version: 66.06
glider: 146
mission: 6
dive: 53
start: 5 17 111 18 58 56
data:
$ID,146
$MISSION,6
$DIVE,53
$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,-268450.88
$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,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
$GPS1,185137,2250.082,-15801.699,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.7
$GPS2,185802,2250.100,-15801.692,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.075
$KALMAN_X,-44162.3,-338.7,142.9,35989.4,-283.7
$KALMAN_Y,-86129.7,-280.3,345.4,97539.9,-958.2
$MHEAD_RNG_PITCHd_Wd,61.2,8012,-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,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.32,0.000,2,0.000,0.000,476,1746,3292,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.2,10,127,12.77,2.62,-3.55,0.000,4,0.173,0.041,2783,3367,3480,0,0,0,0,0,0
$GC,191,-1.22,-116.8,26.4,-19.6,22,201,0.15,2.60,0.00,0.000,6,0.107,0.029,2816,1781,3481,0,0,0,0,0,0
$GC,469,-1.10,-116.8,76.3,-17.3,48,474,0.15,2.75,0.00,0.000,4,0.124,0.063,2845,194,3482,0,0,0,0,0,0
$GC,491,-0.99,-116.8,80.5,-17.0,49,496,0.12,2.45,0.00,0.000,6,0.130,0.020,2870,1837,3482,0,0,0,0,0,0
$GC,757,-0.99,-116.8,114.8,-12.4,73,761,0.00,2.40,0.00,0.000,4,0.000,0.031,2870,3370,3483,0,0,0,0,0,0
$GC,789,-0.99,-116.8,118.7,-12.3,75,794,0.00,2.58,0.00,0.000,6,0.000,0.033,2870,1767,3483,0,0,0,0,0,0
$GC,1056,-0.99,-116.8,149.7,-11.6,99,1060,0.00,2.55,0.00,0.000,4,0.000,0.031,2870,3374,3483,0,0,0,0,0,0
$GC,1076,-0.99,-116.8,152.4,-12.2,100,1080,0.00,2.55,0.00,0.000,6,0.000,0.025,2870,1780,3484,0,0,0,0,0,0
$GC,1343,-0.99,-116.8,181.7,-10.6,124,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1780,3484,0,0,0,0,0,0
$GC,1620,-1.04,-116.8,213.7,-11.2,142,1624,0.00,2.53,0.00,0.000,4,0.000,0.028,2870,3366,3485,0,0,0,0,0,0
$GC,1670,-1.12,-116.8,219.2,-10.8,143,1676,0.10,2.53,0.00,0.000,6,0.086,0.026,2834,1793,3485,0,0,0,0,0,0
$GC,1942,-1.12,-116.8,251.7,-11.6,150,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1792,3485,0,0,0,0,0,0
$GC,2186,-1.12,-116.8,279.8,-11.6,156,2190,0.00,2.50,0.00,0.000,4,0.000,0.036,2834,3363,3485,0,0,0,0,0,0
$GC,2242,-1.16,-116.8,286.6,-12.1,157,2247,0.00,2.55,0.00,0.000,6,0.000,0.035,2833,1800,3485,0,0,0,0,0,0
$GC,2508,-1.16,-116.8,317.8,-11.5,164,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1800,3485,0,0,0,0,0,0
$GC,2752,-1.16,-116.8,343.6,-10.5,170,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1800,3484,0,0,0,0,0,0
$GC,2997,-1.16,-116.8,368.2,-10.1,176,3001,0.00,2.55,0.00,0.000,4,0.000,0.043,2834,3359,3483,0,0,0,0,0,0
$GC,3024,-1.21,-116.8,371.1,-10.5,176,3028,0.00,2.60,0.00,0.000,6,0.000,0.054,2834,1812,3483,0,0,0,0,0,0
$GC,3274,-1.24,-116.8,395.8,-9.8,182,3279,0.00,3.00,0.00,0.000,4,0.000,0.107,2833,185,3482,0,0,0,0,0,0
$GC,3304,-1.24,-116.8,398.7,-10.9,182,3308,0.00,2.62,0.00,0.000,6,0.000,0.031,2834,1811,3482,0,0,0,0,0,0
$GC,3554,-1.29,-116.8,423.2,-9.7,188,3556,0.10,0.00,0.00,0.000,6,0.090,0.000,2800,1810,3480,0,0,0,0,0,0
$GC,3797,-1.29,-116.8,449.3,-10.9,194,3801,0.00,2.60,0.00,0.000,4,0.000,0.061,2800,3355,3479,0,0,0,0,0,0
$GC,3847,-1.29,-116.8,454.9,-11.0,195,3852,0.00,2.65,0.00,0.000,6,0.000,0.063,2800,1811,3479,0,0,0,0,0,0
$GC,4120,-1.29,-116.8,484.5,-10.8,202,4125,0.00,2.58,0.00,0.000,4,0.000,0.051,2800,3353,3477,0,0,0,0,0,0
$GC,4164,-1.29,-116.8,489.5,-10.7,203,4169,0.00,2.65,0.00,0.000,6,0.000,0.064,2800,1818,3477,0,0,0,0,0,0
$GC,4444,-1.29,-116.8,517.3,-9.9,210,4448,0.00,2.60,0.00,0.000,4,0.000,0.063,2800,3349,3475,0,0,0,0,0,0
$GC,4487,-1.29,-116.8,522.0,-10.1,211,4492,0.00,2.67,0.00,0.000,6,0.000,0.073,2800,1816,3475,0,0,0,0,0,0
$GC,4765,-1.29,-116.8,550.0,-10.1,218,4770,0.00,3.25,0.00,0.000,4,0.000,0.143,2800,186,3473,0,0,0,0,0,0
$GC,4806,-1.25,-116.8,554.5,-12.0,219,4811,0.00,2.75,0.00,0.000,6,0.000,0.048,2800,1817,3473,0,0,0,0,0,0
$GC,5089,-1.25,-116.8,583.0,-9.9,226,5094,0.00,2.78,0.00,0.000,4,0.000,0.094,2800,3358,3471,0,0,0,0,0,0
$GC,5116,-1.25,-116.8,585.8,-9.4,226,5121,0.00,2.75,0.00,0.000,6,0.000,0.078,2800,1817,3471,0,0,0,0,0,0
$STATE,5282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5282,begin apogee
$GC,5290,-0.31,0.0,601.2,9.2,230,5391,1.00,0.00,97.30,1.016,6,0.093,0.000,3018,1929,3001,0,0,0,0,0,0
$STATE,5391,end apogee,CONTROL_FINISHED_OK
$STATE,5391,begin climb
$GC,5394,1.38,116.8,603.5,0.0,232,5504,1.65,2.90,101.95,0.984,4,0.066,0.084,3390,3487,2523,0,0,0,0,0,0
$GC,5515,1.45,178.9,598.8,6.4,235,5575,0.00,2.85,54.80,0.959,6,0.000,0.076,3390,1921,2271,0,0,0,0,0,0
$GC,5848,1.46,185.6,567.5,9.6,244,5859,0.00,2.83,5.80,0.735,4,0.000,0.073,3390,3504,2243,0,0,0,0,0,0
$GC,5881,1.47,195.3,564.2,9.4,244,5897,0.00,2.83,10.15,0.849,6,0.000,0.067,3390,1914,2205,0,0,0,0,0,0
$GC,6171,1.53,210.0,537.5,9.2,252,6191,0.15,2.80,14.18,0.892,4,0.081,0.063,3426,3499,2145,0,0,0,0,0,0
$GC,6219,1.53,210.0,532.3,10.9,253,6224,0.00,2.78,0.00,0.000,6,0.000,0.067,3426,1922,2142,0,0,0,0,0,0
$GC,6493,1.53,210.0,503.6,10.4,260,6497,0.00,2.70,0.00,0.000,4,0.000,0.051,3426,3504,2139,0,0,0,0,0,0
$GC,6542,1.53,210.0,498.0,10.8,261,6546,0.00,2.75,0.00,0.000,6,0.000,0.064,3426,1931,2139,0,0,0,0,0,0
$GC,6814,1.53,210.0,468.6,11.0,268,6819,0.00,2.65,0.00,0.000,4,0.000,0.051,3426,3505,2138,0,0,0,0,0,0
$GC,6871,1.53,210.0,462.3,11.1,269,6875,0.00,2.72,0.00,0.000,6,0.000,0.054,3426,1932,2137,0,0,0,0,0,0
$GC,7138,1.53,210.0,432.4,11.2,276,7142,0.00,2.62,0.00,0.000,4,0.000,0.045,3426,3508,2136,0,0,0,0,0,0
$GC,7203,1.53,210.0,424.8,11.4,277,7208,0.00,2.65,0.00,0.000,6,0.000,0.048,3426,1941,2135,0,0,0,0,0,0
$GC,7465,1.53,210.0,398.0,10.1,284,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1941,2134,0,0,0,0,0,0
$GC,7708,1.53,213.3,373.7,9.8,290,7712,0.00,2.58,0.00,0.000,4,0.000,0.041,3426,3517,2133,0,0,0,0,0,0
$GC,7729,1.53,213.7,371.4,10.0,290,7734,0.00,2.62,0.00,0.000,6,0.000,0.044,3426,1946,2133,0,0,0,0,0,0
$GC,7986,1.56,232.9,348.5,8.9,297,8011,0.00,2.92,19.88,0.831,4,0.000,0.082,3426,339,2050,0,0,0,0,0,0
$GC,8028,1.56,232.9,344.1,10.7,298,8032,0.00,2.65,0.00,0.000,6,0.000,0.029,3426,1968,2049,0,0,0,0,0,0
$GC,8306,1.56,232.9,314.7,10.7,305,8310,0.00,2.53,0.00,0.000,4,0.000,0.045,3426,3499,2047,0,0,0,0,0,0
$GC,8373,1.59,232.9,307.0,12.1,306,8378,0.00,2.55,0.00,0.000,6,0.000,0.041,3426,1958,2045,0,0,0,0,0,0
$GC,8628,1.59,233.7,280.6,10.0,313,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1958,2045,0,0,0,0,0,0
$GC,8872,1.66,259.3,259.1,8.5,319,8902,0.10,2.60,23.95,0.762,4,0.094,0.041,3453,3501,1943,0,0,0,0,0,0
$GC,8924,1.66,259.3,253.7,10.9,320,8929,0.00,2.58,0.00,0.000,6,0.000,0.034,3453,1950,1941,0,0,0,0,0,0
$GC,9197,1.66,259.3,220.2,12.9,327,9201,0.00,2.53,0.00,0.000,4,0.000,0.039,3453,3502,1939,0,0,0,0,0,0
$GC,9229,1.66,259.3,215.7,13.3,327,9235,0.00,2.53,0.00,0.000,6,0.000,0.035,3453,1967,1938,0,0,0,0,0,0
$GC,9490,1.66,259.3,182.8,12.4,343,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1966,1937,0,0,0,0,0,0
$GC,9750,1.66,259.3,150.5,12.0,368,9755,0.00,2.47,0.00,0.000,4,0.000,0.035,3453,3502,1937,0,0,0,0,0,0
$GC,9781,1.66,259.3,147.1,11.9,370,9785,0.00,2.53,0.00,0.000,6,0.000,0.038,3453,1954,1937,0,0,0,0,0,0
$GC,10043,1.66,259.3,118.9,10.3,394,10048,0.00,2.50,0.00,0.000,4,0.000,0.038,3453,3510,1937,0,0,0,0,0,0
$GC,10113,1.71,259.3,111.4,11.2,399,10117,0.00,2.47,0.00,0.000,6,0.000,0.036,3453,1972,1936,0,0,0,0,0,0
$GC,10379,1.74,259.5,84.4,10.0,423,10383,0.00,2.45,0.00,0.000,4,0.000,0.035,3453,3506,1937,0,0,0,0,0,0
$GC,10425,1.80,259.5,78.8,10.9,426,10433,0.08,2.50,0.00,0.000,6,0.052,0.031,3481,1976,1937,0,0,0,0,0,0
$GC,10692,1.80,259.5,50.3,10.0,451,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1976,1937,0,0,0,0,0,0
$GC,10978,1.80,259.5,21.3,10.3,482,10987,0.00,2.47,0.00,0.000,4,0.000,0.031,3481,3502,1936,0,0,0,0,0,0
$GC,11065,1.80,259.5,12.0,10.4,494,11074,0.00,2.47,0.00,0.000,6,0.000,0.030,3481,1977,1937,0,0,0,0,0,0
$STATE,11143,end climb,SURFACE_DEPTH_REACHED
$STATE,11143,begin surface coast
$FINISH,0.5,0.980177
$STATE,11202,end surface coast,CONTROL_FINISHED_OK
$STATE,11202,begin surface
$SM_CCo,11226,113.60,0.535,0,0,1370,400.08
$SM_GC,1.20,0.00,0.00,113.60,0.000,0.000,0.535,480,1731,1370,-12.01,-1.10,400.08
$IRIDIUM_FIX,2241.69,-15804.53,100800,151511
$TT8_MAMPS,0.026078
$HUMID,55.23
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.40
$XPDR_PINGS,52
$24V_AH,23.4,7.111
$10V_AH,10.4,5.884
$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,28.600,148.200,328.000,113.600,0.000,31.174,35.611,189.122,13.000,0.000,14.703,1062.577,7677.248,553.319,1900.867,532.421,33.371,1279.910,0.000,1903.864,0.000,0.534,0.000
$DEVICE_MAMPS,173.342,143.429,1016.275,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.898,262.626,368.279,688.553,1042.623,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41698,513
$CAP_FILE_SIZE,112547,0
$CFSIZE,260165632,179433472
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,220907,2250.248,-15800.180,31,1.1,31,10.1