version: 66.06
glider: 146
mission: 6
dive: 553
start: 7 20 111 5 40 2
data:
$ID,146
$MISSION,6
$DIVE,553
$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,-281544.28
$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,12
$R_STBD_OVSHOOT,77
$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
$GPS1,052338,2248.184,-15758.102,35,1.3,35,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.6
$GPS2,053908,2248.278,-15758.271,25,1.4,25,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,-0.162
$KALMAN_X,-509392.7,-136.8,-207.2,507226.4,-1468.0
$KALMAN_Y,217112.6,397.5,-277.9,-209129.6,1006.3
$MHEAD_RNG_PITCHd_Wd,133.5,2500,-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,-97.3,0.0,0.0,0,81,0.00,0.00,-63.58,0.000,2,0.000,0.000,471,2008,3081,0,0,0,0,0,0
$GC,85,-1.24,-97.3,3.2,-3.6,8,109,12.68,2.65,-6.60,0.000,4,0.150,0.056,2895,411,3408,0,0,0,0,0,0
$GC,162,-1.15,-97.3,17.9,-13.2,18,170,0.10,2.45,0.00,0.000,6,0.100,0.015,2920,2011,3410,0,0,0,0,0,0
$GC,577,-1.11,-97.3,64.0,-11.5,63,582,0.00,2.45,0.00,0.000,4,0.000,0.028,2920,3548,3410,0,0,0,0,0,0
$GC,626,-1.11,-97.3,69.3,-11.1,66,630,0.00,2.47,0.00,0.000,6,0.000,0.023,2920,1989,3410,0,0,0,0,0,0
$GC,1014,-1.11,-97.3,111.3,-11.2,102,1018,0.00,2.45,0.00,0.000,4,0.000,0.032,2920,3543,3411,0,0,0,0,0,0
$GC,1035,-1.11,-97.3,113.2,-11.7,103,1040,0.00,2.42,0.00,0.000,6,0.000,0.023,2921,2008,3411,0,0,0,0,0,0
$GC,1428,-1.15,-97.3,153.5,-8.2,139,1432,0.00,2.42,0.00,0.000,4,0.000,0.027,2920,3545,3411,0,0,0,0,0,0
$GC,1475,-1.24,-97.3,156.9,-7.6,142,1479,0.00,2.40,0.00,0.000,6,0.000,0.021,2920,2021,3411,0,0,0,0,0,0
$GC,1868,-1.30,-97.3,186.4,-8.0,178,1873,0.12,2.42,0.00,0.000,4,0.070,0.028,2874,3545,3412,0,0,0,0,0,0
$GC,1936,-1.30,-97.3,193.6,-10.1,183,1945,0.00,2.40,0.00,0.000,6,0.000,0.029,2874,2042,3412,0,0,0,0,0,0
$GC,2330,-1.30,-97.3,226.5,-8.9,220,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2041,3412,0,0,0,0,0,0
$GC,2718,-1.30,-97.3,262.4,-8.9,257,2722,0.00,2.38,0.00,0.000,4,0.000,0.034,2874,3541,3412,0,0,0,0,0,0
$GC,2768,-1.35,-97.3,266.7,-8.5,261,2772,0.00,2.38,0.00,0.000,6,0.000,0.022,2874,2036,3412,0,0,0,0,0,0
$GC,3157,-1.35,-97.3,295.4,-6.0,297,3161,0.00,2.40,0.00,0.000,4,0.000,0.033,2874,3541,3412,0,0,0,0,0,0
$GC,3231,-1.40,-97.3,299.7,-5.6,303,3235,0.00,2.38,0.00,0.000,6,0.000,0.031,2874,2049,3411,0,0,0,0,0,0
$GC,3620,-1.44,-97.3,330.5,-8.5,339,3624,0.00,2.42,0.00,0.000,4,0.000,0.033,2873,3547,3410,0,0,0,0,0,0
$GC,3654,-1.50,-97.3,333.4,-8.2,341,3660,0.10,2.40,0.00,0.000,6,0.083,0.028,2832,2053,3410,0,0,0,0,0,0
$GC,4042,-1.50,-97.3,367.1,-8.2,378,4046,0.00,2.40,0.00,0.000,4,0.000,0.037,2832,3536,3408,0,0,0,0,0,0
$GC,4075,-1.50,-97.3,369.9,-8.7,380,4081,0.00,2.42,0.00,0.000,6,0.000,0.041,2832,2057,3408,0,0,0,0,0,0
$GC,4464,-1.50,-97.3,401.4,-8.6,417,4468,0.00,2.42,0.00,0.000,4,0.000,0.048,2832,3536,3406,0,0,0,0,0,0
$GC,4531,-1.50,-97.3,407.0,-7.9,422,4536,0.00,2.47,0.00,0.000,6,0.000,0.047,2832,2056,3405,0,0,0,0,0,0
$GC,4919,-1.50,-97.3,441.6,-8.9,459,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2057,3403,0,0,0,0,0,0
$GC,5301,-1.50,-97.3,476.0,-8.9,495,5306,0.00,2.47,0.00,0.000,4,0.000,0.055,2832,3531,3400,0,0,0,0,0,0
$GC,5400,-1.50,-97.3,485.1,-9.0,503,5406,0.00,2.50,0.00,0.000,6,0.000,0.054,2832,2063,3399,0,0,0,0,0,0
$GC,5792,-1.50,-97.3,518.4,-8.6,526,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2063,3397,0,0,0,0,0,0
$GC,6156,-1.50,-97.3,550.6,-8.3,535,6160,0.00,2.55,0.00,0.000,4,0.000,0.077,2832,3533,3394,0,0,0,0,0,0
$GC,6230,-1.50,-97.3,556.3,-7.5,536,6234,0.00,2.53,0.00,0.000,6,0.000,0.067,2832,2068,3393,0,0,0,0,0,0
$GC,6602,-1.50,-97.3,584.4,-7.7,545,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2068,3391,0,0,0,0,0,0
$GC,6967,-1.50,-97.3,616.7,-9.0,554,6972,0.00,3.30,0.00,0.000,4,0.000,0.146,2831,428,3388,0,0,0,0,0,0
$GC,6994,-1.50,-97.3,619.3,-9.7,554,6998,0.00,2.70,0.00,0.000,6,0.000,0.058,2832,2006,3388,0,0,0,0,0,0
$GC,7367,-1.50,-97.3,652.2,-8.7,563,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2005,3386,0,0,0,0,0,0
$GC,7731,-1.50,-97.3,684.0,-9.0,572,7736,0.00,3.08,0.00,0.000,4,0.000,0.127,2831,3592,3384,0,0,0,0,0,0
$GC,7838,-1.50,-97.3,693.8,-9.0,574,7843,0.00,2.88,0.00,0.000,6,0.000,0.115,2832,2074,3383,0,0,0,0,0,0
$STATE,7934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7934,begin apogee
$GC,7940,-0.31,0.0,702.4,8.7,577,8024,1.20,0.00,80.60,1.089,6,0.071,0.000,3107,2001,3010,0,0,0,0,0,0
$STATE,8025,end apogee,CONTROL_FINISHED_OK
$STATE,8025,begin climb
$GC,8027,1.24,97.3,705.0,0.0,579,8126,1.38,3.15,87.25,1.068,4,0.035,0.120,3448,3580,2612,0,0,0,0,0,0
$GC,8201,1.08,121.7,702.1,6.7,583,8231,0.20,3.05,23.12,1.013,6,0.123,0.112,3410,1998,2512,0,0,0,0,0,0
$GC,8614,0.99,121.7,670.3,8.3,593,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1998,2501,0,0,0,0,0,0
$GC,8974,0.90,121.7,638.7,8.7,602,8980,0.20,2.88,0.00,0.000,4,0.114,0.091,3370,3582,2498,0,0,0,0,0,0
$GC,8991,0.84,121.7,637.4,8.5,602,8996,0.00,2.88,0.00,0.000,6,0.000,0.081,3370,1995,2497,0,0,0,0,0,0
$GC,9375,0.89,160.2,612.2,5.9,612,9416,0.00,3.15,33.40,1.017,4,0.000,0.117,3370,407,2355,0,0,0,0,0,0
$GC,9439,0.86,176.1,608.0,7.2,613,9462,0.00,2.72,16.40,0.956,6,0.000,0.050,3371,1999,2291,0,0,0,0,0,0
$GC,9873,0.90,205.2,579.5,6.4,624,9907,0.00,3.08,26.85,0.984,4,0.000,0.093,3370,403,2173,0,0,0,0,0,0
$GC,9977,0.90,205.2,571.1,8.0,626,9982,0.00,2.67,0.00,0.000,6,0.000,0.043,3370,1994,2168,0,0,0,0,0,0
$GC,10367,0.93,231.5,544.6,6.6,636,10398,0.00,2.95,24.50,0.965,4,0.000,0.086,3370,406,2066,0,0,0,0,0,0
$GC,10431,0.93,231.5,539.6,8.6,637,10436,0.00,2.65,0.00,0.000,6,0.000,0.033,3370,1996,2063,0,0,0,0,0,0
$GC,10809,0.98,231.5,509.4,8.4,647,10814,0.00,2.90,0.00,0.000,4,0.000,0.084,3370,400,2059,0,0,0,0,0,0
$GC,10887,0.98,231.5,501.7,9.8,648,10893,0.00,2.62,0.00,0.000,6,0.000,0.033,3370,1980,2058,0,0,0,0,0,0
$GC,11278,1.04,241.3,469.5,7.5,682,11293,0.15,2.88,9.15,0.841,4,0.074,0.081,3409,404,2026,0,0,0,0,0,0
$GC,11337,0.99,241.3,463.6,9.8,687,11347,0.00,2.62,0.00,0.000,6,0.000,0.031,3409,1973,2024,0,0,0,0,0,0
$GC,11728,1.00,246.8,432.5,7.7,724,11739,0.00,2.80,5.93,0.732,4,0.000,0.071,3409,401,2005,0,0,0,0,0,0
$GC,11808,0.96,246.8,425.1,8.9,731,11814,0.12,2.58,0.00,0.000,6,0.122,0.028,3384,1972,2004,0,0,0,0,0,0
$GC,12198,1.00,246.8,391.1,9.0,767,12202,0.00,2.78,0.00,0.000,4,0.000,0.074,3384,397,2003,0,0,0,0,0,0
$GC,12247,1.00,246.8,386.1,10.3,771,12252,0.00,2.53,0.00,0.000,6,0.000,0.025,3384,1956,2002,0,0,0,0,0,0
$GC,12636,1.07,255.7,353.7,7.5,807,12652,0.10,2.78,10.23,0.783,4,0.096,0.070,3412,396,1966,0,0,0,0,0,0
$GC,12687,1.03,255.7,349.7,9.8,811,12691,0.00,2.50,0.00,0.000,6,0.000,0.021,3412,1941,1965,0,0,0,0,0,0
$GC,13077,1.03,255.7,317.1,8.4,847,13081,0.00,2.65,0.00,0.000,4,0.000,0.067,3412,401,1964,0,0,0,0,0,0
$GC,13120,1.03,255.7,313.3,9.4,850,13124,0.00,2.47,0.00,0.000,6,0.000,0.027,3412,1952,1963,0,0,0,0,0,0
$GC,13511,1.07,260.3,280.0,7.8,886,13522,0.00,2.67,5.30,0.604,4,0.000,0.062,3412,400,1948,0,0,0,0,0,0
$GC,13584,1.07,260.3,273.8,8.6,892,13590,0.00,2.45,0.00,0.000,6,0.000,0.025,3412,1943,1947,0,0,0,0,0,0
$GC,13975,1.12,260.3,240.7,9.1,929,13979,0.00,2.65,0.00,0.000,4,0.000,0.061,3413,400,1946,0,0,0,0,0,0
$GC,14052,1.12,260.3,233.0,9.9,935,14058,0.00,2.40,0.00,0.000,6,0.000,0.020,3412,1940,1946,0,0,0,0,0,0
$GC,14443,1.23,298.6,205.6,5.9,972,14488,0.12,2.72,35.25,0.712,4,0.084,0.058,3448,404,1791,0,0,0,0,0,0
$GC,14544,1.23,298.6,197.4,8.9,981,14548,0.00,2.42,0.00,0.000,6,0.000,0.025,3448,1937,1789,0,0,0,0,0,0
$GC,14932,1.23,298.6,163.1,10.1,1017,14937,0.00,2.60,0.00,0.000,4,0.000,0.057,3448,400,1788,0,0,0,0,0,0
$GC,14972,1.23,298.6,159.0,10.6,1020,14976,0.00,2.40,0.00,0.000,6,0.000,0.024,3448,1934,1786,0,0,0,0,0,0
$GC,15361,1.31,318.6,125.5,6.9,1056,15385,0.00,2.65,18.08,0.612,4,0.000,0.054,3448,393,1711,0,0,0,0,0,0
$GC,15425,1.31,320.1,121.1,8.0,1061,15429,0.00,2.38,0.00,0.000,6,0.000,0.022,3448,1907,1708,0,0,0,0,0,0
$GC,15817,1.39,320.1,93.4,8.5,1097,15822,0.12,2.58,0.00,0.000,4,0.078,0.058,3485,399,1708,0,0,0,0,0,0
$GC,15849,1.39,320.1,90.2,10.5,1099,15853,0.00,2.35,0.00,0.000,6,0.000,0.018,3485,1912,1708,0,0,0,0,0,0
$GC,16241,1.39,320.1,56.1,8.4,1135,16245,0.00,2.55,0.00,0.000,4,0.000,0.051,3485,397,1708,0,0,0,0,0,0
$GC,16309,1.39,320.1,49.2,10.2,1140,16313,0.00,2.30,0.00,0.000,6,0.000,0.018,3486,1902,1708,0,0,0,0,0,0
$GC,16751,1.39,320.1,9.6,9.8,1194,16761,0.00,2.55,0.00,0.000,4,0.000,0.051,3485,399,1707,0,0,0,0,0,0
$STATE,16809,end climb,SURFACE_DEPTH_REACHED
$STATE,16809,begin surface coast
$FINISH,0.7,0.980072
$STATE,16845,end surface coast,CONTROL_FINISHED_OK
$STATE,16845,begin surface
$SM_CCo,16871,243.27,0.506,0,0,477,621.34
$SM_GC,1.19,0.00,0.00,243.27,0.000,0.000,0.506,475,2046,477,-12.42,1.02,621.34
$IRIDIUM_FIX,2239.35,-15802.37,131000,050508
$TT8_MAMPS,0.026078
$HUMID,59.64
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,21.10
$XPDR_PINGS,105
$24V_AH,23.1,69.307
$10V_AH,9.9,62.992
$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,28.800,172.300,376.050,243.275,0.000,139.334,348.490,0.000,26.250,0.000,26.758,2116.384,10681.894,701.549,3575.876,956.479,33.384,1904.969,0.000,3573.690,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,172.575,1089.140,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,828.031,850.430,1128.628,1591.604,1340.830,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,95444,1207
$CAP_FILE_SIZE,159809,0
$CFSIZE,260165632,152555520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,102706,2247.142,-15758.531,65,1.0,65,10.1