version: 66.06
glider: 146
mission: 6
dive: 44
start: 5 16 111 13 8 14
data:
$ID,146
$MISSION,6
$DIVE,44
$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,-268200.03
$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,3080
$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,42
$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
$GPS1,130134,2247.094,-15757.005,12,6.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.0
$GPS2,130719,2247.079,-15757.027,10,1.9,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.040
$KALMAN_X,-38775.4,247.3,-436.8,38570.2,-304.9
$KALMAN_Y,-73923.4,-479.2,-592.1,80880.8,-529.5
$MHEAD_RNG_PITCHd_Wd,269.8,10200,-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,-78.53,0.000,2,0.000,0.000,480,1746,3333,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.4,-5.7,10,125,12.90,2.65,-2.65,0.000,4,0.179,0.040,2770,3378,3481,0,0,0,0,0,0
$GC,398,-1.21,-116.8,67.8,-16.9,40,403,0.22,2.58,0.00,0.000,6,0.125,0.027,2814,1780,3483,0,0,0,0,0,0
$GC,661,-1.09,-116.8,110.3,-15.5,64,667,0.12,2.75,0.00,0.000,4,0.138,0.071,2838,190,3483,0,0,0,0,0,0
$GC,685,-0.96,-116.8,113.8,-16.0,65,690,0.15,2.50,0.00,0.000,6,0.133,0.019,2867,1843,3483,0,0,0,0,0,0
$GC,952,-0.96,-116.8,148.0,-11.6,89,957,0.00,2.83,0.00,0.000,4,0.000,0.067,2867,194,3484,0,0,0,0,0,0
$GC,969,-0.96,-116.8,150.6,-11.1,90,973,0.00,2.47,0.00,0.000,6,0.000,0.015,2867,1845,3484,0,0,0,0,0,0
$GC,1232,-0.96,-116.8,176.7,-9.3,114,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1846,3485,0,0,0,0,0,0
$GC,1495,-1.00,-116.8,205.3,-11.6,136,1500,0.00,2.85,0.00,0.000,4,0.000,0.067,2867,196,3485,0,0,0,0,0,0
$GC,1527,-1.00,-116.8,209.6,-12.5,136,1533,0.00,2.47,0.00,0.000,6,0.000,0.015,2867,1821,3485,0,0,0,0,0,0
$GC,1779,-1.05,-116.8,235.3,-10.0,143,1783,0.00,2.47,0.00,0.000,4,0.000,0.030,2867,3380,3486,0,0,0,0,0,0
$GC,1818,-1.13,-116.8,239.2,-8.9,144,1824,0.15,2.60,0.00,0.000,6,0.067,0.035,2821,1769,3486,0,0,0,0,0,0
$GC,2102,-1.13,-116.8,270.5,-11.3,151,2106,0.00,2.58,0.00,0.000,4,0.000,0.031,2821,3373,3486,0,0,0,0,0,0
$GC,2135,-1.13,-116.8,274.2,-11.0,151,2141,0.00,2.60,0.00,0.000,6,0.000,0.035,2821,1780,3486,0,0,0,0,0,0
$GC,2385,-1.13,-116.8,303.5,-11.9,158,2389,0.00,2.58,0.00,0.000,4,0.000,0.038,2821,3371,3486,0,0,0,0,0,0
$GC,2424,-1.13,-116.8,308.4,-12.3,159,2428,0.00,2.60,0.00,0.000,6,0.000,0.045,2820,1795,3486,0,0,0,0,0,0
$GC,2708,-1.13,-116.8,341.7,-11.3,166,2712,0.00,2.58,0.00,0.000,4,0.000,0.044,2821,3370,3485,0,0,0,0,0,0
$GC,2792,-1.13,-116.8,351.8,-10.8,168,2796,0.00,2.65,0.00,0.000,6,0.000,0.054,2821,1798,3485,0,0,0,0,0,0
$GC,3075,-1.13,-116.8,381.0,-9.9,175,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1798,3483,0,0,0,0,0,0
$GC,3319,-1.13,-116.8,406.5,-10.6,181,3324,0.00,2.60,0.00,0.000,4,0.000,0.050,2821,3367,3482,0,0,0,0,0,0
$GC,3369,-1.17,-116.8,412.3,-11.1,182,3374,0.00,2.67,0.00,0.000,6,0.000,0.058,2821,1809,3482,0,0,0,0,0,0
$GC,3641,-1.17,-116.8,441.2,-10.6,189,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1810,3480,0,0,0,0,0,0
$GC,3886,-1.17,-116.8,466.6,-10.3,195,3890,0.00,2.62,0.00,0.000,4,0.000,0.058,2820,3367,3479,0,0,0,0,0,0
$GC,3930,-1.22,-116.8,471.2,-10.0,196,3934,0.00,2.70,0.00,0.000,6,0.000,0.069,2820,1815,3479,0,0,0,0,0,0
$GC,4207,-1.22,-116.8,496.0,-9.0,203,4212,0.00,2.62,0.00,0.000,4,0.000,0.057,2821,3360,3476,0,0,0,0,0,0
$GC,4230,-1.22,-116.8,498.2,-9.5,203,4235,0.00,2.70,0.00,0.000,6,0.000,0.067,2821,1818,3477,0,0,0,0,0,0
$GC,4485,-1.22,-116.8,522.8,-9.8,210,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1817,3475,0,0,0,0,0,0
$GC,4729,-1.22,-116.8,546.8,-9.9,216,4733,0.00,2.70,0.00,0.000,4,0.000,0.075,2821,3359,3473,0,0,0,0,0,0
$GC,4780,-1.27,-116.8,551.9,-9.8,217,4784,0.00,2.70,0.00,0.000,6,0.000,0.073,2821,1827,3473,0,0,0,0,0,0
$GC,5052,-1.27,-116.8,577.7,-9.5,224,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1827,3471,0,0,0,0,0,0
$GC,5295,-1.27,-116.8,599.9,-9.1,230,5299,0.00,2.08,0.00,0.000,3,0.000,0.081,2821,3021,3470,0,0,0,0,0,0
$STATE,5300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5300,begin apogee
$GC,5309,-0.31,0.0,600.5,9.1,230,5409,0.85,0.00,96.75,1.021,6,0.102,0.000,3006,1815,3001,0,0,0,0,0,0
$STATE,5410,end apogee,CONTROL_FINISHED_OK
$STATE,5410,begin climb
$GC,5412,1.38,116.8,604.2,0.0,232,5525,1.65,3.38,101.10,0.992,4,0.065,0.147,3378,237,2523,0,0,0,0,0,0
$GC,5559,1.41,180.4,600.1,6.3,235,5622,0.00,2.78,55.95,0.972,6,0.000,0.058,3378,1822,2264,0,0,0,0,0,0
$GC,5866,1.45,209.5,575.7,8.3,243,5897,0.00,2.90,25.58,0.945,4,0.000,0.087,3378,3403,2146,0,0,0,0,0,0
$GC,6017,1.52,209.5,561.9,10.1,246,6022,0.15,2.80,0.00,0.000,6,0.085,0.071,3414,1839,2140,0,0,0,0,0,0
$GC,6278,1.52,209.5,532.1,11.6,253,6282,0.00,2.72,0.00,0.000,4,0.000,0.058,3414,3413,2138,0,0,0,0,0,0
$GC,6350,1.52,209.5,523.3,12.1,254,6355,0.00,2.75,0.00,0.000,6,0.000,0.069,3414,1863,2137,0,0,0,0,0,0
$GC,6600,1.52,209.5,496.5,10.2,260,6604,0.00,2.62,0.00,0.000,4,0.000,0.056,3414,3412,2136,0,0,0,0,0,0
$GC,6651,1.54,223.3,491.9,9.2,261,6670,0.00,2.70,12.18,0.875,6,0.000,0.059,3414,1870,2089,0,0,0,0,0,0
$GC,6928,1.56,238.6,466.9,9.1,268,6948,0.00,2.65,14.62,0.885,4,0.000,0.050,3414,3422,2028,0,0,0,0,0,0
$GC,6986,1.56,238.6,460.7,10.5,269,6991,0.00,2.67,0.00,0.000,6,0.000,0.061,3414,1885,2026,0,0,0,0,0,0
$GC,7248,1.56,238.6,431.2,11.8,276,7253,0.00,2.55,0.00,0.000,4,0.000,0.044,3414,3417,2024,0,0,0,0,0,0
$GC,7281,1.56,238.6,427.0,12.0,276,7289,0.00,2.62,0.00,0.000,6,0.000,0.052,3414,1885,2023,0,0,0,0,0,0
$GC,7532,1.56,238.6,400.6,10.2,283,7536,0.00,2.53,0.00,0.000,4,0.000,0.042,3414,3415,2022,0,0,0,0,0,0
$GC,7553,1.58,253.7,398.6,9.1,283,7572,0.00,2.58,14.43,0.848,6,0.000,0.048,3414,1896,1965,0,0,0,0,0,0
$GC,7858,1.60,272.2,370.5,8.9,291,7882,0.00,2.60,17.62,0.838,4,0.000,0.040,3414,3418,1890,0,0,0,0,0,0
$GC,7975,1.68,274.7,359.0,9.9,293,7981,0.12,2.55,0.00,0.000,6,0.093,0.041,3446,1908,1888,0,0,0,0,0,0
$GC,8231,1.68,274.7,328.7,12.1,300,8235,0.00,2.50,0.00,0.000,4,0.000,0.038,3446,3424,1886,0,0,0,0,0,0
$GC,8280,1.68,274.7,321.8,13.4,301,8284,0.00,2.50,0.00,0.000,6,0.000,0.038,3446,1921,1885,0,0,0,0,0,0
$GC,8553,1.68,274.7,285.8,13.1,308,8558,0.00,2.45,0.00,0.000,4,0.000,0.038,3446,3416,1884,0,0,0,0,0,0
$GC,8638,1.68,274.7,275.4,12.2,310,8642,0.00,2.45,0.00,0.000,6,0.000,0.035,3446,1930,1883,0,0,0,0,0,0
$GC,8922,1.68,274.7,245.2,10.4,317,8926,0.00,2.42,0.00,0.000,4,0.000,0.032,3446,3417,1883,0,0,0,0,0,0
$GC,8944,1.68,274.7,242.7,10.4,317,8948,0.00,2.45,0.00,0.000,6,0.000,0.035,3446,1929,1883,0,0,0,0,0,0
$GC,9199,1.68,274.7,216.4,10.5,324,9203,0.00,2.42,0.00,0.000,4,0.000,0.032,3446,3422,1883,0,0,0,0,0,0
$GC,9242,1.68,274.7,211.1,12.6,325,9246,0.00,2.40,0.00,0.000,6,0.000,0.039,3446,1948,1883,0,0,0,0,0,0
$GC,9508,1.68,274.7,182.1,10.4,342,9513,0.00,3.00,0.00,0.000,4,0.000,0.069,3446,230,1882,0,0,0,0,0,0
$GC,9530,1.68,274.7,179.4,11.1,343,9536,0.00,2.80,0.00,0.000,6,0.000,0.025,3446,2008,1882,0,0,0,0,0,0
$GC,9792,1.68,274.7,149.7,11.1,368,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2009,1881,0,0,0,0,0,0
$GC,10046,1.68,274.7,123.3,10.0,392,10050,0.00,2.25,0.00,0.000,4,0.000,0.032,3446,3422,1881,0,0,0,0,0,0
$GC,10075,1.72,274.7,120.4,10.5,394,10079,0.00,2.38,0.00,0.000,6,0.000,0.031,3446,1944,1881,0,0,0,0,0,0
$GC,10348,1.77,274.7,90.9,11.5,419,10352,0.00,2.38,0.00,0.000,4,0.000,0.036,3446,3426,1881,0,0,0,0,0,0
$GC,10382,1.82,274.7,86.8,12.0,421,10387,0.12,2.38,0.00,0.000,6,0.078,0.031,3481,1954,1881,0,0,0,0,0,0
$GC,10646,1.82,274.7,55.0,10.4,445,10651,0.00,2.35,0.00,0.000,4,0.000,0.029,3481,3425,1881,0,0,0,0,0,0
$GC,10705,1.82,282.2,49.6,9.6,449,10720,0.00,2.35,9.05,0.526,6,0.000,0.031,3481,1968,1849,0,0,0,0,0,0
$GC,10988,1.82,282.2,23.5,10.5,478,10997,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1968,1849,0,0,0,0,0,0
$STATE,11197,end climb,SURFACE_DEPTH_REACHED
$STATE,11197,begin surface coast
$FINISH,0.5,0.979802
$STATE,11240,end surface coast,CONTROL_FINISHED_OK
$STATE,11240,begin surface
$SM_CCo,11263,96.18,0.535,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,96.18,0.000,0.000,0.535,476,1740,1369,-11.98,-0.85,400.08
$IRIDIUM_FIX,2241.69,-15757.16,090800,101024
$TT8_MAMPS,0.026078
$HUMID,55.47
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.60
$XPDR_PINGS,54
$24V_AH,23.4,5.994
$10V_AH,10.4,4.897
$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,28.725,150.575,347.275,96.175,0.000,27.328,37.560,151.635,13.500,0.000,17.003,1092.713,7597.062,512.297,2006.619,499.113,33.369,1303.697,0.000,1994.961,0.000,0.534,0.000
$DEVICE_MAMPS,179.478,147.264,1020.877,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.850,269.132,368.270,680.549,1029.246,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41532,514
$CAP_FILE_SIZE,116490,0
$CFSIZE,260165632,179924992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,161855,2246.687,-15759.071,41,2.0,41,10.1