version: 66.06
glider: 146
mission: 6
dive: 54
start: 5 17 111 22 15 55
data:
$ID,146
$MISSION,6
$DIVE,54
$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,-268466.47
$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,63
$R_STBD_OVSHOOT,32
$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
$GPS1,220907,2250.248,-15800.180,31,1.1,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.0
$GPS2,221501,2250.261,-15800.206,13,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.092
$KALMAN_X,-44581.8,-209.8,311.2,38655.3,-659.3
$KALMAN_Y,-87035.9,159.3,205.5,98444.3,-1276.4
$MHEAD_RNG_PITCHd_Wd,56.7,5494,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.68,0.000,2,0.000,0.000,479,1730,3350,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-6.9,10,126,12.75,2.65,-2.38,0.000,4,0.173,0.041,2780,3349,3481,0,0,0,0,0,0
$GC,157,-1.10,-116.8,22.0,-26.0,17,166,0.30,2.53,0.00,0.000,6,0.107,0.028,2845,1802,3483,0,0,0,0,0,0
$GC,437,-1.03,-116.8,66.6,-14.5,45,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1802,3483,0,0,0,0,0,0
$GC,699,-0.99,-116.8,103.3,-13.6,70,701,0.12,0.00,0.00,0.000,6,0.127,0.000,2870,1801,3485,0,0,0,0,0,0
$GC,952,-0.99,-116.8,133.3,-12.1,94,956,0.00,2.45,0.00,0.000,4,0.000,0.033,2870,3357,3485,0,0,0,0,0,0
$GC,982,-1.03,-116.8,136.7,-12.3,96,987,0.00,2.55,0.00,0.000,6,0.000,0.028,2870,1762,3485,0,0,0,0,0,0
$GC,1245,-1.07,-116.8,167.8,-12.2,120,1249,0.00,2.53,0.00,0.000,4,0.000,0.027,2870,3361,3486,0,0,0,0,0,0
$GC,1268,-1.12,-116.8,170.1,-12.1,121,1273,0.10,2.53,0.00,0.000,6,0.086,0.028,2833,1776,3486,0,0,0,0,0,0
$GC,1560,-1.12,-116.8,205.3,-11.3,145,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1776,3486,0,0,0,0,0,0
$GC,1803,-1.12,-116.8,232.0,-10.9,151,1807,0.00,2.53,0.00,0.000,4,0.000,0.031,2833,3364,3487,0,0,0,0,0,0
$GC,1825,-1.12,-116.8,234.5,-11.4,151,1829,0.00,2.58,0.00,0.000,6,0.000,0.031,2833,1776,3487,0,0,0,0,0,0
$GC,2079,-1.12,-116.8,265.0,-12.1,158,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1776,3487,0,0,0,0,0,0
$GC,2323,-1.12,-116.8,293.6,-11.8,164,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1776,3487,0,0,0,0,0,0
$GC,2567,-1.12,-116.8,319.9,-10.6,170,2571,0.00,2.55,0.00,0.000,4,0.000,0.039,2833,3353,3486,0,0,0,0,0,0
$GC,2589,-1.12,-116.8,322.0,-9.8,170,2594,0.00,2.62,0.00,0.000,6,0.000,0.044,2833,1777,3486,0,0,0,0,0,0
$GC,2844,-1.12,-116.8,346.0,-9.4,177,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1777,3485,0,0,0,0,0,0
$GC,3088,-1.12,-116.8,369.7,-9.6,183,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1777,3484,0,0,0,0,0,0
$GC,3331,-1.12,-116.8,393.6,-10.0,189,3336,0.00,2.92,0.00,0.000,4,0.000,0.104,2833,185,3483,0,0,0,0,0,0
$GC,3354,-1.12,-116.8,396.0,-10.6,189,3358,0.00,2.55,0.00,0.000,6,0.000,0.028,2833,1772,3483,0,0,0,0,0,0
$GC,3609,-1.16,-116.8,422.6,-10.5,196,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1772,3481,0,0,0,0,0,0
$GC,3852,-1.20,-116.8,449.1,-10.9,202,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1771,3480,0,0,0,0,0,0
$GC,4097,-1.25,-116.8,474.9,-10.5,208,4102,0.00,2.67,0.00,0.000,4,0.000,0.064,2833,3349,3479,0,0,0,0,0,0
$GC,4137,-1.32,-116.8,479.5,-11.0,209,4142,0.12,2.72,0.00,0.000,6,0.081,0.061,2795,1769,3479,0,0,0,0,0,0
$GC,4420,-1.32,-116.8,511.9,-11.5,216,4425,0.00,2.70,0.00,0.000,4,0.000,0.061,2794,3349,3477,0,0,0,0,0,0
$GC,4488,-1.32,-116.8,519.6,-11.5,217,4493,0.00,2.75,0.00,0.000,6,0.000,0.072,2795,1776,3477,0,0,0,0,0,0
$GC,4743,-1.32,-116.8,547.0,-10.8,224,4747,0.00,2.72,0.00,0.000,4,0.000,0.071,2795,3342,3475,0,0,0,0,0,0
$GC,4775,-1.32,-116.8,550.6,-11.0,224,4781,0.00,2.75,0.00,0.000,6,0.000,0.071,2794,1780,3475,0,0,0,0,0,0
$GC,5026,-1.32,-116.8,577.6,-10.9,231,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1780,3473,0,0,0,0,0,0
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5273,-0.31,0.0,603.0,10.3,237,5373,1.02,0.00,97.25,1.019,6,0.094,0.000,3017,1918,3001,0,0,0,0,0,0
$STATE,5374,end apogee,CONTROL_FINISHED_OK
$STATE,5374,begin climb
$GC,5377,1.38,116.8,605.8,0.0,239,5490,1.62,3.33,99.62,1.002,4,0.069,0.131,3386,330,2522,0,0,0,0,0,0
$GC,5502,1.46,181.4,601.8,6.3,242,5563,0.00,2.78,55.72,0.976,6,0.000,0.055,3387,1914,2261,0,0,0,0,0,0
$GC,5825,1.46,181.4,570.9,10.1,250,5829,0.00,2.88,0.00,0.000,4,0.000,0.082,3387,3504,2251,0,0,0,0,0,0
$GC,5851,1.46,181.4,567.9,11.1,250,5856,0.00,2.80,0.00,0.000,6,0.000,0.064,3386,1920,2249,0,0,0,0,0,0
$GC,6102,1.51,190.3,543.9,9.5,256,6117,0.12,2.85,6.85,0.790,4,0.091,0.060,3418,3513,2225,0,0,0,0,0,0
$GC,6174,1.51,190.3,536.3,10.5,257,6178,0.00,2.78,0.00,0.000,6,0.000,0.061,3418,1926,2223,0,0,0,0,0,0
$GC,6429,1.51,193.7,510.7,9.8,264,6438,0.00,2.72,4.30,0.641,4,0.000,0.056,3418,3512,2211,0,0,0,0,0,0
$GC,6478,1.53,205.0,505.9,9.3,265,6497,0.00,2.75,11.82,0.884,6,0.000,0.060,3418,1944,2165,0,0,0,0,0,0
$GC,6754,1.53,207.5,478.7,9.9,272,6759,0.00,2.65,0.00,0.000,4,0.000,0.051,3419,3514,2160,0,0,0,0,0,0
$GC,6786,1.53,207.5,475.3,10.1,272,6792,0.00,2.70,0.00,0.000,6,0.000,0.059,3418,1952,2160,0,0,0,0,0,0
$GC,7038,1.55,224.6,452.6,9.0,279,7062,0.00,2.70,17.98,0.904,4,0.000,0.048,3418,3510,2084,0,0,0,0,0,0
$GC,7083,1.56,235.8,448.4,9.4,280,7101,0.00,2.70,11.43,0.849,6,0.000,0.058,3418,1955,2039,0,0,0,0,0,0
$GC,7368,1.56,235.8,419.5,10.0,287,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1955,2034,0,0,0,0,0,0
$GC,7614,1.56,235.8,394.4,10.3,293,7618,0.00,2.97,0.00,0.000,4,0.000,0.100,3418,332,2033,0,0,0,0,0,0
$GC,7634,1.56,235.8,391.7,11.6,293,7639,0.00,2.65,0.00,0.000,6,0.000,0.028,3418,1972,2031,0,0,0,0,0,0
$GC,7889,1.56,235.8,364.7,10.5,300,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1972,2031,0,0,0,0,0,0
$GC,8133,1.56,235.8,339.2,10.5,306,8138,0.00,2.88,0.00,0.000,4,0.000,0.071,3418,331,2030,0,0,0,0,0,0
$GC,8150,1.56,235.8,337.4,10.7,306,8154,0.00,2.65,0.00,0.000,6,0.000,0.028,3418,1978,2029,0,0,0,0,0,0
$GC,8410,1.56,235.8,310.8,10.0,313,8414,0.00,2.53,0.00,0.000,4,0.000,0.045,3418,3523,2029,0,0,0,0,0,0
$GC,8487,1.61,235.8,302.5,10.6,314,8493,0.00,2.60,0.00,0.000,6,0.000,0.035,3418,1947,2028,0,0,0,0,0,0
$GC,8739,1.62,244.3,278.6,9.5,321,8749,0.10,0.00,7.15,0.700,6,0.097,0.000,3445,1947,2005,0,0,0,0,0,0
$GC,8981,1.62,244.3,252.8,10.6,327,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1947,2003,0,0,0,0,0,0
$GC,9224,1.62,244.3,226.2,10.9,333,9229,0.00,2.58,0.00,0.000,4,0.000,0.036,3445,3519,2002,0,0,0,0,0,0
$GC,9247,1.62,244.3,223.5,12.1,333,9252,0.00,2.55,0.00,0.000,6,0.000,0.039,3445,1954,2001,0,0,0,0,0,0
$GC,9508,1.62,244.3,194.8,11.2,343,9512,0.00,2.53,0.00,0.000,4,0.000,0.040,3445,3516,2001,0,0,0,0,0,0
$GC,9574,1.62,244.3,186.8,11.0,348,9584,0.00,2.53,0.00,0.000,6,0.000,0.038,3444,1983,2002,0,0,0,0,0,0
$GC,9843,1.63,256.7,160.7,9.3,373,9864,0.00,2.90,12.38,0.668,4,0.000,0.068,3445,344,1952,0,0,0,0,0,0
$GC,9899,1.63,256.7,154.5,10.1,378,9903,0.00,2.62,0.00,0.000,6,0.000,0.021,3445,2016,1951,0,0,0,0,0,0
$GC,10163,1.68,261.0,128.7,9.8,402,10178,0.00,2.47,4.82,0.509,4,0.000,0.041,3445,3512,1937,0,0,0,0,0,0
$GC,10207,1.72,261.0,123.8,10.2,405,10213,0.00,2.53,0.00,0.000,6,0.000,0.031,3444,1964,1936,0,0,0,0,0,0
$GC,10471,1.77,261.0,95.7,11.2,430,10476,0.12,2.53,0.00,0.000,4,0.079,0.032,3479,3523,1936,0,0,0,0,0,0
$GC,10494,1.77,261.0,92.4,11.7,431,10500,0.00,2.50,0.00,0.000,6,0.000,0.037,3479,1980,1936,0,0,0,0,0,0
$GC,10762,1.77,261.0,61.7,10.6,456,10766,0.00,2.78,0.00,0.000,4,0.000,0.058,3479,343,1935,0,0,0,0,0,0
$GC,10783,1.77,261.0,59.0,11.2,457,10788,0.00,2.60,0.00,0.000,6,0.000,0.018,3479,2028,1935,0,0,0,0,0,0
$GC,11050,1.80,286.5,35.2,8.5,481,11078,0.00,2.42,23.38,0.568,4,0.000,0.031,3479,3524,1832,0,0,0,0,0,0
$GC,11109,1.80,292.1,29.9,9.7,485,11127,0.00,2.55,5.93,0.459,6,0.000,0.029,3479,1970,1810,0,0,0,0,0,0
$STATE,11366,end climb,SURFACE_DEPTH_REACHED
$STATE,11366,begin surface coast
$FINISH,0.5,0.971330
$STATE,11409,end surface coast,CONTROL_FINISHED_OK
$STATE,11409,begin surface
$SM_CCo,11432,87.82,0.535,0,0,1370,400.08
$SM_GC,1.23,0.00,0.00,87.82,0.000,0.000,0.535,474,1746,1370,-12.03,-0.68,400.08
$IRIDIUM_FIX,2241.69,-15804.53,100800,191926
$TT8_MAMPS,0.026078
$HUMID,56.06
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.30
$XPDR_PINGS,47
$24V_AH,23.4,7.232
$10V_AH,10.4,5.995
$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,28.700,133.850,358.625,87.825,0.000,27.155,39.904,159.122,11.750,0.000,14.971,1058.547,7929.006,521.625,1857.558,509.842,33.376,1250.414,0.000,1864.710,0.000,0.533,0.000
$DEVICE_MAMPS,173.342,131.157,1018.576,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.670,286.568,381.959,718.122,1086.145,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41592,529
$CAP_FILE_SIZE,109080,0
$CFSIZE,260165632,179384320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,012904,2250.385,-15759.040,8,99.0,27,10.1