version: 66.06
glider: 146
mission: 6
dive: 551
start: 7 19 111 19 35 38
data:
$ID,146
$MISSION,6
$DIVE,551
$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,-281502.03
$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,49
$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
$GPS1,191854,2249.546,-15758.274,68,1.1,85,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.1
$GPS2,193444,2249.615,-15758.432,18,1.2,18,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,-0.063
$KALMAN_X,-505022.8,-243.3,-316.3,502790.7,-1055.8
$KALMAN_Y,215833.6,-425.8,-114.3,-204710.7,1759.2
$MHEAD_RNG_PITCHd_Wd,98.2,2546,-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,13,begin dive
$GC,15,-1.24,-97.3,0.0,0.0,0,88,0.00,0.00,-70.62,0.000,2,0.000,0.000,473,2067,3274,0,0,0,0,0,0
$GC,91,-1.24,-97.3,3.6,-4.0,9,117,12.60,2.78,-2.53,0.000,4,0.148,0.054,2896,413,3410,0,0,0,0,0,0
$GC,136,-0.29,-97.3,16.7,-28.0,14,146,0.90,2.50,0.00,0.000,6,0.075,0.021,3104,2011,3411,0,0,0,0,0,0
$GC,576,-0.81,-97.3,46.1,-6.1,64,581,0.40,2.65,0.00,0.000,4,0.044,0.048,2990,407,3412,0,0,0,0,0,0
$GC,649,-0.93,-97.3,51.4,-7.7,69,653,0.00,2.45,0.00,0.000,6,0.000,0.015,2990,2019,3412,0,0,0,0,0,0
$GC,1042,-1.04,-97.3,84.3,-8.6,105,1047,0.17,2.45,0.00,0.000,4,0.060,0.030,2933,3551,3412,0,0,0,0,0,0
$GC,1088,-1.08,-97.3,89.3,-10.5,108,1097,0.00,2.53,0.00,0.000,6,0.000,0.028,2933,1976,3412,0,0,0,0,0,0
$GC,1483,-1.12,-97.3,125.0,-8.1,145,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1976,3412,0,0,0,0,0,0
$GC,1871,-1.20,-97.3,153.9,-8.4,182,1876,0.00,2.50,0.00,0.000,4,0.000,0.034,2933,3556,3413,0,0,0,0,0,0
$GC,1919,-1.32,-97.3,157.8,-8.0,185,1925,0.20,2.45,0.00,0.000,6,0.046,0.023,2856,1985,3413,0,0,0,0,0,0
$GC,2308,-1.27,-97.3,196.1,-8.6,222,2313,0.17,2.53,0.00,0.000,4,0.092,0.028,2896,3559,3413,0,0,0,0,0,0
$GC,2339,-1.32,-97.3,198.2,-7.4,224,2343,0.00,2.42,0.00,0.000,6,0.000,0.021,2896,2000,3413,0,0,0,0,0,0
$GC,2732,-1.36,-97.3,229.2,-8.5,235,2737,0.00,2.47,0.00,0.000,4,0.000,0.031,2897,3550,3413,0,0,0,0,0,0
$GC,2795,-1.44,-97.3,234.9,-8.7,236,2800,0.15,2.40,0.00,0.000,6,0.061,0.023,2839,2017,3413,0,0,0,0,0,0
$GC,3178,-1.39,-97.3,270.6,-8.7,246,3183,0.15,2.50,0.00,0.000,4,0.098,0.033,2874,3558,3413,0,0,0,0,0,0
$GC,3229,-1.45,-97.3,274.7,-7.9,247,3233,0.00,2.42,0.00,0.000,6,0.000,0.024,2874,2030,3413,0,0,0,0,0,0
$GC,3624,-1.45,-97.3,302.9,-7.3,257,3629,0.00,2.72,0.00,0.000,4,0.000,0.075,2874,434,3412,0,0,0,0,0,0
$GC,3645,-1.45,-97.3,304.8,-7.5,257,3650,0.00,2.40,0.00,0.000,6,0.000,0.026,2875,1991,3412,0,0,0,0,0,0
$GC,4023,-1.45,-97.3,333.8,-8.1,267,4027,0.00,2.55,0.00,0.000,4,0.000,0.045,2874,3577,3410,0,0,0,0,0,0
$GC,4096,-1.52,-97.3,340.4,-9.6,268,4101,0.12,2.47,0.00,0.000,6,0.069,0.032,2828,2033,3410,0,0,0,0,0,0
$GC,4468,-1.48,-97.3,376.4,-9.0,277,4473,0.10,2.53,0.00,0.000,4,0.120,0.044,2851,3574,3408,0,0,0,0,0,0
$GC,4565,-1.48,-97.3,383.9,-6.9,279,4569,0.00,2.55,0.00,0.000,6,0.000,0.039,2851,2036,3408,0,0,0,0,0,0
$GC,4959,-1.48,-97.3,412.2,-7.4,289,4963,0.00,2.55,0.00,0.000,4,0.000,0.044,2851,3576,3405,0,0,0,0,0,0
$GC,5038,-1.52,-97.3,418.5,-7.8,290,5044,0.00,2.58,0.00,0.000,6,0.000,0.045,2851,2035,3405,0,0,0,0,0,0
$GC,5410,-1.52,-97.3,450.4,-8.7,300,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2035,3401,0,0,0,0,0,0
$GC,5775,-1.52,-97.3,483.9,-9.1,309,5780,0.00,2.58,0.00,0.000,4,0.000,0.061,2851,3568,3399,0,0,0,0,0,0
$GC,5849,-1.58,-97.3,490.6,-9.7,310,5854,0.00,2.58,0.00,0.000,6,0.000,0.054,2851,2041,3399,0,0,0,0,0,0
$GC,6221,-1.58,-97.3,520.6,-7.7,319,6226,0.00,2.62,0.00,0.000,4,0.000,0.067,2851,3570,3396,0,0,0,0,0,0
$GC,6244,-1.62,-97.3,522.4,-8.0,319,6249,0.12,2.60,0.00,0.000,6,0.071,0.060,2807,2041,3396,0,0,0,0,0,0
$GC,6623,-1.57,-97.3,553.5,-8.1,329,6628,0.12,2.67,0.00,0.000,4,0.111,0.071,2833,3570,3393,0,0,0,0,0,0
$GC,6673,-1.57,-97.3,557.7,-7.8,330,6677,0.00,2.62,0.00,0.000,6,0.000,0.067,2833,2036,3393,0,0,0,0,0,0
$GC,7068,-1.57,-97.3,585.7,-7.2,340,7073,0.00,2.67,0.00,0.000,4,0.000,0.076,2833,3565,3390,0,0,0,0,0,0
$GC,7159,-1.57,-97.3,592.7,-8.0,342,7164,0.00,2.62,0.00,0.000,6,0.000,0.073,2833,2051,3389,0,0,0,0,0,0
$GC,7559,-1.57,-97.3,623.3,-7.9,352,7563,0.00,2.70,0.00,0.000,4,0.000,0.087,2833,3564,3387,0,0,0,0,0,0
$GC,7645,-1.62,-97.3,630.3,-8.2,354,7649,0.00,2.70,0.00,0.000,6,0.000,0.080,2833,2057,3386,0,0,0,0,0,0
$GC,8050,-1.62,-97.3,663.3,-8.5,364,8054,0.00,2.75,0.00,0.000,4,0.000,0.097,2833,3564,3384,0,0,0,0,0,0
$GC,8106,-1.62,-97.3,668.2,-9.0,365,8111,0.00,2.78,0.00,0.000,6,0.000,0.097,2833,2056,3384,0,0,0,0,0,0
$STATE,8491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8491,begin apogee
$GC,8498,-0.31,0.0,700.6,8.2,375,8582,1.17,0.00,80.60,1.091,6,0.071,0.000,3105,1987,3010,0,0,0,0,0,0
$STATE,8583,end apogee,CONTROL_FINISHED_OK
$STATE,8583,begin climb
$GC,8585,1.24,97.3,702.8,0.0,377,8684,1.40,3.12,87.65,1.069,4,0.037,0.120,3447,3551,2612,0,0,0,0,0,0
$GC,8718,1.10,141.2,701.8,5.6,380,8765,0.15,3.05,40.28,1.039,6,0.128,0.118,3417,1996,2433,0,0,0,0,0,0
$GC,9155,1.00,141.2,666.2,8.4,391,9160,0.12,3.25,0.00,0.000,4,0.129,0.141,3392,401,2422,0,0,0,0,0,0
$GC,9195,0.90,141.2,662.5,9.3,392,9201,0.10,2.78,0.00,0.000,6,0.133,0.074,3372,1961,2420,0,0,0,0,0,0
$GC,9603,0.91,153.5,632.2,7.4,402,9618,0.00,3.03,9.95,0.925,4,0.000,0.091,3372,3587,2384,0,0,0,0,0,0
$GC,9659,0.91,153.5,627.7,8.1,403,9663,0.00,2.88,0.00,0.000,6,0.000,0.077,3372,1998,2382,0,0,0,0,0,0
$GC,10049,0.95,186.4,601.8,6.2,413,10090,0.00,3.20,31.80,1.007,4,0.000,0.115,3372,397,2248,0,0,0,0,0,0
$GC,10107,0.97,205.1,597.9,7.0,414,10133,0.00,2.75,18.55,0.966,6,0.000,0.044,3372,2011,2172,0,0,0,0,0,0
$GC,10500,1.00,225.2,570.8,6.9,424,10521,0.00,0.00,18.65,0.963,6,0.000,0.000,3372,2011,2092,0,0,0,0,0,0
$GC,10864,1.00,228.3,542.9,7.9,433,10869,0.00,2.95,0.00,0.000,4,0.000,0.090,3372,406,2086,0,0,0,0,0,0
$GC,10937,1.00,228.3,536.1,9.5,434,10942,0.00,2.65,0.00,0.000,6,0.000,0.034,3372,2001,2085,0,0,0,0,0,0
$GC,11311,1.05,228.3,505.2,8.5,443,11313,0.12,0.00,0.00,0.000,6,0.081,0.000,3405,2001,2084,0,0,0,0,0,0
$GC,11675,1.05,228.3,469.6,9.8,452,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2001,2083,0,0,0,0,0,0
$GC,12040,1.05,228.3,437.5,8.4,461,12045,0.00,2.85,0.00,0.000,4,0.000,0.077,3405,399,2082,0,0,0,0,0,0
$GC,12114,1.00,228.3,431.0,8.7,462,12118,0.00,2.65,0.00,0.000,6,0.000,0.033,3405,2012,2081,0,0,0,0,0,0
$GC,12485,1.02,238.2,402.6,7.5,471,12499,0.00,0.00,11.77,0.835,6,0.000,0.000,3406,2012,2039,0,0,0,0,0,0
$GC,12851,1.03,251.1,375.2,7.3,480,12870,0.00,2.92,13.25,0.826,4,0.000,0.067,3405,400,1986,0,0,0,0,0,0
$GC,12936,1.03,251.1,367.7,9.7,481,12942,0.00,2.62,0.00,0.000,6,0.000,0.025,3405,2012,1983,0,0,0,0,0,0
$GC,13308,1.03,251.1,332.9,9.3,491,13312,0.00,2.83,0.00,0.000,4,0.000,0.068,3405,394,1982,0,0,0,0,0,0
$GC,13329,1.03,251.1,330.6,9.7,491,13333,0.00,2.58,0.00,0.000,6,0.000,0.026,3405,2001,1981,0,0,0,0,0,0
$GC,13708,1.07,251.1,294.9,8.7,501,13712,0.00,2.75,0.00,0.000,4,0.000,0.065,3405,400,1980,0,0,0,0,0,0
$GC,13747,1.07,251.1,291.4,8.8,502,13751,0.00,2.55,0.00,0.000,6,0.000,0.021,3405,2000,1980,0,0,0,0,0,0
$GC,14154,1.16,281.4,264.7,6.4,512,14189,0.10,2.88,28.33,0.765,4,0.091,0.064,3434,399,1861,0,0,0,0,0,0
$GC,14285,1.16,281.4,251.2,11.2,515,14290,0.00,2.53,0.00,0.000,6,0.000,0.020,3434,1984,1857,0,0,0,0,0,0
$GC,14692,1.16,281.4,208.9,10.1,525,14697,0.00,2.72,0.00,0.000,4,0.000,0.063,3434,393,1857,0,0,0,0,0,0
$GC,14792,1.16,281.4,198.9,9.6,527,14796,0.00,2.50,0.00,0.000,6,0.000,0.020,3434,1975,1855,0,0,0,0,0,0
$GC,15187,1.22,288.5,170.9,7.7,563,15201,0.00,2.78,6.82,0.578,4,0.000,0.056,3434,400,1832,0,0,0,0,0,0
$GC,15289,1.22,288.5,160.9,10.1,572,15294,0.00,2.47,0.00,0.000,6,0.000,0.024,3434,1973,1831,0,0,0,0,0,0
$GC,15678,1.34,331.3,131.5,5.7,608,15719,0.12,0.00,38.60,0.637,6,0.074,0.000,3472,1975,1659,0,0,0,0,0,0
$GC,16101,1.34,331.3,93.3,9.7,648,16106,0.00,2.65,0.00,0.000,4,0.000,0.053,3473,399,1654,0,0,0,0,0,0
$GC,16168,1.34,331.3,86.6,10.6,653,16173,0.00,2.45,0.00,0.000,6,0.000,0.024,3472,1964,1653,0,0,0,0,0,0
$GC,16560,1.41,343.6,54.4,7.4,689,16578,0.00,2.70,11.30,0.520,4,0.000,0.054,3472,404,1608,0,0,0,0,0,0
$GC,16626,1.41,343.6,48.2,8.9,694,16636,0.00,2.45,0.00,0.000,6,0.000,0.018,3472,1959,1607,0,0,0,0,0,0
$GC,17071,1.46,343.6,10.7,8.9,747,17080,0.00,2.65,0.00,0.000,4,0.000,0.051,3473,397,1606,0,0,0,0,0,0
$STATE,17144,end climb,SURFACE_DEPTH_REACHED
$STATE,17144,begin surface coast
$FINISH,0.7,0.979958
$STATE,17193,end surface coast,CONTROL_FINISHED_OK
$STATE,17193,begin surface
$SM_CCo,17220,224.45,0.505,0,0,476,621.34
$SM_GC,1.22,0.00,0.00,224.45,0.000,0.000,0.505,476,2018,476,-12.42,0.25,621.34
$IRIDIUM_FIX,2244.02,-15759.32,121000,191950
$TT8_MAMPS,0.026078
$HUMID,59.92
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,21.00
$XPDR_PINGS,103
$24V_AH,23.1,69.004
$10V_AH,9.8,62.606
$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,30.675,170.175,397.550,224.450,0.000,142.735,400.403,0.000,25.750,0.000,20.399,1504.859,12433.801,704.151,2814.801,932.044,33.384,1701.192,0.000,2815.761,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,167.206,1091.441,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,520.707,387.983,534.417,1014.546,1529.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,60452,764
$CAP_FILE_SIZE,143573,0
$CFSIZE,260165632,152780800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,002801,2249.662,-15757.294,54,1.0,54,10.1