version: 66.06
glider: 146
mission: 6
dive: 619
start: 8 2 111 10 41 40
data:
$ID,146
$MISSION,6
$DIVE,619
$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,-282916.94
$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,10
$R_STBD_OVSHOOT,51
$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
$GPS1,103355,2155.078,-15759.710,46,1.9,46,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.8
$GPS2,104049,2155.082,-15759.785,9,1.9,14,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAY2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.068,-0.206
$KALMAN_X,-647807.5,69.3,23.5,642605.0,-2022.6
$KALMAN_Y,259734.5,-11.8,-137.5,-350004.5,940.1
$MHEAD_RNG_PITCHd_Wd,151.8,13657,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-69.65,0.000,2,0.000,0.000,476,2187,3221,0,0,0,0,0,0
$GC,93,-1.47,-97.3,4.1,-8.1,11,121,12.93,2.78,-3.45,0.000,4,0.166,0.051,2848,518,3408,0,0,0,0,0,0
$GC,229,-1.36,-97.3,33.9,-17.2,33,234,0.15,2.47,0.00,0.000,6,0.131,0.016,2877,2129,3409,0,0,0,0,0,0
$GC,619,-1.36,-97.3,86.4,-11.1,69,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2130,3411,0,0,0,0,0,0
$GC,1003,-1.44,-97.3,127.3,-9.6,105,1007,0.00,2.67,0.00,0.000,4,0.000,0.047,2878,514,3412,0,0,0,0,0,0
$GC,1059,-1.52,-97.3,133.2,-10.1,109,1065,0.15,2.47,0.00,0.000,6,0.063,0.019,2829,2122,3412,0,0,0,0,0,0
$GC,1449,-1.52,-97.3,177.9,-10.8,146,1453,0.00,2.67,0.00,0.000,4,0.000,0.051,2828,514,3413,0,0,0,0,0,0
$GC,1476,-1.52,-97.3,181.2,-11.8,148,1481,0.00,2.42,0.00,0.000,6,0.000,0.015,2828,2112,3413,0,0,0,0,0,0
$GC,1885,-1.52,-97.3,228.4,-11.5,169,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2113,3414,0,0,0,0,0,0
$GC,2253,-1.55,-97.3,267.8,-10.5,178,2257,0.00,2.53,0.00,0.000,4,0.000,0.037,2828,3681,3414,0,0,0,0,0,0
$GC,2275,-1.61,-97.3,270.2,-9.9,178,2279,0.00,2.53,0.00,0.000,6,0.000,0.027,2828,2097,3414,0,0,0,0,0,0
$GC,2652,-1.66,-97.3,305.2,-9.5,188,2657,0.00,2.58,0.00,0.000,4,0.000,0.037,2828,3674,3414,0,0,0,0,0,0
$GC,2687,-1.74,-97.3,308.6,-9.7,188,2694,0.15,2.50,0.00,0.000,6,0.061,0.028,2776,2120,3414,0,0,0,0,0,0
$GC,3059,-1.74,-97.3,349.0,-10.6,198,3063,0.00,2.55,0.00,0.000,4,0.000,0.044,2776,3674,3413,0,0,0,0,0,0
$GC,3098,-1.74,-97.3,353.4,-11.7,199,3102,0.00,2.53,0.00,0.000,6,0.000,0.035,2777,2126,3413,0,0,0,0,0,0
$GC,3504,-1.74,-97.3,399.3,-11.1,209,3509,0.00,2.60,0.00,0.000,4,0.000,0.058,2776,3670,3411,0,0,0,0,0,0
$GC,3532,-1.74,-97.3,402.5,-10.5,209,3536,0.00,2.55,0.00,0.000,6,0.000,0.045,2776,2128,3411,0,0,0,0,0,0
$GC,3909,-1.74,-97.3,444.9,-11.9,219,3913,0.00,2.60,0.00,0.000,4,0.000,0.060,2776,3672,3409,0,0,0,0,0,0
$GC,3942,-1.74,-97.3,449.2,-12.8,219,3948,0.00,2.60,0.00,0.000,6,0.000,0.052,2776,2125,3409,0,0,0,0,0,0
$GC,4314,-1.74,-97.3,491.3,-10.8,229,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2125,3406,0,0,0,0,0,0
$GC,4680,-1.74,-97.3,527.8,-9.9,238,4685,0.00,3.03,0.00,0.000,4,0.000,0.118,2776,530,3403,0,0,0,0,0,0
$GC,4722,-1.74,-97.3,532.0,-11.6,239,4728,0.10,2.62,0.00,0.000,6,0.130,0.048,2796,2099,3403,0,0,0,0,0,0
$GC,5128,-1.78,-97.3,572.8,-10.1,249,5133,0.00,2.92,0.00,0.000,4,0.000,0.100,2796,3709,3401,0,0,0,0,0,0
$GC,5175,-1.84,-97.3,577.5,-10.8,250,5180,0.00,2.72,0.00,0.000,6,0.000,0.067,2796,2129,3400,0,0,0,0,0,0
$GC,5575,-1.89,-97.3,616.3,-9.3,260,5577,0.15,0.00,0.00,0.000,6,0.064,0.000,2750,2129,3398,0,0,0,0,0,0
$GC,5941,-1.85,-97.3,654.1,-10.1,269,5946,0.10,3.20,0.00,0.000,4,0.129,0.140,2769,533,3395,0,0,0,0,0,0
$GC,5959,-1.81,-97.3,656.0,-9.9,269,5964,0.00,2.83,0.00,0.000,6,0.000,0.074,2768,2128,3395,0,0,0,0,0,0
$GC,6342,-1.81,-97.3,692.3,-9.5,279,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2128,3392,0,0,0,0,0,0
$GC,6708,-1.81,-97.3,727.1,-9.4,288,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2129,3390,0,0,0,0,0,0
$GC,7073,-1.81,-97.3,763.1,-9.8,297,7079,0.00,3.40,0.00,0.000,4,0.000,0.168,2769,519,3388,0,0,0,0,0,0
$GC,7100,-1.81,-97.3,765.9,-10.2,297,7105,0.00,2.78,0.00,0.000,6,0.000,0.064,2769,2130,3388,0,0,0,0,0,0
$GC,7473,-1.81,-97.3,800.6,-9.5,306,7478,0.00,2.92,0.00,0.000,4,0.000,0.095,2769,526,3386,0,0,0,0,0,0
$GC,7507,-1.81,-97.3,804.2,-11.0,306,7512,0.00,2.72,0.00,0.000,6,0.000,0.054,2769,2123,3386,0,0,0,0,0,0
$GC,7879,-1.81,-97.3,838.8,-9.1,316,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2123,3384,0,0,0,0,0,0
$GC,8244,-1.81,-97.3,871.6,-9.1,325,8249,0.00,2.92,0.00,0.000,4,0.000,0.094,2769,526,3382,0,0,0,0,0,0
$GC,8290,-1.81,-97.3,876.2,-10.7,326,8294,0.00,2.72,0.00,0.000,6,0.000,0.057,2769,2120,3382,0,0,0,0,0,0
$STATE,8564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8564,begin apogee
$GC,8571,-0.31,0.0,902.1,9.1,333,8658,1.52,0.00,83.30,1.249,6,0.090,0.000,3105,1802,3010,0,0,0,0,0,0
$STATE,8659,end apogee,CONTROL_FINISHED_OK
$STATE,8659,begin climb
$GC,8661,1.47,97.3,903.4,0.0,335,8757,1.67,0.00,91.57,1.224,6,0.039,0.000,3504,1802,2613,0,0,0,0,0,0
$GC,9095,1.30,110.3,872.3,9.1,346,9115,0.22,2.97,11.90,1.073,4,0.123,0.083,3461,3390,2559,0,0,0,0,0,0
$GC,9143,1.22,131.7,867.8,8.5,347,9172,0.00,2.78,21.38,1.131,6,0.000,0.058,3461,1807,2473,0,0,0,0,0,0
$GC,9548,1.14,139.3,829.4,9.5,357,9563,0.17,2.78,7.70,0.979,4,0.127,0.049,3426,3392,2440,0,0,0,0,0,0
$GC,9625,1.16,157.3,822.0,8.8,358,9649,0.00,2.75,18.83,1.110,6,0.000,0.061,3427,1806,2368,0,0,0,0,0,0
$GC,10048,1.18,172.3,784.3,9.0,369,10068,0.00,2.78,14.88,1.081,4,0.000,0.051,3426,3396,2307,0,0,0,0,0,0
$GC,10155,1.18,172.3,773.5,10.6,371,10160,0.00,2.75,0.00,0.000,6,0.000,0.058,3427,1812,2304,0,0,0,0,0,0
$GC,10539,1.20,182.6,738.0,9.3,381,10556,0.00,2.75,11.02,1.024,4,0.000,0.055,3427,3405,2264,0,0,0,0,0,0
$GC,10572,1.21,192.9,734.6,9.3,381,10591,0.00,2.80,11.30,1.012,6,0.000,0.060,3427,1811,2222,0,0,0,0,0,0
$GC,10990,1.22,198.6,693.9,9.6,392,11001,0.00,2.72,6.05,0.871,4,0.000,0.053,3427,3400,2201,0,0,0,0,0,0
$GC,11035,1.22,205.0,688.9,9.6,393,11050,0.00,2.78,8.12,0.940,6,0.000,0.060,3427,1817,2174,0,0,0,0,0,0
$GC,11440,1.22,205.0,647.4,10.4,403,11445,0.00,2.70,0.00,0.000,4,0.000,0.054,3427,3403,2171,0,0,0,0,0,0
$GC,11513,1.22,205.0,639.1,11.5,404,11517,0.00,2.75,0.00,0.000,6,0.000,0.061,3426,1826,2169,0,0,0,0,0,0
$GC,11884,1.22,205.0,599.1,10.6,413,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1826,2169,0,0,0,0,0,0
$GC,12252,1.23,208.5,562.0,9.8,422,12257,0.00,2.65,0.00,0.000,4,0.000,0.053,3426,3406,2168,0,0,0,0,0,0
$GC,12279,1.24,220.6,559.2,9.2,422,12300,0.00,2.75,15.70,0.969,6,0.000,0.063,3427,1825,2110,0,0,0,0,0,0
$GC,12697,1.28,220.6,516.1,11.1,433,12702,0.12,2.67,0.00,0.000,4,0.082,0.047,3460,3400,2106,0,0,0,0,0,0
$GC,12733,1.28,220.6,511.9,12.2,433,12738,0.00,2.72,0.00,0.000,6,0.000,0.061,3460,1833,2105,0,0,0,0,0,0
$GC,13104,1.28,220.6,468.0,11.3,443,13109,0.00,3.05,0.00,0.000,4,0.000,0.116,3460,218,2105,0,0,0,0,0,0
$GC,13144,1.21,220.6,463.2,12.9,444,13149,0.10,2.65,0.00,0.000,6,0.140,0.028,3441,1840,2104,0,0,0,0,0,0
$GC,13552,1.22,229.9,424.1,9.4,454,13566,0.00,2.95,9.32,0.835,4,0.000,0.077,3440,216,2072,0,0,0,0,0,0
$GC,13590,1.22,229.9,420.1,10.5,455,13594,0.00,2.65,0.00,0.000,6,0.000,0.027,3440,1829,2070,0,0,0,0,0,0
$GC,13997,1.26,231.0,380.2,9.9,465,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1829,2069,0,0,0,0,0,0
$GC,14361,1.32,239.2,346.1,9.4,474,14373,0.00,0.00,10.20,0.788,6,0.000,0.000,3440,1830,2034,0,0,0,0,0,0
$GC,14728,1.38,239.2,309.8,10.1,483,14729,0.15,0.00,0.00,0.000,6,0.079,0.000,3479,1830,2032,0,0,0,0,0,0
$GC,15091,1.38,239.2,271.2,10.3,492,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1831,2031,0,0,0,0,0,0
$GC,15457,1.40,261.5,240.5,8.5,501,15486,0.00,2.67,21.62,0.746,4,0.000,0.042,3478,3398,1943,0,0,0,0,0,0
$GC,15522,1.49,274.9,234.7,9.1,502,15543,0.00,2.62,13.80,0.713,6,0.000,0.041,3478,1814,1887,0,0,0,0,0,0
$GC,15911,1.55,274.9,194.9,10.6,515,15916,0.15,2.60,0.00,0.000,4,0.071,0.032,3518,3399,1884,0,0,0,0,0,0
$GC,15946,1.55,274.9,190.9,11.5,517,15951,0.00,2.60,0.00,0.000,6,0.000,0.039,3518,1825,1883,0,0,0,0,0,0
$GC,16334,1.55,274.9,145.7,10.6,554,16335,0.00,0.00,0.00,0.000,6,0.000,0.000,3519,1825,1883,0,0,0,0,0,0
$GC,16716,1.55,274.9,109.4,10.1,590,16721,0.00,2.75,0.00,0.000,4,0.000,0.061,3518,222,1883,0,0,0,0,0,0
$GC,16749,1.51,276.1,105.9,9.9,592,16756,0.00,2.58,0.00,0.000,6,0.000,0.021,3519,1847,1883,0,0,0,0,0,0
$GC,17140,1.56,279.5,66.5,9.8,629,17155,0.00,2.83,5.22,0.456,4,0.000,0.055,3518,220,1869,0,0,0,0,0,0
$GC,17171,1.57,287.1,63.0,9.5,631,17190,0.00,2.50,8.38,0.513,6,0.000,0.023,3518,1806,1838,0,0,0,0,0,0
$GC,17575,1.63,290.1,24.9,9.8,673,17589,0.00,2.55,4.28,0.389,4,0.000,0.030,3519,3367,1827,0,0,0,0,0,0
$GC,17605,1.69,290.1,21.9,10.9,677,17613,0.08,2.58,0.00,0.000,6,0.053,0.031,3547,1802,1827,0,0,0,0,0,0
$STATE,17765,end climb,SURFACE_DEPTH_REACHED
$STATE,17765,begin surface coast
$FINISH,0.8,0.980049
$STATE,17798,end surface coast,CONTROL_FINISHED_OK
$STATE,17798,begin surface
$SM_CCo,17820,75.40,0.518,0,0,1459,380.21
$SM_GC,1.52,0.00,0.00,75.40,0.000,0.000,0.518,470,2177,1459,-12.45,1.58,380.21
$IRIDIUM_FIX,2148.09,-15758.54,261000,050521
$TT8_MAMPS,0.025311
$HUMID,63.54
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.10
$XPDR_PINGS,211
$24V_AH,22.9,79.344
$10V_AH,9.8,71.805
$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,30.400,158.575,374.575,75.400,0.000,30.785,33.975,193.500,52.750,0.000,15.904,1383.049,13880.857,570.339,1853.366,617.746,33.384,1433.615,0.000,1843.550,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,167.973,1248.676,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.678,329.196,293.293,712.491,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,51080,713
$CAP_FILE_SIZE,136019,0
$CFSIZE,260165632,147828736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,154106,2153.185,-15800.266,26,1.5,26,9.9