version: 66.06
glider: 146
mission: 6
dive: 620
start: 8 2 111 15 53 16
data:
$ID,146
$MISSION,6
$DIVE,620
$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,-282930.09
$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,24
$R_STBD_OVSHOOT,93
$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
$GPS1,154106,2153.185,-15800.266,26,1.5,26,9.9
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.8
$GPS2,155226,2153.192,-15800.369,11,1.6,11,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAY2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,-0.201
$KALMAN_X,-650005.6,-64.5,139.5,643829.8,-2495.0
$KALMAN_Y,259812.0,-94.5,84.4,-353712.8,123.4
$MHEAD_RNG_PITCHd_Wd,147.7,10017,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.47,-97.3,0.0,0.0,0,83,0.00,0.00,-63.60,0.000,2,0.000,0.000,469,2177,3028,0,0,0,0,0,0
$GC,86,-1.47,-97.3,3.0,-4.6,10,114,12.73,2.78,-7.93,0.000,4,0.159,0.058,2851,533,3408,0,0,0,0,0,0
$GC,205,-1.38,-97.3,25.2,-15.1,30,213,0.08,2.42,0.00,0.000,6,0.110,0.017,2869,2081,3410,0,0,0,0,0,0
$GC,599,-1.38,-97.3,81.0,-11.8,69,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2084,3411,0,0,0,0,0,0
$GC,988,-1.43,-97.3,126.0,-11.9,106,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2084,3412,0,0,0,0,0,0
$GC,1371,-1.50,-97.3,165.1,-9.6,142,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2084,3413,0,0,0,0,0,0
$GC,1755,-1.59,-97.3,196.6,-7.9,178,1760,0.17,2.58,0.00,0.000,4,0.058,0.038,2813,3690,3413,0,0,0,0,0,0
$GC,1783,-1.59,-97.3,199.6,-10.2,180,1788,0.00,2.50,0.00,0.000,6,0.000,0.021,2813,2097,3414,0,0,0,0,0,0
$GC,2155,-1.59,-97.3,235.9,-9.9,189,2159,0.00,2.53,0.00,0.000,4,0.000,0.031,2813,3679,3413,0,0,0,0,0,0
$GC,2178,-1.59,-97.3,238.2,-10.1,189,2182,0.00,2.47,0.00,0.000,6,0.000,0.027,2813,2112,3414,0,0,0,0,0,0
$GC,2555,-1.59,-97.3,276.2,-10.7,199,2559,0.00,2.55,0.00,0.000,4,0.000,0.035,2813,3681,3414,0,0,0,0,0,0
$GC,2570,-1.62,-97.3,278.0,-10.9,199,2575,0.00,2.45,0.00,0.000,6,0.000,0.024,2813,2130,3414,0,0,0,0,0,0
$GC,2955,-1.62,-97.3,315.9,-9.2,209,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2130,3414,0,0,0,0,0,0
$GC,3319,-1.66,-97.3,349.0,-9.3,218,3323,0.00,2.55,0.00,0.000,4,0.000,0.045,2813,3677,3412,0,0,0,0,0,0
$GC,3340,-1.70,-97.3,351.5,-11.1,218,3345,0.00,2.50,0.00,0.000,6,0.000,0.041,2813,2136,3412,0,0,0,0,0,0
$GC,3720,-1.76,-97.3,392.9,-10.7,228,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2136,3409,0,0,0,0,0,0
$GC,4084,-1.82,-97.3,427.5,-9.1,237,4089,0.15,2.60,0.00,0.000,4,0.064,0.061,2763,3674,3407,0,0,0,0,0,0
$GC,4123,-1.82,-97.3,431.8,-11.0,238,4128,0.00,2.58,0.00,0.000,6,0.000,0.045,2763,2136,3407,0,0,0,0,0,0
$GC,4530,-1.82,-97.3,476.0,-10.8,248,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2136,3404,0,0,0,0,0,0
$GC,4894,-1.82,-97.3,517.2,-11.2,257,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2136,3401,0,0,0,0,0,0
$GC,5259,-1.82,-97.3,560.6,-11.7,266,5264,0.00,2.75,0.00,0.000,4,0.000,0.087,2763,3665,3399,0,0,0,0,0,0
$GC,5300,-1.82,-97.3,565.1,-11.3,267,5305,0.00,2.65,0.00,0.000,6,0.000,0.068,2763,2128,3398,0,0,0,0,0,0
$GC,5705,-1.82,-97.3,608.9,-10.9,277,5710,0.00,3.12,0.00,0.000,4,0.000,0.136,2763,533,3395,0,0,0,0,0,0
$GC,5726,-1.77,-97.3,611.6,-12.2,277,5732,0.12,2.70,0.00,0.000,6,0.118,0.061,2787,2095,3395,0,0,0,0,0,0
$GC,6106,-1.81,-97.3,651.2,-10.4,287,6111,0.00,3.03,0.00,0.000,4,0.000,0.120,2787,3707,3393,0,0,0,0,0,0
$GC,6156,-1.86,-97.3,656.5,-10.3,288,6160,0.00,2.88,0.00,0.000,6,0.000,0.091,2787,2132,3393,0,0,0,0,0,0
$GC,6552,-1.90,-97.3,692.5,-9.4,298,6558,0.12,3.28,0.00,0.000,4,0.076,0.150,2749,531,3390,0,0,0,0,0,0
$GC,6603,-1.84,-97.3,698.5,-11.5,299,6608,0.12,2.90,0.00,0.000,6,0.118,0.093,2773,2122,3389,0,0,0,0,0,0
$GC,6997,-1.84,-97.3,737.6,-10.3,309,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2122,3387,0,0,0,0,0,0
$GC,7365,-1.84,-97.3,772.3,-9.2,318,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2121,3385,0,0,0,0,0,0
$GC,7729,-1.84,-97.3,806.1,-9.5,327,7733,0.00,2.92,0.00,0.000,4,0.000,0.094,2773,522,3383,0,0,0,0,0,0
$GC,7744,-1.84,-97.3,807.8,-9.7,327,7749,0.00,2.70,0.00,0.000,6,0.000,0.045,2773,2131,3383,0,0,0,0,0,0
$GC,8129,-1.84,-97.3,844.0,-9.4,337,8133,0.00,2.92,0.00,0.000,4,0.000,0.093,2773,529,3382,0,0,0,0,0,0
$GC,8150,-1.84,-97.3,846.3,-9.2,337,8155,0.00,2.70,0.00,0.000,6,0.000,0.051,2774,2121,3381,0,0,0,0,0,0
$GC,8527,-1.84,-97.3,880.1,-8.7,347,8532,0.00,2.92,0.00,0.000,4,0.000,0.094,2773,528,3380,0,0,0,0,0,0
$GC,8550,-1.84,-97.3,882.1,-9.2,347,8555,0.00,2.70,0.00,0.000,6,0.000,0.054,2773,2119,3381,0,0,0,0,0,0
$STATE,8762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8762,begin apogee
$GC,8768,-0.31,0.0,902.3,9.3,353,8855,1.50,0.00,83.12,1.242,6,0.091,0.000,3102,1790,3010,0,0,0,0,0,0
$STATE,8856,end apogee,CONTROL_FINISHED_OK
$STATE,8856,begin climb
$GC,8859,1.47,97.3,904.5,0.0,355,8962,1.65,3.05,91.00,1.229,4,0.041,0.108,3498,227,2612,0,0,0,0,0,0
$GC,8979,1.30,155.7,903.5,6.0,357,9041,0.20,2.70,55.28,1.199,6,0.127,0.046,3461,1811,2375,0,0,0,0,0,0
$GC,9431,1.22,155.8,860.3,10.0,369,9435,0.00,2.85,0.00,0.000,4,0.000,0.086,3461,3397,2362,0,0,0,0,0,0
$GC,9515,1.14,155.8,851.5,10.3,371,9521,0.17,2.72,0.00,0.000,6,0.132,0.060,3428,1814,2361,0,0,0,0,0,0
$GC,9923,1.19,191.3,817.7,7.6,381,9964,0.00,2.78,32.35,1.143,4,0.000,0.050,3428,3387,2230,0,0,0,0,0,0
$GC,10003,1.23,223.1,811.2,7.8,382,10042,0.00,2.75,31.92,1.140,6,0.000,0.056,3428,1814,2099,0,0,0,0,0,0
$GC,10421,1.24,235.0,773.9,9.2,393,10440,0.00,2.80,11.52,1.038,4,0.000,0.053,3427,3396,2051,0,0,0,0,0,0
$GC,10480,1.28,235.0,767.6,10.7,394,10485,0.12,2.78,0.00,0.000,6,0.089,0.058,3458,1817,2049,0,0,0,0,0,0
$GC,10870,1.24,235.0,724.0,11.2,404,10875,0.00,2.70,0.00,0.000,4,0.000,0.051,3458,3402,2046,0,0,0,0,0,0
$GC,10948,1.24,235.0,714.9,10.8,405,10953,0.00,2.75,0.00,0.000,6,0.000,0.059,3458,1825,2045,0,0,0,0,0,0
$GC,11321,1.24,235.0,672.7,11.8,415,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1825,2044,0,0,0,0,0,0
$GC,11685,1.24,235.0,628.9,12.2,424,11689,0.00,2.65,0.00,0.000,4,0.000,0.052,3458,3394,2044,0,0,0,0,0,0
$GC,11717,1.24,235.0,624.7,12.7,424,11723,0.00,2.72,0.00,0.000,6,0.000,0.063,3458,1829,2043,0,0,0,0,0,0
$GC,12089,1.24,235.0,579.2,12.4,434,12093,0.00,2.65,0.00,0.000,4,0.000,0.050,3458,3403,2043,0,0,0,0,0,0
$GC,12117,1.24,235.0,575.8,12.4,434,12122,0.00,2.75,0.00,0.000,6,0.000,0.061,3458,1822,2042,0,0,0,0,0,0
$GC,12489,1.24,235.0,530.5,12.2,443,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1822,2042,0,0,0,0,0,0
$GC,12854,1.24,235.0,486.4,11.9,452,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1822,2042,0,0,0,0,0,0
$GC,13222,1.24,235.0,447.3,10.4,461,13226,0.00,2.60,0.00,0.000,4,0.000,0.048,3458,3400,2042,0,0,0,0,0,0
$GC,13293,1.24,235.0,439.7,10.4,462,13298,0.00,2.70,0.00,0.000,6,0.000,0.051,3458,1822,2041,0,0,0,0,0,0
$GC,13667,1.24,235.0,403.1,10.1,471,13671,0.00,2.62,0.00,0.000,4,0.000,0.039,3458,3406,2040,0,0,0,0,0,0
$GC,13690,1.24,235.0,400.5,10.8,471,13694,0.00,2.67,0.00,0.000,6,0.000,0.050,3458,1821,2040,0,0,0,0,0,0
$GC,14066,1.24,235.0,358.8,11.1,481,14071,0.00,2.60,0.00,0.000,4,0.000,0.041,3458,3401,2040,0,0,0,0,0,0
$GC,14116,1.24,235.0,353.5,11.0,482,14120,0.00,2.62,0.00,0.000,6,0.000,0.046,3458,1832,2040,0,0,0,0,0,0
$GC,14511,1.26,247.1,315.6,9.2,492,14524,0.00,0.00,10.98,0.772,6,0.000,0.000,3458,1831,2002,0,0,0,0,0,0
$GC,14875,1.29,247.1,279.8,10.7,501,14880,0.00,2.85,0.00,0.000,4,0.000,0.074,3458,219,1999,0,0,0,0,0,0
$GC,14955,1.29,247.1,270.1,12.2,502,14960,0.00,2.62,0.00,0.000,6,0.000,0.027,3458,1856,1998,0,0,0,0,0,0
$GC,15327,1.40,281.1,238.3,7.7,512,15370,0.00,2.97,32.20,0.754,4,0.000,0.068,3458,222,1863,0,0,0,0,0,0
$GC,15404,1.40,283.7,231.6,9.8,513,15408,0.00,2.62,0.00,0.000,6,0.000,0.021,3458,1854,1861,0,0,0,0,0,0
$GC,15778,1.49,294.8,198.7,9.2,522,15800,0.17,2.92,13.20,0.679,4,0.072,0.066,3505,223,1807,0,0,0,0,0,0
$GC,15828,1.42,294.8,192.7,13.0,526,15833,0.00,2.55,0.00,0.000,6,0.000,0.021,3504,1824,1806,0,0,0,0,0,0
$GC,16218,1.42,297.7,148.7,9.8,563,16229,0.00,2.55,3.78,0.435,4,0.000,0.040,3505,3371,1795,0,0,0,0,0,0
$GC,16312,1.47,303.9,139.6,9.6,571,16326,0.00,2.58,7.60,0.576,6,0.000,0.041,3505,1810,1769,0,0,0,0,0,0
$GC,16719,1.54,318.7,99.6,9.0,609,16742,0.00,2.60,14.57,0.591,4,0.000,0.037,3505,3374,1709,0,0,0,0,0,0
$GC,16778,1.61,318.7,94.0,10.2,614,16782,0.00,2.55,0.00,0.000,6,0.000,0.038,3505,1823,1708,0,0,0,0,0,0
$GC,17170,1.71,328.6,54.9,9.3,650,17187,0.17,2.80,10.30,0.525,4,0.067,0.061,3551,217,1669,0,0,0,0,0,0
$GC,17270,1.67,328.6,42.3,13.2,658,17277,0.00,2.53,0.00,0.000,6,0.000,0.018,3552,1814,1668,0,0,0,0,0,0
$STATE,17598,end climb,SURFACE_DEPTH_REACHED
$STATE,17598,begin surface coast
$FINISH,0.8,0.980033
$STATE,17640,end surface coast,CONTROL_FINISHED_OK
$STATE,17640,begin surface
$SM_CCo,17662,43.78,0.518,0,0,1459,380.21
$SM_GC,1.58,0.00,0.00,43.78,0.000,0.000,0.518,475,2196,1459,-12.42,2.15,380.21
$IRIDIUM_FIX,2143.45,-15759.42,261000,151524
$TT8_MAMPS,0.026078
$HUMID,65.27
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,19.60
$XPDR_PINGS,231
$24V_AH,22.9,79.505
$10V_AH,9.8,71.895
$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,29.950,158.350,397.825,43.775,0.000,59.931,87.183,312.481,57.750,0.000,12.534,1377.728,13755.107,529.897,1892.894,822.399,33.384,1419.766,0.000,1880.145,0.000,0.532,0.000
$DEVICE_MAMPS,158.769,150.332,1241.773,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.286,334.227,289.341,706.056,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,54252,717
$CAP_FILE_SIZE,139622,0
$CFSIZE,260165632,147755008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,204937,2151.388,-15800.781,31,1.3,31,9.9