version: 66.06
glider: 146
mission: 6
dive: 30
start: 5 14 111 14 53 54
data:
$ID,146
$MISSION,6
$DIVE,30
$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,-267944.72
$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,48
$R_STBD_OVSHOOT,19
$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
$GPS1,144706,2247.201,-15803.400,23,1.8,23,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.0
$GPS2,145301,2247.138,-15803.405,19,2.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,0.227
$KALMAN_X,-29038.5,-610.5,-42.4,18411.3,-608.9
$KALMAN_Y,-54539.1,-285.9,96.0,60718.2,-1863.4
$MHEAD_RNG_PITCHd_Wd,4.7,5345,-19.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.60,0.000,2,0.000,0.000,475,1729,3302,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.6,10,126,12.75,2.67,-3.30,0.000,4,0.176,0.036,2752,3377,3480,0,0,0,0,0,0
$GC,265,-1.15,-116.8,44.3,-20.9,29,270,0.28,2.58,0.00,0.000,6,0.124,0.028,2804,1788,3482,0,0,0,0,0,0
$GC,533,-1.01,-116.8,90.3,-15.6,53,538,0.17,0.00,0.00,0.000,6,0.129,0.000,2838,1787,3482,0,0,0,0,0,0
$GC,794,-0.94,-116.8,125.2,-12.3,78,798,0.00,2.50,0.00,0.000,4,0.000,0.025,2838,3371,3483,0,0,0,0,0,0
$GC,816,-0.89,-116.8,127.2,-12.1,79,821,0.12,2.58,0.00,0.000,6,0.127,0.033,2862,1754,3484,0,0,0,0,0,0
$GC,1083,-0.89,-116.8,157.3,-10.8,103,1088,0.00,2.55,0.00,0.000,4,0.000,0.027,2862,3369,3484,0,0,0,0,0,0
$GC,1105,-0.89,-116.8,160.4,-10.0,104,1111,0.00,2.53,0.00,0.000,6,0.000,0.025,2862,1777,3484,0,0,0,0,0,0
$GC,1369,-0.89,-116.8,186.4,-10.3,129,1373,0.00,2.53,0.00,0.000,4,0.000,0.028,2862,3373,3484,0,0,0,0,0,0
$GC,1398,-0.94,-116.8,189.7,-10.8,131,1402,0.00,2.53,0.00,0.000,6,0.000,0.026,2862,1785,3484,0,0,0,0,0,0
$GC,1662,-0.94,-116.8,218.2,-10.8,144,1666,0.00,2.75,0.00,0.000,4,0.000,0.067,2862,197,3485,0,0,0,0,0,0
$GC,1689,-0.94,-116.8,221.4,-12.2,144,1694,0.00,2.53,0.00,0.000,6,0.000,0.017,2862,1841,3485,0,0,0,0,0,0
$GC,1939,-0.94,-116.8,247.7,-10.3,150,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1841,3485,0,0,0,0,0,0
$GC,2183,-0.98,-116.8,271.1,-9.3,156,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1841,3485,0,0,0,0,0,0
$GC,2428,-1.03,-116.8,292.8,-8.9,162,2434,0.12,2.92,0.00,0.000,4,0.082,0.074,2823,194,3485,0,0,0,0,0,0
$GC,2462,-0.99,-116.8,296.8,-12.1,162,2467,0.00,2.58,0.00,0.000,6,0.000,0.025,2823,1810,3485,0,0,0,0,0,0
$GC,2711,-0.99,-116.8,325.9,-11.9,169,2716,0.10,2.53,0.00,0.000,4,0.128,0.049,2843,3354,3484,0,0,0,0,0,0
$GC,2785,-1.05,-116.8,334.1,-11.1,170,2790,0.00,2.58,0.00,0.000,6,0.000,0.045,2843,1800,3484,0,0,0,0,0,0
$GC,3035,-1.09,-116.8,360.6,-10.5,176,3039,0.00,2.50,0.00,0.000,4,0.000,0.044,2843,3348,3483,0,0,0,0,0,0
$GC,3068,-1.14,-116.8,364.0,-10.4,176,3074,0.15,2.60,0.00,0.000,6,0.072,0.051,2798,1791,3483,0,0,0,0,0,0
$GC,3319,-1.10,-116.8,394.1,-12.2,183,3321,0.10,0.00,0.00,0.000,6,0.130,0.000,2818,1791,3482,0,0,0,0,0,0
$GC,3561,-1.10,-116.8,420.4,-10.8,189,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1791,3480,0,0,0,0,0,0
$GC,3805,-1.10,-116.8,445.8,-10.4,195,3809,0.00,2.60,0.00,0.000,4,0.000,0.054,2818,3346,3479,0,0,0,0,0,0
$GC,3845,-1.14,-116.8,449.8,-10.4,196,3850,0.00,2.65,0.00,0.000,6,0.000,0.060,2818,1806,3479,0,0,0,0,0,0
$GC,4129,-1.14,-116.8,476.9,-9.6,203,4133,0.00,2.55,0.00,0.000,4,0.000,0.050,2818,3341,3477,0,0,0,0,0,0
$GC,4184,-1.18,-116.8,481.8,-8.7,204,4188,0.00,2.65,0.00,0.000,6,0.000,0.067,2818,1804,3477,0,0,0,0,0,0
$GC,4451,-1.18,-116.8,504.7,-8.5,211,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1804,3475,0,0,0,0,0,0
$GC,4694,-1.18,-116.8,526.0,-8.9,217,4698,0.00,2.62,0.00,0.000,4,0.000,0.065,2818,3341,3474,0,0,0,0,0,0
$GC,4750,-1.23,-116.8,531.2,-9.2,218,4755,0.12,2.67,0.00,0.000,6,0.081,0.069,2782,1816,3473,0,0,0,0,0,0
$GC,5018,-1.19,-116.8,560.8,-11.3,225,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1816,3472,0,0,0,0,0,0
$GC,5260,-1.15,-116.8,589.8,-11.9,231,5265,0.12,2.72,0.00,0.000,4,0.255,0.079,2805,3337,3470,0,0,0,0,0,0
$GC,5310,-1.19,-116.8,595.6,-10.8,232,5315,0.00,2.72,0.00,0.000,6,0.000,0.084,2805,1816,3470,0,0,0,0,0,0
$STATE,5376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5376,begin apogee
$GC,5383,-0.31,0.0,602.7,10.7,234,5484,0.85,0.00,97.15,1.019,6,0.120,0.000,2987,1816,3001,0,0,0,0,0,0
$STATE,5484,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5487,1.38,116.8,606.8,0.0,236,5594,1.65,0.00,102.38,0.992,6,0.076,0.000,3357,1816,2524,0,0,0,0,0,0
$GC,5825,1.54,192.7,593.7,5.6,245,5899,0.17,2.85,65.72,0.984,4,0.077,0.076,3400,3385,2215,0,0,0,0,0,0
$GC,6001,1.54,192.7,577.4,10.3,249,6006,0.00,2.83,0.00,0.000,6,0.000,0.075,3400,1826,2210,0,0,0,0,0,0
$GC,6281,1.54,192.7,548.9,10.3,256,6285,0.00,2.72,0.00,0.000,4,0.000,0.058,3400,3393,2205,0,0,0,0,0,0
$GC,6319,1.54,192.7,544.5,11.3,257,6324,0.00,2.78,0.00,0.000,6,0.000,0.073,3400,1839,2204,0,0,0,0,0,0
$GC,6602,1.54,192.7,514.6,10.6,264,6607,0.00,2.67,0.00,0.000,4,0.000,0.055,3400,3397,2202,0,0,0,0,0,0
$GC,6682,1.54,192.7,505.8,10.9,265,6687,0.00,2.75,0.00,0.000,6,0.000,0.064,3400,1840,2201,0,0,0,0,0,0
$GC,6931,1.54,192.7,479.8,10.1,272,6936,0.00,2.62,0.00,0.000,4,0.000,0.053,3400,3392,2200,0,0,0,0,0,0
$GC,6987,1.55,198.5,474.3,9.7,273,6991,0.00,2.67,0.00,0.000,6,0.000,0.063,3400,1855,2199,0,0,0,0,0,0
$GC,7253,1.58,222.5,450.9,8.6,280,7284,0.00,2.65,25.10,0.925,4,0.000,0.049,3399,3397,2092,0,0,0,0,0,0
$GC,7338,1.64,223.1,443.0,10.0,282,7343,0.00,2.62,0.00,0.000,6,0.000,0.058,3400,1865,2089,0,0,0,0,0,0
$GC,7624,1.70,238.2,416.7,9.1,289,7644,0.12,2.60,14.18,0.871,4,0.087,0.040,3431,3396,2029,0,0,0,0,0,0
$GC,7666,1.70,238.2,412.0,10.7,290,7670,0.00,2.62,0.00,0.000,6,0.000,0.048,3431,1866,2028,0,0,0,0,0,0
$GC,7945,1.70,238.2,381.8,10.8,297,7949,0.00,2.55,0.00,0.000,4,0.000,0.038,3431,3404,2025,0,0,0,0,0,0
$GC,7968,1.70,238.2,379.2,11.6,297,7972,0.00,2.58,0.00,0.000,6,0.000,0.046,3431,1867,2024,0,0,0,0,0,0
$GC,8222,1.70,238.2,350.5,11.3,304,8227,0.00,2.53,0.00,0.000,4,0.000,0.040,3431,3399,2024,0,0,0,0,0,0
$GC,8312,1.70,238.2,340.0,11.6,306,8317,0.00,2.53,0.00,0.000,6,0.000,0.044,3431,1887,2023,0,0,0,0,0,0
$GC,8590,1.70,238.2,309.4,10.8,313,8594,0.00,2.45,0.00,0.000,4,0.000,0.039,3431,3397,2022,0,0,0,0,0,0
$GC,8623,1.70,238.2,305.6,10.9,313,8629,0.00,2.50,0.00,0.000,6,0.000,0.037,3431,1885,2022,0,0,0,0,0,0
$GC,8873,1.70,238.2,278.9,10.8,320,8877,0.00,2.47,0.00,0.000,4,0.000,0.038,3432,3400,2021,0,0,0,0,0,0
$GC,8917,1.73,238.2,273.9,11.3,321,8921,0.00,2.47,0.00,0.000,6,0.000,0.039,3432,1887,2021,0,0,0,0,0,0
$GC,9194,1.74,240.0,245.8,9.9,328,9199,0.00,2.45,0.00,0.000,4,0.000,0.036,3431,3406,2021,0,0,0,0,0,0
$GC,9221,1.74,240.0,242.8,11.4,328,9226,0.00,2.47,0.00,0.000,6,0.000,0.035,3432,1896,2021,0,0,0,0,0,0
$GC,9473,1.74,241.5,218.4,9.9,334,9477,0.00,2.45,0.00,0.000,4,0.000,0.039,3431,3400,2021,0,0,0,0,0,0
$GC,9528,1.79,241.5,212.7,10.1,335,9532,0.00,2.42,0.00,0.000,6,0.000,0.038,3432,1906,2020,0,0,0,0,0,0
$GC,9791,1.84,257.2,189.1,9.1,350,9816,0.12,2.95,16.85,0.705,4,0.091,0.070,3465,233,1951,0,0,0,0,0,0
$GC,9832,1.79,257.2,184.2,12.3,353,9838,0.00,2.70,0.00,0.000,6,0.000,0.020,3465,1926,1949,0,0,0,0,0,0
$GC,10096,1.79,257.2,154.6,11.6,378,10100,0.00,2.38,0.00,0.000,4,0.000,0.034,3465,3401,1948,0,0,0,0,0,0
$GC,10171,1.79,257.2,145.8,10.9,384,10175,0.00,2.42,0.00,0.000,6,0.000,0.035,3465,1907,1946,0,0,0,0,0,0
$GC,10435,1.79,257.2,116.1,11.6,408,10439,0.00,2.40,0.00,0.000,4,0.000,0.030,3465,3399,1946,0,0,0,0,0,0
$GC,10504,1.79,257.2,107.9,10.8,413,10510,0.00,2.40,0.00,0.000,6,0.000,0.034,3464,1920,1946,0,0,0,0,0,0
$GC,10770,1.79,257.2,78.4,11.3,438,10774,0.00,2.38,0.00,0.000,4,0.000,0.031,3465,3400,1946,0,0,0,0,0,0
$GC,10830,1.83,257.2,72.1,11.1,442,10834,0.00,2.40,0.00,0.000,6,0.000,0.032,3465,1919,1946,0,0,0,0,0,0
$GC,11098,1.90,277.6,46.5,8.8,466,11126,0.00,2.95,18.40,0.568,4,0.000,0.059,3465,231,1868,0,0,0,0,0,0
$GC,11145,1.90,279.8,41.9,9.9,469,11149,0.00,2.72,0.00,0.000,6,0.000,0.018,3465,1962,1867,0,0,0,0,0,0
$GC,11451,1.93,302.6,12.1,8.7,506,11478,0.00,2.33,22.12,0.537,4,0.000,0.028,3465,3406,1766,0,0,0,0,0,0
$GC,11517,1.98,302.6,6.0,10.2,514,11526,0.00,2.42,0.00,0.000,6,0.000,0.028,3465,1923,1763,0,0,0,0,0,0
$STATE,11534,end climb,SURFACE_DEPTH_REACHED
$STATE,11534,begin surface coast
$FINISH,0.4,0.980199
$STATE,11583,end surface coast,CONTROL_FINISHED_OK
$STATE,11583,begin surface
$SM_CCo,11606,77.95,0.533,0,0,1370,400.08
$SM_GC,1.27,0.00,0.00,77.95,0.000,0.000,0.533,477,1726,1370,-11.89,-1.22,400.08
$IRIDIUM_FIX,2239.35,-15802.37,070800,111110
$TT8_MAMPS,0.026078
$HUMID,55.47
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.90
$XPDR_PINGS,55
$24V_AH,23.3,4.283
$10V_AH,10.4,3.347
$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,29.325,155.625,361.900,77.950,0.000,24.401,34.414,153.799,13.750,0.000,31.766,1101.302,7916.492,537.336,1976.746,509.426,33.374,1310.731,0.000,1964.287,0.000,0.533,0.000
$DEVICE_MAMPS,255.411,83.603,1018.576,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.991,268.079,372.942,685.718,1037.205,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41534,523
$CAP_FILE_SIZE,119893,0
$CFSIZE,260165632,180715520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140511,181027,2247.734,-15803.591,46,2.6,65,10.1