version: 66.06
glider: 146
mission: 6
dive: 45
start: 5 16 111 16 25 45
data:
$ID,146
$MISSION,6
$DIVE,45
$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,-268232.06
$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,3080
$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,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,15
$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
$GPS1,161855,2246.687,-15759.071,41,2.0,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.4
$GPS2,162452,2246.685,-15759.108,10,4.5,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,0.075
$KALMAN_X,-39406.5,-191.4,-149.6,35802.7,-239.9
$KALMAN_Y,-75514.6,-737.1,37.4,81372.7,-648.3
$MHEAD_RNG_PITCHd_Wd,278.6,6671,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.15,0.000,2,0.000,0.000,475,1739,3306,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.2,-5.3,10,125,12.85,2.65,-3.12,0.000,4,0.177,0.038,2771,3376,3478,0,0,0,0,0,0
$GC,349,-1.21,-116.8,59.1,-18.0,36,354,0.22,2.58,0.00,0.000,6,0.123,0.028,2815,1771,3481,0,0,0,0,0,0
$GC,613,-1.09,-116.8,100.3,-15.7,60,618,0.12,2.55,0.00,0.000,4,0.140,0.025,2838,3378,3481,0,0,0,0,0,0
$GC,635,-1.01,-116.8,103.6,-15.3,61,640,0.10,2.58,0.00,0.000,6,0.139,0.027,2857,1763,3482,0,0,0,0,0,0
$GC,902,-1.01,-116.8,137.8,-13.1,85,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1763,3483,0,0,0,0,0,0
$GC,1163,-1.01,-116.8,172.2,-11.8,110,1167,0.00,2.55,0.00,0.000,4,0.000,0.031,2857,3376,3483,0,0,0,0,0,0
$GC,1197,-1.05,-116.8,176.4,-12.1,112,1204,0.00,2.58,0.00,0.000,6,0.000,0.034,2857,1770,3483,0,0,0,0,0,0
$GC,1457,-1.05,-116.8,204.1,-9.9,134,1462,0.00,2.78,0.00,0.000,4,0.000,0.074,2857,189,3483,0,0,0,0,0,0
$GC,1479,-1.05,-116.8,206.7,-10.4,134,1483,0.00,2.50,0.00,0.000,6,0.000,0.015,2857,1839,3484,0,0,0,0,0,0
$GC,1735,-1.05,-116.8,230.3,-9.3,141,1739,0.00,2.42,0.00,0.000,4,0.000,0.036,2857,3378,3484,0,0,0,0,0,0
$GC,1786,-1.11,-116.8,235.2,-9.1,142,1791,0.00,2.58,0.00,0.000,6,0.000,0.034,2857,1771,3484,0,0,0,0,0,0
$GC,2058,-1.15,-116.8,262.1,-9.9,149,2060,0.12,0.00,0.00,0.000,6,0.076,0.000,2817,1771,3484,0,0,0,0,0,0
$GC,2301,-1.15,-116.8,292.1,-12.3,155,2306,0.00,2.58,0.00,0.000,4,0.000,0.033,2817,3373,3484,0,0,0,0,0,0
$GC,2345,-1.15,-116.8,297.8,-12.8,156,2350,0.00,2.60,0.00,0.000,6,0.000,0.035,2817,1784,3484,0,0,0,0,0,0
$GC,2629,-1.15,-116.8,330.7,-11.4,163,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1784,3483,0,0,0,0,0,0
$GC,2873,-1.15,-116.8,357.5,-11.1,169,2877,0.00,2.58,0.00,0.000,4,0.000,0.041,2817,3368,3482,0,0,0,0,0,0
$GC,2934,-1.15,-116.8,363.9,-10.4,170,2939,0.00,2.70,0.00,0.000,6,0.000,0.051,2817,1772,3482,0,0,0,0,0,0
$GC,3194,-1.15,-116.8,391.2,-10.6,177,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1772,3480,0,0,0,0,0,0
$GC,3438,-1.15,-116.8,417.5,-10.8,183,3442,0.00,2.65,0.00,0.000,4,0.000,0.044,2817,3367,3479,0,0,0,0,0,0
$GC,3488,-1.15,-116.8,422.7,-10.3,184,3493,0.00,2.72,0.00,0.000,6,0.000,0.057,2816,1784,3478,0,0,0,0,0,0
$GC,3760,-1.15,-116.8,449.7,-10.1,191,3765,0.00,3.00,0.00,0.000,4,0.000,0.115,2817,183,3478,0,0,0,0,0,0
$GC,3781,-1.15,-116.8,452.2,-11.2,191,3785,0.00,2.60,0.00,0.000,6,0.000,0.038,2816,1790,3477,0,0,0,0,0,0
$GC,4038,-1.15,-116.8,480.8,-11.1,198,4042,0.00,2.67,0.00,0.000,4,0.000,0.067,2817,3358,3476,0,0,0,0,0,0
$GC,4077,-1.15,-116.8,485.0,-10.0,199,4081,0.00,2.72,0.00,0.000,6,0.000,0.068,2816,1786,3476,0,0,0,0,0,0
$GC,4360,-1.15,-116.8,512.5,-9.5,206,4364,0.00,2.67,0.00,0.000,4,0.000,0.062,2816,3357,3474,0,0,0,0,0,0
$GC,4377,-1.15,-116.8,514.1,-9.2,206,4381,0.00,2.70,0.00,0.000,6,0.000,0.070,2816,1803,3474,0,0,0,0,0,0
$GC,4637,-1.15,-116.8,537.2,-8.8,213,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1803,3472,0,0,0,0,0,0
$GC,4881,-1.15,-116.8,558.7,-8.9,219,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1803,3471,0,0,0,0,0,0
$GC,5126,-1.15,-116.8,581.8,-9.6,225,5130,0.00,2.75,0.00,0.000,4,0.000,0.084,2817,3352,3470,0,0,0,0,0,0
$GC,5226,-1.21,-116.8,591.2,-8.9,227,5231,0.00,2.80,0.00,0.000,6,0.000,0.083,2816,1800,3469,0,0,0,0,0,0
$STATE,5328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5328,begin apogee
$GC,5334,-0.31,0.0,600.2,8.7,230,5434,0.90,0.00,96.65,1.018,6,0.105,0.000,3009,1800,3001,0,0,0,0,0,0
$STATE,5434,end apogee,CONTROL_FINISHED_OK
$STATE,5434,begin climb
$GC,5438,1.38,116.8,602.8,0.0,232,5544,1.65,0.00,101.93,0.991,6,0.075,0.000,3378,1800,2524,0,0,0,0,0,0
$GC,5775,1.45,175.8,585.6,6.6,241,5834,0.00,2.92,51.33,0.974,4,0.000,0.075,3378,3398,2282,0,0,0,0,0,0
$GC,5879,1.53,203.4,577.6,8.4,243,5911,0.15,2.83,25.23,0.937,6,0.083,0.072,3415,1827,2171,0,0,0,0,0,0
$GC,6185,1.53,203.4,545.5,10.8,251,6189,0.00,2.75,0.00,0.000,4,0.000,0.059,3415,3406,2163,0,0,0,0,0,0
$GC,6274,1.53,203.4,535.6,10.8,253,6279,0.00,2.78,0.00,0.000,6,0.000,0.066,3415,1845,2160,0,0,0,0,0,0
$GC,6552,1.54,209.7,508.4,9.6,260,6562,0.00,2.70,4.95,0.690,4,0.000,0.055,3414,3406,2145,0,0,0,0,0,0
$GC,6601,1.57,230.5,503.7,8.8,261,6627,0.00,2.72,20.33,0.915,6,0.000,0.067,3414,1857,2061,0,0,0,0,0,0
$GC,6872,1.57,233.3,477.4,9.8,267,6877,0.00,2.60,0.00,0.000,4,0.000,0.049,3415,3406,2056,0,0,0,0,0,0
$GC,6949,1.57,233.3,469.2,11.1,268,6955,0.00,2.67,0.00,0.000,6,0.000,0.062,3415,1865,2054,0,0,0,0,0,0
$GC,7201,1.57,233.3,441.6,11.3,275,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1865,2053,0,0,0,0,0,0
$GC,7443,1.57,233.3,411.9,12.5,281,7448,0.00,2.58,0.00,0.000,4,0.000,0.041,3415,3416,2052,0,0,0,0,0,0
$GC,7476,1.57,233.3,407.5,13.0,281,7482,0.00,2.62,0.00,0.000,6,0.000,0.055,3415,1875,2051,0,0,0,0,0,0
$GC,7726,1.57,233.3,378.3,11.4,288,7731,0.00,2.53,0.00,0.000,4,0.000,0.038,3415,3414,2050,0,0,0,0,0,0
$GC,7813,1.61,237.2,369.5,9.8,290,7823,0.00,2.55,5.53,0.683,6,0.000,0.042,3415,1894,2034,0,0,0,0,0,0
$GC,8096,1.64,261.9,344.1,8.6,297,8126,0.10,2.55,23.98,0.834,4,0.095,0.035,3442,3406,1932,0,0,0,0,0,0
$GC,8144,1.64,261.9,339.4,10.1,298,8148,0.00,2.55,0.00,0.000,6,0.000,0.038,3442,1896,1930,0,0,0,0,0,0
$GC,8421,1.64,261.9,309.4,11.1,305,8425,0.00,2.50,0.00,0.000,4,0.000,0.040,3442,3414,1927,0,0,0,0,0,0
$GC,8487,1.64,261.9,302.3,10.4,306,8491,0.00,2.50,0.00,0.000,6,0.000,0.037,3442,1904,1926,0,0,0,0,0,0
$GC,8743,1.64,261.9,276.3,10.3,313,8747,0.00,2.47,0.00,0.000,4,0.000,0.038,3442,3414,1925,0,0,0,0,0,0
$GC,8764,1.64,261.9,273.9,10.0,313,8768,0.00,2.47,0.00,0.000,6,0.000,0.038,3442,1908,1925,0,0,0,0,0,0
$GC,9025,1.64,261.9,246.0,10.9,320,9029,0.00,2.45,0.00,0.000,4,0.000,0.038,3442,3411,1924,0,0,0,0,0,0
$GC,9066,1.64,261.9,241.5,11.5,321,9070,0.00,2.45,0.00,0.000,6,0.000,0.037,3442,1921,1924,0,0,0,0,0,0
$GC,9349,1.64,261.9,208.5,11.9,328,9353,0.00,2.42,0.00,0.000,4,0.000,0.033,3442,3410,1924,0,0,0,0,0,0
$GC,9398,1.68,261.9,202.8,11.6,329,9402,0.00,2.40,0.00,0.000,6,0.000,0.038,3442,1941,1924,0,0,0,0,0,0
$GC,9667,1.70,282.4,177.3,8.8,352,9692,0.00,3.08,18.02,0.686,4,0.000,0.071,3442,232,1847,0,0,0,0,0,0
$GC,9739,1.70,282.4,170.0,10.7,358,9743,0.00,2.78,0.00,0.000,6,0.000,0.025,3442,1976,1846,0,0,0,0,0,0
$GC,10003,1.75,282.4,142.8,10.6,382,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1977,1845,0,0,0,0,0,0
$GC,10268,1.80,282.4,114.6,11.2,407,10273,0.12,2.33,0.00,0.000,4,0.084,0.033,3478,3415,1845,0,0,0,0,0,0
$GC,10290,1.80,282.4,111.4,12.2,408,10299,0.00,2.45,0.00,0.000,6,0.000,0.034,3478,1923,1843,0,0,0,0,0,0
$GC,10557,1.80,282.4,77.0,13.0,433,10561,0.00,2.40,0.00,0.000,4,0.000,0.030,3478,3418,1844,0,0,0,0,0,0
$GC,10603,1.80,282.4,70.9,12.9,436,10607,0.00,2.42,0.00,0.000,6,0.000,0.031,3478,1920,1844,0,0,0,0,0,0
$GC,10870,1.80,282.4,40.1,11.1,460,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1920,1844,0,0,0,0,0,0
$GC,11182,1.80,282.4,7.7,10.2,500,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1919,1844,0,0,0,0,0,0
$STATE,11218,end climb,SURFACE_DEPTH_REACHED
$STATE,11219,begin surface coast
$FINISH,0.4,0.974972
$STATE,11269,end surface coast,CONTROL_FINISHED_OK
$STATE,11269,begin surface
$SM_CCo,11292,95.40,0.538,0,0,1369,400.08
$SM_GC,0.97,0.00,0.00,95.40,0.000,0.000,0.538,477,1734,1369,-11.97,-1.02,400.08
$IRIDIUM_FIX,2239.35,-15754.99,090800,131320
$TT8_MAMPS,0.026078
$HUMID,56.10
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.40
$XPDR_PINGS,50
$24V_AH,23.4,6.116
$10V_AH,10.4,5.006
$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,28.575,136.250,347.925,95.400,0.000,30.807,33.513,147.873,12.500,0.000,31.394,1061.496,7708.461,549.471,1940.661,486.081,33.373,1290.382,0.000,1921.635,0.000,0.535,0.000
$DEVICE_MAMPS,177.177,115.050,1017.809,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.145,264.504,362.027,667.709,1009.930,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41401,512
$CAP_FILE_SIZE,111215,0
$CFSIZE,260165632,179871744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,193646,2246.773,-15800.831,12,2.3,31,10.1