version: 66.06
glider: 146
mission: 6
dive: 618
start: 8 2 111 5 33 13
data:
$ID,146
$MISSION,6
$DIVE,618
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,300
$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,-282900.41
$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,2120
$C_ROLL_CLIMB,1805
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,50
$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
$GPS1,052507,2156.775,-15759.656,38,1.0,38,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.8
$GPS2,053225,2156.745,-15759.740,13,1.1,18,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAY2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.093,-0.196
$KALMAN_X,-645949.4,105.4,-110.1,640930.9,-2491.2
$KALMAN_Y,259074.5,11.1,57.1,-346478.5,91.5
$MHEAD_RNG_PITCHd_Wd,144.8,16655,-21.6,-10.000
$D_GRID,900
$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,-1.47,-97.3,0.0,0.0,0,82,0.00,0.00,-63.53,0.000,2,0.000,0.000,476,2125,3031,0,0,0,0,0,0
$GC,86,-1.47,-97.3,3.3,-5.9,10,114,12.80,2.67,-7.45,0.000,4,0.162,0.051,2846,516,3409,0,0,0,0,0,0
$GC,231,-1.36,-97.3,32.2,-15.0,35,237,0.15,2.50,0.00,0.000,6,0.127,0.016,2876,2128,3411,0,0,0,0,0,0
$GC,621,-1.36,-97.3,86.2,-12.5,71,626,0.00,2.47,0.00,0.000,4,0.000,0.030,2876,3678,3412,0,0,0,0,0,0
$GC,639,-1.36,-97.3,88.7,-12.3,72,644,0.00,2.50,0.00,0.000,6,0.000,0.021,2876,2093,3413,0,0,0,0,0,0
$GC,1028,-1.44,-97.3,131.5,-9.7,108,1032,0.00,2.55,0.00,0.000,4,0.000,0.054,2876,540,3414,0,0,0,0,0,0
$GC,1056,-1.50,-97.3,134.3,-10.1,110,1061,0.12,2.42,0.00,0.000,6,0.072,0.019,2835,2129,3414,0,0,0,0,0,0
$GC,1444,-1.50,-97.3,178.1,-10.6,146,1448,0.00,2.65,0.00,0.000,4,0.000,0.048,2834,542,3415,0,0,0,0,0,0
$GC,1465,-1.50,-97.3,180.5,-10.7,147,1471,0.00,2.42,0.00,0.000,6,0.000,0.021,2834,2125,3415,0,0,0,0,0,0
$GC,1870,-1.54,-97.3,218.7,-8.8,171,1874,0.00,2.65,0.00,0.000,4,0.000,0.051,2834,544,3416,0,0,0,0,0,0
$GC,1897,-1.54,-97.3,221.5,-9.0,171,1901,0.00,2.42,0.00,0.000,6,0.000,0.020,2835,2120,3416,0,0,0,0,0,0
$GC,2269,-1.59,-97.3,251.5,-8.3,180,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2121,3416,0,0,0,0,0,0
$GC,2636,-1.66,-97.3,289.0,-9.9,189,2641,0.00,2.67,0.00,0.000,4,0.000,0.065,2834,544,3416,0,0,0,0,0,0
$GC,2715,-1.73,-97.3,297.2,-9.9,190,2721,0.15,2.45,0.00,0.000,6,0.069,0.023,2786,2083,3416,0,0,0,0,0,0
$GC,3088,-1.73,-97.3,339.2,-12.2,200,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2083,3415,0,0,0,0,0,0
$GC,3452,-1.73,-97.3,380.2,-10.7,209,3456,0.00,2.70,0.00,0.000,4,0.000,0.072,2786,545,3412,0,0,0,0,0,0
$GC,3473,-1.73,-97.3,382.7,-11.4,209,3477,0.00,2.53,0.00,0.000,6,0.000,0.038,2786,2093,3413,0,0,0,0,0,0
$GC,3851,-1.73,-97.3,422.5,-10.5,219,3856,0.00,2.70,0.00,0.000,4,0.000,0.077,2786,554,3410,0,0,0,0,0,0
$GC,3867,-1.73,-97.3,424.5,-10.2,219,3872,0.00,2.55,0.00,0.000,6,0.000,0.041,2786,2103,3410,0,0,0,0,0,0
$GC,4250,-1.73,-97.3,464.7,-10.4,229,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2104,3408,0,0,0,0,0,0
$GC,4616,-1.73,-97.3,500.0,-9.6,238,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2104,3404,0,0,0,0,0,0
$GC,4984,-1.73,-97.3,535.9,-9.8,247,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2104,3402,0,0,0,0,0,0
$GC,5347,-1.73,-97.3,570.4,-9.3,256,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2104,3399,0,0,0,0,0,0
$GC,5713,-1.73,-97.3,607.2,-10.2,265,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2104,3397,0,0,0,0,0,0
$GC,6080,-1.73,-97.3,643.5,-9.7,274,6085,0.00,3.10,0.00,0.000,4,0.000,0.142,2786,554,3395,0,0,0,0,0,0
$GC,6113,-1.73,-97.3,647.2,-10.6,274,6119,0.00,2.72,0.00,0.000,6,0.000,0.071,2786,2101,3395,0,0,0,0,0,0
$GC,6485,-1.76,-97.3,683.5,-10.1,284,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2101,3392,0,0,0,0,0,0
$GC,6852,-1.80,-97.3,721.4,-10.6,293,6857,0.00,3.20,0.00,0.000,4,0.000,0.153,2786,554,3390,0,0,0,0,0,0
$GC,6874,-1.80,-97.3,724.1,-11.0,293,6879,0.00,2.90,0.00,0.000,6,0.000,0.110,2786,2102,3390,0,0,0,0,0,0
$GC,7252,-1.85,-97.3,762.3,-9.9,303,7257,0.00,3.25,0.00,0.000,4,0.000,0.165,2786,552,3388,0,0,0,0,0,0
$GC,7275,-1.85,-97.3,764.6,-10.0,303,7280,0.00,2.70,0.00,0.000,6,0.000,0.064,2786,2107,3388,0,0,0,0,0,0
$GC,7652,-1.90,-97.3,801.2,-9.8,313,7658,0.10,2.88,0.00,0.000,4,0.088,0.098,2754,555,3387,0,0,0,0,0,0
$GC,7674,-1.90,-97.3,803.7,-10.8,313,7679,0.00,2.65,0.00,0.000,6,0.000,0.053,2754,2101,3387,0,0,0,0,0,0
$GC,8053,-1.90,-97.3,845.0,-11.0,323,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2102,3385,0,0,0,0,0,0
$GC,8417,-1.90,-97.3,885.7,-11.0,332,8422,0.00,2.85,0.00,0.000,4,0.000,0.094,2754,549,3384,0,0,0,0,0,0
$GC,8444,-1.84,-97.3,888.9,-11.8,332,8449,0.00,2.62,0.00,0.000,6,0.000,0.054,2754,2098,3383,0,0,0,0,0,0
$STATE,8570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8570,begin apogee
$GC,8578,-0.31,0.0,902.5,10.8,335,8666,1.60,0.00,83.80,1.241,6,0.093,0.000,3102,1825,3010,0,0,0,0,0,0
$STATE,8666,end apogee,CONTROL_FINISHED_OK
$STATE,8666,begin climb
$GC,8669,1.47,97.3,904.8,0.0,337,8765,1.67,0.00,91.75,1.222,6,0.040,0.000,3500,1825,2613,0,0,0,0,0,0
$GC,9098,1.31,115.8,877.7,8.7,348,9118,0.20,0.00,17.15,1.126,6,0.125,0.000,3462,1825,2538,0,0,0,0,0,0
$GC,9466,1.23,127.7,844.3,9.2,357,9485,0.00,2.92,11.90,1.074,4,0.000,0.074,3462,3402,2488,0,0,0,0,0,0
$GC,9566,1.14,127.7,834.1,10.5,359,9571,0.20,2.75,0.00,0.000,6,0.130,0.056,3423,1817,2485,0,0,0,0,0,0
$GC,9962,1.16,147.7,799.6,8.6,369,9987,0.00,2.78,19.75,1.111,4,0.000,0.050,3423,3404,2407,0,0,0,0,0,0
$GC,10094,1.16,147.7,786.3,10.2,372,10098,0.00,2.75,0.00,0.000,6,0.000,0.061,3423,1819,2403,0,0,0,0,0,0
$GC,10496,1.17,149.6,747.5,9.9,382,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1819,2400,0,0,0,0,0,0
$GC,10860,1.20,173.5,715.3,8.4,391,10891,0.00,2.75,24.92,1.084,4,0.000,0.051,3424,3404,2302,0,0,0,0,0,0
$GC,10937,1.21,183.6,708.5,9.3,392,10955,0.00,2.78,11.15,0.998,6,0.000,0.055,3423,1817,2260,0,0,0,0,0,0
$GC,11353,1.23,200.4,671.0,8.9,403,11377,0.00,2.80,16.60,1.029,4,0.000,0.054,3423,3400,2192,0,0,0,0,0,0
$GC,11429,1.24,208.9,663.9,9.4,404,11444,0.00,2.75,9.70,0.953,6,0.000,0.063,3423,1826,2158,0,0,0,0,0,0
$GC,11846,1.24,212.4,622.9,9.8,415,11857,0.10,2.70,4.22,0.702,4,0.100,0.048,3450,3402,2144,0,0,0,0,0,0
$GC,11892,1.24,212.4,617.8,11.3,416,11896,0.00,2.75,0.00,0.000,6,0.000,0.064,3450,1831,2143,0,0,0,0,0,0
$GC,12291,1.24,212.4,571.5,12.0,426,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1830,2142,0,0,0,0,0,0
$GC,12656,1.24,212.4,533.3,10.0,435,12661,0.00,2.65,0.00,0.000,4,0.000,0.046,3450,3405,2140,0,0,0,0,0,0
$GC,12685,1.24,212.4,530.5,10.1,435,12689,0.00,2.72,0.00,0.000,6,0.000,0.061,3450,1837,2140,0,0,0,0,0,0
$GC,13056,1.26,229.3,495.6,8.8,444,13081,0.00,2.75,17.10,0.935,4,0.000,0.050,3450,3406,2074,0,0,0,0,0,0
$GC,13099,1.28,242.1,491.7,9.1,445,13119,0.00,2.75,13.48,0.900,6,0.000,0.058,3450,1836,2024,0,0,0,0,0,0
$GC,13511,1.30,255.3,454.8,9.1,455,13530,0.00,3.15,13.80,0.889,4,0.000,0.112,3450,217,1969,0,0,0,0,0,0
$GC,13552,1.30,255.3,449.9,11.5,456,13557,0.00,2.70,0.00,0.000,6,0.000,0.026,3450,1851,1967,0,0,0,0,0,0
$GC,13953,1.30,255.3,404.6,11.4,466,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1852,1965,0,0,0,0,0,0
$GC,14318,1.33,255.3,365.3,10.4,475,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1853,1965,0,0,0,0,0,0
$GC,14683,1.38,255.3,325.9,11.1,484,14689,0.10,2.90,0.00,0.000,4,0.097,0.072,3477,215,1965,0,0,0,0,0,0
$GC,14725,1.32,255.3,320.6,13.6,485,14730,0.00,2.62,0.00,0.000,6,0.000,0.027,3478,1849,1963,0,0,0,0,0,0
$GC,15130,1.34,267.6,279.7,9.2,495,15144,0.00,0.00,12.20,0.756,6,0.000,0.000,3478,1848,1918,0,0,0,0,0,0
$GC,15496,1.37,291.0,249.9,8.4,504,15520,0.00,0.00,22.73,0.755,6,0.000,0.000,3478,1849,1822,0,0,0,0,0,0
$GC,15861,1.41,291.0,208.6,11.3,513,15863,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1850,1819,0,0,0,0,0,0
$GC,16240,1.48,297.6,170.6,9.6,540,16254,0.00,2.92,6.57,0.581,4,0.000,0.062,3477,211,1796,0,0,0,0,0,0
$GC,16346,1.48,297.6,158.9,11.0,549,16351,0.00,2.58,0.00,0.000,6,0.000,0.021,3477,1839,1795,0,0,0,0,0,0
$GC,16736,1.56,298.8,118.5,9.9,586,16742,0.15,2.80,0.00,0.000,4,0.077,0.059,3517,213,1795,0,0,0,0,0,0
$GC,16813,1.56,298.8,108.5,14.3,592,16820,0.00,2.55,0.00,0.000,6,0.000,0.020,3517,1812,1795,0,0,0,0,0,0
$GC,17206,1.65,332.1,71.5,7.7,629,17244,0.00,2.80,32.15,0.585,4,0.000,0.056,3517,210,1654,0,0,0,0,0,0
$GC,17301,1.66,337.5,62.8,9.6,637,17314,0.00,2.55,5.88,0.468,6,0.000,0.019,3517,1823,1633,0,0,0,0,0,0
$GC,17697,1.73,337.5,22.0,12.1,680,17705,0.15,0.00,0.00,0.000,6,0.071,0.000,3559,1824,1632,0,0,0,0,0,0
$STATE,17855,end climb,SURFACE_DEPTH_REACHED
$STATE,17855,begin surface coast
$FINISH,0.8,0.980128
$STATE,17894,end surface coast,CONTROL_FINISHED_OK
$STATE,17894,begin surface
$SM_CCo,17917,35.75,0.515,0,0,1459,380.21
$SM_GC,1.69,0.00,0.00,35.75,0.000,0.000,0.515,476,2187,1459,-12.42,1.89,380.21
$IRIDIUM_FIX,2150.42,-15800.70,261000,000043
$TT8_MAMPS,0.026078
$HUMID,66.53
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,19.70
$XPDR_PINGS,204
$24V_AH,22.9,79.199
$10V_AH,9.8,71.718
$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,30.100,136.850,414.850,35.750,0.000,28.931,33.140,214.472,51.000,0.000,19.576,1364.760,14021.739,547.169,1818.058,627.019,33.391,1380.152,0.000,1806.265,0.000,0.532,0.000
$DEVICE_MAMPS,161.837,164.905,1241.006,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.514,338.017,288.812,712.771,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,54156,716
$CAP_FILE_SIZE,130282,0
$CFSIZE,260165632,147898368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,103355,2155.078,-15759.710,46,1.9,46,9.9