version: 66.06
glider: 146
mission: 6
dive: 50
start: 5 17 111 8 57 0
data:
$ID,146
$MISSION,6
$DIVE,50
$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,-268358.28
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,084630,2249.401,-15803.460,45,1.3,45,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.8
$GPS2,085605,2249.321,-15803.446,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,0.230
$KALMAN_X,-42570.8,430.1,243.3,30543.5,-1292.5
$KALMAN_Y,-83058.3,269.1,432.3,92391.5,-2841.2
$MHEAD_RNG_PITCHd_Wd,1.4,11075,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.45,0.000,2,0.000,0.000,475,1735,3348,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.6,-7.2,10,125,12.75,2.65,-2.42,0.000,4,0.173,0.040,2779,3365,3482,0,0,0,0,0,0
$GC,264,-1.21,-116.8,43.0,-18.1,29,269,0.22,2.53,0.00,0.000,6,0.121,0.028,2823,1792,3483,0,0,0,0,0,0
$GC,531,-1.11,-116.8,83.8,-13.9,53,536,0.10,2.53,0.00,0.000,4,0.138,0.028,2842,3368,3484,0,0,0,0,0,0
$GC,567,-1.11,-116.8,89.0,-12.3,55,572,0.00,2.55,0.00,0.000,6,0.000,0.029,2842,1770,3484,0,0,0,0,0,0
$GC,829,-1.07,-116.8,121.6,-12.4,80,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1770,3485,0,0,0,0,0,0
$GC,1084,-1.07,-116.8,153.3,-11.9,104,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1770,3485,0,0,0,0,0,0
$GC,1337,-1.07,-116.8,185.1,-13.1,128,1342,0.00,2.58,0.00,0.000,4,0.000,0.029,2842,3373,3485,0,0,0,0,0,0
$GC,1359,-1.07,-116.8,187.9,-12.8,129,1368,0.00,2.58,0.00,0.000,6,0.000,0.033,2842,1782,3485,0,0,0,0,0,0
$GC,1625,-1.07,-116.8,219.1,-11.7,143,1629,0.00,2.53,0.00,0.000,4,0.000,0.032,2842,3371,3486,0,0,0,0,0,0
$GC,1657,-1.07,-116.8,223.1,-11.7,143,1663,0.00,2.55,0.00,0.000,6,0.000,0.029,2842,1788,3486,0,0,0,0,0,0
$GC,1907,-1.07,-116.8,248.6,-10.2,150,1911,0.00,2.78,0.00,0.000,4,0.000,0.076,2842,196,3486,0,0,0,0,0,0
$GC,1918,-1.07,-116.8,249.7,-10.0,150,1922,0.00,2.50,0.00,0.000,6,0.000,0.025,2842,1822,3486,0,0,0,0,0,0
$GC,2184,-1.07,-116.8,279.2,-11.1,157,2188,0.00,2.45,0.00,0.000,4,0.000,0.037,2842,3364,3486,0,0,0,0,0,0
$GC,2244,-1.14,-116.8,285.8,-10.5,158,2249,0.00,2.58,0.00,0.000,6,0.000,0.033,2842,1789,3486,0,0,0,0,0,0
$GC,2506,-1.14,-116.8,311.2,-9.6,165,2511,0.00,2.83,0.00,0.000,4,0.000,0.089,2842,192,3485,0,0,0,0,0,0
$GC,2527,-1.14,-116.8,313.6,-10.3,165,2532,0.00,2.55,0.00,0.000,6,0.000,0.028,2842,1813,3485,0,0,0,0,0,0
$GC,2782,-1.14,-116.8,339.1,-10.0,172,2787,0.00,2.50,0.00,0.000,4,0.000,0.045,2842,3359,3484,0,0,0,0,0,0
$GC,2823,-1.19,-116.8,343.2,-10.3,173,2828,0.00,2.58,0.00,0.000,6,0.000,0.047,2843,1800,3484,0,0,0,0,0,0
$GC,3108,-1.24,-116.8,371.6,-9.7,180,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1800,3482,0,0,0,0,0,0
$GC,3351,-1.29,-116.8,395.3,-9.8,186,3356,0.15,2.55,0.00,0.000,4,0.068,0.044,2795,3347,3481,0,0,0,0,0,0
$GC,3374,-1.29,-116.8,397.9,-10.9,186,3378,0.00,2.62,0.00,0.000,6,0.000,0.054,2795,1805,3481,0,0,0,0,0,0
$GC,3629,-1.25,-116.8,427.7,-11.6,193,3634,0.10,2.55,0.00,0.000,4,0.129,0.045,2814,3347,3480,0,0,0,0,0,0
$GC,3695,-1.25,-116.8,434.9,-10.5,194,3700,0.00,2.65,0.00,0.000,6,0.000,0.059,2814,1800,3480,0,0,0,0,0,0
$GC,3952,-1.25,-116.8,460.4,-9.9,201,3957,0.00,3.08,0.00,0.000,4,0.000,0.120,2814,182,3478,0,0,0,0,0,0
$GC,4007,-1.25,-116.8,467.1,-12.4,202,4012,0.00,2.60,0.00,0.000,6,0.000,0.041,2814,1783,3478,0,0,0,0,0,0
$GC,4275,-1.25,-116.8,493.5,-9.8,209,4279,0.00,2.67,0.00,0.000,4,0.000,0.064,2814,3359,3476,0,0,0,0,0,0
$GC,4309,-1.29,-116.8,496.8,-9.5,209,4314,0.00,2.72,0.00,0.000,6,0.000,0.064,2814,1788,3476,0,0,0,0,0,0
$GC,4559,-1.29,-116.8,520.8,-9.5,216,4563,0.00,2.65,0.00,0.000,4,0.000,0.060,2814,3353,3475,0,0,0,0,0,0
$GC,4574,-1.29,-116.8,522.3,-9.2,216,4579,0.00,2.70,0.00,0.000,6,0.000,0.067,2815,1792,3475,0,0,0,0,0,0
$GC,4836,-1.29,-116.8,548.0,-9.9,223,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1792,3473,0,0,0,0,0,0
$GC,5078,-1.29,-116.8,573.5,-10.4,229,5083,0.00,2.75,0.00,0.000,4,0.000,0.074,2814,3355,3472,0,0,0,0,0,0
$GC,5139,-1.34,-116.8,580.1,-10.4,230,5144,0.00,2.75,0.00,0.000,6,0.000,0.083,2814,1802,3471,0,0,0,0,0,0
$STATE,5359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5359,begin apogee
$GC,5365,-0.31,0.0,602.9,10.4,236,5465,0.95,0.00,97.18,1.020,6,0.096,0.000,3020,1926,3001,0,0,0,0,0,0
$STATE,5466,end apogee,CONTROL_FINISHED_OK
$STATE,5466,begin climb
$GC,5469,1.38,116.8,606.4,0.0,238,5575,1.62,0.00,101.90,0.992,6,0.066,0.000,3388,1925,2524,0,0,0,0,0,0
$GC,5804,1.45,173.4,589.9,6.7,247,5855,0.00,0.00,49.38,0.971,6,0.000,0.000,3388,1925,2294,0,0,0,0,0,0
$GC,6090,1.47,188.0,564.5,9.2,254,6109,0.00,2.85,13.25,0.894,4,0.000,0.074,3388,3493,2233,0,0,0,0,0,0
$GC,6155,1.51,192.6,558.4,9.7,255,6166,0.12,2.80,5.62,0.726,6,0.084,0.070,3420,1925,2215,0,0,0,0,0,0
$GC,6418,1.51,192.6,531.1,10.3,262,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1925,2211,0,0,0,0,0,0
$GC,6660,1.51,192.6,506.2,10.2,268,6664,0.00,2.70,0.00,0.000,4,0.000,0.058,3420,3506,2209,0,0,0,0,0,0
$GC,6737,1.51,192.6,498.2,10.3,269,6743,0.00,2.75,0.00,0.000,6,0.000,0.063,3421,1930,2207,0,0,0,0,0,0
$GC,6989,1.52,196.2,473.5,9.8,276,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1930,2206,0,0,0,0,0,0
$GC,7231,1.54,213.6,451.3,9.0,282,7251,0.00,0.00,18.75,0.897,6,0.000,0.000,3421,1930,2130,0,0,0,0,0,0
$GC,7474,1.54,213.6,427.2,10.0,288,7479,0.00,2.65,0.00,0.000,4,0.000,0.044,3420,3511,2125,0,0,0,0,0,0
$GC,7508,1.54,213.6,423.7,10.3,288,7513,0.00,2.67,0.00,0.000,6,0.000,0.048,3420,1933,2124,0,0,0,0,0,0
$GC,7757,1.54,213.6,397.7,10.4,295,7762,0.00,2.62,0.00,0.000,4,0.000,0.044,3421,3515,2123,0,0,0,0,0,0
$GC,7829,1.54,213.6,389.4,11.5,296,7834,0.00,2.62,0.00,0.000,6,0.000,0.044,3421,1945,2123,0,0,0,0,0,0
$GC,8086,1.54,213.6,360.4,11.6,303,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1945,2122,0,0,0,0,0,0
$GC,8328,1.54,213.6,332.4,11.6,309,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1945,2121,0,0,0,0,0,0
$GC,8572,1.54,213.9,307.3,10.0,315,8577,0.00,2.58,0.00,0.000,4,0.000,0.035,3421,3514,2121,0,0,0,0,0,0
$GC,8678,1.55,221.8,296.8,9.5,317,8692,0.00,2.58,7.15,0.703,6,0.000,0.038,3421,1949,2096,0,0,0,0,0,0
$GC,8944,1.63,257.8,275.1,7.9,324,8986,0.10,2.92,33.17,0.792,4,0.102,0.072,3448,345,1949,0,0,0,0,0,0
$GC,8997,1.65,269.2,270.3,9.3,325,9016,0.00,2.62,11.60,0.720,6,0.000,0.023,3448,1987,1903,0,0,0,0,0,0
$GC,9274,1.65,269.2,241.5,10.9,332,9278,0.00,2.50,0.00,0.000,4,0.000,0.039,3448,3511,1898,0,0,0,0,0,0
$GC,9317,1.65,269.2,235.9,12.0,333,9322,0.00,2.53,0.00,0.000,6,0.000,0.038,3448,1962,1897,0,0,0,0,0,0
$GC,9597,1.65,269.2,203.6,11.6,340,9601,0.00,2.55,0.00,0.000,4,0.000,0.037,3448,3519,1895,0,0,0,0,0,0
$GC,9647,1.65,269.2,197.4,11.5,342,9651,0.00,2.53,0.00,0.000,6,0.000,0.034,3448,1976,1895,0,0,0,0,0,0
$GC,9909,1.65,269.2,167.1,11.0,366,9913,0.00,2.47,0.00,0.000,4,0.000,0.039,3448,3514,1895,0,0,0,0,0,0
$GC,9932,1.65,269.2,164.9,11.6,367,9936,0.00,2.53,0.00,0.000,6,0.000,0.033,3448,1966,1895,0,0,0,0,0,0
$GC,10198,1.65,269.2,134.5,11.0,391,10202,0.00,2.78,0.00,0.000,4,0.000,0.065,3448,345,1895,0,0,0,0,0,0
$GC,10231,1.65,269.2,129.5,13.5,393,10237,0.00,2.60,0.00,0.000,6,0.000,0.026,3448,2005,1893,0,0,0,0,0,0
$GC,10495,1.69,269.2,100.1,10.6,418,10500,0.00,2.42,0.00,0.000,4,0.000,0.037,3448,3515,1893,0,0,0,0,0,0
$GC,10525,1.74,269.2,96.4,11.4,420,10529,0.00,2.50,0.00,0.000,6,0.000,0.032,3448,1973,1893,0,0,0,0,0,0
$GC,10793,1.80,275.3,69.5,9.6,444,10809,0.12,2.53,5.57,0.485,4,0.083,0.030,3485,3515,1877,0,0,0,0,0,0
$GC,10850,1.80,275.3,62.5,12.2,448,10854,0.00,2.42,0.00,0.000,6,0.000,0.029,3485,1995,1877,0,0,0,0,0,0
$GC,11117,1.80,275.3,33.4,11.2,472,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1995,1876,0,0,0,0,0,0
$STATE,11393,end climb,SURFACE_DEPTH_REACHED
$STATE,11393,begin surface coast
$FINISH,0.3,0.975687
$STATE,11442,end surface coast,CONTROL_FINISHED_OK
$STATE,11442,begin surface
$SM_CCo,11466,102.70,0.538,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,102.70,0.000,0.000,0.538,478,1748,1369,-12.02,-0.59,400.08
$IRIDIUM_FIX,2241.69,-15802.37,100800,080815
$TT8_MAMPS,0.026078
$HUMID,56.93
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.40
$XPDR_PINGS,52
$24V_AH,23.4,6.744
$10V_AH,10.4,5.556
$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,28.575,136.850,343.575,102.700,0.000,60.169,68.672,233.981,13.000,0.000,31.737,1061.984,7985.982,564.000,1891.670,643.847,33.364,1265.364,0.000,1878.242,0.000,0.535,0.000
$DEVICE_MAMPS,173.342,119.652,1020.110,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.450,259.601,365.226,680.605,1029.310,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41363,518
$CAP_FILE_SIZE,113221,0
$CFSIZE,260165632,179593216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,121151,2249.701,-15803.759,62,99.0,81,10.1