version: 66.06
glider: 146
mission: 6
dive: 55
start: 5 18 111 1 38 38
data:
$ID,146
$MISSION,6
$DIVE,55
$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,-268482.19
$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,45
$R_STBD_OVSHOOT,16
$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
$GPS1,012904,2250.385,-15759.040,8,99.0,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.9
$GPS2,013744,2250.446,-15759.064,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.010
$KALMAN_X,-45060.5,102.0,-158.4,41243.1,-342.0
$KALMAN_Y,-87732.1,544.2,-249.1,99550.7,-689.5
$MHEAD_RNG_PITCHd_Wd,77.6,3619,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.90,0.000,2,0.000,0.000,474,1745,3363,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.7,-7.3,10,126,12.75,2.67,-2.12,0.000,4,0.173,0.048,2783,3368,3482,0,0,0,0,0,0
$GC,198,-1.22,-116.8,28.8,-19.0,23,208,0.15,2.58,0.00,0.000,6,0.106,0.028,2818,1792,3483,0,0,0,0,0,0
$GC,464,-1.09,-116.8,77.0,-17.4,48,473,0.15,0.00,0.00,0.000,6,0.124,0.000,2849,1791,3483,0,0,0,0,0,0
$GC,730,-1.09,-116.8,114.8,-13.8,73,734,0.00,2.50,0.00,0.000,4,0.000,0.028,2849,3375,3485,0,0,0,0,0,0
$GC,746,-1.09,-116.8,117.7,-13.0,74,751,0.00,2.55,0.00,0.000,6,0.000,0.026,2849,1768,3485,0,0,0,0,0,0
$GC,1009,-1.09,-116.8,151.2,-12.1,98,1013,0.00,2.55,0.00,0.000,4,0.000,0.029,2849,3377,3485,0,0,0,0,0,0
$GC,1043,-1.09,-116.8,155.5,-12.1,100,1049,0.00,2.55,0.00,0.000,6,0.000,0.032,2849,1784,3485,0,0,0,0,0,0
$GC,1306,-1.09,-116.8,187.0,-11.5,125,1310,0.00,2.75,0.00,0.000,4,0.000,0.071,2849,190,3486,0,0,0,0,0,0
$GC,1340,-1.09,-116.8,191.5,-12.6,127,1346,0.00,2.50,0.00,0.000,6,0.000,0.022,2849,1834,3486,0,0,0,0,0,0
$GC,1623,-1.09,-116.8,224.5,-11.5,140,1628,0.00,2.42,0.00,0.000,4,0.000,0.034,2848,3372,3486,0,0,0,0,0,0
$GC,1657,-1.13,-116.8,228.5,-11.7,140,1663,0.00,2.55,0.00,0.000,6,0.000,0.036,2849,1784,3486,0,0,0,0,0,0
$GC,1908,-1.13,-116.8,254.9,-10.2,147,1912,0.00,2.53,0.00,0.000,4,0.000,0.036,2849,3370,3486,0,0,0,0,0,0
$GC,1923,-1.13,-116.8,256.6,-9.2,147,1928,0.00,2.58,0.00,0.000,6,0.000,0.036,2849,1781,3486,0,0,0,0,0,0
$GC,2186,-1.13,-116.8,283.5,-10.8,154,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1781,3487,0,0,0,0,0,0
$GC,2428,-1.18,-116.8,309.8,-10.8,160,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1781,3485,0,0,0,0,0,0
$GC,2673,-1.23,-116.8,337.0,-11.2,166,2678,0.12,2.60,0.00,0.000,4,0.074,0.044,2808,3373,3485,0,0,0,0,0,0
$GC,2717,-1.23,-116.8,342.7,-12.1,167,2722,0.00,2.62,0.00,0.000,6,0.000,0.048,2807,1792,3484,0,0,0,0,0,0
$GC,2995,-1.23,-116.8,375.7,-11.4,174,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1792,3483,0,0,0,0,0,0
$GC,3240,-1.23,-116.8,400.9,-10.3,180,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1792,3482,0,0,0,0,0,0
$GC,3483,-1.23,-116.8,426.6,-10.7,186,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1792,3480,0,0,0,0,0,0
$GC,3726,-1.23,-116.8,455.9,-12.1,192,3731,0.00,2.62,0.00,0.000,4,0.000,0.055,2807,3364,3479,0,0,0,0,0,0
$GC,3749,-1.23,-116.8,458.8,-12.9,192,3753,0.00,2.70,0.00,0.000,6,0.000,0.061,2808,1798,3479,0,0,0,0,0,0
$GC,4005,-1.23,-116.8,490.8,-12.4,199,4009,0.00,2.65,0.00,0.000,4,0.000,0.061,2807,3362,3477,0,0,0,0,0,0
$GC,4048,-1.23,-116.8,496.7,-12.5,200,4053,0.00,2.72,0.00,0.000,6,0.000,0.066,2807,1798,3477,0,0,0,0,0,0
$GC,4326,-1.23,-116.8,527.4,-10.9,207,4331,0.00,2.72,0.00,0.000,4,0.000,0.069,2807,3360,3476,0,0,0,0,0,0
$GC,4412,-1.23,-116.8,536.4,-10.8,209,4417,0.00,2.70,0.00,0.000,6,0.000,0.070,2808,1806,3475,0,0,0,0,0,0
$GC,4695,-1.23,-116.8,564.3,-9.6,216,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1807,3473,0,0,0,0,0,0
$GC,4939,-1.23,-116.8,588.1,-9.8,222,4943,0.00,2.78,0.00,0.000,4,0.000,0.083,2807,3360,3472,0,0,0,0,0,0
$GC,4979,-1.27,-116.8,592.2,-10.7,223,4984,0.00,2.78,0.00,0.000,6,0.000,0.086,2808,1814,3472,0,0,0,0,0,0
$STATE,5056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5057,begin apogee
$GC,5063,-0.31,0.0,600.4,10.2,225,5163,0.98,0.00,96.55,1.015,6,0.093,0.000,3019,1929,3001,0,0,0,0,0,0
$STATE,5163,end apogee,CONTROL_FINISHED_OK
$STATE,5164,begin climb
$GC,5167,1.38,116.8,603.8,0.0,227,5272,1.65,0.00,100.85,0.989,6,0.061,0.000,3391,1929,2524,0,0,0,0,0,0
$GC,5503,1.46,184.9,588.8,6.1,236,5567,0.00,2.85,58.75,0.968,4,0.000,0.077,3391,3498,2247,0,0,0,0,0,0
$GC,5615,1.53,210.2,580.7,8.5,238,5645,0.15,2.85,23.23,0.924,6,0.083,0.071,3426,1914,2143,0,0,0,0,0,0
$GC,5919,1.53,210.2,549.3,10.4,246,5924,0.00,2.78,0.00,0.000,4,0.000,0.064,3426,3506,2135,0,0,0,0,0,0
$GC,5992,1.53,210.2,541.7,10.3,247,5997,0.00,2.80,0.00,0.000,6,0.000,0.071,3426,1928,2133,0,0,0,0,0,0
$GC,6243,1.53,210.2,516.3,10.1,253,6248,0.00,2.67,0.00,0.000,4,0.000,0.054,3426,3501,2132,0,0,0,0,0,0
$GC,6303,1.53,210.2,509.5,11.1,254,6308,0.00,2.72,0.00,0.000,6,0.000,0.058,3426,1934,2131,0,0,0,0,0,0
$GC,6570,1.53,210.2,481.2,10.5,261,6574,0.00,2.65,0.00,0.000,4,0.000,0.053,3426,3505,2130,0,0,0,0,0,0
$GC,6592,1.53,210.2,478.9,10.5,261,6596,0.00,2.70,0.00,0.000,6,0.000,0.057,3426,1935,2129,0,0,0,0,0,0
$GC,6846,1.53,210.2,452.6,10.2,268,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1935,2129,0,0,0,0,0,0
$GC,7091,1.55,221.4,429.5,9.4,274,7105,0.00,2.70,8.50,0.802,4,0.000,0.045,3426,3512,2098,0,0,0,0,0,0
$GC,7151,1.55,221.4,423.6,10.0,275,7156,0.00,2.67,0.00,0.000,6,0.000,0.048,3426,1945,2096,0,0,0,0,0,0
$GC,7419,1.56,232.7,398.6,9.3,282,7432,0.00,0.00,11.57,0.822,6,0.000,0.000,3426,1945,2052,0,0,0,0,0,0
$GC,7662,1.57,237.6,375.1,9.7,288,7670,0.00,0.00,5.60,0.683,6,0.000,0.000,3426,1945,2032,0,0,0,0,0,0
$GC,7907,1.57,237.6,350.0,10.4,294,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1944,2030,0,0,0,0,0,0
$GC,8149,1.57,237.6,324.3,10.5,300,8154,0.00,2.58,0.00,0.000,4,0.000,0.040,3426,3514,2029,0,0,0,0,0,0
$GC,8199,1.60,237.6,318.7,11.0,301,8204,0.00,2.60,0.00,0.000,6,0.000,0.041,3426,1944,2028,0,0,0,0,0,0
$GC,8472,1.60,237.6,289.5,10.8,308,8477,0.00,2.58,0.00,0.000,4,0.000,0.041,3426,3512,2028,0,0,0,0,0,0
$GC,8494,1.60,237.6,286.8,11.0,308,8498,0.00,2.53,0.00,0.000,6,0.000,0.038,3426,1953,2028,0,0,0,0,0,0
$GC,8750,1.60,239.4,260.3,9.9,315,8754,0.00,2.55,0.00,0.000,4,0.000,0.041,3426,3510,2027,0,0,0,0,0,0
$GC,8771,1.62,250.9,258.2,9.3,315,8790,0.00,2.55,13.00,0.736,6,0.000,0.039,3426,1954,1977,0,0,0,0,0,0
$GC,9077,1.67,261.4,229.4,9.4,323,9093,0.12,2.58,10.65,0.695,4,0.081,0.039,3461,3516,1933,0,0,0,0,0,0
$GC,9149,1.67,261.4,220.9,12.0,324,9153,0.00,2.58,0.00,0.000,6,0.000,0.039,3461,1954,1933,0,0,0,0,0,0
$GC,9412,1.67,261.4,191.0,11.8,334,9416,0.00,2.53,0.00,0.000,4,0.000,0.033,3461,3517,1931,0,0,0,0,0,0
$GC,9456,1.67,261.4,185.8,12.6,337,9460,0.00,2.55,0.00,0.000,6,0.000,0.036,3461,1959,1931,0,0,0,0,0,0
$GC,9723,1.67,261.4,157.7,10.4,361,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1959,1930,0,0,0,0,0,0
$GC,9984,1.68,268.7,131.7,9.6,386,9999,0.00,2.58,7.40,0.572,4,0.000,0.038,3461,3515,1905,0,0,0,0,0,0
$GC,10050,1.68,268.7,125.5,10.2,391,10054,0.00,2.53,0.00,0.000,6,0.000,0.031,3461,1961,1904,0,0,0,0,0,0
$GC,10317,1.68,270.5,100.2,9.9,415,10321,0.00,2.47,0.00,0.000,4,0.000,0.032,3461,3512,1904,0,0,0,0,0,0
$GC,10351,1.68,270.5,95.8,11.2,417,10357,0.00,2.50,0.00,0.000,6,0.000,0.030,3461,1965,1904,0,0,0,0,0,0
$GC,10619,1.70,279.6,70.6,9.5,442,10637,0.00,2.55,11.18,0.555,4,0.000,0.034,3460,3509,1860,0,0,0,0,0,0
$GC,10661,1.74,279.6,65.6,10.6,445,10670,0.00,2.50,0.00,0.000,6,0.000,0.031,3461,1984,1859,0,0,0,0,0,0
$GC,10929,1.79,279.6,37.4,10.3,470,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1984,1858,0,0,0,0,0,0
$GC,11249,1.86,284.9,6.8,9.7,512,11268,0.15,2.50,6.32,0.444,4,0.070,0.038,3505,3508,1838,0,0,0,0,0,0
$STATE,11277,end climb,SURFACE_DEPTH_REACHED
$STATE,11277,begin surface coast
$FINISH,0.5,0.976389
$STATE,11326,end surface coast,CONTROL_FINISHED_OK
$STATE,11328,begin surface
$SM_CCo,11352,93.65,0.527,0,0,1370,400.08
$SM_GC,1.08,0.00,0.00,93.65,0.000,0.000,0.527,478,1769,1370,-12.02,0.00,400.08
$IRIDIUM_FIX,2241.69,-15759.32,110800,010144
$TT8_MAMPS,0.026078
$HUMID,55.63
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.90
$XPDR_PINGS,51
$24V_AH,23.4,7.358
$10V_AH,10.4,6.107
$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,28.600,131.275,353.600,93.650,0.000,46.482,64.422,213.642,12.750,0.000,15.093,1056.415,7863.922,551.673,1883.429,614.247,33.377,1270.180,0.000,1891.446,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,150.332,1014.741,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.483,267.041,374.485,706.155,1068.099,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41526,522
$CAP_FILE_SIZE,110810,0
$CFSIZE,260165632,179326976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180511,045037,2250.487,-15757.492,31,1.4,31,10.1