,-97.3,216.2,-8.3,205,2289,0.00,2.42,0.00,0.000,6,0.000,0.021,2880,2018,3411,0,0,0,0,0,0
$GC,2663,-1.27,-97.3,247.9,-8.5,215,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2018,3411,0,0,0,0,0,0
$GC,3028,-1.31,-97.3,273.4,-6.4,224,3032,0.00,2.47,0.00,0.000,4,0.000,0.038,2880,3566,3410,0,0,0,0,0,0
$GC,3055,-1.36,-97.3,275.3,-6.6,224,3059,0.00,2.45,0.00,0.000,6,0.000,0.024,2880,2026,3410,0,0,0,0,0,0
$GC,3427,-1.40,-97.3,300.8,-7.2,233,3432,0.00,2.50,0.00,0.000,4,0.000,0.035,2880,3573,3408,0,0,0,0,0,0
$GC,3517,-1.47,-97.3,308.1,-7.8,235,3522,0.10,2.47,0.00,0.000,6,0.083,0.026,2839,2028,3408,0,0,0,0,0,0
$GC,3918,-1.47,-97.3,345.0,-9.2,245,3923,0.00,2.50,0.00,0.000,4,0.000,0.041,2839,3562,3406,0,0,0,0,0,0
$GC,3951,-1.47,-97.3,348.5,-10.3,245,3957,0.00,2.45,0.00,0.000,6,0.000,0.038,2840,2040,3406,0,0,0,0,0,0
$GC,4323,-1.47,-97.3,382.3,-9.0,255,4327,0.00,2.50,0.00,0.000,4,0.000,0.042,2839,3559,3403,0,0,0,0,0,0
$GC,4368,-1.47,-97.3,386.4,-9.2,256,4372,0.00,2.53,0.00,0.000,6,0.000,0.046,2839,2036,3403,0,0,0,0,0,0
$GC,4767,-1.47,-97.3,417.5,-7.5,266,4772,0.00,2.55,0.00,0.000,4,0.000,0.046,2839,3567,3400,0,0,0,0,0,0
$GC,4828,-1.47,-97.3,422.6,-8.1,267,4833,0.00,2.55,0.00,0.000,6,0.000,0.044,2839,2041,3399,0,0,0,0,0,0
$GC,5212,-1.47,-97.3,452.9,-7.9,277,5216,0.00,2.55,0.00,0.000,4,0.000,0.056,2839,3559,3397,0,0,0,0,0,0
$GC,5233,-1.47,-97.3,454.7,-7.9,277,5238,0.00,2.55,0.00,0.000,6,0.000,0.054,2839,2036,3396,0,0,0,0,0,0
$GC,5610,-1.47,-97.3,484.6,-8.2,287,5615,0.00,2.58,0.00,0.000,4,0.000,0.060,2839,3554,3393,0,0,0,0,0,0
$GC,5645,-1.47,-97.3,487.4,-8.2,287,5650,0.00,2.55,0.00,0.000,6,0.000,0.053,2839,2045,3393,0,0,0,0,0,0
$GC,6016,-1.47,-97.3,518.8,-8.5,297,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2045,3391,0,0,0,0,0,0
$GC,6382,-1.47,-97.3,551.4,-8.8,306,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2044,3388,0,0,0,0,0,0
$GC,6749,-1.47,-97.3,581.3,-7.9,315,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2044,3386,0,0,0,0,0,0
$GC,7113,-1.47,-97.3,607.1,-6.8,324,7118,0.00,2.72,0.00,0.000,4,0.000,0.095,2839,3551,3383,0,0,0,0,0,0
$GC,7135,-1.47,-97.3,608.7,-7.1,324,7139,0.00,2.67,0.00,0.000,6,0.000,0.079,2839,2036,3383,0,0,0,0,0,0
$GC,7513,-1.47,-97.3,633.3,-6.4,334,7518,0.00,2.70,0.00,0.000,4,0.000,0.089,2839,3550,3382,0,0,0,0,0,0
$GC,7557,-1.52,-97.3,636.5,-7.0,335,7562,0.00,2.72,0.00,0.000,6,0.000,0.088,2839,2041,3381,0,0,0,0,0,0
$GC,7957,-1.52,-97.3,664.5,-7.2,345,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2041,3379,0,0,0,0,0,0
$GC,8324,-1.52,-97.3,690.9,-7.4,354,8329,0.00,3.35,0.00,0.000,4,0.000,0.161,2839,418,3377,0,0,0,0,0,0
$GC,8351,-1.52,-97.3,693.3,-8.8,354,8356,0.00,2.88,0.00,0.000,6,0.000,0.089,2839,2005,3377,0,0,0,0,0,0
$STATE,8477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8477,begin apogee
$GC,8482,-0.31,0.0,703.0,7.6,357,8565,1.17,0.00,79.10,1.101,6,0.074,0.000,3108,2006,3010,0,0,0,0,0,0
$STATE,8566,end apogee,CONTROL_FINISHED_OK
$STATE,8566,begin climb
$GC,8570,1.24,97.3,704.9,0.0,359,8666,1.42,3.17,87.93,1.073,4,0.038,0.127,3451,3589,2613,0,0,0,0,0,0
$GC,8713,1.08,135.9,703.5,5.9,362,8758,0.20,3.10,36.00,1.033,6,0.125,0.114,3413,1994,2454,0,0,0,0,0,0
$GC,9132,1.02,163.1,675.6,6.5,373,9163,0.00,3.28,24.40,1.017,4,0.000,0.137,3413,401,2344,0,0,0,0,0,0
$GC,9220,0.88,163.1,669.0,8.3,375,9226,0.22,2.85,0.00,0.000,6,0.114,0.077,3369,1993,2340,0,0,0,0,0,0
$GC,9622,0.93,201.7,645.5,5.9,385,9664,0.00,3.15,35.88,1.026,4,0.000,0.119,3368,399,2187,0,0,0,0,0,0
$GC,9688,0.95,214.0,641.0,7.4,386,9709,0.00,2.78,12.77,0.946,6,0.000,0.057,3369,1986,2136,0,0,0,0,0,0
$GC,10076,0.97,234.9,613.7,6.9,396,10101,0.00,3.08,19.38,0.986,4,0.000,0.103,3369,400,2051,0,0,0,0,0,0
$GC,10118,0.97,234.9,610.3,8.2,397,10122,0.00,2.70,0.00,0.000,6,0.000,0.049,3369,1988,2049,0,0,0,0,0,0
$GC,10519,0.97,234.9,577.6,8.6,407,10524,0.00,2.92,0.00,0.000,4,0.000,0.097,3369,403,2045,0,0,0,0,0,0
$GC,10545,0.97,234.9,574.8,9.9,407,10550,0.00,2.60,0.00,0.000,6,0.000,0.039,3368,1976,2044,0,0,0,0,0,0
$GC,10918,1.02,234.9,539.8,9.6,416,10923,0.12,2.88,0.00,0.000,4,0.087,0.091,3401,403,2044,0,0,0,0,0,0
$GC,11009,0.96,234.9,529.2,11.3,418,11014,0.00,2.60,0.00,0.000,6,0.000,0.038,3401,1971,2042,0,0,0,0,0,0
$GC,11408,0.96,234.9,492.1,8.6,428,11413,0.00,2.83,0.00,0.000,4,0.000,0.081,3401,397,2041,0,0,0,0,0,0
$GC,11487,0.91,234.9,485.0,9.3,429,11494,0.15,2.58,0.00,0.000,6,0.118,0.036,3372,1962,2040,0,0,0,0,0,0
$GC,11860,0.99,251.0,459.3,7.1,439,11880,0.00,2.88,14.48,0.890,4,0.000,0.079,3371,398,1985,0,0,0,0,0,0
$GC,11913,0.99,251.0,454.6,9.2,440,11917,0.00,2.55,0.00,0.000,6,0.000,0.032,3371,1957,1984,0,0,0,0,0,0
$GC,12304,1.05,251.0,422.3,8.4,450,12309,0.12,2.78,0.00,0.000,4,0.080,0.076,3406,396,1982,0,0,0,0,0,0
$GC,12350,1.01,251.0,417.6,10.8,451,12354,0.00,2.53,0.00,0.000,6,0.000,0.031,3406,1948,1981,0,0,0,0,0,0
$GC,12751,1.01,251.0,378.6,9.7,461,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1948,1981,0,0,0,0,0,0
$GC,13114,1.01,251.0,347.0,8.1,470,13119,0.00,2.70,0.00,0.000,4,0.000,0.067,3406,400,1980,0,0,0,0,0,0
$GC,13169,1.01,251.0,342.2,8.5,471,13174,0.00,2.45,0.00,0.000,6,0.000,0.022,3406,1948,1979,0,0,0,0,0,0
$GC,13560,1.01,251.0,311.0,8.3,481,13564,0.00,2.70,0.00,0.000,4,0.000,0.068,3406,394,1980,0,0,0,0,0,0
$GC,13637,1.01,251.0,304.4,8.3,482,13643,0.00,2.45,0.00,0.000,6,0.000,0.026,3406,1933,1979,0,0,0,0,0,0
$GC,14010,1.06,265.8,277.1,7.2,492,14025,0.00,0.00,14.02,0.752,6,0.000,0.000,3406,1934,1925,0,0,0,0,0,0
$GC,14377,1.13,271.7,250.2,7.7,501,14390,0.00,2.67,6.47,0.637,4,0.000,0.061,3406,394,1902,0,0,0,0,0,0
$GC,14441,1.13,271.7,244.0,9.6,502,14445,0.00,2.45,0.00,0.000,6,0.000,0.025,3406,1952,1901,0,0,0,0,0,0
$GC,14826,1.24,292.5,214.7,6.9,512,14852,0.15,2.72,20.12,0.709,4,0.070,0.064,3451,392,1817,0,0,0,0,0,0
$GC,14921,1.20,292.5,205.6,10.1,514,14925,0.00,2.45,0.00,0.000,6,0.000,0.019,3451,1935,1814,0,0,0,0,0,0
$GC,15308,1.20,292.5,168.4,9.7,546,15313,0.00,2.62,0.00,0.000,4,0.000,0.061,3451,391,1813,0,0,0,0,0,0
$GC,15353,1.20,292.5,163.7,10.5,549,15362,0.00,2.45,0.00,0.000,6,0.000,0.021,3451,1928,1811,0,0,0,0,0,0
$GC,15741,1.20,292.5,128.4,8.1,586,15745,0.00,2.60,0.00,0.000,4,0.000,0.058,3451,391,1811,0,0,0,0,0,0
$GC,15869,1.22,308.1,118.0,7.2,596,15890,0.00,2.40,14.60,0.598,6,0.000,0.023,3451,1909,1752,0,0,0,0,0,0
$GC,16271,1.31,324.7,93.8,7.1,634,16292,0.00,2.62,15.95,0.574,4,0.000,0.053,3451,392,1684,0,0,0,0,0,0
$GC,16345,1.37,324.7,87.7,9.4,639,16349,0.00,2.38,0.00,0.000,6,0.000,0.018,3451,1904,1682,0,0,0,0,0,0
$GC,16737,1.48,343.7,55.3,7.0,675,16766,0.17,2.62,17.27,0.538,4,0.064,0.053,3501,397,1606,0,0,0,0,0,0
$GC,16835,1.41,343.7,46.3,10.7,682,16845,0.00,2.38,0.00,0.000,6,0.000,0.018,3501,1896,1604,0,0,0,0,0,0
$GC,17279,1.41,343.7,10.2,9.7,735,17288,0.00,2.58,0.00,0.000,4,0.000,0.062,3502,399,1604,0,0,0,0,0,0
$STATE,17330,end climb,SURFACE_DEPTH_REACHED
$STATE,17330,begin surface coast
$FINISH,0.9,0.980038
$STATE,17352,end surface coast,CONTROL_FINISHED_OK
$STATE,17352,begin surface
$SM_CCo,17377,224.43,0.505,0,0,476,621.34
$SM_GC,1.24,0.00,0.00,224.43,0.000,0.000,0.505,473,2026,476,-12.43,0.45,621.34
$IRIDIUM_FIX,2244.02,-15759.32,121000,090919
$TT8_MAMPS,0.026078
$HUMID,59.37
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,21.00
$XPDR_PINGS,92
$24V_AH,23.1,68.695
$10V_AH,9.9,62.290
$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,30.975,174.500,398.375,224.425,0.000,139.965,400.396,0.000,23.000,0.000,34.984,1449.289,12840.479,720.388,2632.737,914.866,33.378,1720.924,0.000,2611.827,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,161.070,1101.412,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,507.126,358.632,504.488,924.566,1394.192,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,57311,745
$CAP_FILE_SIZE,141089,0
$CFSIZE,260165632,152915968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190711,141927,2249.764,-15758.719,39,3.0,58,10.1