version: 66.06
glider: 146
mission: 6
dive: 34
start: 5 15 111 4 15 44
data:
$ID,146
$MISSION,6
$DIVE,34
$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,-268006.78
$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,42
$R_STBD_OVSHOOT,91
$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
$GPS1,040907,2249.220,-15804.022,35,0.9,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.5
$GPS2,041450,2249.196,-15804.050,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.209
$KALMAN_X,-34063.3,423.1,110.2,21140.0,-1077.9
$KALMAN_Y,-62596.8,368.8,418.9,71603.7,-2346.2
$MHEAD_RNG_PITCHd_Wd,16.8,2329,-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,-78.95,0.000,2,0.000,0.000,476,1733,3317,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-5.3,10,126,12.70,2.62,-3.03,0.000,4,0.176,0.063,2752,208,3481,0,0,0,0,0,0
$GC,138,-0.28,-116.8,17.2,-35.8,14,148,1.15,2.38,0.00,0.000,6,0.116,0.015,2990,1756,3482,0,0,0,0,0,0
$GC,428,-0.46,-116.8,46.8,-8.4,45,433,0.12,2.47,0.00,0.000,4,0.074,0.025,2948,3316,3483,0,0,0,0,0,0
$GC,475,-0.60,-116.8,51.2,-10.3,48,480,0.00,2.47,0.00,0.000,6,0.000,0.027,2948,1781,3484,0,0,0,0,0,0
$GC,744,-0.72,-116.8,77.7,-9.0,72,753,0.20,0.00,0.00,0.000,6,0.057,0.000,2889,1781,3484,0,0,0,0,0,0
$GC,1009,-0.72,-116.8,108.5,-11.4,97,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1780,3484,0,0,0,0,0,0
$GC,1270,-0.72,-116.8,138.7,-11.5,122,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1780,3485,0,0,0,0,0,0
$GC,1526,-0.77,-116.8,166.4,-10.6,146,1530,0.00,2.40,0.00,0.000,4,0.000,0.029,2889,3309,3486,0,0,0,0,0,0
$GC,1578,-0.86,-116.8,171.8,-10.2,150,1583,0.00,2.45,0.00,0.000,6,0.000,0.027,2889,1765,3486,0,0,0,0,0,0
$GC,1842,-0.92,-116.8,199.0,-10.6,174,1847,0.12,2.67,0.00,0.000,4,0.074,0.071,2846,200,3486,0,0,0,0,0,0
$GC,1876,-0.88,-116.8,203.7,-14.0,175,1883,0.10,2.38,0.00,0.000,6,0.128,0.022,2867,1770,3487,0,0,0,0,0,0
$GC,2127,-0.92,-116.8,227.9,-9.3,182,2131,0.00,2.45,0.00,0.000,4,0.000,0.035,2866,3317,3487,0,0,0,0,0,0
$GC,2161,-0.98,-116.8,230.8,-8.4,182,2166,0.00,2.47,0.00,0.000,6,0.000,0.034,2867,1771,3487,0,0,0,0,0,0
$GC,2411,-1.02,-116.8,252.8,-8.8,189,2417,0.12,2.75,0.00,0.000,4,0.075,0.075,2825,201,3487,0,0,0,0,0,0
$GC,2428,-1.02,-116.8,254.6,-8.7,189,2432,0.00,2.38,0.00,0.000,6,0.000,0.024,2825,1751,3487,0,0,0,0,0,0
$GC,2689,-1.02,-116.8,283.4,-11.3,196,2694,0.00,2.53,0.00,0.000,4,0.000,0.040,2825,3334,3487,0,0,0,0,0,0
$GC,2724,-1.02,-116.8,287.4,-11.1,196,2729,0.00,2.53,0.00,0.000,6,0.000,0.039,2825,1787,3487,0,0,0,0,0,0
$GC,2973,-1.02,-116.8,316.2,-11.7,203,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1787,3486,0,0,0,0,0,0
$GC,3218,-1.02,-116.8,344.0,-11.1,209,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1787,3486,0,0,0,0,0,0
$GC,3460,-1.02,-116.8,369.2,-10.1,215,3465,0.00,2.55,0.00,0.000,4,0.000,0.046,2825,3333,3485,0,0,0,0,0,0
$GC,3487,-1.02,-116.8,371.9,-9.6,215,3492,0.00,2.60,0.00,0.000,6,0.000,0.055,2825,1785,3485,0,0,0,0,0,0
$GC,3737,-1.02,-116.8,396.3,-9.8,221,3742,0.00,2.58,0.00,0.000,4,0.000,0.048,2825,3334,3483,0,0,0,0,0,0
$GC,3778,-1.06,-116.8,400.2,-10.2,222,3783,0.00,2.60,0.00,0.000,6,0.000,0.053,2825,1791,3483,0,0,0,0,0,0
$GC,4061,-1.06,-116.8,430.5,-10.9,229,4065,0.00,2.58,0.00,0.000,4,0.000,0.047,2826,3321,3482,0,0,0,0,0,0
$GC,4100,-1.12,-116.8,435.0,-11.8,230,4104,0.00,2.62,0.00,0.000,6,0.000,0.058,2826,1785,3482,0,0,0,0,0,0
$GC,4383,-1.12,-116.8,465.6,-10.8,237,4387,0.00,2.60,0.00,0.000,4,0.000,0.054,2825,3321,3480,0,0,0,0,0,0
$GC,4404,-1.12,-116.8,468.1,-11.3,237,4408,0.00,2.65,0.00,0.000,6,0.000,0.062,2825,1787,3480,0,0,0,0,0,0
$GC,4659,-1.12,-116.8,495.2,-10.6,244,4663,0.00,2.60,0.00,0.000,4,0.000,0.058,2825,3320,3478,0,0,0,0,0,0
$GC,4687,-1.16,-116.8,498.2,-10.3,244,4691,0.00,2.67,0.00,0.000,6,0.000,0.068,2825,1790,3478,0,0,0,0,0,0
$GC,4936,-1.16,-116.8,524.1,-10.4,250,4941,0.00,2.65,0.00,0.000,4,0.000,0.066,2825,3316,3476,0,0,0,0,0,0
$GC,4964,-1.21,-116.8,527.0,-10.4,250,4969,0.12,2.65,0.00,0.000,6,0.081,0.071,2788,1799,3476,0,0,0,0,0,0
$GC,5215,-1.21,-116.8,556.3,-11.8,256,5219,0.00,2.65,0.00,0.000,4,0.000,0.071,2788,3314,3474,0,0,0,0,0,0
$GC,5254,-1.21,-116.8,561.3,-12.5,257,5258,0.00,2.65,0.00,0.000,6,0.000,0.073,2788,1807,3474,0,0,0,0,0,0
$GC,5536,-1.21,-116.8,592.8,-10.9,264,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1807,3472,0,0,0,0,0,0
$STATE,5615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5615,begin apogee
$GC,5622,-0.31,0.0,601.5,10.7,266,5722,0.93,0.00,97.03,1.016,6,0.103,0.000,2987,1807,3001,0,0,0,0,0,0
$STATE,5723,end apogee,CONTROL_FINISHED_OK
$STATE,5723,begin climb
$GC,5726,1.38,116.8,605.2,0.0,268,5834,1.62,0.00,100.78,0.989,6,0.066,0.000,3354,1807,2524,0,0,0,0,0,0
$GC,6091,1.53,176.2,586.5,6.6,277,6150,0.15,2.88,51.40,0.968,4,0.081,0.072,3392,3366,2281,0,0,0,0,0,0
$GC,6286,1.54,187.7,568.8,9.3,281,6302,0.00,2.75,10.88,0.862,6,0.000,0.074,3392,1828,2234,0,0,0,0,0,0
$GC,6546,1.57,214.0,545.7,8.5,287,6575,0.00,2.72,24.02,0.937,4,0.000,0.058,3392,3367,2127,0,0,0,0,0,0
$GC,6620,1.62,214.0,538.7,10.3,288,6625,0.00,2.72,0.00,0.000,6,0.000,0.069,3392,1841,2125,0,0,0,0,0,0
$GC,6872,1.68,232.9,516.1,8.9,294,6897,0.15,2.70,17.40,0.925,4,0.081,0.051,3429,3370,2050,0,0,0,0,0,0
$GC,6925,1.68,232.9,510.5,10.7,295,6929,0.00,2.70,0.00,0.000,6,0.000,0.063,3429,1841,2048,0,0,0,0,0,0
$GC,7199,1.68,232.9,482.5,10.3,302,7203,0.00,2.60,0.00,0.000,4,0.000,0.048,3429,3372,2045,0,0,0,0,0,0
$GC,7242,1.68,232.9,477.8,10.5,303,7246,0.00,2.65,0.00,0.000,6,0.000,0.061,3429,1854,2044,0,0,0,0,0,0
$GC,7520,1.68,232.9,448.1,11.0,310,7524,0.00,2.55,0.00,0.000,4,0.000,0.044,3429,3376,2042,0,0,0,0,0,0
$GC,7582,1.68,232.9,441.2,11.8,311,7586,0.00,2.62,0.00,0.000,6,0.000,0.059,3429,1856,2042,0,0,0,0,0,0
$GC,7842,1.68,232.9,411.8,11.4,318,7846,0.00,2.53,0.00,0.000,4,0.000,0.041,3429,3377,2041,0,0,0,0,0,0
$GC,7941,1.68,232.9,400.3,11.4,320,7945,0.00,2.55,0.00,0.000,6,0.000,0.047,3429,1869,2040,0,0,0,0,0,0
$GC,8209,1.68,232.9,370.7,11.1,327,8213,0.00,2.47,0.00,0.000,4,0.000,0.040,3429,3376,2040,0,0,0,0,0,0
$GC,8248,1.68,232.9,366.2,10.7,328,8253,0.00,2.53,0.00,0.000,6,0.000,0.042,3429,1872,2039,0,0,0,0,0,0
$GC,8532,1.68,232.9,335.7,10.8,335,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1872,2038,0,0,0,0,0,0
$GC,8777,1.68,232.9,307.6,11.5,341,8781,0.00,2.47,0.00,0.000,4,0.000,0.035,3430,3382,2038,0,0,0,0,0,0
$GC,8815,1.68,232.9,302.9,12.0,342,8820,0.00,2.50,0.00,0.000,6,0.000,0.043,3429,1860,2037,0,0,0,0,0,0
$GC,9099,1.68,232.9,269.7,11.4,349,9103,0.00,2.47,0.00,0.000,4,0.000,0.039,3429,3379,2037,0,0,0,0,0,0
$GC,9132,1.68,232.9,266.0,11.4,349,9138,0.00,2.45,0.00,0.000,6,0.000,0.040,3429,1877,2037,0,0,0,0,0,0
$GC,9382,1.69,235.2,240.8,9.9,356,9387,0.00,2.45,0.00,0.000,4,0.000,0.034,3429,3382,2037,0,0,0,0,0,0
$GC,9427,1.74,245.0,236.3,9.4,357,9442,0.00,2.47,9.40,0.716,6,0.000,0.040,3429,1876,2002,0,0,0,0,0,0
$GC,9710,1.76,259.1,210.1,9.2,364,9729,0.00,2.50,14.18,0.724,4,0.000,0.039,3429,3378,1943,0,0,0,0,0,0
$GC,9822,1.81,259.1,198.8,10.9,366,9827,0.10,2.45,0.00,0.000,6,0.099,0.038,3457,1888,1941,0,0,0,0,0,0
$GC,10083,1.81,259.1,169.5,11.7,390,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1888,1940,0,0,0,0,0,0
$GC,10338,1.81,259.1,139.5,11.2,414,10342,0.00,2.40,0.00,0.000,4,0.000,0.038,3457,3386,1939,0,0,0,0,0,0
$GC,10384,1.81,259.1,134.8,11.4,417,10388,0.00,2.42,0.00,0.000,6,0.000,0.036,3457,1880,1939,0,0,0,0,0,0
$GC,10650,1.81,259.1,106.1,10.2,441,10654,0.00,2.83,0.00,0.000,4,0.000,0.069,3457,240,1939,0,0,0,0,0,0
$GC,10671,1.81,259.1,103.1,10.7,442,10680,0.00,2.60,0.00,0.000,6,0.000,0.021,3457,1890,1938,0,0,0,0,0,0
$GC,10938,1.83,274.7,78.8,9.1,467,10958,0.00,2.42,14.25,0.598,4,0.000,0.038,3457,3379,1880,0,0,0,0,0,0
$GC,11032,1.89,288.1,69.4,9.2,474,11054,0.00,2.45,12.50,0.578,6,0.000,0.032,3457,1889,1827,0,0,0,0,0,0
$GC,11312,1.94,288.9,42.9,10.0,500,11317,0.10,2.40,0.00,0.000,4,0.095,0.029,3488,3385,1826,0,0,0,0,0,0
$GC,11346,1.94,288.9,38.2,12.0,502,11356,0.00,2.45,0.00,0.000,6,0.000,0.031,3488,1885,1825,0,0,0,0,0,0
$STATE,11655,end climb,SURFACE_DEPTH_REACHED
$STATE,11655,begin surface coast
$FINISH,0.4,0.980209
$STATE,11705,end surface coast,CONTROL_FINISHED_OK
$STATE,11705,begin surface
$SM_CCo,11728,90.72,0.547,0,0,1370,400.08
$SM_GC,1.10,0.00,0.00,90.72,0.000,0.000,0.547,476,1750,1370,-11.89,-0.57,400.08
$IRIDIUM_FIX,2239.35,-15802.37,080800,000048
$TT8_MAMPS,0.026078
$HUMID,55.74
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.70
$XPDR_PINGS,53
$24V_AH,23.3,4.786
$10V_AH,10.4,3.794
$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,30.050,148.525,351.825,90.725,0.000,23.488,36.589,157.197,13.250,0.000,14.387,1140.725,7860.749,521.219,2130.202,510.997,33.360,1334.562,0.000,2134.962,0.000,0.534,0.000
$DEVICE_MAMPS,175.643,75.166,1016.275,546.871,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.815,300.979,407.140,781.399,1182.794,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,44613,550
$CAP_FILE_SIZE,120318,0
$CFSIZE,260165632,180486144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,073358,2249.603,-15803.639,13,2.4,32,10.1