version: 66.06
glider: 146
mission: 6
dive: 533
start: 7 16 111 1 13 18
data:
$ID,146
$MISSION,6
$DIVE,533
$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,-281171.53
$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,21
$R_STBD_OVSHOOT,56
$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
$GPS1,005237,2249.388,-15758.645,45,1.3,45,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.2
$GPS2,011220,2249.441,-15758.883,11,1.5,11,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,-0.078
$KALMAN_X,-466754.0,-250.2,24.6,463417.2,-1248.0
$KALMAN_Y,190781.1,79.3,-344.6,-180257.6,1988.4
$MHEAD_RNG_PITCHd_Wd,102.6,3377,-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,-97.3,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,475,2082,3289,0,0,0,0,0,0
$GC,92,-1.24,-97.3,3.6,-4.1,9,118,12.65,2.80,-2.25,0.000,4,0.150,0.053,2897,418,3410,0,0,0,0,0,0
$GC,130,-0.04,-97.3,15.5,-26.6,13,140,1.15,2.50,0.00,0.000,6,0.075,0.015,3160,2038,3411,0,0,0,0,0,0
$GC,576,-0.64,-97.3,51.4,-8.9,64,581,0.50,2.67,0.00,0.000,4,0.054,0.044,3030,421,3412,0,0,0,0,0,0
$GC,673,-0.89,-97.3,58.8,-6.6,71,678,0.20,2.40,0.00,0.000,6,0.052,0.015,2968,2015,3412,0,0,0,0,0,0
$GC,1066,-0.99,-97.3,95.4,-8.9,107,1070,0.00,2.42,0.00,0.000,4,0.000,0.037,2968,3534,3412,0,0,0,0,0,0
$GC,1146,-1.15,-97.3,101.8,-8.1,113,1151,0.17,2.45,0.00,0.000,6,0.052,0.029,2899,1981,3413,0,0,0,0,0,0
$GC,1540,-1.15,-97.3,138.0,-9.0,149,1545,0.12,0.00,0.00,0.000,6,0.103,0.000,2928,1981,3413,0,0,0,0,0,0
$GC,1929,-1.23,-97.3,169.7,-7.9,186,1933,0.00,2.47,0.00,0.000,4,0.000,0.035,2928,3544,3413,0,0,0,0,0,0
$GC,1976,-1.34,-97.3,173.2,-7.3,189,1985,0.15,2.45,0.00,0.000,6,0.032,0.024,2864,2002,3413,0,0,0,0,0,0
$GC,2379,-1.34,-97.3,212.1,-9.4,219,2383,0.00,2.45,0.00,0.000,4,0.000,0.035,2864,3536,3413,0,0,0,0,0,0
$GC,2401,-1.34,-97.3,214.3,-9.8,219,2406,0.00,2.38,0.00,0.000,6,0.000,0.021,2864,2012,3414,0,0,0,0,0,0
$GC,2779,-1.34,-97.3,249.7,-9.5,229,2783,0.00,2.45,0.00,0.000,4,0.000,0.031,2864,3538,3413,0,0,0,0,0,0
$GC,2835,-1.34,-97.3,255.1,-9.2,230,2839,0.00,2.40,0.00,0.000,6,0.000,0.023,2864,2015,3413,0,0,0,0,0,0
$GC,3224,-1.34,-97.3,288.8,-8.3,240,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2015,3413,0,0,0,0,0,0
$GC,3588,-1.34,-97.3,319.3,-9.2,249,3592,0.00,2.47,0.00,0.000,4,0.000,0.035,2864,3537,3412,0,0,0,0,0,0
$GC,3621,-1.39,-97.3,322.8,-10.4,249,3627,0.00,2.42,0.00,0.000,6,0.000,0.030,2864,2034,3412,0,0,0,0,0,0
$GC,3995,-1.39,-97.3,358.6,-9.5,259,3999,0.00,2.42,0.00,0.000,4,0.000,0.044,2864,3528,3411,0,0,0,0,0,0
$GC,4100,-1.44,-97.3,368.3,-9.1,261,4105,0.00,2.45,0.00,0.000,6,0.000,0.041,2864,2031,3411,0,0,0,0,0,0
$GC,4484,-1.48,-97.3,398.2,-7.3,271,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2031,3408,0,0,0,0,0,0
$GC,4851,-1.52,-97.3,424.2,-7.0,280,4856,0.00,2.90,0.00,0.000,4,0.000,0.095,2864,424,3406,0,0,0,0,0,0
$GC,4878,-1.52,-97.3,426.6,-7.9,280,4883,0.00,2.47,0.00,0.000,6,0.000,0.038,2864,1967,3405,0,0,0,0,0,0
$GC,5250,-1.56,-97.3,455.8,-8.1,289,5256,0.12,2.78,0.00,0.000,4,0.076,0.058,2824,3589,3403,0,0,0,0,0,0
$GC,5363,-1.56,-97.3,466.8,-9.5,291,5368,0.00,2.60,0.00,0.000,6,0.000,0.051,2824,2042,3402,0,0,0,0,0,0
$GC,5740,-1.56,-97.3,502.2,-9.2,301,5745,0.00,3.08,0.00,0.000,4,0.000,0.123,2824,421,3399,0,0,0,0,0,0
$GC,5763,-1.51,-97.3,504.3,-9.2,301,5769,0.10,2.67,0.00,0.000,6,0.122,0.043,2844,2039,3399,0,0,0,0,0,0
$GC,6141,-1.51,-97.3,534.6,-7.7,311,6145,0.00,2.72,0.00,0.000,4,0.000,0.077,2844,3592,3397,0,0,0,0,0,0
$GC,6173,-1.51,-97.3,537.2,-8.4,311,6179,0.00,2.65,0.00,0.000,6,0.000,0.061,2844,2039,3397,0,0,0,0,0,0
$GC,6545,-1.51,-97.3,567.1,-8.3,321,6550,0.00,2.70,0.00,0.000,4,0.000,0.077,2844,3590,3394,0,0,0,0,0,0
$GC,6623,-1.55,-97.3,573.9,-8.4,322,6629,0.00,2.67,0.00,0.000,6,0.000,0.067,2844,2045,3394,0,0,0,0,0,0
$GC,6995,-1.55,-97.3,603.6,-7.7,332,6999,0.00,2.72,0.00,0.000,4,0.000,0.076,2844,3590,3391,0,0,0,0,0,0
$GC,7036,-1.61,-97.3,606.7,-8.2,333,7040,0.00,2.70,0.00,0.000,6,0.000,0.076,2844,2054,3391,0,0,0,0,0,0
$GC,7441,-1.61,-97.3,636.3,-7.2,343,7446,0.00,3.17,0.00,0.000,4,0.000,0.132,2844,422,3388,0,0,0,0,0,0
$GC,7463,-1.61,-97.3,638.2,-8.0,343,7467,0.00,2.80,0.00,0.000,6,0.000,0.067,2844,2047,3388,0,0,0,0,0,0
$GC,7841,-1.61,-97.3,668.7,-8.3,353,7846,0.00,2.95,0.00,0.000,4,0.000,0.118,2844,3601,3386,0,0,0,0,0,0
$GC,7862,-1.65,-97.3,670.8,-8.7,353,7868,0.12,2.85,0.00,0.000,6,0.075,0.097,2804,2058,3386,0,0,0,0,0,0
$STATE,8158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8158,begin apogee
$GC,8164,-0.31,0.0,700.0,9.8,361,8249,1.33,0.00,80.88,1.089,6,0.077,0.000,3105,1988,3010,0,0,0,0,0,0
$STATE,8250,end apogee,CONTROL_FINISHED_OK
$STATE,8250,begin climb
$GC,8252,1.24,97.3,702.5,0.0,363,8350,1.42,3.22,86.78,1.065,4,0.039,0.123,3450,3581,2612,0,0,0,0,0,0
$GC,8381,1.10,152.3,702.3,5.0,366,8437,0.17,3.10,49.88,1.040,6,0.125,0.111,3418,1993,2389,0,0,0,0,0,0
$GC,8827,1.01,152.3,664.9,8.7,377,8832,0.10,3.17,0.00,0.000,4,0.143,0.137,3397,402,2378,0,0,0,0,0,0
$GC,8862,0.89,152.3,661.8,9.1,377,8868,0.15,2.83,0.00,0.000,6,0.118,0.068,3368,1996,2376,0,0,0,0,0,0
$GC,9234,0.90,156.6,632.7,7.8,387,9238,0.00,3.00,0.00,0.000,4,0.000,0.111,3368,403,2375,0,0,0,0,0,0
$GC,9266,0.84,156.6,629.8,8.8,387,9272,0.00,2.72,0.00,0.000,6,0.000,0.051,3368,2001,2373,0,0,0,0,0,0
$GC,9640,0.86,168.8,600.8,7.4,397,9659,0.00,3.05,13.68,0.952,4,0.000,0.102,3368,403,2321,0,0,0,0,0,0
$GC,9710,0.86,168.8,595.0,8.5,398,9714,0.00,2.67,0.00,0.000,6,0.000,0.041,3368,1986,2319,0,0,0,0,0,0
$GC,10088,0.91,213.5,572.6,5.6,408,10138,0.00,3.03,42.15,0.992,4,0.000,0.094,3368,410,2139,0,0,0,0,0,0
$GC,10161,0.93,226.7,567.6,7.3,409,10180,0.00,2.65,13.85,0.916,6,0.000,0.036,3368,1989,2084,0,0,0,0,0,0
$GC,10584,0.98,232.0,535.9,7.7,420,10595,0.00,2.95,4.85,0.704,4,0.000,0.086,3367,399,2064,0,0,0,0,0,0
$GC,10623,0.98,232.0,532.4,8.2,421,10628,0.00,2.65,0.00,0.000,6,0.000,0.034,3368,1990,2064,0,0,0,0,0,0
$GC,11031,1.05,239.8,502.5,7.6,431,11045,0.15,2.92,8.77,0.844,4,0.078,0.081,3406,400,2032,0,0,0,0,0,0
$GC,11085,0.99,239.8,496.5,11.3,432,11089,0.00,2.62,0.00,0.000,6,0.000,0.035,3405,1979,2030,0,0,0,0,0,0
$GC,11478,0.99,239.8,454.8,10.4,442,11483,0.00,2.83,0.00,0.000,4,0.000,0.079,3405,397,2030,0,0,0,0,0,0
$GC,11555,0.99,239.8,446.0,11.0,443,11561,0.00,2.58,0.00,0.000,6,0.000,0.028,3405,1968,2028,0,0,0,0,0,0
$GC,11928,0.99,240.1,413.9,8.0,453,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1968,2028,0,0,0,0,0,0
$GC,12295,1.02,260.8,388.3,6.9,462,12321,0.00,2.80,20.77,0.852,4,0.000,0.071,3405,399,1944,0,0,0,0,0,0
$GC,12388,1.02,260.8,380.7,8.7,464,12393,0.00,2.55,0.00,0.000,6,0.000,0.023,3405,1969,1942,0,0,0,0,0,0
$GC,12782,1.02,260.8,346.5,9.3,474,12787,0.00,2.75,0.00,0.000,4,0.000,0.064,3405,394,1941,0,0,0,0,0,0
$GC,12810,1.02,260.8,343.5,11.2,474,12815,0.00,2.50,0.00,0.000,6,0.000,0.028,3405,1965,1938,0,0,0,0,0,0
$GC,13182,1.07,260.8,309.4,8.8,483,13187,0.00,2.70,0.00,0.000,4,0.000,0.067,3406,392,1938,0,0,0,0,0,0
$GC,13255,1.07,260.8,302.7,8.7,484,13260,0.00,2.50,0.00,0.000,6,0.000,0.021,3405,1958,1938,0,0,0,0,0,0
$GC,13629,1.13,267.7,274.4,7.7,493,13642,0.00,2.78,6.53,0.649,4,0.000,0.063,3406,392,1918,0,0,0,0,0,0
$GC,13688,1.13,267.7,268.6,9.5,494,13692,0.00,2.50,0.00,0.000,6,0.000,0.021,3405,1960,1917,0,0,0,0,0,0
$GC,14079,1.20,273.4,235.9,7.7,504,14094,0.12,2.75,6.68,0.621,4,0.076,0.061,3444,397,1895,0,0,0,0,0,0
$GC,14138,1.20,273.4,230.6,8.5,505,14143,0.00,2.47,0.00,0.000,6,0.000,0.025,3443,1954,1894,0,0,0,0,0,0
$GC,14529,1.20,273.4,200.3,8.1,515,14533,0.00,2.62,0.00,0.000,4,0.000,0.054,3443,397,1894,0,0,0,0,0,0
$GC,14626,1.20,273.4,190.7,9.7,521,14630,0.00,2.42,0.00,0.000,6,0.000,0.021,3443,1945,1894,0,0,0,0,0,0
$GC,15014,1.22,284.1,160.1,7.5,557,15028,0.00,0.00,11.55,0.614,6,0.000,0.000,3444,1946,1851,0,0,0,0,0,0
$GC,15406,1.27,284.1,128.6,9.4,594,15411,0.00,2.60,0.00,0.000,4,0.000,0.053,3443,395,1849,0,0,0,0,0,0
$GC,15454,1.27,284.1,123.6,11.2,597,15461,0.00,2.38,0.00,0.000,6,0.000,0.019,3443,1944,1849,0,0,0,0,0,0
$GC,15845,1.37,305.6,88.4,6.8,634,15873,0.12,2.72,20.15,0.572,4,0.073,0.053,3483,388,1763,0,0,0,0,0,0
$GC,15970,1.39,315.1,78.5,7.5,644,15985,0.00,2.40,9.93,0.525,6,0.000,0.019,3483,1933,1724,0,0,0,0,0,0
$GC,16368,1.41,330.8,50.3,7.2,681,16396,0.00,2.67,15.15,0.523,4,0.000,0.050,3483,396,1659,0,0,0,0,0,0
$GC,16438,1.41,332.1,44.6,8.0,686,16442,0.00,2.35,0.00,0.000,6,0.000,0.018,3483,1926,1659,0,0,0,0,0,0
$GC,16898,1.41,332.1,6.0,9.0,743,16906,0.00,0.00,0.00,0.000,6,0.000,0.000,3483,1928,1658,0,0,0,0,0,0
$STATE,16921,end climb,SURFACE_DEPTH_REACHED
$STATE,16921,begin surface coast
$FINISH,0.6,0.971529
$STATE,16977,end surface coast,CONTROL_FINISHED_OK
$STATE,16977,begin surface
$SM_CCo,17001,40.62,0.503,0,0,1459,380.21
$SM_GC,1.27,0.00,0.00,40.62,0.000,0.000,0.503,473,2077,1459,-12.43,1.89,380.21
$IRIDIUM_FIX,2239.35,-15759.32,091000,010114
$TT8_MAMPS,0.026078
$HUMID,62.28
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,95
$24V_AH,23.1,66.353
$10V_AH,10.0,59.855
$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,31.100,176.775,391.575,40.625,0.000,114.467,139.148,558.826,23.750,0.000,13.292,1479.791,12267.866,516.342,2733.783,1227.453,33.377,1506.659,0.000,2739.283,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,155.701,1089.140,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,513.344,388.207,526.272,993.966,1502.968,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,57402,754
$CAP_FILE_SIZE,153632,0
$CFSIZE,260165632,154038272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160711,055855,2249.481,-15757.984,52,1.0,52,10.1