version: 66.06
glider: 146
mission: 6
dive: 550
start: 7 19 111 14 31 9
data:
$ID,146
$MISSION,6
$DIVE,550
$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,-281481
$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,62
$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
$GPS1,141927,2249.764,-15758.719,39,3.0,58,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.8
$GPS2,143014,2249.746,-15758.828,11,1.4,11,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,-0.053
$KALMAN_X,-503225.3,69.3,264.9,499416.8,-2514.5
$KALMAN_Y,215092.2,-349.1,-145.4,-203776.4,1059.6
$MHEAD_RNG_PITCHd_Wd,95.3,3156,-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,-97.3,0.0,0.0,0,128,0.00,0.00,-110.07,0.000,2,0.000,0.000,473,2026,3351,0,0,0,0,0,0
$GC,133,-1.24,-97.3,4.2,-5.1,14,159,12.77,2.75,-0.98,0.000,4,0.153,0.058,2894,414,3410,0,0,0,0,0,0
$GC,171,0.03,-97.3,18.8,-31.3,18,181,1.23,2.50,0.00,0.000,6,0.076,0.021,3172,2014,3411,0,0,0,0,0,0
$GC,593,-0.58,-97.3,57.8,-9.4,64,598,0.50,2.47,0.00,0.000,4,0.060,0.035,3047,3565,3411,0,0,0,0,0,0
$GC,630,-1.02,-97.3,61.5,-8.5,66,639,0.35,2.53,0.00,0.000,6,0.025,0.021,2934,1979,3411,0,0,0,0,0,0
$GC,1021,-1.02,-97.3,98.3,-8.3,103,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1979,3411,0,0,0,0,0,0
$GC,1411,-1.07,-97.3,126.1,-7.1,140,1416,0.00,2.53,0.00,0.000,4,0.000,0.031,2934,3573,3411,0,0,0,0,0,0
$GC,1458,-1.18,-97.3,129.6,-7.8,143,1462,0.00,2.42,0.00,0.000,6,0.000,0.027,2934,2020,3412,0,0,0,0,0,0
$GC,1848,-1.27,-97.3,163.0,-8.1,179,1853,0.15,2.65,0.00,0.000,4,0.062,0.054,2878,433,3411,0,0,0,0,0,0
$GC,1882,-1.27,-97.3,165.9,-10.1,181,1886,0.00,2.42,0.00,0.000,6,0.000,0.015,2878,2038,3412,0,0,0,0,0,0
$GC,2274,-1.27,-97.3,197.2,-7.6,217,2278,0.00,2.40,0.00,0.000,4,0.000,0.035,2878,3554,3411,0,0,0,0,0,0
$GC,2342,-1.31,-97.3,203.1,-8.1,220,2346,0.00,2.40,0.00,0.000,6,0.000,0.021,2878,2029,3412,0,0,0,0,0,0
$GC,2719,-1.31,-97.3,233.3,-7.8,230,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2029,3411,0,0,0,0,0,0
$GC,3086,-1.31,-97.3,264.2,-8.7,239,3090,0.00,2.45,0.00,0.000,4,0.000,0.035,2879,3562,3411,0,0,0,0,0,0
$GC,3135,-1.36,-97.3,268.7,-8.7,240,3140,0.00,2.40,0.00,0.000,6,0.000,0.025,2878,2040,3411,0,0,0,0,0,0
$GC,3531,-1.40,-97.3,300.2,-8.1,250,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2040,3410,0,0,0,0,0,0
$GC,3896,-1.45,-97.3,328.1,-7.6,259,3900,0.00,2.47,0.00,0.000,4,0.000,0.040,2878,3552,3409,0,0,0,0,0,0
$GC,3928,-1.53,-97.3,330.9,-8.7,259,3935,0.15,2.40,0.00,0.000,6,0.060,0.029,2823,2049,3408,0,0,0,0,0,0
$GC,4302,-1.48,-97.3,365.7,-9.3,269,4307,0.12,2.47,0.00,0.000,4,0.106,0.039,2851,3545,3406,0,0,0,0,0,0
$GC,4369,-1.52,-97.3,371.8,-8.4,270,4373,0.00,2.47,0.00,0.000,6,0.000,0.040,2851,2049,3406,0,0,0,0,0,0
$GC,4745,-1.52,-97.3,404.5,-8.9,280,4750,0.00,2.47,0.00,0.000,4,0.000,0.051,2851,3548,3403,0,0,0,0,0,0
$GC,4791,-1.56,-97.3,408.8,-9.5,281,4796,0.00,2.47,0.00,0.000,6,0.000,0.050,2851,2055,3403,0,0,0,0,0,0
$GC,5191,-1.56,-97.3,443.3,-8.4,291,5196,0.00,3.00,0.00,0.000,4,0.000,0.100,2850,424,3400,0,0,0,0,0,0
$GC,5206,-1.56,-97.3,444.7,-8.5,291,5211,0.00,2.55,0.00,0.000,6,0.000,0.038,2850,2005,3400,0,0,0,0,0,0
$GC,5591,-1.56,-97.3,475.7,-8.2,301,5595,0.00,2.72,0.00,0.000,4,0.000,0.070,2850,3590,3398,0,0,0,0,0,0
$GC,5657,-1.61,-97.3,481.3,-8.4,302,5662,0.12,2.60,0.00,0.000,6,0.069,0.051,2805,2055,3397,0,0,0,0,0,0
$GC,6036,-1.56,-97.3,515.6,-9.0,312,6041,0.12,2.65,0.00,0.000,4,0.112,0.062,2833,3590,3394,0,0,0,0,0,0
$GC,6063,-1.56,-97.3,518.2,-8.2,312,6068,0.00,2.60,0.00,0.000,6,0.000,0.060,2833,2058,3393,0,0,0,0,0,0
$GC,6441,-1.56,-97.3,547.4,-7.6,322,6446,0.00,2.65,0.00,0.000,4,0.000,0.069,2833,3586,3391,0,0,0,0,0,0
$GC,6464,-1.56,-97.3,549.1,-7.4,322,6469,0.00,2.62,0.00,0.000,6,0.000,0.058,2833,2060,3390,0,0,0,0,0,0
$GC,6842,-1.56,-97.3,576.0,-7.1,332,6846,0.00,2.67,0.00,0.000,4,0.000,0.074,2833,3585,3388,0,0,0,0,0,0
$GC,6881,-1.56,-97.3,578.8,-7.5,333,6886,0.00,2.65,0.00,0.000,6,0.000,0.071,2833,2063,3387,0,0,0,0,0,0
$GC,7288,-1.56,-97.3,609.9,-7.5,343,7292,0.00,2.70,0.00,0.000,4,0.000,0.076,2833,3589,3386,0,0,0,0,0,0
$GC,7320,-1.56,-97.3,612.8,-8.4,343,7326,0.00,2.70,0.00,0.000,6,0.000,0.074,2833,2067,3385,0,0,0,0,0,0
$GC,7692,-1.56,-97.3,642.8,-8.2,353,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2067,3383,0,0,0,0,0,0
$GC,8058,-1.56,-97.3,674.8,-9.1,362,8062,0.00,2.83,0.00,0.000,4,0.000,0.107,2833,3586,3381,0,0,0,0,0,0
$GC,8073,-1.56,-97.3,676.3,-8.8,362,8077,0.00,2.83,0.00,0.000,6,0.000,0.102,2833,2070,3381,0,0,0,0,0,0
$STATE,8372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8372,begin apogee
$GC,8379,-0.31,0.0,701.6,8.2,370,8462,1.17,0.00,80.05,1.093,6,0.071,0.000,3105,2000,3010,0,0,0,0,0,0
$STATE,8463,end apogee,CONTROL_FINISHED_OK
$STATE,8463,begin climb
$GC,8467,1.24,97.3,703.7,0.0,372,8566,1.40,3.12,88.15,1.069,4,0.047,0.118,3450,3569,2612,0,0,0,0,0,0
$GC,8646,1.06,106.3,699.2,7.5,376,8661,0.20,3.08,8.77,0.903,6,0.128,0.114,3411,1996,2576,0,0,0,0,0,0
$GC,9041,0.99,128.4,672.3,6.8,386,9070,0.00,3.33,20.80,1.007,4,0.000,0.143,3410,406,2484,0,0,0,0,0,0
$GC,9169,0.84,128.4,661.8,8.9,388,9176,0.25,2.80,0.00,0.000,6,0.111,0.074,3361,1976,2480,0,0,0,0,0,0
$GC,9541,0.89,164.2,638.8,6.0,398,9580,0.00,0.00,33.28,1.022,6,0.000,0.000,3361,1976,2339,0,0,0,0,0,0
$GC,9946,0.90,177.0,609.4,7.3,408,9965,0.00,3.08,12.38,0.949,4,0.000,0.107,3361,411,2288,0,0,0,0,0,0
$GC,10007,0.90,177.0,604.7,8.3,409,10012,0.00,2.70,0.00,0.000,6,0.000,0.048,3361,1994,2285,0,0,0,0,0,0
$GC,10395,0.94,204.2,578.0,6.5,419,10428,0.00,3.00,25.83,0.990,4,0.000,0.093,3361,403,2176,0,0,0,0,0,0
$GC,10453,0.94,210.3,573.8,7.7,420,10468,0.00,2.65,7.05,0.823,6,0.000,0.038,3360,1984,2152,0,0,0,0,0,0
$GC,10847,1.01,223.0,544.6,7.3,430,10862,0.15,0.00,12.62,0.921,6,0.074,0.000,3399,1984,2101,0,0,0,0,0,0
$GC,11214,1.01,223.0,508.9,10.2,439,11218,0.00,2.88,0.00,0.000,4,0.000,0.089,3399,403,2095,0,0,0,0,0,0
$GC,11246,0.94,223.0,504.8,11.8,439,11252,0.00,2.60,0.00,0.000,6,0.000,0.036,3399,1976,2094,0,0,0,0,0,0
$GC,11618,0.94,223.0,465.3,10.5,449,11622,0.00,2.83,0.00,0.000,4,0.000,0.079,3399,403,2094,0,0,0,0,0,0
$GC,11680,0.90,223.0,458.3,11.5,450,11685,0.12,2.58,0.00,0.000,6,0.118,0.034,3373,1976,2092,0,0,0,0,0,0
$GC,12064,0.99,248.5,429.7,6.6,460,12089,0.00,0.00,23.75,0.895,6,0.000,0.000,3373,1976,1997,0,0,0,0,0,0
$GC,12429,1.09,273.9,405.7,6.6,469,12460,0.17,2.85,24.23,0.875,4,0.065,0.077,3418,401,1892,0,0,0,0,0,0
$GC,12577,1.04,273.9,390.0,11.6,472,12582,0.00,2.58,0.00,0.000,6,0.000,0.027,3418,1986,1888,0,0,0,0,0,0
$GC,12961,1.04,273.9,351.6,9.8,482,12966,0.00,2.80,0.00,0.000,4,0.000,0.072,3418,394,1886,0,0,0,0,0,0
$GC,13038,1.04,273.9,343.3,10.3,483,13044,0.00,2.53,0.00,0.000,6,0.000,0.021,3418,1961,1885,0,0,0,0,0,0
$GC,13410,1.04,273.9,311.2,8.9,493,13415,0.00,2.72,0.00,0.000,4,0.000,0.067,3418,393,1885,0,0,0,0,0,0
$GC,13472,1.04,273.9,304.8,10.4,494,13477,0.00,2.50,0.00,0.000,6,0.000,0.020,3418,1962,1883,0,0,0,0,0,0
$GC,13855,1.09,273.9,269.1,9.0,504,13859,0.00,2.70,0.00,0.000,4,0.000,0.064,3418,399,1883,0,0,0,0,0,0
$GC,13882,1.09,273.9,266.4,9.4,504,13886,0.00,2.45,0.00,0.000,6,0.000,0.025,3418,1950,1883,0,0,0,0,0,0
$GC,14261,1.16,284.6,237.5,7.4,514,14276,0.00,2.72,9.50,0.676,4,0.000,0.061,3418,394,1848,0,0,0,0,0,0
$GC,14337,1.16,284.6,230.5,9.3,515,14343,0.00,2.47,0.00,0.000,6,0.000,0.021,3418,1955,1846,0,0,0,0,0,0
$GC,14711,1.22,284.6,199.5,8.1,525,14716,0.10,2.70,0.00,0.000,4,0.091,0.060,3448,396,1846,0,0,0,0,0,0
$GC,14787,1.22,284.6,192.7,8.5,531,14791,0.00,2.42,0.00,0.000,6,0.000,0.019,3448,1940,1845,0,0,0,0,0,0
$GC,15175,1.22,284.6,161.3,9.5,567,15179,0.00,2.62,0.00,0.000,4,0.000,0.055,3448,397,1845,0,0,0,0,0,0
$GC,15219,1.22,284.6,156.6,11.0,570,15228,0.00,2.42,0.00,0.000,6,0.000,0.022,3448,1933,1845,0,0,0,0,0,0
$GC,15612,1.27,284.6,123.2,8.1,607,15616,0.00,2.60,0.00,0.000,4,0.000,0.060,3448,397,1845,0,0,0,0,0,0
$GC,15643,1.27,284.6,120.4,9.3,609,15648,0.00,2.38,0.00,0.000,6,0.000,0.021,3448,1936,1845,0,0,0,0,0,0
$GC,16036,1.42,354.8,96.3,4.1,645,16107,0.15,2.70,60.88,0.594,4,0.071,0.053,3490,398,1562,0,0,0,0,0,0
$GC,16147,1.42,354.8,87.8,9.2,654,16157,0.00,2.42,0.00,0.000,6,0.000,0.023,3490,1922,1559,0,0,0,0,0,0
$GC,16539,1.42,354.8,53.0,9.3,691,16543,0.00,2.58,0.00,0.000,4,0.000,0.052,3490,391,1557,0,0,0,0,0,0
$GC,16644,1.42,354.8,42.0,10.4,699,16648,0.00,2.38,0.00,0.000,6,0.000,0.018,3490,1930,1556,0,0,0,0,0,0
$STATE,17034,end climb,SURFACE_DEPTH_REACHED
$STATE,17034,begin surface coast
$FINISH,0.7,0.975139
$STATE,17093,end surface coast,CONTROL_FINISHED_OK
$STATE,17093,begin surface
$SM_CCo,17117,20.15,0.492,0,0,1459,380.21
$SM_GC,1.69,0.00,0.00,20.15,0.000,0.000,0.492,474,2067,1459,-12.42,1.61,380.21
$IRIDIUM_FIX,2241.69,-15801.49,121000,090956
$TT8_MAMPS,0.026078
$HUMID,63.93
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,101
$24V_AH,23.1,68.840
$10V_AH,9.9,62.443
$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,31.425,168.875,407.275,20.150,0.000,26.144,36.599,427.678,25.250,0.000,13.323,1467.264,12264.291,534.125,2648.593,863.772,33.386,1517.133,0.000,2653.017,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,171.808,1092.975,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,515.824,390.252,526.190,955.187,1444.915,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,60353,758
$CAP_FILE_SIZE,145125,0
$CFSIZE,260165632,152875008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190711,191854,2249.546,-15758.274,68,1.1,85,10.1