version: 66.06
glider: 146
mission: 6
dive: 58
start: 5 18 111 11 12 45
data:
$ID,146
$MISSION,6
$DIVE,58
$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,-268552.62
$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,27
$R_STBD_OVSHOOT,14
$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
$GPS1,110518,2247.032,-15757.378,28,1.9,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.2
$GPS2,111152,2246.986,-15757.366,16,99.0,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.205,0.115
$KALMAN_X,-45344.1,258.1,334.9,43772.4,-948.7
$KALMAN_Y,-88980.8,-97.6,-86.9,94875.1,-1368.5
$MHEAD_RNG_PITCHd_Wd,289.2,9620,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.60,0.000,2,0.000,0.000,475,1761,3335,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.6,-7.0,10,127,12.77,2.62,-2.62,0.000,4,0.174,0.041,2782,3374,3481,0,0,0,0,0,0
$GC,375,-1.25,-116.8,62.0,-16.5,38,381,0.17,2.60,0.00,0.000,6,0.121,0.028,2815,1760,3484,0,0,0,0,0,0
$GC,639,-1.14,-116.8,105.7,-16.3,62,649,0.12,0.00,0.00,0.000,6,0.135,0.000,2839,1760,3484,0,0,0,0,0,0
$GC,906,-1.11,-116.8,145.2,-14.1,87,911,0.00,2.58,0.00,0.000,4,0.000,0.031,2839,3378,3485,0,0,0,0,0,0
$GC,952,-1.11,-116.8,152.7,-14.3,90,961,0.00,2.58,0.00,0.000,6,0.000,0.027,2839,1785,3485,0,0,0,0,0,0
$GC,1218,-1.11,-116.8,188.6,-12.5,115,1222,0.00,2.53,0.00,0.000,4,0.000,0.031,2839,3374,3486,0,0,0,0,0,0
$GC,1262,-1.11,-116.8,194.2,-13.0,118,1266,0.00,2.50,0.00,0.000,6,0.000,0.028,2839,1798,3486,0,0,0,0,0,0
$GC,1514,-1.11,-116.8,223.9,-11.3,127,1519,0.00,2.53,0.00,0.000,4,0.000,0.031,2839,3378,3486,0,0,0,0,0,0
$GC,1530,-1.11,-116.8,225.8,-10.7,127,1535,0.00,2.53,0.00,0.000,6,0.000,0.029,2839,1791,3486,0,0,0,0,0,0
$GC,1791,-1.11,-116.8,252.9,-10.3,134,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1791,3486,0,0,0,0,0,0
$GC,2036,-1.11,-116.8,278.9,-10.6,140,2041,0.00,2.55,0.00,0.000,4,0.000,0.039,2839,3381,3486,0,0,0,0,0,0
$GC,2114,-1.16,-116.8,288.0,-11.1,141,2120,0.00,2.60,0.00,0.000,6,0.000,0.035,2839,1799,3486,0,0,0,0,0,0
$GC,2364,-1.16,-116.8,313.1,-9.8,148,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1799,3486,0,0,0,0,0,0
$GC,2608,-1.16,-116.8,335.3,-9.2,154,2612,0.00,2.55,0.00,0.000,4,0.000,0.039,2839,3369,3485,0,0,0,0,0,0
$GC,2636,-1.21,-116.8,337.9,-9.3,154,2640,0.00,2.60,0.00,0.000,6,0.000,0.042,2839,1807,3485,0,0,0,0,0,0
$GC,2886,-1.24,-116.8,361.5,-9.8,160,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1807,3483,0,0,0,0,0,0
$GC,3131,-1.28,-116.8,388.7,-11.5,166,3133,0.12,0.00,0.00,0.000,6,0.078,0.000,2801,1807,3482,0,0,0,0,0,0
$GC,3373,-1.28,-116.8,421.3,-13.4,172,3377,0.00,3.00,0.00,0.000,4,0.000,0.107,2800,187,3480,0,0,0,0,0,0
$GC,3401,-1.21,-116.8,425.3,-14.8,172,3407,0.12,2.65,0.00,0.000,6,0.125,0.031,2825,1818,3480,0,0,0,0,0,0
$GC,3652,-1.21,-116.8,454.4,-11.3,178,3656,0.00,2.60,0.00,0.000,4,0.000,0.060,2825,3357,3479,0,0,0,0,0,0
$GC,3673,-1.21,-116.8,457.0,-11.1,178,3678,0.00,2.62,0.00,0.000,6,0.000,0.054,2825,1811,3479,0,0,0,0,0,0
$GC,3929,-1.21,-116.8,484.6,-10.5,185,3933,0.00,2.60,0.00,0.000,4,0.000,0.051,2825,3362,3477,0,0,0,0,0,0
$GC,3962,-1.27,-116.8,488.0,-10.2,185,3968,0.00,2.65,0.00,0.000,6,0.000,0.061,2825,1825,3477,0,0,0,0,0,0
$GC,4213,-1.30,-116.8,512.6,-9.7,192,4217,0.00,2.62,0.00,0.000,4,0.000,0.059,2825,3354,3476,0,0,0,0,0,0
$GC,4263,-1.37,-116.8,517.5,-9.7,193,4268,0.15,2.62,0.00,0.000,6,0.074,0.070,2784,1845,3475,0,0,0,0,0,0
$GC,4536,-1.33,-116.8,545.3,-10.1,200,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1845,3474,0,0,0,0,0,0
$GC,4778,-1.33,-116.8,570.1,-10.4,206,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1845,3472,0,0,0,0,0,0
$GC,5022,-1.33,-116.8,597.6,-11.3,212,5026,0.00,2.70,0.00,0.000,4,0.000,0.084,2784,3355,3471,0,0,0,0,0,0
$STATE,5041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5041,begin apogee
$GC,5050,-0.31,0.0,600.2,11.7,212,5152,1.08,0.00,97.53,1.020,6,0.102,0.000,3016,1922,3000,0,0,0,0,0,0
$STATE,5152,end apogee,CONTROL_FINISHED_OK
$STATE,5152,begin climb
$GC,5155,1.38,116.8,604.8,0.0,215,5261,1.65,0.00,102.55,0.991,6,0.071,0.000,3388,1922,2524,0,0,0,0,0,0
$GC,5471,1.47,190.1,591.6,5.8,223,5542,0.10,2.88,64.22,0.978,4,0.095,0.077,3414,3497,2225,0,0,0,0,0,0
$GC,5617,1.47,190.1,578.5,10.3,226,5622,0.00,2.83,0.00,0.000,6,0.000,0.069,3414,1918,2219,0,0,0,0,0,0
$GC,5878,1.47,194.0,552.9,9.8,233,5883,0.00,2.75,0.00,0.000,4,0.000,0.060,3414,3505,2216,0,0,0,0,0,0
$GC,5924,1.47,194.0,548.2,10.8,234,5928,0.00,2.78,0.00,0.000,6,0.000,0.064,3414,1931,2215,0,0,0,0,0,0
$GC,6201,1.47,195.5,520.5,9.9,241,6210,0.00,2.72,4.22,0.636,4,0.000,0.059,3414,3502,2202,0,0,0,0,0,0
$GC,6239,1.47,195.5,516.5,10.2,242,6244,0.00,2.75,0.00,0.000,6,0.000,0.063,3414,1935,2202,0,0,0,0,0,0
$GC,6524,1.48,201.2,488.3,9.7,249,6538,0.00,2.72,6.72,0.785,4,0.000,0.053,3414,3506,2180,0,0,0,0,0,0
$GC,6594,1.48,201.2,480.7,10.8,250,6599,0.00,2.67,0.00,0.000,6,0.000,0.059,3414,1951,2178,0,0,0,0,0,0
$GC,6857,1.48,201.2,453.2,10.5,257,6861,0.00,2.62,0.00,0.000,4,0.000,0.050,3414,3516,2176,0,0,0,0,0,0
$GC,6900,1.48,201.2,448.0,11.7,258,6904,0.00,2.65,0.00,0.000,6,0.000,0.051,3414,1966,2175,0,0,0,0,0,0
$GC,7178,1.48,201.2,418.0,10.7,265,7183,0.00,2.55,0.00,0.000,4,0.000,0.045,3414,3509,2174,0,0,0,0,0,0
$GC,7207,1.48,201.2,414.8,11.3,265,7211,0.00,2.58,0.00,0.000,6,0.000,0.047,3414,1979,2174,0,0,0,0,0,0
$GC,7457,1.49,207.5,390.2,9.6,271,7470,0.00,3.03,6.03,0.726,4,0.000,0.094,3414,333,2155,0,0,0,0,0,0
$GC,7487,1.49,211.6,387.0,9.8,271,7498,0.00,2.70,5.70,0.703,6,0.000,0.025,3414,1997,2138,0,0,0,0,0,0
$GC,7743,1.52,232.4,364.0,8.8,278,7769,0.00,3.00,20.00,0.854,4,0.000,0.075,3414,330,2052,0,0,0,0,0,0
$GC,7782,1.54,248.4,360.6,9.1,279,7803,0.00,2.70,15.82,0.821,6,0.000,0.029,3414,1994,1988,0,0,0,0,0,0
$GC,8065,1.60,259.6,334.2,9.4,286,8082,0.10,2.53,11.07,0.784,4,0.100,0.041,3441,3508,1941,0,0,0,0,0,0
$GC,8094,1.60,259.6,331.3,10.2,286,8098,0.00,2.58,0.00,0.000,6,0.000,0.039,3442,1972,1939,0,0,0,0,0,0
$GC,8344,1.60,259.6,302.7,11.7,292,8348,0.00,2.53,0.00,0.000,4,0.000,0.038,3441,3509,1938,0,0,0,0,0,0
$GC,8387,1.60,259.6,297.3,12.1,293,8391,0.00,2.53,0.00,0.000,6,0.000,0.038,3442,1980,1936,0,0,0,0,0,0
$GC,8667,1.60,259.6,266.9,10.8,300,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1980,1936,0,0,0,0,0,0
$GC,8909,1.60,262.1,242.3,9.9,306,8913,0.00,2.50,0.00,0.000,4,0.000,0.039,3441,3510,1935,0,0,0,0,0,0
$GC,8952,1.60,262.1,237.7,10.6,307,8957,0.00,2.50,0.00,0.000,6,0.000,0.035,3442,1981,1934,0,0,0,0,0,0
$GC,9232,1.60,262.1,209.5,10.3,314,9237,0.00,2.88,0.00,0.000,4,0.000,0.067,3442,326,1934,0,0,0,0,0,0
$GC,9247,1.60,262.1,207.5,10.5,314,9252,0.00,2.70,0.00,0.000,6,0.000,0.025,3442,2037,1933,0,0,0,0,0,0
$GC,9507,1.63,284.1,182.2,8.7,332,9534,0.00,2.47,21.50,0.710,4,0.000,0.037,3442,3509,1841,0,0,0,0,0,0
$GC,9553,1.68,293.7,177.7,9.4,336,9568,0.00,2.53,9.98,0.648,6,0.000,0.032,3442,1977,1803,0,0,0,0,0,0
$GC,9824,1.74,307.2,152.2,9.2,361,9846,0.12,2.92,12.55,0.653,4,0.216,0.067,3475,331,1747,0,0,0,0,0,0
$GC,9873,1.69,307.2,146.3,13.5,365,9878,0.00,2.70,0.00,0.000,6,0.000,0.021,3475,2033,1746,0,0,0,0,0,0
$GC,10141,1.69,307.2,113.1,12.6,389,10145,0.00,2.40,0.00,0.000,4,0.000,0.035,3475,3520,1745,0,0,0,0,0,0
$GC,10173,1.69,307.2,108.5,13.6,391,10177,0.00,2.50,0.00,0.000,6,0.000,0.037,3475,1984,1744,0,0,0,0,0,0
$GC,10439,1.69,307.2,74.7,13.2,415,10443,0.00,2.47,0.00,0.000,4,0.000,0.031,3475,3517,1744,0,0,0,0,0,0
$GC,10473,1.69,307.2,70.2,13.4,417,10478,0.00,2.47,0.00,0.000,6,0.000,0.030,3475,1988,1744,0,0,0,0,0,0
$GC,10740,1.72,307.2,39.1,10.6,441,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,1988,1743,0,0,0,0,0,0
$GC,11060,1.79,323.6,4.1,9.1,483,11070,0.00,0.00,8.07,0.486,2,0.000,0.000,3475,1988,1713,0,0,0,0,0,0
$STATE,11071,end climb,SURFACE_DEPTH_REACHED
$STATE,11071,begin surface coast
$FINISH,0.4,0.975063
$STATE,11126,end surface coast,CONTROL_FINISHED_OK
$STATE,11126,begin surface
$SM_CCo,11148,68.72,0.542,0,0,1370,400.08
$SM_GC,1.16,0.00,0.00,68.72,0.000,0.000,0.542,476,1736,1370,-12.02,-0.96,400.08
$IRIDIUM_FIX,2241.69,-15754.11,110800,080859
$TT8_MAMPS,0.026078
$HUMID,57.91
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.30
$XPDR_PINGS,55
$24V_AH,23.4,7.719
$10V_AH,10.4,6.418
$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,28.825,142.925,385.975,68.725,0.000,30.254,33.154,181.508,13.750,0.000,37.849,1028.661,7706.816,541.709,1818.578,517.996,33.368,1259.990,0.000,1791.678,0.000,0.534,0.000
$DEVICE_MAMPS,216.294,106.613,1020.110,541.502,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.360,244.976,343.642,635.874,961.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38463,492
$CAP_FILE_SIZE,111853,0
$CFSIZE,260165632,179171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,142138,2246.504,-15759.112,61,1.0,74,10.1