version: 66.06
glider: 146
mission: 6
dive: 26
start: 5 14 111 1 58 32
data:
$ID,146
$MISSION,6
$DIVE,26
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$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,400
$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,-267835.66
$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,3060
$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,9
$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
$GPS1,015138,2247.484,-15758.994,37,1.9,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.8
$GPS2,015738,2247.467,-15759.025,10,1.2,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,0.125
$KALMAN_X,-27612.4,640.2,211.5,22945.4,-889.1
$KALMAN_Y,-45772.5,261.4,85.4,52023.0,-1912.1
$MHEAD_RNG_PITCHd_Wd,292.0,6843,-19.8,-10.000
$D_GRID,600
$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,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.68,0.000,6,0.000,0.000,477,1853,3480,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.7,11,126,12.68,2.88,0.00,0.000,4,0.175,0.054,2749,171,3482,0,0,0,0,0,0
$GC,291,-1.07,-116.8,60.0,-25.3,30,297,0.38,2.55,0.00,0.000,6,0.120,0.015,2823,1820,3483,0,0,0,0,0,0
$GC,555,-0.95,-116.8,106.0,-17.2,54,560,0.12,2.38,0.00,0.000,4,0.132,0.031,2847,3328,3485,0,0,0,0,0,0
$GC,577,-0.89,-116.8,109.5,-16.6,55,581,0.00,2.55,0.00,0.000,6,0.000,0.027,2847,1746,3484,0,0,0,0,0,0
$GC,845,-0.85,-116.8,148.8,-13.9,79,850,0.12,2.50,0.00,0.000,4,0.133,0.026,2871,3336,3485,0,0,0,0,0,0
$GC,888,-0.90,-116.8,154.5,-11.0,82,893,0.00,2.50,0.00,0.000,6,0.000,0.031,2871,1768,3486,0,0,0,0,0,0
$GC,1155,-0.90,-116.8,183.1,-10.8,106,1159,0.00,2.50,0.00,0.000,4,0.000,0.025,2872,3336,3486,0,0,0,0,0,0
$GC,1172,-0.90,-116.8,185.6,-11.5,107,1176,0.00,2.50,0.00,0.000,6,0.000,0.025,2871,1764,3486,0,0,0,0,0,0
$GC,1458,-0.95,-116.8,220.3,-12.2,122,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1764,3487,0,0,0,0,0,0
$GC,1702,-1.01,-116.8,249.4,-11.7,128,1707,0.12,2.53,0.00,0.000,4,0.079,0.037,2831,3324,3487,0,0,0,0,0,0
$GC,1735,-1.01,-116.8,253.4,-12.0,128,1741,0.00,2.50,0.00,0.000,6,0.000,0.028,2831,1781,3487,0,0,0,0,0,0
$GC,1985,-1.01,-116.8,282.2,-11.5,135,1989,0.00,2.50,0.00,0.000,4,0.000,0.035,2831,3331,3487,0,0,0,0,0,0
$GC,2002,-1.01,-116.8,284.2,-11.2,135,2006,0.00,2.53,0.00,0.000,6,0.000,0.033,2831,1771,3487,0,0,0,0,0,0
$GC,2263,-1.01,-116.8,312.0,-10.7,142,2267,0.00,2.53,0.00,0.000,4,0.000,0.036,2831,3325,3487,0,0,0,0,0,0
$GC,2307,-1.04,-116.8,317.0,-10.6,143,2311,0.00,2.55,0.00,0.000,6,0.000,0.041,2831,1790,3487,0,0,0,0,0,0
$GC,2584,-1.04,-116.8,347.1,-10.7,150,2588,0.00,2.50,0.00,0.000,4,0.000,0.036,2831,3319,3486,0,0,0,0,0,0
$GC,2606,-1.04,-116.8,349.5,-10.5,150,2611,0.00,2.58,0.00,0.000,6,0.000,0.048,2831,1793,3486,0,0,0,0,0,0
$GC,2861,-1.04,-116.8,377.4,-11.0,157,2865,0.00,2.50,0.00,0.000,4,0.000,0.046,2831,3323,3485,0,0,0,0,0,0
$GC,2882,-1.04,-116.8,379.8,-10.6,157,2886,0.00,2.55,0.00,0.000,6,0.000,0.051,2831,1803,3485,0,0,0,0,0,0
$GC,3139,-1.04,-116.8,408.6,-11.5,164,3143,0.00,2.47,0.00,0.000,4,0.000,0.042,2831,3317,3483,0,0,0,0,0,0
$GC,3166,-1.09,-116.8,412.0,-11.9,164,3170,0.00,2.55,0.00,0.000,6,0.000,0.053,2831,1811,3483,0,0,0,0,0,0
$GC,3416,-1.09,-116.8,439.8,-11.0,170,3420,0.00,2.55,0.00,0.000,4,0.000,0.051,2831,3323,3481,0,0,0,0,0,0
$GC,3477,-1.15,-116.8,446.6,-11.2,171,3482,0.00,2.60,0.00,0.000,6,0.000,0.061,2831,1817,3481,0,0,0,0,0,0
$GC,3739,-1.18,-116.8,472.6,-9.9,178,3745,0.12,3.12,0.00,0.000,4,0.074,0.115,2790,180,3480,0,0,0,0,0,0
$GC,3755,-1.18,-116.8,474.7,-10.2,178,3760,0.00,2.62,0.00,0.000,6,0.000,0.041,2790,1782,3479,0,0,0,0,0,0
$GC,4018,-1.15,-116.8,504.5,-11.5,185,4022,0.00,2.67,0.00,0.000,4,0.000,0.070,2790,3355,3478,0,0,0,0,0,0
$GC,4050,-1.15,-116.8,508.5,-11.3,185,4056,0.00,2.65,0.00,0.000,6,0.000,0.064,2790,1825,3477,0,0,0,0,0,0
$GC,4300,-1.15,-116.8,535.9,-11.3,192,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1825,3476,0,0,0,0,0,0
$GC,4543,-1.15,-116.8,562.1,-10.7,198,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1825,3475,0,0,0,0,0,0
$GC,4788,-1.15,-116.8,587.9,-10.5,204,4793,0.00,2.75,0.00,0.000,4,0.000,0.085,2790,3353,3473,0,0,0,0,0,0
$GC,4809,-1.15,-116.8,590.4,-10.9,204,4814,0.00,2.72,0.00,0.000,6,0.000,0.085,2790,1837,3473,0,0,0,0,0,0
$STATE,4900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4900,begin apogee
$GC,4905,-0.31,0.0,600.1,10.5,207,5006,0.93,0.00,97.30,1.019,6,0.103,0.000,2987,1837,3001,0,0,0,0,0,0
$STATE,5007,end apogee,CONTROL_FINISHED_OK
$STATE,5007,begin climb
$GC,5011,1.38,116.8,603.5,0.0,209,5123,1.65,3.35,101.05,0.989,4,0.068,0.137,3357,240,2522,0,0,0,0,0,0
$GC,5162,1.44,169.3,598.4,7.0,212,5213,0.00,2.75,45.97,0.964,6,0.000,0.054,3357,1818,2310,0,0,0,0,0,0
$GC,5460,1.56,200.2,575.5,8.2,219,5495,0.17,2.92,27.42,0.943,4,0.079,0.083,3401,3397,2183,0,0,0,0,0,0
$GC,5586,1.56,200.2,561.3,12.0,221,5591,0.00,2.80,0.00,0.000,6,0.000,0.072,3401,1833,2179,0,0,0,0,0,0
$GC,5835,1.56,200.2,533.4,11.2,228,5840,0.00,2.72,0.00,0.000,4,0.000,0.060,3400,3409,2175,0,0,0,0,0,0
$GC,5868,1.56,200.2,529.5,11.0,228,5874,0.00,2.75,0.00,0.000,6,0.000,0.062,3401,1846,2175,0,0,0,0,0,0
$GC,6118,1.56,200.2,503.6,10.2,235,6123,0.00,2.67,0.00,0.000,4,0.000,0.053,3401,3416,2173,0,0,0,0,0,0
$GC,6140,1.57,204.8,501.4,9.7,235,6145,0.00,2.75,0.00,0.000,6,0.000,0.063,3401,1850,2172,0,0,0,0,0,0
$GC,6395,1.58,217.3,477.5,9.3,242,6415,0.00,2.70,14.55,0.890,4,0.000,0.048,3401,3413,2114,0,0,0,0,0,0
$GC,6461,1.63,217.3,471.1,10.2,243,6466,0.00,2.70,0.00,0.000,6,0.000,0.061,3401,1870,2112,0,0,0,0,0,0
$GC,6717,1.63,217.3,443.3,11.0,250,6721,0.00,2.58,0.00,0.000,4,0.000,0.042,3400,3419,2110,0,0,0,0,0,0
$GC,6732,1.63,217.3,441.5,11.4,250,6737,0.00,2.65,0.00,0.000,6,0.000,0.049,3401,1872,2109,0,0,0,0,0,0
$GC,6994,1.66,217.3,413.4,10.6,257,6999,0.10,2.60,0.00,0.000,4,0.103,0.044,3425,3425,2108,0,0,0,0,0,0
$GC,7084,1.67,221.1,404.1,9.8,259,7089,0.00,2.62,0.00,0.000,6,0.000,0.044,3425,1876,2107,0,0,0,0,0,0
$GC,7362,1.69,239.4,379.0,8.9,266,7387,0.00,2.58,20.25,0.860,4,0.000,0.041,3425,3415,2023,0,0,0,0,0,0
$GC,7439,1.69,239.4,370.7,11.6,267,7444,0.00,2.58,0.00,0.000,6,0.000,0.048,3425,1894,2020,0,0,0,0,0,0
$GC,7688,1.69,239.4,342.6,11.2,274,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1894,2019,0,0,0,0,0,0
$GC,7932,1.71,250.5,318.5,9.4,280,7948,0.00,2.53,10.65,0.766,4,0.000,0.035,3425,3414,1978,0,0,0,0,0,0
$GC,7999,1.71,254.9,311.9,9.7,281,8010,0.00,2.50,5.43,0.638,6,0.000,0.042,3425,1911,1961,0,0,0,0,0,0
$GC,8254,1.73,269.8,288.6,9.1,287,8271,0.00,0.00,14.65,0.767,6,0.000,0.000,3425,1910,1901,0,0,0,0,0,0
$GC,8498,1.77,269.8,264.4,10.3,293,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1910,1897,0,0,0,0,0,0
$GC,8743,1.81,269.8,234.8,12.6,299,8748,0.12,2.50,0.00,0.000,4,0.083,0.036,3460,3425,1896,0,0,0,0,0,0
$GC,8837,1.81,269.8,221.3,13.7,301,8842,0.00,2.53,0.00,0.000,6,0.000,0.039,3460,1892,1895,0,0,0,0,0,0
$GC,9094,1.81,269.8,192.0,10.6,312,9098,0.00,2.50,0.00,0.000,4,0.000,0.037,3460,3427,1894,0,0,0,0,0,0
$GC,9114,1.81,269.8,189.9,11.3,313,9118,0.00,2.50,0.00,0.000,6,0.000,0.036,3460,1904,1894,0,0,0,0,0,0
$GC,9380,1.83,285.2,161.8,9.1,337,9401,0.00,2.55,14.07,0.660,4,0.000,0.039,3460,3423,1837,0,0,0,0,0,0
$GC,9462,1.83,285.2,152.2,11.7,344,9466,0.00,2.45,0.00,0.000,6,0.000,0.038,3460,1927,1835,0,0,0,0,0,0
$GC,9724,1.83,285.2,123.2,10.6,368,9728,0.00,2.42,0.00,0.000,4,0.000,0.038,3460,3427,1834,0,0,0,0,0,0
$GC,9770,1.83,285.2,118.7,11.5,371,9774,0.00,2.45,0.00,0.000,6,0.000,0.032,3461,1924,1834,0,0,0,0,0,0
$GC,10036,1.84,295.3,91.2,9.4,395,10051,0.00,2.45,9.93,0.568,4,0.000,0.031,3460,3421,1796,0,0,0,0,0,0
$GC,10069,1.85,297.6,88.2,9.9,397,10074,0.00,2.42,0.00,0.000,6,0.000,0.030,3460,1933,1796,0,0,0,0,0,0
$GC,10336,1.89,300.7,63.3,9.8,421,10350,0.00,2.42,5.93,0.484,4,0.000,0.028,3460,3413,1776,0,0,0,0,0,0
$GC,10431,1.96,300.7,53.5,10.7,428,10436,0.12,2.40,0.00,0.000,6,0.083,0.031,3497,1934,1775,0,0,0,0,0,0
$GC,10712,1.96,300.7,21.1,12.0,457,10722,0.00,2.92,0.00,0.000,4,0.000,0.058,3496,230,1775,0,0,0,0,0,0
$GC,10754,1.90,300.7,16.0,12.9,462,10763,0.00,2.78,0.00,0.000,6,0.000,0.019,3497,1993,1774,0,0,0,0,0,0
$STATE,10853,end climb,SURFACE_DEPTH_REACHED
$STATE,10853,begin surface coast
$FINISH,0.5,0.974630
$STATE,10898,end surface coast,CONTROL_FINISHED_OK
$STATE,10898,begin surface
$SM_CCo,10920,81.15,0.539,0,0,1369,400.08
$SM_GC,1.20,0.00,0.00,81.15,0.000,0.000,0.539,475,1738,1369,-11.90,-0.90,400.08
$IRIDIUM_FIX,2237.01,-15758.03,060800,212116
$TT8_MAMPS,0.026078
$HUMID,54.84
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,22.00
$XPDR_PINGS,53
$24V_AH,23.3,3.801
$10V_AH,10.4,2.920
$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,29.025,156.775,367.200,81.150,0.000,30.015,39.631,154.791,13.250,0.000,12.397,1026.138,7492.532,533.637,1793.599,513.939,33.366,1265.471,0.000,1795.380,0.000,0.535,0.000
$DEVICE_MAMPS,174.876,136.526,1019.343,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.437,240.788,339.532,619.892,937.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38326,482
$CAP_FILE_SIZE,115089,0
$CFSIZE,260165632,180953088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,050327,2247.100,-15800.350,31,99.0,50,10.1