version: 66.06
glider: 146
mission: 6
dive: 27
start: 5 14 111 5 10 34
data:
$ID,146
$MISSION,6
$DIVE,27
$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,-267852
$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,38
$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
$GPS1,050327,2247.100,-15800.350,31,99.0,50,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.7
$GPS2,050938,2247.055,-15800.333,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.094,0.215
$KALMAN_X,-27616.3,699.6,297.1,20568.7,-1233.1
$KALMAN_Y,-47885.0,28.7,180.0,53517.1,-2633.5
$MHEAD_RNG_PITCHd_Wd,326.3,4555,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.53,0.000,2,0.000,0.000,475,1738,3306,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.2,-4.7,10,125,12.60,2.67,-3.20,0.000,4,0.173,0.040,2748,3378,3480,0,0,0,0,0,0
$GC,325,-1.16,-116.8,59.9,-20.2,34,330,0.28,2.58,0.00,0.000,6,0.124,0.031,2803,1781,3482,0,0,0,0,0,0
$GC,589,-1.00,-116.8,104.8,-16.3,58,594,0.17,2.58,0.00,0.000,4,0.130,0.030,2836,3382,3483,0,0,0,0,0,0
$GC,612,-0.89,-116.8,108.2,-16.1,59,617,0.12,2.60,0.00,0.000,6,0.131,0.027,2861,1769,3483,0,0,0,0,0,0
$GC,879,-0.89,-116.8,143.6,-12.8,83,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1768,3484,0,0,0,0,0,0
$GC,1140,-0.89,-116.8,174.4,-10.9,108,1144,0.00,2.55,0.00,0.000,4,0.000,0.026,2862,3373,3484,0,0,0,0,0,0
$GC,1197,-0.95,-116.8,179.6,-9.7,112,1201,0.00,2.55,0.00,0.000,6,0.000,0.032,2862,1782,3484,0,0,0,0,0,0
$GC,1475,-0.95,-116.8,210.9,-12.1,132,1480,0.00,2.75,0.00,0.000,4,0.000,0.072,2861,192,3485,0,0,0,0,0,0
$GC,1502,-0.95,-116.8,214.5,-12.6,132,1506,0.00,2.50,0.00,0.000,6,0.000,0.016,2861,1842,3485,0,0,0,0,0,0
$GC,1753,-0.95,-116.8,242.1,-10.8,138,1758,0.00,2.83,0.00,0.000,4,0.000,0.069,2861,195,3485,0,0,0,0,0,0
$GC,1768,-0.95,-116.8,243.7,-9.7,138,1773,0.00,2.53,0.00,0.000,6,0.000,0.017,2861,1825,3485,0,0,0,0,0,0
$GC,2030,-0.99,-116.8,269.1,-9.8,145,2034,0.00,2.47,0.00,0.000,4,0.000,0.036,2861,3370,3485,0,0,0,0,0,0
$GC,2059,-1.06,-116.8,272.0,-10.2,145,2064,0.12,2.58,0.00,0.000,6,0.080,0.035,2819,1780,3485,0,0,0,0,0,0
$GC,2309,-1.06,-116.8,299.7,-11.1,151,2313,0.00,2.58,0.00,0.000,4,0.000,0.035,2819,3370,3485,0,0,0,0,0,0
$GC,2324,-1.06,-116.8,301.5,-10.7,151,2328,0.00,2.58,0.00,0.000,6,0.000,0.034,2819,1790,3485,0,0,0,0,0,0
$GC,2586,-1.06,-116.8,330.4,-11.3,158,2591,0.00,2.58,0.00,0.000,4,0.000,0.038,2819,3374,3485,0,0,0,0,0,0
$GC,2626,-1.06,-116.8,335.0,-11.0,159,2630,0.00,2.62,0.00,0.000,6,0.000,0.045,2819,1801,3484,0,0,0,0,0,0
$GC,2908,-1.06,-116.8,367.4,-11.4,166,2913,0.00,2.97,0.00,0.000,4,0.000,0.097,2819,181,3483,0,0,0,0,0,0
$GC,2929,-1.06,-116.8,370.1,-11.7,166,2934,0.00,2.62,0.00,0.000,6,0.000,0.034,2819,1813,3483,0,0,0,0,0,0
$GC,3186,-1.06,-116.8,398.7,-11.1,173,3190,0.00,2.55,0.00,0.000,4,0.000,0.051,2819,3353,3482,0,0,0,0,0,0
$GC,3218,-1.06,-116.8,402.5,-11.1,173,3224,0.00,2.62,0.00,0.000,6,0.000,0.056,2819,1801,3482,0,0,0,0,0,0
$GC,3468,-1.06,-116.8,428.6,-10.4,180,3472,0.00,2.55,0.00,0.000,4,0.000,0.048,2819,3351,3481,0,0,0,0,0,0
$GC,3546,-1.09,-116.8,436.9,-10.1,181,3552,0.00,2.62,0.00,0.000,6,0.000,0.064,2819,1823,3480,0,0,0,0,0,0
$GC,3796,-1.09,-116.8,461.8,-9.8,188,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1822,3479,0,0,0,0,0,0
$GC,4040,-1.09,-116.8,486.4,-10.3,194,4044,0.00,2.58,0.00,0.000,4,0.000,0.058,2819,3348,3477,0,0,0,0,0,0
$GC,4085,-1.14,-116.8,490.8,-10.4,195,4089,0.00,2.62,0.00,0.000,6,0.000,0.067,2819,1833,3477,0,0,0,0,0,0
$GC,4362,-1.14,-116.8,519.9,-10.7,202,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1833,3475,0,0,0,0,0,0
$GC,4605,-1.14,-116.8,545.7,-10.6,208,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1833,3473,0,0,0,0,0,0
$GC,4851,-1.14,-116.8,569.8,-9.8,214,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1833,3472,0,0,0,0,0,0
$GC,5093,-1.14,-116.8,593.8,-9.8,220,5098,0.00,2.70,0.00,0.000,4,0.000,0.090,2819,3342,3470,0,0,0,0,0,0
$GC,5121,-1.19,-116.8,596.4,-9.7,220,5125,0.00,2.72,0.00,0.000,6,0.000,0.083,2819,1831,3470,0,0,0,0,0,0
$STATE,5165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5165,begin apogee
$GC,5170,-0.31,0.0,600.8,9.5,221,5270,0.80,0.00,96.85,1.019,6,0.112,0.000,2990,1830,3001,0,0,0,0,0,0
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5275,1.38,116.8,604.3,0.0,223,5381,1.65,0.00,102.05,0.992,6,0.071,0.000,3357,1830,2523,0,0,0,0,0,0
$GC,5612,1.56,208.5,592.8,4.7,232,5701,0.17,2.83,79.50,0.980,4,0.078,0.076,3400,3392,2149,0,0,0,0,0,0
$GC,5735,1.59,235.1,583.9,8.5,235,5765,0.00,2.83,23.95,0.933,6,0.000,0.073,3400,1836,2042,0,0,0,0,0,0
$GC,6021,1.59,235.1,555.6,10.4,242,6025,0.00,2.72,0.00,0.000,4,0.000,0.066,3400,3394,2034,0,0,0,0,0,0
$GC,6066,1.64,235.1,550.7,11.3,243,6070,0.00,2.78,0.00,0.000,6,0.000,0.067,3400,1835,2032,0,0,0,0,0,0
$GC,6343,1.64,235.1,520.9,10.7,250,6347,0.00,2.67,0.00,0.000,4,0.000,0.054,3400,3396,2030,0,0,0,0,0,0
$GC,6375,1.68,235.1,517.0,11.5,250,6382,0.10,2.75,0.00,0.000,6,0.104,0.065,3424,1835,2029,0,0,0,0,0,0
$GC,6626,1.68,235.1,487.2,12.1,257,6631,0.00,2.65,0.00,0.000,4,0.000,0.051,3424,3401,2028,0,0,0,0,0,0
$GC,6676,1.68,235.1,480.8,12.6,258,6680,0.00,2.70,0.00,0.000,6,0.000,0.059,3424,1841,2028,0,0,0,0,0,0
$GC,6954,1.68,235.1,448.5,11.5,265,6959,0.00,2.62,0.00,0.000,4,0.000,0.050,3424,3404,2027,0,0,0,0,0,0
$GC,7033,1.68,235.1,439.6,11.3,266,7039,0.00,2.67,0.00,0.000,6,0.000,0.059,3424,1855,2026,0,0,0,0,0,0
$GC,7283,1.68,235.1,413.9,10.1,273,7287,0.00,2.58,0.00,0.000,4,0.000,0.040,3424,3403,2026,0,0,0,0,0,0
$GC,7354,1.68,235.1,406.6,10.1,274,7359,0.00,2.58,0.00,0.000,6,0.000,0.047,3424,1881,2025,0,0,0,0,0,0
$GC,7605,1.69,243.5,382.9,9.5,280,7613,0.00,0.00,5.72,0.707,6,0.000,0.000,3423,1881,2007,0,0,0,0,0,0
$GC,7848,1.70,244.6,359.0,9.9,286,7853,0.00,2.50,0.00,0.000,4,0.000,0.036,3424,3401,2006,0,0,0,0,0,0
$GC,7889,1.70,244.6,354.8,10.8,287,7894,0.00,2.58,0.00,0.000,6,0.000,0.044,3424,1869,2005,0,0,0,0,0,0
$GC,8173,1.70,244.6,324.8,10.4,294,8178,0.00,2.53,0.00,0.000,4,0.000,0.041,3424,3407,2005,0,0,0,0,0,0
$GC,8195,1.70,244.6,322.3,10.7,294,8199,0.00,2.53,0.00,0.000,6,0.000,0.038,3424,1887,2005,0,0,0,0,0,0
$GC,8451,1.71,257.4,298.5,9.3,301,8470,0.00,2.55,13.80,0.786,4,0.000,0.035,3424,3396,1950,0,0,0,0,0,0
$GC,8580,1.76,257.4,285.6,10.0,303,8585,0.00,2.47,0.00,0.000,6,0.000,0.041,3424,1905,1949,0,0,0,0,0,0
$GC,8830,1.77,262.5,261.3,9.7,310,8837,0.00,0.00,5.88,0.637,6,0.000,0.000,3424,1905,1930,0,0,0,0,0,0
$GC,9075,1.81,262.5,236.4,10.4,316,9080,0.12,2.45,0.00,0.000,4,0.084,0.034,3458,3403,1928,0,0,0,0,0,0
$GC,9152,1.81,262.5,226.7,12.4,317,9158,0.00,2.42,0.00,0.000,6,0.000,0.038,3458,1931,1926,0,0,0,0,0,0
$GC,9402,1.81,262.5,198.4,11.1,324,9407,0.00,2.40,0.00,0.000,4,0.000,0.040,3458,3406,1927,0,0,0,0,0,0
$GC,9438,1.81,262.5,194.5,11.3,326,9443,0.00,2.42,0.00,0.000,6,0.000,0.040,3458,1928,1926,0,0,0,0,0,0
$GC,9700,1.81,262.5,166.0,11.3,351,9705,0.00,2.92,0.00,0.000,4,0.000,0.071,3458,236,1926,0,0,0,0,0,0
$GC,9721,1.81,262.5,163.8,11.9,352,9726,0.00,2.70,0.00,0.000,6,0.000,0.025,3458,1958,1926,0,0,0,0,0,0
$GC,9985,1.81,262.5,135.1,10.2,376,9989,0.00,2.33,0.00,0.000,4,0.000,0.035,3458,3411,1926,0,0,0,0,0,0
$GC,10061,1.86,265.7,127.0,9.8,382,10071,0.00,2.40,3.85,0.439,6,0.000,0.038,3458,1948,1917,0,0,0,0,0,0
$GC,10325,1.86,265.7,101.5,10.1,407,10330,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1948,1917,0,0,0,0,0,0
$GC,10590,1.89,292.1,75.0,8.5,432,10621,0.00,2.42,24.33,0.604,4,0.000,0.030,3458,3404,1809,0,0,0,0,0,0
$GC,10683,1.96,292.1,66.2,10.4,439,10688,0.12,2.33,0.00,0.000,6,0.083,0.030,3493,1973,1807,0,0,0,0,0,0
$GC,10948,1.96,292.1,37.8,11.1,463,10952,0.00,2.30,0.00,0.000,4,0.000,0.029,3492,3407,1806,0,0,0,0,0,0
$GC,10970,1.96,292.1,35.2,11.8,464,10974,0.00,2.33,0.00,0.000,6,0.000,0.030,3493,1968,1806,0,0,0,0,0,0
$STATE,11232,end climb,SURFACE_DEPTH_REACHED
$STATE,11232,begin surface coast
$FINISH,0.5,0.975834
$STATE,11268,end surface coast,CONTROL_FINISHED_OK
$STATE,11268,begin surface
$SM_CCo,11291,88.00,0.541,0,0,1370,400.08
$SM_GC,1.25,0.00,0.00,88.00,0.000,0.000,0.541,476,1738,1370,-11.89,-0.88,400.08
$IRIDIUM_FIX,2239.35,-15800.20,070800,020240
$TT8_MAMPS,0.026078
$HUMID,55.15
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.80
$XPDR_PINGS,52
$24V_AH,23.3,3.925
$10V_AH,10.4,3.026
$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,28.625,145.375,355.925,88.000,0.000,29.944,33.423,182.236,13.000,0.000,15.726,1052.792,7788.396,546.055,1850.853,516.190,33.357,1264.755,0.000,1848.065,0.000,0.533,0.000
$DEVICE_MAMPS,172.575,96.642,1018.576,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.270,255.847,356.976,645.441,976.149,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38179,504
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