version: 66.06
glider: 146
mission: 6
dive: 33
start: 5 15 111 0 53 56
data:
$ID,146
$MISSION,6
$DIVE,33
$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,-267991.78
$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,3060
$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,47
$R_STBD_OVSHOOT,84
$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
$GPS1,004706,2248.318,-15804.356,42,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-70.8
$GPS2,005302,2248.256,-15804.396,12,1.0,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.219
$KALMAN_X,-32914.6,-5.5,-183.3,20128.4,-562.9
$KALMAN_Y,-61178.3,436.0,-178.1,68979.6,-2016.1
$MHEAD_RNG_PITCHd_Wd,11.0,4015,-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,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.40,0.000,2,0.000,0.000,478,1724,3341,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.5,-6.7,10,127,12.60,2.58,-2.53,0.000,4,0.173,0.046,2750,3304,3481,0,0,0,0,0,0
$GC,230,-1.13,-116.8,38.5,-21.1,26,239,0.28,2.45,0.00,0.000,6,0.114,0.028,2808,1793,3482,0,0,0,0,0,0
$GC,498,-0.98,-116.8,83.6,-15.8,51,503,0.17,2.78,0.00,0.000,4,0.129,0.061,2841,187,3483,0,0,0,0,0,0
$GC,522,-0.82,-116.8,88.6,-16.1,52,530,0.15,2.40,0.00,0.000,6,0.107,0.021,2876,1767,3483,0,0,0,0,0,0
$GC,788,-0.82,-116.8,121.8,-13.8,77,792,0.00,2.42,0.00,0.000,4,0.000,0.026,2876,3299,3484,0,0,0,0,0,0
$GC,810,-0.82,-116.8,125.7,-13.9,78,819,0.00,2.50,0.00,0.000,6,0.000,0.033,2876,1752,3484,0,0,0,0,0,0
$GC,1076,-0.82,-116.8,158.2,-11.4,103,1080,0.00,2.45,0.00,0.000,4,0.000,0.029,2876,3308,3485,0,0,0,0,0,0
$GC,1097,-0.86,-116.8,161.3,-11.3,104,1103,0.00,2.50,0.00,0.000,6,0.000,0.032,2876,1746,3485,0,0,0,0,0,0
$GC,1361,-0.90,-116.8,189.4,-10.2,129,1365,0.00,2.47,0.00,0.000,4,0.000,0.025,2876,3301,3485,0,0,0,0,0,0
$GC,1396,-0.97,-116.8,193.1,-9.6,131,1402,0.12,2.45,0.00,0.000,6,0.074,0.026,2834,1757,3485,0,0,0,0,0,0
$GC,1669,-0.97,-116.8,222.3,-10.8,143,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1757,3486,0,0,0,0,0,0
$GC,1912,-0.97,-116.8,251.1,-12.0,149,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1757,3485,0,0,0,0,0,0
$GC,2156,-0.97,-116.8,281.9,-12.9,155,2160,0.00,2.47,0.00,0.000,4,0.000,0.040,2835,3298,3486,0,0,0,0,0,0
$GC,2200,-0.97,-116.8,287.5,-12.5,156,2205,0.00,2.47,0.00,0.000,6,0.000,0.035,2834,1779,3486,0,0,0,0,0,0
$GC,2477,-0.97,-116.8,322.0,-12.3,163,2481,0.00,2.45,0.00,0.000,4,0.000,0.037,2834,3292,3485,0,0,0,0,0,0
$GC,2492,-0.97,-116.8,323.8,-11.6,163,2497,0.00,2.50,0.00,0.000,6,0.000,0.040,2834,1769,3485,0,0,0,0,0,0
$GC,2754,-0.97,-116.8,352.5,-10.7,170,2758,0.00,2.50,0.00,0.000,4,0.000,0.042,2834,3294,3485,0,0,0,0,0,0
$GC,2787,-0.97,-116.8,356.3,-11.0,170,2793,0.00,2.53,0.00,0.000,6,0.000,0.054,2835,1781,3485,0,0,0,0,0,0
$GC,3037,-0.97,-116.8,381.3,-9.8,177,3041,0.00,2.45,0.00,0.000,4,0.000,0.043,2834,3288,3483,0,0,0,0,0,0
$GC,3078,-1.02,-116.8,385.1,-9.7,178,3083,0.00,2.55,0.00,0.000,6,0.000,0.053,2834,1778,3483,0,0,0,0,0,0
$GC,3363,-1.02,-116.8,411.8,-9.3,185,3368,0.00,2.50,0.00,0.000,4,0.000,0.048,2834,3287,3482,0,0,0,0,0,0
$GC,3404,-1.07,-116.8,415.6,-9.2,186,3408,0.00,2.58,0.00,0.000,6,0.000,0.062,2834,1784,3482,0,0,0,0,0,0
$GC,3688,-1.07,-116.8,442.0,-9.4,193,3692,0.00,2.53,0.00,0.000,4,0.000,0.053,2834,3287,3480,0,0,0,0,0,0
$GC,3715,-1.12,-116.8,444.8,-9.5,193,3720,0.00,2.60,0.00,0.000,6,0.000,0.060,2835,1780,3480,0,0,0,0,0,0
$GC,3965,-1.12,-116.8,469.1,-9.9,199,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1780,3478,0,0,0,0,0,0
$GC,4211,-1.16,-116.8,493.2,-9.8,205,4216,0.12,2.58,0.00,0.000,4,0.087,0.061,2797,3291,3477,0,0,0,0,0,0
$GC,4238,-1.16,-116.8,496.3,-11.0,205,4242,0.00,2.60,0.00,0.000,6,0.000,0.064,2797,1785,3477,0,0,0,0,0,0
$GC,4488,-1.16,-116.8,522.5,-10.4,211,4492,0.00,2.58,0.00,0.000,4,0.000,0.061,2797,3284,3476,0,0,0,0,0,0
$GC,4514,-1.16,-116.8,525.3,-10.5,211,4519,0.00,2.60,0.00,0.000,6,0.000,0.068,2797,1789,3475,0,0,0,0,0,0
$GC,4772,-1.16,-116.8,550.1,-9.6,218,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1789,3473,0,0,0,0,0,0
$GC,5014,-1.16,-116.8,575.2,-10.4,224,5018,0.00,2.62,0.00,0.000,4,0.000,0.080,2797,3279,3472,0,0,0,0,0,0
$GC,5034,-1.16,-116.8,577.6,-10.8,224,5039,0.00,2.67,0.00,0.000,6,0.000,0.077,2797,1783,3472,0,0,0,0,0,0
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5247,begin apogee
$GC,5253,-0.31,0.0,601.6,11.4,230,5353,0.90,0.00,96.50,1.017,6,0.108,0.000,2989,1783,3001,0,0,0,0,0,0
$STATE,5354,end apogee,CONTROL_FINISHED_OK
$STATE,5354,begin climb
$GC,5356,1.38,116.8,606.3,0.0,232,5462,1.65,0.00,101.47,0.991,6,0.075,0.000,3357,1783,2524,0,0,0,0,0,0
$GC,5694,1.56,209.5,596.2,4.7,241,5784,0.17,2.80,80.35,0.982,4,0.074,0.071,3403,3331,2144,0,0,0,0,0,0
$GC,5863,1.56,209.5,581.9,10.4,245,5867,0.00,2.70,0.00,0.000,6,0.000,0.074,3403,1833,2138,0,0,0,0,0,0
$GC,6147,1.57,211.1,553.8,9.9,252,6152,0.00,2.60,0.00,0.000,4,0.000,0.058,3403,3333,2135,0,0,0,0,0,0
$GC,6208,1.57,211.1,547.4,10.1,253,6212,0.00,2.65,0.00,0.000,6,0.000,0.070,3403,1845,2133,0,0,0,0,0,0
$GC,6470,1.57,214.6,521.2,9.8,260,6474,0.00,2.55,0.00,0.000,4,0.000,0.055,3403,3341,2132,0,0,0,0,0,0
$GC,6510,1.61,214.6,517.2,10.7,261,6515,0.00,2.58,0.00,0.000,6,0.000,0.067,3403,1861,2131,0,0,0,0,0,0
$GC,6793,1.63,227.5,490.8,9.3,268,6813,0.00,2.55,14.48,0.895,4,0.000,0.054,3403,3348,2072,0,0,0,0,0,0
$GC,6876,1.68,227.5,482.6,10.8,269,6882,0.10,2.58,0.00,0.000,6,0.103,0.064,3427,1869,2070,0,0,0,0,0,0
$GC,7125,1.68,227.5,455.4,10.9,276,7130,0.00,2.45,0.00,0.000,4,0.000,0.045,3427,3346,2068,0,0,0,0,0,0
$GC,7165,1.68,227.5,451.1,11.4,277,7169,0.00,2.53,0.00,0.000,6,0.000,0.054,3427,1881,2067,0,0,0,0,0,0
$GC,7449,1.68,227.5,421.0,10.7,284,7453,0.00,2.40,0.00,0.000,4,0.000,0.046,3426,3343,2066,0,0,0,0,0,0
$GC,7515,1.68,227.5,413.3,11.5,285,7519,0.00,2.47,0.00,0.000,6,0.000,0.048,3426,1880,2065,0,0,0,0,0,0
$GC,7775,1.68,227.5,385.5,10.7,292,7780,0.00,2.40,0.00,0.000,4,0.000,0.042,3427,3343,2065,0,0,0,0,0,0
$GC,7866,1.68,227.5,375.9,11.2,294,7870,0.00,2.42,0.00,0.000,6,0.000,0.047,3427,1901,2064,0,0,0,0,0,0
$GC,8144,1.68,231.1,348.1,9.8,301,8148,0.00,2.35,0.00,0.000,4,0.000,0.040,3426,3344,2063,0,0,0,0,0,0
$GC,8188,1.68,231.1,343.4,10.2,302,8192,0.00,2.38,0.00,0.000,6,0.000,0.039,3427,1916,2064,0,0,0,0,0,0
$GC,8473,1.68,231.1,315.0,10.0,309,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1916,2063,0,0,0,0,0,0
$GC,8715,1.69,236.1,291.5,9.7,315,8729,0.00,2.40,7.47,0.707,4,0.000,0.037,3427,3343,2038,0,0,0,0,0,0
$GC,8753,1.71,254.4,287.8,9.0,315,8777,0.00,2.35,18.05,0.785,6,0.000,0.039,3426,1918,1963,0,0,0,0,0,0
$GC,9046,1.72,259.6,259.3,9.7,323,9056,0.00,2.33,5.65,0.624,4,0.000,0.033,3427,3344,1941,0,0,0,0,0,0
$GC,9107,1.77,259.6,253.1,10.4,324,9111,0.00,2.33,0.00,0.000,6,0.000,0.036,3427,1927,1940,0,0,0,0,0,0
$GC,9369,1.82,266.3,228.1,9.6,331,9384,0.12,2.40,7.35,0.651,4,0.083,0.035,3460,3350,1914,0,0,0,0,0,0
$GC,9400,1.82,266.3,224.5,11.2,331,9404,0.00,2.30,0.00,0.000,6,0.000,0.033,3460,1939,1913,0,0,0,0,0,0
$GC,9656,1.82,266.3,195.8,11.1,338,9660,0.00,2.28,0.00,0.000,4,0.000,0.038,3460,3348,1912,0,0,0,0,0,0
$GC,9723,1.82,266.3,189.1,11.1,343,9727,0.00,2.28,0.00,0.000,6,0.000,0.040,3460,1944,1911,0,0,0,0,0,0
$GC,9990,1.82,266.3,159.5,11.7,367,9994,0.00,2.97,0.00,0.000,4,0.000,0.068,3461,230,1911,0,0,0,0,0,0
$GC,10022,1.77,266.3,154.6,12.9,369,10032,0.00,2.67,0.00,0.000,6,0.000,0.021,3460,1912,1910,0,0,0,0,0,0
$GC,10286,1.77,266.3,127.4,10.1,394,10290,0.00,2.30,0.00,0.000,4,0.000,0.035,3460,3358,1910,0,0,0,0,0,0
$GC,10314,1.77,266.3,124.2,10.5,396,10323,0.00,2.33,0.00,0.000,6,0.000,0.031,3461,1934,1910,0,0,0,0,0,0
$GC,10581,1.79,284.9,100.0,8.9,421,10605,0.00,2.30,17.35,0.607,4,0.000,0.028,3461,3357,1838,0,0,0,0,0,0
$GC,10646,1.85,296.4,93.1,9.3,426,10665,0.00,2.35,11.27,0.571,6,0.000,0.031,3461,1934,1790,0,0,0,0,0,0
$GC,10925,1.89,296.4,65.4,10.0,452,10929,0.00,2.25,0.00,0.000,4,0.000,0.028,3460,3353,1788,0,0,0,0,0,0
$GC,10983,1.95,296.4,59.3,10.5,456,10988,0.10,2.28,0.00,0.000,6,0.092,0.030,3491,1943,1788,0,0,0,0,0,0
$GC,11248,1.95,296.4,29.0,11.9,480,11257,0.00,2.28,0.00,0.000,4,0.000,0.029,3491,3350,1788,0,0,0,0,0,0
$GC,11287,1.95,296.4,24.2,12.5,485,11297,0.00,2.28,0.00,0.000,6,0.000,0.031,3491,1956,1788,0,0,0,0,0,0
$STATE,11478,end climb,SURFACE_DEPTH_REACHED
$STATE,11478,begin surface coast
$FINISH,0.5,0.975771
$STATE,11527,end surface coast,CONTROL_FINISHED_OK
$STATE,11527,begin surface
$SM_CCo,11550,84.25,0.528,0,0,1368,400.08
$SM_GC,1.10,0.00,0.00,84.25,0.000,0.000,0.528,476,1734,1368,-11.89,-1.05,400.08
$IRIDIUM_FIX,2237.01,-15805.41,070800,212147
$TT8_MAMPS,0.026078
$HUMID,55.94
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,22.00
$XPDR_PINGS,57
$24V_AH,23.3,4.665
$10V_AH,10.4,3.674
$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,28.800,154.150,359.950,84.250,0.000,24.469,33.960,168.517,14.250,0.000,14.094,1080.931,7918.311,550.354,1924.936,516.002,33.364,1321.615,0.000,1926.679,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,79.768,1017.042,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.015,268.284,367.420,671.574,1016.072,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41432,519
$CAP_FILE_SIZE,117797,0
$CFSIZE,260165632,180547584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,040907,2249.220,-15804.022,35,0.9,35,10.1