version: 66.06
glider: 146
mission: 6
dive: 51
start: 5 17 111 12 18 42
data:
$ID,146
$MISSION,6
$DIVE,51
$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,-268391.03
$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,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,37
$R_STBD_OVSHOOT,21
$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
$GPS1,121151,2249.701,-15803.759,62,99.0,81,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.2
$GPS2,121749,2249.651,-15803.766,13,1.1,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,0.154
$KALMAN_X,-43242.8,191.3,41.2,31104.8,-1413.3
$KALMAN_Y,-84134.3,-210.9,-156.8,95142.1,-1810.7
$MHEAD_RNG_PITCHd_Wd,38.8,11566,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-83.62,0.000,6,0.000,0.000,478,1748,3479,0,0,0,0,0,0
$GC,106,-1.38,-116.8,4.6,-9.3,11,124,12.82,2.60,0.00,0.000,4,0.176,0.027,2781,3376,3481,0,0,0,0,0,0
$GC,188,-1.21,-116.8,31.3,-20.6,22,198,0.17,2.62,0.00,0.000,6,0.108,0.031,2820,1778,3482,0,0,0,0,0,0
$GC,454,-1.10,-116.8,76.2,-15.3,47,464,0.15,0.00,0.00,0.000,6,0.129,0.000,2848,1777,3483,0,0,0,0,0,0
$GC,717,-1.06,-116.8,111.2,-12.2,72,721,0.00,2.53,0.00,0.000,4,0.000,0.031,2849,3372,3484,0,0,0,0,0,0
$GC,745,-1.06,-116.8,114.9,-11.9,74,750,0.00,2.58,0.00,0.000,6,0.000,0.031,2849,1762,3484,0,0,0,0,0,0
$GC,1009,-1.06,-116.8,146.0,-11.9,98,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1761,3485,0,0,0,0,0,0
$GC,1260,-1.06,-116.8,175.4,-12.4,122,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1761,3486,0,0,0,0,0,0
$GC,1515,-1.06,-116.8,206.0,-12.5,143,1519,0.00,2.55,0.00,0.000,4,0.000,0.034,2849,3373,3486,0,0,0,0,0,0
$GC,1558,-1.09,-116.8,211.8,-12.0,144,1563,0.00,2.58,0.00,0.000,6,0.000,0.035,2849,1770,3486,0,0,0,0,0,0
$GC,1836,-1.09,-116.8,245.4,-11.7,151,1840,0.00,2.75,0.00,0.000,4,0.000,0.082,2849,196,3486,0,0,0,0,0,0
$GC,1863,-1.09,-116.8,248.6,-11.8,151,1868,0.00,2.45,0.00,0.000,6,0.000,0.018,2848,1789,3486,0,0,0,0,0,0
$GC,2113,-1.09,-116.8,274.4,-10.2,157,2117,0.00,2.50,0.00,0.000,4,0.000,0.035,2849,3346,3486,0,0,0,0,0,0
$GC,2198,-1.16,-116.8,282.4,-9.1,159,2202,0.00,2.58,0.00,0.000,6,0.000,0.041,2849,1771,3487,0,0,0,0,0,0
$GC,2483,-1.21,-116.8,306.7,-8.5,166,2487,0.00,2.83,0.00,0.000,4,0.000,0.092,2848,190,3486,0,0,0,0,0,0
$GC,2498,-1.21,-116.8,308.4,-8.5,166,2504,0.10,2.50,0.00,0.000,6,0.089,0.028,2816,1774,3486,0,0,0,0,0,0
$GC,2759,-1.21,-116.8,335.4,-10.5,173,2764,0.00,2.58,0.00,0.000,4,0.000,0.044,2816,3346,3485,0,0,0,0,0,0
$GC,2804,-1.21,-116.8,340.4,-11.7,174,2809,0.00,2.60,0.00,0.000,6,0.000,0.047,2816,1795,3485,0,0,0,0,0,0
$GC,3081,-1.21,-116.8,370.7,-11.1,181,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1795,3484,0,0,0,0,0,0
$GC,3325,-1.21,-116.8,396.9,-10.6,187,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1795,3483,0,0,0,0,0,0
$GC,3571,-1.21,-116.8,420.8,-9.6,193,3575,0.00,2.58,0.00,0.000,4,0.000,0.051,2816,3349,3481,0,0,0,0,0,0
$GC,3615,-1.25,-116.8,425.4,-9.5,194,3619,0.00,2.65,0.00,0.000,6,0.000,0.058,2816,1796,3480,0,0,0,0,0,0
$GC,3892,-1.25,-116.8,452.0,-9.7,201,3897,0.00,2.58,0.00,0.000,4,0.000,0.051,2816,3342,3479,0,0,0,0,0,0
$GC,3915,-1.25,-116.8,454.4,-9.9,201,3920,0.00,2.65,0.00,0.000,6,0.000,0.061,2816,1808,3479,0,0,0,0,0,0
$GC,4171,-1.25,-116.8,481.1,-10.7,208,4176,0.00,3.10,0.00,0.000,4,0.000,0.117,2816,182,3477,0,0,0,0,0,0
$GC,4186,-1.25,-116.8,483.0,-11.2,208,4191,0.00,2.65,0.00,0.000,6,0.000,0.038,2815,1798,3477,0,0,0,0,0,0
$GC,4448,-1.25,-116.8,511.8,-11.1,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1798,3476,0,0,0,0,0,0
$GC,4691,-1.25,-116.8,538.1,-10.6,221,4695,0.00,2.72,0.00,0.000,4,0.000,0.076,2816,3361,3475,0,0,0,0,0,0
$GC,4711,-1.25,-116.8,540.5,-10.8,221,4716,0.00,2.72,0.00,0.000,6,0.000,0.066,2816,1801,3474,0,0,0,0,0,0
$GC,4967,-1.25,-116.8,565.1,-9.5,228,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1801,3473,0,0,0,0,0,0
$GC,5212,-1.25,-116.8,587.9,-9.3,234,5216,0.00,2.75,0.00,0.000,4,0.000,0.081,2816,3358,3471,0,0,0,0,0,0
$GC,5233,-1.25,-116.8,590.1,-9.3,234,5238,0.00,2.78,0.00,0.000,6,0.000,0.081,2816,1808,3471,0,0,0,0,0,0
$STATE,5364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5364,begin apogee
$GC,5370,-0.31,0.0,602.8,9.5,238,5471,0.95,0.00,97.53,1.014,6,0.098,0.000,3020,1923,3001,0,0,0,0,0,0
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5476,1.38,116.8,605.9,0.0,240,5582,1.62,0.00,102.18,0.988,6,0.062,0.000,3388,1923,2524,0,0,0,0,0,0
$GC,5811,1.45,171.7,589.0,6.8,249,5865,0.00,2.90,47.70,0.968,4,0.000,0.075,3387,3497,2300,0,0,0,0,0,0
$GC,5897,1.45,178.9,581.7,9.6,251,5912,0.00,2.83,8.00,0.809,6,0.000,0.070,3387,1926,2270,0,0,0,0,0,0
$GC,6185,1.49,178.9,552.1,10.1,258,6191,0.12,2.78,0.00,0.000,4,0.086,0.066,3420,3501,2264,0,0,0,0,0,0
$GC,6225,1.49,178.9,547.6,11.5,259,6230,0.00,2.75,0.00,0.000,6,0.000,0.064,3420,1934,2263,0,0,0,0,0,0
$GC,6509,1.49,178.9,517.6,10.2,266,6513,0.00,2.67,0.00,0.000,4,0.000,0.053,3419,3509,2261,0,0,0,0,0,0
$GC,6564,1.49,178.9,511.3,11.2,267,6568,0.00,2.75,0.00,0.000,6,0.000,0.064,3420,1935,2260,0,0,0,0,0,0
$GC,6830,1.49,178.9,484.5,10.1,274,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1935,2259,0,0,0,0,0,0
$GC,7075,1.51,192.2,461.6,9.2,280,7094,0.00,2.67,11.25,0.860,4,0.000,0.045,3419,3512,2216,0,0,0,0,0,0
$GC,7139,1.52,201.3,456.0,9.5,281,7154,0.00,2.70,9.48,0.826,6,0.000,0.057,3420,1948,2180,0,0,0,0,0,0
$GC,7401,1.55,227.1,433.8,8.5,287,7427,0.00,0.00,24.30,0.896,6,0.000,0.000,3420,1948,2075,0,0,0,0,0,0
$GC,7643,1.57,241.0,411.3,9.2,293,7662,0.00,2.67,13.45,0.842,4,0.000,0.044,3419,3507,2017,0,0,0,0,0,0
$GC,7686,1.57,241.0,407.0,10.1,294,7691,0.00,2.65,0.00,0.000,6,0.000,0.051,3420,1956,2015,0,0,0,0,0,0
$GC,7970,1.57,241.0,377.5,10.5,301,7975,0.00,2.58,0.00,0.000,4,0.000,0.042,3419,3509,2013,0,0,0,0,0,0
$GC,8019,1.57,241.0,371.5,11.6,302,8024,0.00,2.58,0.00,0.000,6,0.000,0.041,3420,1969,2012,0,0,0,0,0,0
$GC,8291,1.57,241.0,341.8,10.9,309,8296,0.00,2.92,0.00,0.000,4,0.000,0.080,3419,336,2011,0,0,0,0,0,0
$GC,8314,1.57,241.0,339.4,11.3,309,8318,0.00,2.65,0.00,0.000,6,0.000,0.025,3420,1981,2010,0,0,0,0,0,0
$GC,8568,1.57,241.0,313.5,10.0,316,8573,0.00,2.53,0.00,0.000,4,0.000,0.048,3419,3510,2009,0,0,0,0,0,0
$GC,8602,1.61,243.2,310.0,9.9,316,8607,0.00,2.53,0.00,0.000,6,0.000,0.039,3420,1967,2009,0,0,0,0,0,0
$GC,8853,1.62,252.0,285.9,9.5,323,8865,0.10,0.00,10.07,0.744,6,0.103,0.000,3446,1968,1973,0,0,0,0,0,0
$GC,9095,1.62,252.0,260.8,10.2,329,9099,0.00,2.83,0.00,0.000,4,0.000,0.076,3445,341,1970,0,0,0,0,0,0
$GC,9110,1.63,260.3,259.2,9.5,329,9125,0.00,2.62,8.68,0.705,6,0.000,0.023,3445,2005,1940,0,0,0,0,0,0
$GC,9377,1.63,260.3,231.0,11.1,336,9381,0.00,2.47,0.00,0.000,4,0.000,0.044,3445,3516,1937,0,0,0,0,0,0
$GC,9392,1.63,260.3,229.0,11.4,336,9397,0.00,2.50,0.00,0.000,6,0.000,0.032,3445,1976,1936,0,0,0,0,0,0
$GC,9659,1.63,260.3,197.7,11.8,343,9664,0.00,2.50,0.00,0.000,4,0.000,0.040,3446,3511,1935,0,0,0,0,0,0
$GC,9703,1.63,260.3,193.0,11.9,346,9707,0.00,2.47,0.00,0.000,6,0.000,0.032,3445,1991,1935,0,0,0,0,0,0
$GC,9970,1.63,260.3,162.8,11.4,370,9975,0.00,2.45,0.00,0.000,4,0.000,0.039,3445,3512,1935,0,0,0,0,0,0
$GC,10003,1.63,260.3,158.3,11.2,372,10013,0.00,2.47,0.00,0.000,6,0.000,0.031,3445,2001,1935,0,0,0,0,0,0
$GC,10271,1.63,260.3,130.3,10.2,397,10276,0.00,2.85,0.00,0.000,4,0.000,0.067,3445,338,1935,0,0,0,0,0,0
$GC,10326,1.63,260.3,124.0,10.9,401,10330,0.00,2.65,0.00,0.000,6,0.000,0.023,3445,2035,1934,0,0,0,0,0,0
$GC,10594,1.71,290.0,98.8,8.3,425,10628,0.00,2.45,26.58,0.630,4,0.000,0.034,3445,3505,1817,0,0,0,0,0,0
$GC,10682,1.78,292.6,90.2,9.9,432,10690,0.10,2.47,0.00,0.000,6,0.048,0.031,3480,2001,1815,0,0,0,0,0,0
$GC,10949,1.78,292.6,61.3,11.5,457,10953,0.00,2.45,0.00,0.000,4,0.000,0.031,3480,3514,1814,0,0,0,0,0,0
$GC,10994,1.78,292.6,55.4,12.3,460,10998,0.00,2.42,0.00,0.000,6,0.000,0.029,3480,2013,1814,0,0,0,0,0,0
$GC,11270,1.78,292.6,25.4,10.6,487,11279,0.00,2.88,0.00,0.000,4,0.000,0.059,3480,338,1814,0,0,0,0,0,0
$GC,11296,1.78,292.6,21.8,11.8,490,11305,0.00,2.70,0.00,0.000,6,0.000,0.018,3480,2054,1814,0,0,0,0,0,0
$STATE,11456,end climb,SURFACE_DEPTH_REACHED
$STATE,11456,begin surface coast
$FINISH,0.6,0.980225
$STATE,11507,end surface coast,CONTROL_FINISHED_OK
$STATE,11507,begin surface
$SM_CCo,11531,89.22,0.540,0,0,1370,400.08
$SM_GC,1.13,0.00,0.00,89.22,0.000,0.000,0.540,478,1730,1370,-12.02,-1.13,400.08
$IRIDIUM_FIX,2239.35,-15802.37,100800,090942
$TT8_MAMPS,0.026078
$HUMID,56.77
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.10
$XPDR_PINGS,48
$24V_AH,23.4,6.866
$10V_AH,10.4,5.666
$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,28.425,148.425,359.200,89.225,0.000,28.348,33.795,150.517,12.000,0.000,32.119,1066.138,7984.094,560.581,1873.181,495.404,33.364,1286.428,0.000,1858.460,0.000,0.534,0.000
$DEVICE_MAMPS,175.643,116.584,1013.974,539.968,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.920,267.639,367.210,673.333,1018.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41507,520
$CAP_FILE_SIZE,112673,0
$CFSIZE,260165632,179535872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,153325,2250.024,-15803.254,10,1.4,21,10.1