version: 66.06
glider: 146
mission: 6
dive: 60
start: 5 18 111 17 43 21
data:
$ID,146
$MISSION,6
$DIVE,60
$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,-268602.62
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,173627,2246.348,-15800.955,13,1.6,14,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-70.6
$GPS2,174228,2246.375,-15800.964,14,2.9,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.214,0.096
$KALMAN_X,-45299.1,-225.5,-268.1,38675.0,346.5
$KALMAN_Y,-91815.2,-769.3,-80.0,97249.2,-414.3
$MHEAD_RNG_PITCHd_Wd,284.0,3664,-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,-78.68,0.000,2,0.000,0.000,475,1755,3295,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.8,10,127,12.70,2.67,-3.42,0.000,4,0.172,0.066,2781,208,3480,0,0,0,0,0,0
$GC,241,-1.10,-116.8,40.9,-22.2,27,247,0.32,2.47,0.00,0.000,6,0.167,0.015,2844,1828,3482,0,0,0,0,0,0
$GC,509,-1.05,-116.8,82.9,-13.4,51,514,0.00,2.75,0.00,0.000,4,0.000,0.061,2845,203,3483,0,0,0,0,0,0
$GC,544,-0.96,-116.8,88.0,-15.2,53,549,0.15,2.45,0.00,0.000,6,0.125,0.018,2876,1830,3483,0,0,0,0,0,0
$GC,809,-0.96,-116.8,121.4,-12.8,77,814,0.00,2.78,0.00,0.000,4,0.000,0.059,2876,204,3484,0,0,0,0,0,0
$GC,866,-0.96,-116.8,129.0,-13.6,81,870,0.00,2.42,0.00,0.000,6,0.000,0.021,2876,1816,3484,0,0,0,0,0,0
$GC,1128,-0.96,-116.8,159.3,-10.6,105,1132,0.00,2.35,0.00,0.000,4,0.000,0.025,2876,3307,3485,0,0,0,0,0,0
$GC,1152,-1.01,-116.8,161.3,-10.5,106,1156,0.00,2.47,0.00,0.000,6,0.000,0.028,2876,1761,3485,0,0,0,0,0,0
$GC,1419,-1.06,-116.8,188.2,-11.3,130,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1760,3486,0,0,0,0,0,0
$GC,1683,-1.12,-116.8,220.0,-11.8,144,1685,0.12,0.00,0.00,0.000,6,0.074,0.000,2835,1760,3486,0,0,0,0,0,0
$GC,1927,-1.12,-116.8,249.5,-11.9,150,1932,0.00,2.47,0.00,0.000,4,0.000,0.035,2835,3308,3486,0,0,0,0,0,0
$GC,1971,-1.12,-116.8,255.0,-11.8,151,1976,0.00,2.50,0.00,0.000,6,0.000,0.033,2835,1751,3486,0,0,0,0,0,0
$GC,2249,-1.12,-116.8,286.6,-11.1,158,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1750,3486,0,0,0,0,0,0
$GC,2494,-1.12,-116.8,310.9,-9.7,164,2499,0.00,2.50,0.00,0.000,4,0.000,0.041,2834,3296,3486,0,0,0,0,0,0
$GC,2522,-1.12,-116.8,313.6,-9.0,164,2526,0.00,2.58,0.00,0.000,6,0.000,0.046,2835,1742,3486,0,0,0,0,0,0
$GC,2772,-1.12,-116.8,337.8,-9.9,170,2776,0.00,2.53,0.00,0.000,4,0.000,0.039,2834,3301,3485,0,0,0,0,0,0
$GC,2845,-1.18,-116.8,345.6,-10.4,171,2849,0.00,2.60,0.00,0.000,6,0.000,0.048,2834,1752,3485,0,0,0,0,0,0
$GC,3095,-1.18,-116.8,372.7,-10.8,177,3099,0.00,2.53,0.00,0.000,4,0.000,0.038,2834,3304,3484,0,0,0,0,0,0
$GC,3116,-1.21,-116.8,375.2,-11.3,177,3120,0.00,2.60,0.00,0.000,6,0.000,0.051,2834,1755,3484,0,0,0,0,0,0
$GC,3372,-1.21,-116.8,403.1,-10.9,184,3376,0.00,2.53,0.00,0.000,4,0.000,0.043,2835,3301,3483,0,0,0,0,0,0
$GC,3411,-1.27,-116.8,407.3,-10.4,185,3416,0.10,2.60,0.00,0.000,6,0.093,0.063,2799,1771,3483,0,0,0,0,0,0
$GC,3694,-1.27,-116.8,440.7,-11.7,192,3699,0.00,2.53,0.00,0.000,4,0.000,0.051,2799,3290,3481,0,0,0,0,0,0
$GC,3719,-1.27,-116.8,443.4,-11.6,192,3723,0.00,2.60,0.00,0.000,6,0.000,0.064,2799,1779,3481,0,0,0,0,0,0
$GC,3973,-1.27,-116.8,471.9,-11.0,199,3978,0.00,2.53,0.00,0.000,4,0.000,0.051,2798,3288,3480,0,0,0,0,0,0
$GC,4006,-1.27,-116.8,475.5,-10.7,199,4012,0.00,2.62,0.00,0.000,6,0.000,0.065,2798,1774,3479,0,0,0,0,0,0
$GC,4257,-1.27,-116.8,504.1,-11.5,206,4262,0.00,2.58,0.00,0.000,4,0.000,0.055,2798,3293,3478,0,0,0,0,0,0
$GC,4273,-1.27,-116.8,506.2,-11.4,206,4278,0.00,2.62,0.00,0.000,6,0.000,0.067,2798,1780,3478,0,0,0,0,0,0
$GC,4534,-1.27,-116.8,535.6,-11.3,213,4539,0.00,2.60,0.00,0.000,4,0.000,0.065,2798,3285,3476,0,0,0,0,0,0
$GC,4550,-1.27,-116.8,537.3,-10.6,213,4554,0.00,2.62,0.00,0.000,6,0.000,0.067,2798,1782,3476,0,0,0,0,0,0
$GC,4817,-1.27,-116.8,565.7,-10.7,220,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1782,3474,0,0,0,0,0,0
$GC,5060,-1.27,-116.8,591.8,-10.7,226,5064,0.00,2.65,0.00,0.000,4,0.000,0.084,2798,3285,3473,0,0,0,0,0,0
$STATE,5135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5135,begin apogee
$GC,5144,-0.31,0.0,600.3,10.6,227,5245,1.00,0.00,97.50,1.016,6,0.099,0.000,3016,1919,3001,0,0,0,0,0,0
$STATE,5246,end apogee,CONTROL_FINISHED_OK
$STATE,5246,begin climb
$GC,5248,1.38,116.8,604.4,0.0,230,5359,1.65,2.80,101.40,0.992,4,0.061,0.076,3387,3426,2523,0,0,0,0,0,0
$GC,5377,1.47,193.9,601.1,5.6,233,5452,0.10,2.75,67.53,0.972,6,0.094,0.079,3413,1920,2209,0,0,0,0,0,0
$GC,5722,1.47,193.9,567.4,10.5,242,5727,0.00,2.67,0.00,0.000,4,0.000,0.071,3413,3432,2199,0,0,0,0,0,0
$GC,5749,1.47,193.9,564.2,10.7,242,5754,0.00,2.65,0.00,0.000,6,0.000,0.071,3413,1927,2198,0,0,0,0,0,0
$GC,6001,1.47,193.9,536.7,11.1,248,6005,0.00,2.60,0.00,0.000,4,0.000,0.062,3413,3438,2196,0,0,0,0,0,0
$GC,6033,1.47,193.9,532.6,11.7,248,6039,0.00,2.65,0.00,0.000,6,0.000,0.067,3413,1926,2195,0,0,0,0,0,0
$GC,6283,1.47,193.9,506.0,10.5,255,6287,0.00,2.58,0.00,0.000,4,0.000,0.051,3413,3439,2194,0,0,0,0,0,0
$GC,6305,1.47,193.9,503.7,10.5,255,6309,0.00,2.62,0.00,0.000,6,0.000,0.064,3413,1937,2193,0,0,0,0,0,0
$GC,6560,1.49,209.2,479.3,9.1,262,6579,0.00,2.62,11.88,0.872,4,0.000,0.044,3414,3445,2147,0,0,0,0,0,0
$GC,6590,1.53,240.3,476.8,8.2,262,6625,0.00,2.60,29.58,0.917,6,0.000,0.060,3413,1949,2021,0,0,0,0,0,0
$GC,6885,1.55,259.2,450.2,8.9,270,6905,0.00,0.00,17.65,0.881,6,0.000,0.000,3413,1949,1944,0,0,0,0,0,0
$GC,7126,1.55,259.2,425.2,10.7,276,7130,0.00,2.47,0.00,0.000,4,0.000,0.038,3413,3447,1939,0,0,0,0,0,0
$GC,7158,1.60,259.2,421.3,11.8,276,7165,0.10,2.55,0.00,0.000,6,0.104,0.051,3440,1953,1938,0,0,0,0,0,0
$GC,7409,1.60,259.2,388.5,13.3,283,7413,0.00,2.47,0.00,0.000,4,0.000,0.042,3440,3451,1937,0,0,0,0,0,0
$GC,7442,1.60,259.2,383.8,13.3,283,7448,0.00,2.50,0.00,0.000,6,0.000,0.043,3440,1960,1936,0,0,0,0,0,0
$GC,7692,1.60,259.2,352.1,12.5,290,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1960,1935,0,0,0,0,0,0
$GC,7937,1.60,259.2,322.3,12.3,296,7941,0.00,2.42,0.00,0.000,4,0.000,0.035,3440,3442,1935,0,0,0,0,0,0
$GC,7958,1.60,259.2,319.2,12.8,296,7962,0.00,2.40,0.00,0.000,6,0.000,0.039,3440,1972,1934,0,0,0,0,0,0
$GC,8219,1.60,259.2,288.0,11.8,303,8223,0.00,2.42,0.00,0.000,4,0.000,0.041,3440,3452,1934,0,0,0,0,0,0
$GC,8263,1.63,259.2,282.5,12.7,304,8267,0.00,2.42,0.00,0.000,6,0.000,0.035,3440,1976,1932,0,0,0,0,0,0
$GC,8541,1.63,259.2,252.1,10.8,311,8546,0.00,2.88,0.00,0.000,4,0.000,0.073,3440,329,1932,0,0,0,0,0,0
$GC,8563,1.63,259.2,249.4,11.9,311,8567,0.00,2.58,0.00,0.000,6,0.000,0.025,3440,1967,1932,0,0,0,0,0,0
$GC,8819,1.63,259.2,220.1,11.6,318,8823,0.00,2.47,0.00,0.000,4,0.000,0.040,3441,3487,1932,0,0,0,0,0,0
$GC,8887,1.67,259.2,211.8,11.4,319,8891,0.00,2.42,0.00,0.000,6,0.000,0.037,3440,1992,1931,0,0,0,0,0,0
$GC,9147,1.67,259.2,181.4,11.5,335,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1991,1931,0,0,0,0,0,0
$GC,9404,1.71,259.2,154.0,10.6,359,9409,0.10,2.85,0.00,0.000,4,0.098,0.062,3469,330,1931,0,0,0,0,0,0
$GC,9438,1.65,259.2,149.4,13.2,361,9444,0.00,2.65,0.00,0.000,6,0.000,0.020,3469,2019,1931,0,0,0,0,0,0
$GC,9702,1.65,259.2,119.9,11.4,386,9706,0.00,2.35,0.00,0.000,4,0.000,0.033,3469,3494,1931,0,0,0,0,0,0
$GC,9730,1.65,259.2,116.1,11.9,388,9740,0.00,2.42,0.00,0.000,6,0.000,0.029,3469,2002,1930,0,0,0,0,0,0
$GC,9997,1.65,259.2,88.0,11.1,413,10001,0.00,2.83,0.00,0.000,4,0.000,0.064,3469,333,1931,0,0,0,0,0,0
$GC,10066,1.65,259.2,78.5,12.7,418,10075,0.08,2.65,0.00,0.000,6,0.101,0.024,3450,2019,1930,0,0,0,0,0,0
$GC,10332,1.70,259.2,51.4,10.3,443,10336,0.00,2.35,0.00,0.000,4,0.000,0.032,3450,3493,1930,0,0,0,0,0,0
$GC,10367,1.76,259.2,48.1,10.4,445,10372,0.10,2.40,0.00,0.000,6,0.093,0.030,3479,1997,1930,0,0,0,0,0,0
$GC,10659,1.76,259.2,18.5,10.1,477,10668,0.00,2.40,0.00,0.000,4,0.000,0.031,3479,3483,1931,0,0,0,0,0,0
$GC,10679,1.76,259.2,16.5,10.2,479,10688,0.00,2.40,0.00,0.000,6,0.000,0.036,3479,2002,1931,0,0,0,0,0,0
$STATE,10797,end climb,SURFACE_DEPTH_REACHED
$STATE,10798,begin surface coast
$FINISH,0.5,0.974920
$STATE,10849,end surface coast,CONTROL_FINISHED_OK
$STATE,10849,begin surface
$SM_CCo,10871,113.12,0.541,0,0,1369,400.08
$SM_GC,1.19,0.00,0.00,113.12,0.000,0.000,0.541,476,1743,1369,-12.03,-0.79,400.08
$IRIDIUM_FIX,2239.35,-15800.20,110800,141433
$TT8_MAMPS,0.026078
$HUMID,55.94
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.20
$XPDR_PINGS,59
$24V_AH,23.4,7.966
$10V_AH,10.4,6.631
$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,28.750,153.925,325.525,113.125,0.000,23.959,33.447,155.636,14.750,0.000,35.776,1039.343,7402.548,553.669,1855.128,497.195,33.370,1261.934,0.000,1837.825,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,89.739,1016.275,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.655,262.518,365.246,683.676,1034.172,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38209,503
$CAP_FILE_SIZE,111378,0
$CFSIZE,260165632,179064832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,204737,2246.794,-15802.669,29,1.1,29,10.1