version: 66.06
glider: 146
mission: 6
dive: 49
start: 5 17 111 5 40 29
data:
$ID,146
$MISSION,6
$DIVE,49
$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,-268325.91
$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,3090
$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,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,17
$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
$GPS1,053357,2248.659,-15803.261,24,99.0,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.1
$GPS2,053936,2248.692,-15803.250,14,1.2,24,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,0.234
$KALMAN_X,-41541.8,318.1,-155.9,30361.2,18.8
$KALMAN_Y,-81512.4,626.0,175.8,89582.6,-1683.4
$MHEAD_RNG_PITCHd_Wd,353.5,2460,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.10,0.000,2,0.000,0.000,480,1751,3324,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.3,-6.0,10,125,12.68,2.62,-2.92,0.000,4,0.171,0.039,2782,3369,3481,0,0,0,0,0,0
$GC,300,-1.22,-116.8,49.5,-19.1,32,306,0.20,2.55,0.00,0.000,6,0.123,0.029,2820,1782,3482,0,0,0,0,0,0
$GC,564,-1.12,-116.8,95.4,-16.2,56,569,0.12,2.53,0.00,0.000,4,0.133,0.029,2844,3371,3483,0,0,0,0,0,0
$GC,595,-1.12,-116.8,100.7,-16.0,58,599,0.00,2.55,0.00,0.000,6,0.000,0.028,2844,1773,3483,0,0,0,0,0,0
$GC,857,-1.12,-116.8,138.2,-14.1,82,861,0.00,2.70,0.00,0.000,4,0.000,0.067,2843,196,3485,0,0,0,0,0,0
$GC,878,-1.07,-116.8,140.8,-14.1,83,883,0.00,2.47,0.00,0.000,6,0.000,0.015,2844,1842,3485,0,0,0,0,0,0
$GC,1141,-1.07,-116.8,174.0,-11.3,107,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1843,3485,0,0,0,0,0,0
$GC,1425,-1.07,-116.8,205.1,-10.7,131,1429,0.00,2.40,0.00,0.000,4,0.000,0.034,2844,3375,3486,0,0,0,0,0,0
$GC,1448,-1.07,-116.8,207.6,-11.0,131,1452,0.00,2.55,0.00,0.000,6,0.000,0.028,2843,1777,3486,0,0,0,0,0,0
$GC,1702,-1.07,-116.8,236.6,-11.3,138,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1777,3486,0,0,0,0,0,0
$GC,1947,-1.07,-116.8,264.3,-11.4,144,1951,0.00,2.53,0.00,0.000,4,0.000,0.035,2844,3370,3486,0,0,0,0,0,0
$GC,2009,-1.12,-116.8,271.9,-11.8,145,2013,0.00,2.53,0.00,0.000,6,0.000,0.032,2844,1801,3486,0,0,0,0,0,0
$GC,2269,-1.12,-116.8,302.9,-11.8,152,2274,0.00,2.88,0.00,0.000,4,0.000,0.092,2843,187,3486,0,0,0,0,0,0
$GC,2291,-1.12,-116.8,305.4,-11.5,152,2296,0.00,2.58,0.00,0.000,6,0.000,0.028,2843,1814,3485,0,0,0,0,0,0
$GC,2546,-1.16,-116.8,333.1,-10.6,159,2551,0.00,2.50,0.00,0.000,4,0.000,0.047,2844,3353,3485,0,0,0,0,0,0
$GC,2587,-1.23,-116.8,337.1,-9.8,160,2591,0.00,2.58,0.00,0.000,6,0.000,0.042,2844,1801,3485,0,0,0,0,0,0
$GC,2871,-1.27,-116.8,363.6,-9.3,167,2876,0.12,2.53,0.00,0.000,4,0.079,0.042,2804,3352,3483,0,0,0,0,0,0
$GC,2915,-1.27,-116.8,369.0,-12.3,168,2920,0.00,2.58,0.00,0.000,6,0.000,0.054,2804,1807,3483,0,0,0,0,0,0
$GC,3193,-1.27,-116.8,400.7,-11.5,175,3198,0.00,2.53,0.00,0.000,4,0.000,0.042,2804,3344,3482,0,0,0,0,0,0
$GC,3284,-1.27,-116.8,411.7,-12.1,177,3288,0.00,2.60,0.00,0.000,6,0.000,0.055,2804,1812,3481,0,0,0,0,0,0
$GC,3561,-1.27,-116.8,445.3,-12.4,184,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1812,3480,0,0,0,0,0,0
$GC,3804,-1.27,-116.8,476.0,-12.7,190,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1812,3479,0,0,0,0,0,0
$GC,4049,-1.27,-116.8,504.3,-11.6,196,4054,0.00,2.60,0.00,0.000,4,0.000,0.069,2804,3337,3477,0,0,0,0,0,0
$GC,4076,-1.27,-116.8,507.5,-11.2,196,4081,0.00,2.65,0.00,0.000,6,0.000,0.068,2804,1805,3477,0,0,0,0,0,0
$GC,4326,-1.27,-116.8,533.0,-10.2,202,4330,0.00,2.65,0.00,0.000,4,0.000,0.066,2804,3337,3475,0,0,0,0,0,0
$GC,4347,-1.27,-116.8,535.2,-10.1,202,4351,0.00,2.67,0.00,0.000,6,0.000,0.069,2804,1800,3475,0,0,0,0,0,0
$GC,4604,-1.27,-116.8,559.3,-9.2,209,4609,0.00,2.65,0.00,0.000,4,0.000,0.075,2804,3334,3474,0,0,0,0,0,0
$GC,4626,-1.27,-116.8,561.5,-9.3,209,4630,0.00,2.67,0.00,0.000,6,0.000,0.074,2804,1813,3474,0,0,0,0,0,0
$GC,4881,-1.27,-116.8,583.3,-8.5,216,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1813,3472,0,0,0,0,0,0
$STATE,5081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5081,begin apogee
$GC,5088,-0.31,0.0,601.8,9.2,221,5189,1.00,0.00,97.32,1.010,6,0.097,0.000,3021,1907,3001,0,0,0,0,0,0
$STATE,5190,end apogee,CONTROL_FINISHED_OK
$STATE,5190,begin climb
$GC,5192,1.38,116.8,604.3,0.0,223,5303,1.62,3.28,101.78,0.983,4,0.067,0.137,3388,334,2523,0,0,0,0,0,0
$GC,5329,1.40,180.1,600.4,6.4,227,5391,0.00,2.75,55.80,0.963,6,0.000,0.062,3388,1913,2266,0,0,0,0,0,0
$GC,5652,1.45,217.1,575.6,7.9,235,5693,0.00,2.97,32.45,0.946,4,0.000,0.088,3388,3501,2115,0,0,0,0,0,0
$GC,5712,1.53,245.1,570.8,8.4,236,5746,0.15,2.83,26.20,0.927,6,0.077,0.068,3424,1916,2001,0,0,0,0,0,0
$GC,6026,1.53,245.1,535.6,11.5,244,6030,0.00,2.78,0.00,0.000,4,0.000,0.062,3424,3514,1993,0,0,0,0,0,0
$GC,6070,1.53,245.1,530.1,11.6,245,6075,0.00,2.83,0.00,0.000,6,0.000,0.066,3424,1921,1992,0,0,0,0,0,0
$GC,6347,1.53,245.1,497.8,11.6,252,6352,0.00,2.72,0.00,0.000,4,0.000,0.051,3424,3520,1990,0,0,0,0,0,0
$GC,6374,1.53,245.1,494.6,11.6,252,6378,0.00,2.78,0.00,0.000,6,0.000,0.059,3424,1934,1989,0,0,0,0,0,0
$GC,6625,1.53,245.1,466.6,11.2,258,6630,0.00,2.67,0.00,0.000,4,0.000,0.047,3424,3520,1988,0,0,0,0,0,0
$GC,6652,1.53,245.1,463.1,11.7,258,6656,0.00,2.72,0.00,0.000,6,0.000,0.060,3424,1942,1987,0,0,0,0,0,0
$GC,6902,1.53,245.1,435.5,11.0,264,6907,0.00,3.03,0.00,0.000,4,0.000,0.110,3424,331,1987,0,0,0,0,0,0
$GC,6928,1.53,245.1,432.2,12.4,264,6933,0.00,2.65,0.00,0.000,6,0.000,0.027,3424,1955,1986,0,0,0,0,0,0
$GC,7180,1.53,245.1,404.1,11.3,270,7184,0.00,2.60,0.00,0.000,4,0.000,0.052,3424,3514,1985,0,0,0,0,0,0
$GC,7240,1.53,245.1,396.7,11.9,271,7245,0.00,2.65,0.00,0.000,6,0.000,0.045,3424,1943,1984,0,0,0,0,0,0
$GC,7501,1.53,245.1,365.6,11.9,278,7506,0.00,2.58,0.00,0.000,4,0.000,0.038,3424,3506,1984,0,0,0,0,0,0
$GC,7536,1.53,245.1,361.4,12.6,278,7543,0.00,2.55,0.00,0.000,6,0.000,0.039,3424,1969,1983,0,0,0,0,0,0
$GC,7785,1.53,245.1,331.5,11.8,285,7790,0.00,2.53,0.00,0.000,4,0.000,0.038,3424,3505,1983,0,0,0,0,0,0
$GC,7835,1.57,245.1,325.3,11.7,286,7840,0.00,2.53,0.00,0.000,6,0.000,0.039,3424,1975,1983,0,0,0,0,0,0
$GC,8109,1.57,245.1,296.8,10.2,293,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1975,1983,0,0,0,0,0,0
$GC,8351,1.59,261.1,274.5,9.1,299,8366,0.00,0.00,12.48,0.754,6,0.000,0.000,3424,1975,1935,0,0,0,0,0,0
$GC,8596,1.64,264.3,251.2,9.8,305,8605,0.10,2.55,4.03,0.524,4,0.094,0.041,3452,3516,1923,0,0,0,0,0,0
$GC,8634,1.64,264.3,246.5,12.1,305,8640,0.00,2.50,0.00,0.000,6,0.000,0.035,3452,1982,1923,0,0,0,0,0,0
$GC,8884,1.64,264.3,219.1,10.6,312,8889,0.00,2.88,0.00,0.000,4,0.000,0.074,3452,333,1922,0,0,0,0,0,0
$GC,8918,1.60,264.3,215.2,12.2,312,8924,0.00,2.65,0.00,0.000,6,0.000,0.025,3452,2012,1921,0,0,0,0,0,0
$GC,9177,1.60,264.3,186.9,11.4,325,9181,0.00,2.42,0.00,0.000,4,0.000,0.041,3452,3509,1921,0,0,0,0,0,0
$GC,9221,1.60,264.3,181.0,12.4,328,9227,0.00,2.50,0.00,0.000,6,0.000,0.031,3452,1973,1920,0,0,0,0,0,0
$GC,9484,1.60,264.3,150.4,11.1,353,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1972,1920,0,0,0,0,0,0
$GC,9742,1.60,264.3,122.8,10.2,377,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1973,1920,0,0,0,0,0,0
$GC,10003,1.64,264.3,96.3,10.2,402,10008,0.00,2.78,0.00,0.000,4,0.000,0.067,3452,333,1920,0,0,0,0,0,0
$GC,10024,1.64,264.3,94.5,10.5,403,10029,0.00,2.65,0.00,0.000,6,0.000,0.021,3452,2035,1920,0,0,0,0,0,0
$GC,10293,1.68,265.1,67.2,10.0,427,10297,0.00,2.35,0.00,0.000,4,0.000,0.032,3452,3512,1920,0,0,0,0,0,0
$GC,10375,1.74,265.1,58.7,10.0,433,10379,0.00,2.45,0.00,0.000,6,0.000,0.030,3452,1976,1920,0,0,0,0,0,0
$GC,10644,1.82,275.4,33.1,9.4,457,10662,0.15,2.53,11.40,0.532,4,0.069,0.031,3496,3510,1877,0,0,0,0,0,0
$GC,10700,1.82,275.4,26.8,11.7,463,10709,0.00,2.47,0.00,0.000,6,0.000,0.030,3497,1995,1877,0,0,0,0,0,0
$STATE,10907,end climb,SURFACE_DEPTH_REACHED
$STATE,10907,begin surface coast
$FINISH,0.4,0.980229
$STATE,10950,end surface coast,CONTROL_FINISHED_OK
$STATE,10950,begin surface
$SM_CCo,10973,101.90,0.537,0,0,1370,400.08
$SM_GC,1.20,0.00,0.00,101.90,0.000,0.000,0.537,475,1736,1370,-12.03,-0.96,400.08
$IRIDIUM_FIX,2237.01,-15802.37,100800,020221
$TT8_MAMPS,0.026078
$HUMID,55.71
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.40
$XPDR_PINGS,50
$24V_AH,23.4,6.616
$10V_AH,10.4,5.445
$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,28.475,142.775,341.450,101.900,0.000,22.787,32.095,143.797,12.500,0.000,26.432,1034.521,7529.184,548.564,1825.235,475.672,33.359,1242.216,0.000,1820.543,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,136.526,1010.139,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.470,269.233,359.070,667.828,1009.997,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,38330,499
$CAP_FILE_SIZE,108206,0
$CFSIZE,260165632,179654656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,084630,2249.401,-15803.460,45,1.3,45,10.1