version: 66.06
glider: 146
mission: 6
dive: 24
start: 5 13 111 17 54 59
data:
$ID,146
$MISSION,6
$DIVE,24
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,950
$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,266
$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,120
$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,420
$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,-267806.69
$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,3050
$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,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,15
$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,3001
$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
$GPS1,174107,2249.694,-15756.208,26,1.7,26,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.6
$GPS2,175402,2249.552,-15756.292,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.083,-0.117
$KALMAN_X,-26413.2,-236.2,146.7,27361.3,-1356.0
$KALMAN_Y,-41729.6,149.8,297.1,51741.3,-3012.3
$MHEAD_RNG_PITCHd_Wd,205.3,5383,-32.6,-10.025
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-2.09,-44.7,0.0,0.0,0,95,0.00,0.00,-76.95,0.000,6,0.000,0.000,475,1711,3185,0,0,0,0,0,0
$GC,99,-2.12,-71.7,3.1,-6.0,10,125,11.80,2.62,-2.22,0.000,4,0.176,0.064,2580,182,3297,0,0,0,0,0,0
$GC,335,-1.89,-71.7,78.7,-30.0,34,341,0.30,2.53,0.00,0.000,6,0.153,0.015,2634,1834,3298,0,0,0,0,0,0
$GC,599,-1.89,-71.7,138.6,-22.4,58,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1835,3299,0,0,0,0,0,0
$GC,855,-1.89,-71.7,190.3,-17.8,82,860,0.00,2.45,0.00,0.000,4,0.000,0.028,2634,3377,3300,0,0,0,0,0,0
$GC,901,-1.89,-71.7,197.9,-17.4,85,906,0.00,2.60,0.00,0.000,6,0.000,0.025,2634,1754,3300,0,0,0,0,0,0
$GC,1161,-1.89,-71.7,246.5,-18.2,92,1166,0.00,2.60,0.00,0.000,4,0.000,0.035,2634,3371,3301,0,0,0,0,0,0
$GC,1246,-1.89,-71.7,262.4,-18.3,94,1250,0.00,2.60,0.00,0.000,6,0.000,0.038,2634,1771,3301,0,0,0,0,0,0
$GC,1530,-1.92,-71.7,308.8,-15.9,101,1534,0.00,2.60,0.00,0.000,4,0.000,0.038,2634,3373,3301,0,0,0,0,0,0
$GC,1624,-1.98,-71.7,325.1,-16.9,103,1629,0.00,2.70,0.00,0.000,6,0.000,0.051,2634,1773,3301,0,0,0,0,0,0
$GC,1898,-2.03,-71.7,371.1,-17.3,110,1903,0.12,2.67,0.00,0.000,4,0.084,0.048,2597,3373,3301,0,0,0,0,0,0
$GC,1964,-2.03,-71.7,384.0,-19.1,111,1969,0.00,2.72,0.00,0.000,6,0.000,0.059,2597,1773,3301,0,0,0,0,0,0
$GC,2220,-2.03,-71.7,429.5,-17.7,118,2224,0.00,2.70,0.00,0.000,4,0.000,0.051,2597,3370,3299,0,0,0,0,0,0
$GC,2321,-2.03,-71.7,446.3,-17.1,120,2325,0.00,2.78,0.00,0.000,6,0.000,0.063,2597,1779,3299,0,0,0,0,0,0
$GC,2586,-2.03,-71.7,489.4,-16.7,127,2591,0.00,2.72,0.00,0.000,4,0.000,0.063,2597,3367,3297,0,0,0,0,0,0
$GC,2664,-2.03,-71.7,502.3,-15.9,128,2669,0.00,2.78,0.00,0.000,6,0.000,0.072,2597,1781,3297,0,0,0,0,0,0
$GC,2915,-2.03,-71.7,545.4,-17.5,135,2919,0.00,2.78,0.00,0.000,4,0.000,0.073,2597,3359,3295,0,0,0,0,0,0
$GC,2954,-2.03,-71.7,552.5,-17.8,136,2958,0.00,2.78,0.00,0.000,6,0.000,0.079,2597,1785,3295,0,0,0,0,0,0
$GC,3236,-2.03,-71.7,594.2,-13.7,143,3241,0.00,2.83,0.00,0.000,4,0.000,0.088,2597,3362,3293,0,0,0,0,0,0
$GC,3310,-2.07,-71.7,604.7,-15.1,144,3314,0.00,2.90,0.00,0.000,6,0.000,0.091,2597,1786,3292,0,0,0,0,0,0
$GC,3559,-2.07,-71.7,640.1,-14.1,150,3564,0.00,2.92,0.00,0.000,4,0.000,0.105,2597,3356,3290,0,0,0,0,0,0
$GC,3660,-2.11,-71.7,655.6,-15.1,152,3665,0.00,2.85,0.00,0.000,6,0.000,0.094,2597,1807,3289,0,0,0,0,0,0
$GC,3926,-2.11,-71.7,696.8,-15.4,159,3931,0.00,2.88,0.00,0.000,4,0.000,0.100,2597,3357,3287,0,0,0,0,0,0
$GC,3993,-2.16,-71.7,707.2,-15.8,160,3997,0.00,2.83,0.00,0.000,6,0.000,0.090,2597,1813,3287,0,0,0,0,0,0
$GC,4249,-2.16,-71.7,746.3,-15.3,167,4253,0.00,2.78,0.00,0.000,4,0.000,0.085,2597,3365,3284,0,0,0,0,0,0
$GC,4275,-2.16,-71.7,750.6,-15.3,167,4280,0.00,2.80,0.00,0.000,6,0.000,0.086,2597,1816,3285,0,0,0,0,0,0
$GC,4525,-2.16,-71.7,786.1,-14.1,173,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1816,3283,0,0,0,0,0,0
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4645,begin apogee
$GC,4650,-0.31,0.0,802.6,13.7,176,4715,1.92,0.00,60.20,1.165,6,0.141,0.000,2977,1815,3001,0,0,0,0,0,0
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4719,2.12,71.7,804.9,0.0,177,4794,2.35,3.33,64.62,1.134,4,0.075,0.137,3515,233,2707,0,0,0,0,0,0
$GC,4829,2.14,84.7,800.0,8.1,179,4848,0.00,2.72,12.90,1.029,6,0.000,0.056,3515,1820,2654,0,0,0,0,0,0
$GC,5137,2.28,95.2,773.6,8.4,187,5153,0.12,2.90,9.82,0.992,4,0.233,0.084,3543,3406,2612,0,0,0,0,0,0
$GC,5216,2.36,97.2,766.0,9.7,188,5222,0.00,2.80,0.00,0.000,6,0.000,0.067,3543,1818,2609,0,0,0,0,0,0
$GC,5468,2.46,104.9,743.2,8.9,195,5484,0.17,2.80,9.98,0.995,4,0.087,0.060,3582,3407,2572,0,0,0,0,0,0
$GC,5575,2.46,104.9,732.1,11.0,197,5579,0.00,2.80,0.00,0.000,6,0.000,0.061,3583,1825,2569,0,0,0,0,0,0
$GC,5836,2.46,104.9,705.2,10.3,204,5840,0.00,2.70,0.00,0.000,4,0.000,0.051,3583,3409,2567,0,0,0,0,0,0
$GC,5921,2.46,105.1,696.3,10.0,206,5926,0.00,2.78,0.00,0.000,6,0.000,0.061,3582,1829,2566,0,0,0,0,0,0
$GC,6204,2.46,106.2,667.6,9.9,213,6209,0.00,2.70,0.00,0.000,4,0.000,0.054,3582,3410,2564,0,0,0,0,0,0
$GC,6266,2.46,108.5,661.6,9.7,214,6271,0.00,2.78,0.00,0.000,6,0.000,0.065,3582,1829,2564,0,0,0,0,0,0
$GC,6526,2.46,108.5,635.6,10.0,221,6531,0.00,2.70,0.00,0.000,4,0.000,0.051,3582,3413,2563,0,0,0,0,0,0
$GC,6783,2.46,108.5,606.0,11.9,226,6789,0.00,2.75,0.00,0.000,6,0.000,0.064,3582,1841,2562,0,0,0,0,0,0
$GC,7033,2.46,108.5,580.1,10.3,233,7038,0.00,2.67,0.00,0.000,4,0.000,0.050,3582,3415,2561,0,0,0,0,0,0
$GC,7279,2.48,120.5,558.9,8.2,238,7299,0.00,2.67,13.18,0.966,6,0.000,0.064,3582,1875,2509,0,0,0,0,0,0
$GC,7585,2.53,120.5,529.6,10.4,246,7589,0.00,2.60,0.00,0.000,4,0.000,0.052,3583,3417,2505,0,0,0,0,0,0
$GC,7665,2.58,120.5,520.3,11.5,247,7671,0.12,2.67,0.00,0.000,6,0.113,0.058,3608,1882,2504,0,0,0,0,0,0
$GC,7914,2.58,120.5,492.5,11.1,254,7919,0.00,2.55,0.00,0.000,4,0.000,0.048,3608,3414,2504,0,0,0,0,0,0
$GC,8081,2.58,120.5,475.0,10.8,257,8085,0.00,2.60,0.00,0.000,6,0.000,0.054,3608,1903,2503,0,0,0,0,0,0
$GC,8330,2.58,120.5,447.4,11.1,263,8335,0.00,2.50,0.00,0.000,4,0.000,0.041,3608,3419,2502,0,0,0,0,0,0
$GC,8565,2.58,123.9,422.5,9.5,268,8569,0.00,2.53,0.00,0.000,6,0.000,0.046,3608,1930,2502,0,0,0,0,0,0
$GC,8832,2.59,130.7,398.4,9.0,275,8843,0.00,0.00,9.48,0.838,6,0.000,0.000,3608,1930,2468,0,0,0,0,0,0
$GC,9075,2.59,130.7,374.8,10.3,281,9080,0.00,2.45,0.00,0.000,4,0.000,0.042,3608,3417,2465,0,0,0,0,0,0
$GC,9092,2.59,130.7,373.1,10.3,281,9097,0.00,2.50,0.00,0.000,6,0.000,0.044,3607,1925,2464,0,0,0,0,0,0
$GC,9353,2.63,130.7,344.9,10.8,288,9358,0.00,2.45,0.00,0.000,4,0.000,0.040,3607,3418,2464,0,0,0,0,0,0
$GC,9375,2.63,130.7,342.6,10.6,288,9379,0.00,2.50,0.00,0.000,6,0.000,0.039,3608,1917,2464,0,0,0,0,0,0
$GC,9638,2.68,136.8,318.4,9.1,295,9653,0.10,2.55,6.53,0.718,4,0.110,0.039,3632,3427,2443,0,0,0,0,0,0
$GC,9907,2.68,136.8,293.4,10.2,301,9912,0.00,2.45,0.00,0.000,6,0.000,0.042,3632,1944,2442,0,0,0,0,0,0
$GC,10191,2.69,148.3,269.0,8.3,308,10205,0.00,0.00,11.75,0.760,6,0.000,0.000,3632,1944,2396,0,0,0,0,0,0
$GC,10479,2.69,148.3,239.5,10.2,315,10483,0.00,2.42,0.00,0.000,4,0.000,0.037,3632,3422,2393,0,0,0,0,0,0
$GC,10679,2.69,148.3,219.1,10.5,319,10683,0.00,2.45,0.00,0.000,6,0.000,0.036,3632,1934,2392,0,0,0,0,0,0
$GC,10935,2.75,163.2,197.6,7.8,326,10958,0.00,0.00,14.32,0.712,6,0.000,0.000,3632,1934,2334,0,0,0,0,0,0
$GC,11216,2.81,163.2,168.4,11.9,352,11221,0.12,2.45,0.00,0.000,4,0.093,0.038,3663,3419,2332,0,0,0,0,0,0
$GC,11470,2.81,166.5,140.4,9.5,373,11481,0.00,2.42,4.05,0.469,6,0.000,0.038,3663,1935,2322,0,0,0,0,0,0
$GC,11735,2.81,166.5,111.7,10.5,398,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,3663,1936,2322,0,0,0,0,0,0
$GC,11992,2.81,166.5,85.6,10.0,422,11996,0.00,2.38,0.00,0.000,4,0.000,0.038,3663,3419,2321,0,0,0,0,0,0
$GC,12187,2.82,171.9,67.5,9.2,437,12199,0.00,2.40,6.47,0.516,6,0.000,0.033,3663,1956,2301,0,0,0,0,0,0
$GC,12466,2.89,184.4,46.1,8.1,463,12483,0.00,2.38,12.62,0.557,4,0.000,0.031,3663,3420,2249,0,0,0,0,0,0
$GC,12534,2.93,184.4,39.2,10.7,468,12542,0.08,2.42,0.00,0.000,6,0.060,0.031,3689,1946,2248,0,0,0,0,0,0
$GC,12840,2.93,184.4,7.2,11.0,509,12849,0.00,2.40,0.00,0.000,4,0.000,0.038,3689,3418,2248,0,0,0,0,0,0
$GC,12860,2.93,184.4,5.0,10.9,511,12871,0.00,2.40,0.00,0.000,6,0.000,0.032,3689,1955,2248,0,0,0,0,0,0
$STATE,12879,end climb,SURFACE_DEPTH_REACHED
$STATE,12879,begin surface coast
$FINISH,0.5,0.975184
$STATE,12929,end surface coast,CONTROL_FINISHED_OK
$STATE,12929,begin surface
$SM_CCo,12952,188.73,0.542,0,0,1287,420.20
$SM_GC,1.19,0.00,0.00,188.73,0.000,0.000,0.542,475,1730,1287,-11.84,-1.13,420.20
$IRIDIUM_FIX,2239.35,-15757.16,060800,171744
$TT8_MAMPS,0.025311
$HUMID,52.32
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.90
$XPDR_PINGS,58
$24V_AH,23.2,3.532
$10V_AH,10.4,2.704
$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,30.325,159.300,235.925,188.725,0.000,79.173,154.348,277.159,14.500,0.000,14.315,1194.698,9075.039,541.041,2281.640,824.898,33.351,1474.723,0.000,2266.023,0.000,0.534,0.000
$DEVICE_MAMPS,233.168,136.526,1165.073,541.502,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.455,261.030,335.847,618.940,936.240,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,41674,520
$CAP_FILE_SIZE,135433,0
$CFSIZE,260165632,181055488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130511,213524,2247.428,-15757.307,24,0.9,41,10.1