version: 66.06
glider: 146
mission: 6
dive: 52
start: 5 17 111 15 40 55
data:
$ID,146
$MISSION,6
$DIVE,52
$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,-268435.56
$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,56
$R_STBD_OVSHOOT,23
$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
$GPS1,153325,2250.024,-15803.254,10,1.4,21,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.9
$GPS2,154000,2249.998,-15803.294,33,1.0,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,0.046
$KALMAN_X,-43917.0,-183.7,-224.2,33225.4,-671.4
$KALMAN_Y,-85073.8,-449.4,-184.3,96991.7,-545.7
$MHEAD_RNG_PITCHd_Wd,68.7,10743,-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,-78.85,0.000,2,0.000,0.000,478,1730,3289,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-4.7,10,125,12.80,2.65,-3.60,0.000,4,0.174,0.038,2782,3366,3479,0,0,0,0,0,0
$GC,196,-1.22,-116.8,28.5,-20.8,23,205,0.15,2.55,0.00,0.000,6,0.112,0.028,2816,1799,3481,0,0,0,0,0,0
$GC,463,-1.11,-116.8,76.5,-17.6,48,472,0.15,0.00,0.00,0.000,6,0.128,0.000,2845,1798,3482,0,0,0,0,0,0
$GC,728,-1.11,-116.8,116.2,-12.8,73,732,0.00,2.47,0.00,0.000,4,0.000,0.033,2844,3367,3482,0,0,0,0,0,0
$GC,783,-1.11,-116.8,123.2,-13.1,77,788,0.00,2.58,0.00,0.000,6,0.000,0.035,2845,1767,3482,0,0,0,0,0,0
$GC,1047,-1.11,-116.8,157.5,-12.5,101,1051,0.00,2.70,0.00,0.000,4,0.000,0.067,2844,199,3483,0,0,0,0,0,0
$GC,1092,-1.07,-116.8,163.8,-13.3,104,1097,0.00,2.47,0.00,0.000,6,0.000,0.020,2844,1832,3483,0,0,0,0,0,0
$GC,1356,-1.07,-116.8,193.5,-10.0,129,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1834,3484,0,0,0,0,0,0
$GC,1618,-1.07,-116.8,220.9,-10.1,140,1622,0.00,2.45,0.00,0.000,4,0.000,0.035,2844,3368,3484,0,0,0,0,0,0
$GC,1639,-1.07,-116.8,223.4,-11.7,140,1643,0.00,2.55,0.00,0.000,6,0.000,0.034,2844,1781,3484,0,0,0,0,0,0
$GC,1901,-1.07,-116.8,254.1,-12.0,147,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1780,3484,0,0,0,0,0,0
$GC,2143,-1.07,-116.8,283.5,-12.0,153,2147,0.00,2.58,0.00,0.000,4,0.000,0.038,2844,3371,3484,0,0,0,0,0,0
$GC,2164,-1.11,-116.8,286.0,-11.2,153,2169,0.00,2.58,0.00,0.000,6,0.000,0.038,2844,1787,3484,0,0,0,0,0,0
$GC,2422,-1.16,-116.8,311.3,-9.6,160,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1786,3484,0,0,0,0,0,0
$GC,2664,-1.20,-116.8,334.1,-9.3,166,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1787,3484,0,0,0,0,0,0
$GC,2908,-1.26,-116.8,357.7,-9.8,172,2910,0.12,0.00,0.00,0.000,6,0.079,0.000,2805,1787,3483,0,0,0,0,0,0
$GC,3151,-1.26,-116.8,385.8,-11.4,178,3155,0.00,2.60,0.00,0.000,4,0.000,0.046,2806,3357,3482,0,0,0,0,0,0
$GC,3192,-1.26,-116.8,390.1,-10.7,179,3197,0.00,2.65,0.00,0.000,6,0.000,0.053,2805,1794,3482,0,0,0,0,0,0
$GC,3475,-1.26,-116.8,420.3,-10.4,186,3479,0.00,2.58,0.00,0.000,4,0.000,0.045,2805,3357,3480,0,0,0,0,0,0
$GC,3535,-1.26,-116.8,426.9,-10.8,187,3540,0.00,2.67,0.00,0.000,6,0.000,0.058,2805,1796,3480,0,0,0,0,0,0
$GC,3797,-1.26,-116.8,455.4,-11.1,194,3802,0.00,2.62,0.00,0.000,4,0.000,0.053,2805,3363,3478,0,0,0,0,0,0
$GC,3820,-1.26,-116.8,458.3,-11.9,194,3825,0.00,2.72,0.00,0.000,6,0.000,0.065,2805,1789,3478,0,0,0,0,0,0
$GC,4076,-1.26,-116.8,487.0,-11.1,201,4080,0.00,2.65,0.00,0.000,4,0.000,0.053,2805,3359,3477,0,0,0,0,0,0
$GC,4109,-1.26,-116.8,490.9,-11.8,201,4115,0.00,2.70,0.00,0.000,6,0.000,0.065,2805,1805,3476,0,0,0,0,0,0
$GC,4358,-1.26,-116.8,518.2,-10.8,208,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1805,3475,0,0,0,0,0,0
$GC,4602,-1.26,-116.8,545.1,-11.1,214,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1805,3473,0,0,0,0,0,0
$GC,4846,-1.26,-116.8,571.6,-10.8,220,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1805,3472,0,0,0,0,0,0
$GC,5091,-1.26,-116.8,595.4,-9.6,226,5096,0.00,2.80,0.00,0.000,4,0.000,0.093,2805,3354,3471,0,0,0,0,0,0
$GC,5131,-1.30,-116.8,599.4,-9.9,227,5135,0.00,2.83,0.00,0.000,6,0.000,0.086,2805,1796,3471,0,0,0,0,0,0
$STATE,5139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5139,begin apogee
$GC,5145,-0.31,0.0,600.5,10.2,227,5245,0.95,0.00,97.30,1.013,6,0.098,0.000,3013,1922,3001,0,0,0,0,0,0
$STATE,5246,end apogee,CONTROL_FINISHED_OK
$STATE,5246,begin climb
$GC,5250,1.38,116.8,603.0,0.0,229,5360,1.62,2.92,101.88,0.988,4,0.062,0.085,3383,3494,2523,0,0,0,0,0,0
$GC,5384,1.47,187.8,599.3,5.9,233,5454,0.10,2.85,62.28,0.972,6,0.099,0.082,3408,1917,2234,0,0,0,0,0,0
$GC,5704,1.47,187.8,567.8,10.3,241,5709,0.00,2.78,0.00,0.000,4,0.000,0.073,3407,3498,2224,0,0,0,0,0,0
$GC,5776,1.47,187.8,560.3,10.5,242,5780,0.00,2.78,0.00,0.000,6,0.000,0.067,3408,1930,2222,0,0,0,0,0,0
$GC,6027,1.47,195.1,536.0,9.6,248,6034,0.00,0.00,5.50,0.726,6,0.000,0.000,3407,1930,2205,0,0,0,0,0,0
$GC,6269,1.47,195.1,511.7,10.1,254,6274,0.00,2.67,0.00,0.000,4,0.000,0.059,3408,3503,2203,0,0,0,0,0,0
$GC,6302,1.48,199.6,508.4,9.7,254,6312,0.00,2.70,5.35,0.714,6,0.000,0.059,3408,1940,2187,0,0,0,0,0,0
$GC,6592,1.48,203.7,480.1,9.8,262,6602,0.00,2.65,5.43,0.716,4,0.000,0.048,3408,3506,2169,0,0,0,0,0,0
$GC,6641,1.49,206.9,474.9,9.8,263,6651,0.00,2.67,4.38,0.635,6,0.000,0.056,3408,1946,2157,0,0,0,0,0,0
$GC,6920,1.49,209.8,447.8,9.8,270,6929,0.00,2.65,3.92,0.585,4,0.000,0.050,3408,3510,2145,0,0,0,0,0,0
$GC,6970,1.53,209.8,442.4,10.3,271,6974,0.00,2.67,0.00,0.000,6,0.000,0.054,3408,1948,2144,0,0,0,0,0,0
$GC,7247,1.55,223.0,416.2,9.2,278,7266,0.00,2.67,13.32,0.848,4,0.000,0.047,3408,3504,2092,0,0,0,0,0,0
$GC,7302,1.59,223.0,410.8,10.3,279,7308,0.12,2.62,0.00,0.000,6,0.085,0.048,3441,1961,2090,0,0,0,0,0,0
$GC,7575,1.59,223.0,382.2,10.6,286,7579,0.00,2.55,0.00,0.000,4,0.000,0.040,3441,3509,2088,0,0,0,0,0,0
$GC,7602,1.59,223.0,379.2,10.9,286,7607,0.00,2.55,0.00,0.000,6,0.000,0.046,3440,1972,2087,0,0,0,0,0,0
$GC,7852,1.59,223.0,352.2,10.9,292,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1972,2087,0,0,0,0,0,0
$GC,8096,1.59,223.0,326.1,10.7,298,8100,0.00,2.53,0.00,0.000,4,0.000,0.041,3440,3509,2086,0,0,0,0,0,0
$GC,8161,1.59,223.0,318.5,11.4,299,8166,0.00,2.53,0.00,0.000,6,0.000,0.039,3441,1973,2086,0,0,0,0,0,0
$GC,8418,1.59,223.0,291.7,10.4,306,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1973,2086,0,0,0,0,0,0
$GC,8661,1.60,231.1,268.4,9.5,312,8675,0.00,2.58,7.82,0.693,4,0.000,0.040,3441,3506,2057,0,0,0,0,0,0
$GC,8698,1.60,231.5,264.7,10.0,312,8703,0.00,2.53,0.00,0.000,6,0.000,0.034,3441,1971,2056,0,0,0,0,0,0
$GC,8949,1.60,234.0,240.0,9.9,319,8953,0.00,2.50,0.00,0.000,4,0.000,0.040,3440,3510,2055,0,0,0,0,0,0
$GC,8964,1.61,240.3,238.3,9.6,319,8979,0.00,2.53,9.52,0.693,6,0.000,0.032,3440,1964,2021,0,0,0,0,0,0
$GC,9229,1.61,240.3,212.0,10.1,326,9234,0.00,2.53,0.00,0.000,4,0.000,0.035,3441,3510,2019,0,0,0,0,0,0
$GC,9291,1.61,240.3,205.7,10.4,327,9296,0.00,2.47,0.00,0.000,6,0.000,0.037,3440,1991,2018,0,0,0,0,0,0
$GC,9551,1.63,256.6,180.9,9.1,348,9575,0.00,2.55,15.57,0.676,4,0.000,0.038,3440,3512,1953,0,0,0,0,0,0
$GC,9603,1.64,263.0,176.6,9.6,352,9617,0.00,2.47,7.25,0.594,6,0.000,0.032,3441,1996,1928,0,0,0,0,0,0
$GC,9881,1.70,280.5,150.0,9.0,378,9904,0.00,2.88,16.50,0.649,4,0.000,0.066,3441,341,1856,0,0,0,0,0,0
$GC,9958,1.70,280.5,141.7,12.1,384,9967,0.00,2.67,0.00,0.000,6,0.000,0.021,3441,2020,1854,0,0,0,0,0,0
$GC,10224,1.76,288.1,116.0,9.6,409,10239,0.15,2.45,7.90,0.561,4,0.076,0.031,3480,3513,1825,0,0,0,0,0,0
$GC,10275,1.76,288.1,109.7,12.2,413,10281,0.00,2.47,0.00,0.000,6,0.000,0.036,3480,1987,1824,0,0,0,0,0,0
$GC,10536,1.76,288.1,79.1,12.1,438,10540,0.00,2.45,0.00,0.000,4,0.000,0.032,3480,3516,1823,0,0,0,0,0,0
$GC,10570,1.76,288.1,75.6,12.1,440,10574,0.00,2.47,0.00,0.000,6,0.000,0.029,3480,1984,1823,0,0,0,0,0,0
$GC,10837,1.76,288.1,45.1,11.4,464,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1984,1823,0,0,0,0,0,0
$GC,11139,1.76,288.1,12.1,10.2,501,11149,0.00,2.50,0.00,0.000,4,0.000,0.034,3480,3516,1823,0,0,0,0,0,0
$GC,11173,1.76,288.1,8.6,11.1,505,11183,0.00,2.50,0.00,0.000,6,0.000,0.029,3480,1977,1823,0,0,0,0,0,0
$STATE,11212,end climb,SURFACE_DEPTH_REACHED
$STATE,11212,begin surface coast
$FINISH,0.7,0.980205
$STATE,11255,end surface coast,CONTROL_FINISHED_OK
$STATE,11255,begin surface
$SM_CCo,11277,91.18,0.534,0,0,1370,400.08
$SM_GC,1.07,0.00,0.00,91.18,0.000,0.000,0.534,477,1747,1370,-12.02,-0.62,400.08
$IRIDIUM_FIX,2244.02,-15804.53,100800,121239
$TT8_MAMPS,0.026078
$HUMID,56.30
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.20
$XPDR_PINGS,52
$24V_AH,23.4,6.989
$10V_AH,10.4,5.774
$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,28.400,136.325,363.925,91.175,0.000,28.867,34.753,177.355,13.000,0.000,43.910,1043.883,7783.566,538.395,1884.789,517.018,33.369,1282.774,0.000,1857.126,0.000,0.534,0.000
$DEVICE_MAMPS,174.109,148.798,1013.207,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.030,259.409,369.309,670.950,1014.770,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41568,516
$CAP_FILE_SIZE,111364,0
$CFSIZE,260165632,179486720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,185137,2250.082,-15801.699,32,1.0,32,10.1