version: 66.06
glider: 146
mission: 6
dive: 61
start: 5 18 111 20 54 52
data:
$ID,146
$MISSION,6
$DIVE,61
$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,-268620.62
$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,37
$R_STBD_OVSHOOT,45
$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
$GPS1,204737,2246.794,-15802.669,29,1.1,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.5
$GPS2,205356,2246.836,-15802.691,15,1.0,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.000,0.235
$KALMAN_X,-45910.1,-345.2,77.1,36114.5,-152.1
$KALMAN_Y,-92934.6,-493.7,461.7,98397.9,-1087.4
$MHEAD_RNG_PITCHd_Wd,349.8,5884,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-79.12,0.000,2,0.000,0.000,475,1742,3313,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-5.8,10,126,12.73,2.60,-3.12,0.000,4,0.173,0.045,2778,3340,3481,0,0,0,0,0,0
$GC,278,-1.22,-116.8,45.9,-19.0,30,288,0.17,2.53,0.00,0.000,6,0.105,0.028,2818,1785,3483,0,0,0,0,0,0
$GC,545,-1.11,-116.8,87.0,-15.4,55,550,0.12,2.47,0.00,0.000,4,0.134,0.028,2842,3346,3485,0,0,0,0,0,0
$GC,557,-1.02,-116.8,90.1,-16.1,55,563,0.12,2.53,0.00,0.000,6,0.127,0.025,2867,1753,3484,0,0,0,0,0,0
$GC,821,-1.02,-116.8,123.2,-11.9,80,825,0.00,2.65,0.00,0.000,4,0.000,0.064,2867,200,3485,0,0,0,0,0,0
$GC,849,-1.02,-116.8,127.4,-13.9,82,853,0.00,2.40,0.00,0.000,6,0.000,0.016,2868,1810,3486,0,0,0,0,0,0
$GC,1116,-1.02,-116.8,158.5,-11.8,106,1120,0.00,2.33,0.00,0.000,4,0.000,0.032,2868,3301,3486,0,0,0,0,0,0
$GC,1140,-1.05,-116.8,162.0,-11.6,107,1145,0.00,2.45,0.00,0.000,6,0.000,0.027,2868,1760,3486,0,0,0,0,0,0
$GC,1402,-1.09,-116.8,192.0,-10.6,132,1407,0.00,2.67,0.00,0.000,4,0.000,0.074,2867,198,3486,0,0,0,0,0,0
$GC,1424,-1.09,-116.8,193.9,-10.4,133,1428,0.00,2.38,0.00,0.000,6,0.000,0.020,2867,1764,3487,0,0,0,0,0,0
$GC,1688,-1.13,-116.8,217.6,-8.4,143,1693,0.10,2.47,0.00,0.000,4,0.088,0.034,2834,3315,3487,0,0,0,0,0,0
$GC,1720,-1.13,-116.8,220.9,-10.1,143,1726,0.00,2.47,0.00,0.000,6,0.000,0.035,2834,1769,3487,0,0,0,0,0,0
$GC,1972,-1.13,-116.8,246.0,-10.1,150,1976,0.00,2.45,0.00,0.000,4,0.000,0.031,2834,3313,3487,0,0,0,0,0,0
$GC,1993,-1.13,-116.8,248.5,-10.6,150,1997,0.00,2.45,0.00,0.000,6,0.000,0.035,2834,1785,3487,0,0,0,0,0,0
$GC,2249,-1.13,-116.8,274.5,-10.3,157,2253,0.00,2.83,0.00,0.000,4,0.000,0.083,2834,193,3487,0,0,0,0,0,0
$GC,2320,-1.13,-116.8,283.4,-11.9,158,2325,0.00,2.42,0.00,0.000,6,0.000,0.025,2834,1728,3487,0,0,0,0,0,0
$GC,2577,-1.13,-116.8,313.4,-11.9,165,2581,0.00,2.62,0.00,0.000,4,0.000,0.046,2834,3353,3486,0,0,0,0,0,0
$GC,2632,-1.19,-116.8,320.4,-12.7,166,2637,0.00,2.58,0.00,0.000,6,0.000,0.044,2834,1775,3486,0,0,0,0,0,0
$GC,2900,-1.19,-116.8,352.4,-11.9,173,2904,0.00,2.58,0.00,0.000,4,0.000,0.043,2834,3355,3485,0,0,0,0,0,0
$GC,2927,-1.23,-116.8,355.7,-11.5,173,2931,0.00,2.62,0.00,0.000,6,0.000,0.046,2834,1775,3485,0,0,0,0,0,0
$GC,3177,-1.23,-116.8,383.3,-10.9,179,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1775,3484,0,0,0,0,0,0
$GC,3421,-1.27,-116.8,408.9,-10.4,185,3425,0.00,2.60,0.00,0.000,4,0.000,0.051,2834,3348,3483,0,0,0,0,0,0
$GC,3443,-1.31,-116.8,411.3,-10.8,185,3448,0.12,2.67,0.00,0.000,6,0.075,0.056,2793,1776,3482,0,0,0,0,0,0
$GC,3698,-1.31,-116.8,439.6,-11.0,192,3703,0.00,2.62,0.00,0.000,4,0.000,0.054,2792,3348,3481,0,0,0,0,0,0
$GC,3737,-1.31,-116.8,444.0,-10.9,193,3742,0.00,2.70,0.00,0.000,6,0.000,0.065,2792,1782,3480,0,0,0,0,0,0
$GC,4021,-1.31,-116.8,475.3,-11.1,200,4026,0.00,2.62,0.00,0.000,4,0.000,0.053,2792,3344,3479,0,0,0,0,0,0
$GC,4071,-1.31,-116.8,481.1,-11.1,201,4076,0.00,2.67,0.00,0.000,6,0.000,0.067,2792,1785,3479,0,0,0,0,0,0
$GC,4344,-1.31,-116.8,511.1,-11.1,208,4348,0.00,2.65,0.00,0.000,4,0.000,0.061,2792,3341,3477,0,0,0,0,0,0
$GC,4366,-1.31,-116.8,513.6,-11.3,208,4370,0.00,2.70,0.00,0.000,6,0.000,0.065,2792,1793,3478,0,0,0,0,0,0
$GC,4620,-1.31,-116.8,541.7,-10.9,215,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1793,3476,0,0,0,0,0,0
$GC,4864,-1.31,-116.8,568.8,-11.0,221,4868,0.00,2.70,0.00,0.000,4,0.000,0.080,2792,3337,3474,0,0,0,0,0,0
$GC,4920,-1.31,-116.8,575.0,-10.9,222,4924,0.00,2.75,0.00,0.000,6,0.000,0.075,2792,1791,3473,0,0,0,0,0,0
$STATE,5183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5183,begin apogee
$GC,5190,-0.31,0.0,604.1,11.2,229,5291,1.05,0.00,97.57,1.022,6,0.097,0.000,3018,1914,3001,0,0,0,0,0,0
$STATE,5291,end apogee,CONTROL_FINISHED_OK
$STATE,5291,begin climb
$GC,5294,1.38,116.8,607.5,0.0,231,5400,1.65,0.00,101.80,0.996,6,0.061,0.000,3390,1914,2524,0,0,0,0,0,0
$GC,5631,1.45,175.9,590.9,6.6,240,5685,0.00,0.00,51.78,0.977,6,0.000,0.000,3390,1914,2282,0,0,0,0,0,0
$GC,5914,1.48,197.3,566.7,8.8,247,5938,0.00,2.85,19.20,0.930,4,0.000,0.067,3390,3500,2196,0,0,0,0,0,0
$GC,5968,1.53,209.9,561.9,9.3,248,5987,0.15,2.80,12.57,0.885,6,0.079,0.065,3425,1926,2144,0,0,0,0,0,0
$GC,6243,1.53,209.9,532.6,10.5,255,6248,0.00,2.72,0.00,0.000,4,0.000,0.061,3425,3504,2139,0,0,0,0,0,0
$GC,6264,1.53,209.9,530.1,11.5,255,6269,0.00,2.75,0.00,0.000,6,0.000,0.061,3425,1930,2138,0,0,0,0,0,0
$GC,6521,1.53,209.9,503.6,10.2,262,6525,0.00,2.67,0.00,0.000,4,0.000,0.054,3426,3508,2136,0,0,0,0,0,0
$GC,6576,1.53,209.9,497.3,11.2,263,6580,0.00,2.75,0.00,0.000,6,0.000,0.063,3426,1931,2135,0,0,0,0,0,0
$GC,6843,1.53,209.9,470.1,10.1,270,6847,0.00,2.65,0.00,0.000,4,0.000,0.052,3425,3513,2134,0,0,0,0,0,0
$GC,6893,1.53,209.9,464.9,10.6,271,6897,0.00,2.70,0.00,0.000,6,0.000,0.054,3426,1949,2133,0,0,0,0,0,0
$GC,7166,1.54,214.6,438.1,9.7,278,7171,0.00,2.58,0.00,0.000,4,0.000,0.048,3425,3508,2132,0,0,0,0,0,0
$GC,7199,1.55,225.4,434.7,9.4,278,7219,0.00,2.62,13.15,0.865,6,0.000,0.048,3426,1962,2081,0,0,0,0,0,0
$GC,7493,1.55,225.4,406.1,10.0,286,7497,0.00,2.55,0.00,0.000,4,0.000,0.040,3426,3512,2078,0,0,0,0,0,0
$GC,7514,1.56,229.7,403.9,9.7,286,7524,0.00,2.62,4.82,0.660,6,0.000,0.044,3426,1956,2064,0,0,0,0,0,0
$GC,7769,1.56,229.7,378.8,10.1,292,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1956,2063,0,0,0,0,0,0
$GC,8013,1.56,229.7,354.1,10.3,298,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1956,2061,0,0,0,0,0,0
$GC,8256,1.56,229.7,329.3,10.2,304,8260,0.00,2.55,0.00,0.000,4,0.000,0.038,3426,3509,2061,0,0,0,0,0,0
$GC,8288,1.56,229.7,325.7,11.0,304,8294,0.00,2.55,0.00,0.000,6,0.000,0.035,3426,1964,2060,0,0,0,0,0,0
$GC,8540,1.56,234.7,301.0,9.7,311,8551,0.00,2.55,5.82,0.668,4,0.000,0.041,3426,3513,2042,0,0,0,0,0,0
$GC,8619,1.61,234.7,292.7,11.1,312,8625,0.00,2.53,0.00,0.000,6,0.000,0.040,3426,1985,2041,0,0,0,0,0,0
$GC,8869,1.62,240.9,268.2,9.6,319,8883,0.00,2.97,6.88,0.682,4,0.000,0.074,3425,335,2018,0,0,0,0,0,0
$GC,8947,1.62,240.9,259.8,10.7,320,8951,0.00,2.65,0.00,0.000,6,0.000,0.022,3425,2000,2017,0,0,0,0,0,0
$GC,9197,1.66,247.6,235.6,9.6,326,9212,0.10,2.53,7.50,0.672,4,0.091,0.043,3454,3509,1991,0,0,0,0,0,0
$GC,9247,1.66,247.6,229.9,12.3,327,9251,0.00,2.50,0.00,0.000,6,0.000,0.035,3454,1980,1989,0,0,0,0,0,0
$GC,9524,1.66,247.6,200.4,10.2,334,9528,0.00,2.50,0.00,0.000,4,0.000,0.041,3454,3511,1989,0,0,0,0,0,0
$GC,9643,1.66,247.6,188.1,10.7,342,9648,0.00,2.47,0.00,0.000,6,0.000,0.035,3454,1997,1988,0,0,0,0,0,0
$GC,9907,1.66,247.6,162.1,10.8,366,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1997,1988,0,0,0,0,0,0
$GC,10158,1.66,247.6,133.9,11.4,390,10163,0.00,2.45,0.00,0.000,4,0.000,0.032,3454,3512,1988,0,0,0,0,0,0
$GC,10227,1.66,247.6,126.4,11.2,395,10231,0.00,2.47,0.00,0.000,6,0.000,0.031,3454,1984,1988,0,0,0,0,0,0
$GC,10493,1.67,255.8,99.1,9.5,419,10504,0.00,0.00,8.60,0.582,6,0.000,0.000,3454,1984,1957,0,0,0,0,0,0
$GC,10761,1.68,264.6,72.8,9.5,444,10776,0.00,2.83,9.35,0.563,4,0.000,0.060,3454,336,1920,0,0,0,0,0,0
$GC,10794,1.69,267.7,69.0,9.8,446,10804,0.00,2.70,4.28,0.426,6,0.000,0.018,3454,2037,1909,0,0,0,0,0,0
$GC,11064,1.81,309.4,48.3,7.6,471,11104,0.12,0.00,36.55,0.586,6,0.076,0.000,3490,2039,1738,0,0,0,0,0,0
$GC,11390,1.81,309.4,11.7,11.8,510,11399,0.00,2.92,0.00,0.000,4,0.000,0.057,3490,336,1735,0,0,0,0,0,0
$GC,11409,1.81,309.4,8.9,12.0,512,11418,0.00,2.70,0.00,0.000,6,0.000,0.018,3490,2052,1735,0,0,0,0,0,0
$STATE,11453,end climb,SURFACE_DEPTH_REACHED
$STATE,11453,begin surface coast
$FINISH,0.3,0.975725
$STATE,11503,end surface coast,CONTROL_FINISHED_OK
$STATE,11503,begin surface
$SM_CCo,11525,72.68,0.538,0,0,1370,400.08
$SM_GC,1.15,0.00,0.00,72.68,0.000,0.000,0.538,475,1743,1370,-12.03,-0.79,400.08
$IRIDIUM_FIX,2237.01,-15803.24,110800,171708
$TT8_MAMPS,0.026078
$HUMID,56.49
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.50
$XPDR_PINGS,57
$24V_AH,23.4,8.090
$10V_AH,10.4,6.743
$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,28.775,152.050,379.875,72.675,0.000,28.903,35.884,183.663,14.250,0.000,17.372,1087.335,7898.609,557.335,1907.271,530.811,33.369,1300.979,0.000,1903.524,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,101.244,1021.644,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.689,285.608,375.372,699.769,1058.328,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41523,525
$CAP_FILE_SIZE,115425,0
$CFSIZE,260165632,178999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,000931,2247.922,-15803.273,38,1.4,38,10.1