version: 66.06
glider: 146
mission: 6
dive: 556
start: 7 20 111 20 19 9
data:
$ID,146
$MISSION,6
$DIVE,556
$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,-281595.06
$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,12
$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
$GPS1,200307,2247.666,-15802.975,27,1.4,27,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.3
$GPS2,201814,2247.752,-15803.116,15,1.7,15,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,0.139
$KALMAN_X,-516665.0,-82.1,-386.0,506339.2,-1656.2
$KALMAN_Y,221506.2,233.5,-52.5,-214568.5,1755.0
$MHEAD_RNG_PITCHd_Wd,27.4,4169,-21.1,-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,-1.41,-72.1,0.0,0.0,0,128,0.00,0.00,-109.60,0.000,6,0.000,0.000,470,2068,3305,0,0,0,0,0,0
$GC,133,-1.44,-97.3,3.7,-4.3,14,159,12.32,2.47,-1.90,0.000,4,0.144,0.046,2854,3580,3410,0,0,0,0,0,0
$GC,203,-1.36,-97.3,21.6,-17.0,23,213,0.08,2.58,0.00,0.000,6,0.104,0.025,2874,1984,3410,0,0,0,0,0,0
$GC,615,-1.32,-97.3,80.2,-14.1,64,619,0.00,2.55,0.00,0.000,4,0.000,0.031,2874,3578,3410,0,0,0,0,0,0
$GC,683,-1.32,-97.3,89.8,-13.7,69,687,0.00,2.47,0.00,0.000,6,0.000,0.030,2874,2010,3410,0,0,0,0,0,0
$GC,1075,-1.32,-97.3,130.6,-8.0,105,1079,0.00,2.50,0.00,0.000,4,0.000,0.035,2874,3585,3410,0,0,0,0,0,0
$GC,1143,-1.39,-97.3,136.9,-8.8,110,1152,0.00,2.50,0.00,0.000,6,0.000,0.022,2874,2022,3411,0,0,0,0,0,0
$GC,1531,-1.45,-97.3,170.5,-9.2,147,1535,0.00,2.47,0.00,0.000,4,0.000,0.034,2873,3589,3411,0,0,0,0,0,0
$GC,1587,-1.58,-97.3,175.1,-8.7,151,1592,0.17,2.45,0.00,0.000,6,0.054,0.027,2813,2035,3411,0,0,0,0,0,0
$GC,1977,-1.58,-97.3,216.0,-10.4,187,1982,0.00,2.45,0.00,0.000,4,0.000,0.032,2813,3583,3411,0,0,0,0,0,0
$GC,2006,-1.58,-97.3,219.1,-10.6,189,2010,0.00,2.40,0.00,0.000,6,0.000,0.025,2813,2047,3411,0,0,0,0,0,0
$GC,2394,-1.58,-97.3,258.6,-10.3,225,2398,0.00,2.47,0.00,0.000,4,0.000,0.031,2813,3584,3411,0,0,0,0,0,0
$GC,2446,-1.58,-97.3,263.7,-10.7,229,2450,0.00,2.42,0.00,0.000,6,0.000,0.027,2813,2042,3411,0,0,0,0,0,0
$GC,2836,-1.58,-97.3,302.8,-10.1,265,2840,0.00,2.47,0.00,0.000,4,0.000,0.038,2813,3580,3410,0,0,0,0,0,0
$GC,2969,-1.58,-97.3,315.6,-9.2,276,2977,0.00,2.47,0.00,0.000,6,0.000,0.031,2813,2063,3410,0,0,0,0,0,0
$GC,3361,-1.58,-97.3,348.9,-9.0,313,3365,0.00,2.45,0.00,0.000,4,0.000,0.042,2813,3573,3408,0,0,0,0,0,0
$GC,3515,-1.63,-97.3,363.3,-9.1,326,3519,0.00,2.45,0.00,0.000,6,0.000,0.041,2813,2070,3407,0,0,0,0,0,0
$GC,3905,-1.67,-97.3,398.0,-9.7,362,3910,0.00,2.50,0.00,0.000,4,0.000,0.051,2813,3574,3404,0,0,0,0,0,0
$GC,3956,-1.74,-97.3,403.4,-10.8,366,3960,0.00,2.47,0.00,0.000,6,0.000,0.044,2813,2076,3404,0,0,0,0,0,0
$GC,4346,-1.79,-97.3,447.0,-10.8,402,4351,0.12,2.50,0.00,0.000,4,0.072,0.055,2771,3568,3401,0,0,0,0,0,0
$GC,4475,-1.79,-97.3,462.3,-11.3,413,4480,0.00,2.53,0.00,0.000,6,0.000,0.058,2771,2082,3400,0,0,0,0,0,0
$GC,4872,-1.79,-97.3,505.2,-10.4,447,4877,0.00,2.55,0.00,0.000,4,0.000,0.059,2771,3568,3396,0,0,0,0,0,0
$GC,4933,-1.79,-97.3,512.3,-11.5,448,4937,0.00,2.50,0.00,0.000,6,0.000,0.057,2770,2088,3396,0,0,0,0,0,0
$GC,5322,-1.79,-97.3,553.2,-10.5,458,5326,0.00,2.58,0.00,0.000,4,0.000,0.069,2771,3561,3393,0,0,0,0,0,0
$GC,5350,-1.79,-97.3,556.2,-11.4,458,5355,0.00,2.55,0.00,0.000,6,0.000,0.066,2771,2083,3393,0,0,0,0,0,0
$GC,5722,-1.79,-97.3,594.3,-10.4,467,5726,0.00,2.62,0.00,0.000,4,0.000,0.080,2771,3569,3390,0,0,0,0,0,0
$GC,5794,-1.79,-97.3,602.1,-11.0,468,5798,0.00,2.58,0.00,0.000,6,0.000,0.074,2771,2095,3390,0,0,0,0,0,0
$GC,6173,-1.79,-97.3,641.7,-10.7,478,6177,0.00,2.67,0.00,0.000,4,0.000,0.094,2771,3565,3386,0,0,0,0,0,0
$GC,6312,-1.79,-97.3,657.5,-10.9,481,6316,0.00,2.67,0.00,0.000,6,0.000,0.092,2771,2105,3385,0,0,0,0,0,0
$GC,6707,-1.79,-97.3,699.0,-10.2,491,6712,0.00,2.78,0.00,0.000,4,0.000,0.123,2771,3558,3383,0,0,0,0,0,0
$STATE,6715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6715,begin apogee
$GC,6724,-0.31,0.0,700.3,10.2,491,6808,1.50,0.00,80.38,1.081,6,0.091,0.000,3103,2010,3010,0,0,0,0,0,0
$STATE,6809,end apogee,CONTROL_FINISHED_OK
$STATE,6809,begin climb
$GC,6811,1.44,97.3,702.2,0.0,493,6904,1.60,0.00,88.07,1.055,6,0.038,0.000,3491,2010,2613,0,0,0,0,0,0
$GC,7262,1.29,101.7,676.7,7.7,504,7268,0.17,3.28,0.00,0.000,4,0.127,0.147,3457,403,2601,0,0,0,0,0,0
$GC,7330,1.13,103.3,671.3,7.9,505,7341,0.17,2.80,4.65,0.720,6,0.130,0.077,3424,1964,2588,0,0,0,0,0,0
$GC,7708,1.15,124.6,646.9,6.4,514,7737,0.00,3.10,21.05,1.003,4,0.000,0.116,3424,404,2499,0,0,0,0,0,0
$GC,7760,1.07,127.7,643.1,7.8,515,7769,0.00,2.78,3.75,0.605,6,0.000,0.064,3424,1998,2489,0,0,0,0,0,0
$GC,8161,1.10,152.2,617.1,6.2,525,8187,0.00,0.00,23.75,0.999,6,0.000,0.000,3424,1998,2389,0,0,0,0,0,0
$GC,8525,1.11,156.5,589.8,7.7,534,8535,0.00,2.85,4.53,0.698,4,0.000,0.085,3424,3583,2371,0,0,0,0,0,0
$GC,8546,1.11,156.5,587.9,8.4,534,8550,0.00,2.78,0.00,0.000,6,0.000,0.064,3424,1995,2370,0,0,0,0,0,0
$GC,8924,1.11,156.5,554.4,8.9,544,8929,0.00,3.05,0.00,0.000,4,0.000,0.110,3424,402,2368,0,0,0,0,0,0
$GC,9025,1.06,156.5,544.6,8.8,546,9029,0.00,2.65,0.00,0.000,6,0.000,0.041,3424,1997,2366,0,0,0,0,0,0
$GC,9414,1.09,179.1,517.9,6.3,556,9444,0.00,3.00,21.80,0.944,4,0.000,0.086,3424,407,2278,0,0,0,0,0,0
$GC,9530,1.10,183.5,508.4,7.7,558,9541,0.00,2.60,5.07,0.709,6,0.000,0.036,3424,1990,2262,0,0,0,0,0,0
$GC,9918,1.12,203.1,480.0,6.6,585,9944,0.00,2.95,19.33,0.913,4,0.000,0.084,3424,407,2181,0,0,0,0,0,0
$GC,10017,1.12,203.1,471.9,8.9,594,10021,0.00,2.62,0.00,0.000,6,0.000,0.030,3424,1993,2178,0,0,0,0,0,0
$GC,10406,1.17,203.1,439.2,9.2,630,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1993,2176,0,0,0,0,0,0
$GC,10788,1.23,203.1,400.7,9.9,666,10792,0.00,2.80,0.00,0.000,4,0.000,0.071,3424,400,2175,0,0,0,0,0,0
$GC,10897,1.23,203.1,389.1,10.0,675,10905,0.00,2.60,0.00,0.000,6,0.000,0.031,3424,1991,2173,0,0,0,0,0,0
$GC,11288,1.31,212.6,359.8,7.3,712,11303,0.15,2.80,8.80,0.768,4,0.075,0.064,3463,399,2143,0,0,0,0,0,0
$GC,11337,1.26,212.6,355.2,9.8,716,11344,0.00,2.55,0.00,0.000,6,0.000,0.028,3463,1987,2141,0,0,0,0,0,0
$GC,11725,1.26,212.6,320.9,8.6,753,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1987,2140,0,0,0,0,0,0
$GC,12108,1.27,223.8,291.2,7.2,789,12125,0.00,2.75,11.65,0.744,4,0.000,0.058,3463,402,2096,0,0,0,0,0,0
$GC,12217,1.27,223.8,280.9,10.4,798,12222,0.00,2.53,0.00,0.000,6,0.000,0.024,3463,1991,2093,0,0,0,0,0,0
$GC,12606,1.32,223.8,247.1,8.2,834,12607,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1991,2092,0,0,0,0,0,0
$GC,12990,1.38,237.6,219.7,7.0,870,13012,0.00,2.83,13.20,0.688,4,0.000,0.061,3463,396,2040,0,0,0,0,0,0
$GC,13090,1.38,237.6,211.7,9.1,879,13094,0.00,2.50,0.00,0.000,6,0.000,0.021,3463,1979,2038,0,0,0,0,0,0
$GC,13479,1.46,242.9,180.4,7.6,915,13494,0.12,2.72,5.68,0.548,4,0.077,0.054,3498,407,2020,0,0,0,0,0,0
$GC,13640,1.41,242.9,165.8,9.3,928,13644,0.00,2.42,0.00,0.000,6,0.000,0.025,3498,1971,2019,0,0,0,0,0,0
$GC,14028,1.41,242.9,133.0,8.4,964,14033,0.00,2.55,0.00,0.000,4,0.000,0.038,3498,3553,2019,0,0,0,0,0,0
$GC,14060,1.44,242.9,130.4,8.7,966,14064,0.00,2.60,0.00,0.000,6,0.000,0.030,3498,1953,2019,0,0,0,0,0,0
$GC,14449,1.51,265.8,102.2,6.3,1002,14473,0.00,0.00,22.10,0.594,6,0.000,0.000,3498,1953,1926,0,0,0,0,0,0
$GC,14855,1.63,292.7,73.0,6.0,1040,14886,0.12,2.67,24.35,0.564,4,0.075,0.054,3535,415,1815,0,0,0,0,0,0
$GC,14962,1.63,292.7,63.7,9.8,1048,14966,0.00,2.42,0.00,0.000,6,0.000,0.018,3535,1984,1812,0,0,0,0,0,0
$GC,15360,1.63,292.7,26.8,9.2,1086,15369,0.00,2.67,0.00,0.000,4,0.000,0.049,3535,408,1812,0,0,0,0,0,0
$GC,15429,1.63,292.7,19.6,10.9,1095,15438,0.00,2.42,0.00,0.000,6,0.000,0.018,3536,1961,1811,0,0,0,0,0,0
$STATE,15577,end climb,SURFACE_DEPTH_REACHED
$STATE,15577,begin surface coast
$FINISH,0.7,0.974961
$STATE,15628,end surface coast,CONTROL_FINISHED_OK
$STATE,15628,begin surface
$SM_CCo,15650,70.65,0.511,0,0,1460,380.21
$SM_GC,1.31,0.00,0.00,70.65,0.000,0.000,0.511,474,1962,1460,-12.42,-1.36,380.21
$IRIDIUM_FIX,2239.35,-15800.20,131000,202048
$TT8_MAMPS,0.026078
$HUMID,62.36
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,20.70
$XPDR_PINGS,105
$24V_AH,23.1,69.759
$10V_AH,9.9,63.562
$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,28.925,152.400,358.150,70.650,0.000,52.778,76.916,531.876,26.250,0.000,16.609,1964.496,9632.730,520.461,3405.475,1095.766,33.374,1696.807,0.000,3405.085,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,147.264,1081.470,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,770.056,768.096,1053.905,1485.876,1270.956,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,89087,1123
$CAP_FILE_SIZE,156523,0
$CFSIZE,260165632,152354816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,004300,2249.751,-15802.185,68,1.6,68,10.1