version: 66.06
glider: 146
mission: 6
dive: 37
start: 5 15 111 14 10 56
data:
$ID,146
$MISSION,6
$DIVE,37
$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,-268050.66
$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,3070
$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,49
$R_STBD_OVSHOOT,38
$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
$GPS1,140424,2249.659,-15803.144,39,1.2,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.2
$GPS2,141002,2249.630,-15803.137,10,1.7,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.099
$KALMAN_X,-36217.9,19.2,-92.5,25457.6,-948.4
$KALMAN_Y,-67506.5,-242.7,-232.7,78588.2,-1084.8
$MHEAD_RNG_PITCHd_Wd,54.9,10497,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-77.43,0.000,2,0.000,0.000,476,1730,3280,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.7,10,126,12.82,2.62,-3.60,0.000,4,0.178,0.038,2760,3351,3477,0,0,0,0,0,0
$GC,216,-1.13,-116.8,34.6,-22.0,25,222,0.30,2.50,0.00,0.000,6,0.122,0.028,2818,1791,3478,0,0,0,0,0,0
$GC,483,-0.99,-116.8,80.4,-16.5,49,488,0.17,2.72,0.00,0.000,4,0.130,0.065,2852,192,3480,0,0,0,0,0,0
$GC,526,-0.91,-116.8,87.8,-15.1,52,531,0.00,2.45,0.00,0.000,6,0.000,0.015,2852,1806,3479,0,0,0,0,0,0
$GC,789,-0.86,-116.8,122.8,-14.1,76,791,0.12,0.00,0.00,0.000,6,0.137,0.000,2878,1807,3480,0,0,0,0,0,0
$GC,1046,-0.86,-116.8,153.1,-11.8,100,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1807,3481,0,0,0,0,0,0
$GC,1308,-0.90,-116.8,183.7,-10.5,125,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1806,3482,0,0,0,0,0,0
$GC,1590,-0.95,-116.8,214.9,-11.4,143,1595,0.00,2.78,0.00,0.000,4,0.000,0.071,2877,191,3482,0,0,0,0,0,0
$GC,1629,-0.95,-116.8,219.6,-12.0,144,1633,0.00,2.35,0.00,0.000,6,0.000,0.023,2878,1738,3483,0,0,0,0,0,0
$GC,1914,-1.01,-116.8,246.7,-9.1,151,1919,0.12,2.53,0.00,0.000,4,0.072,0.037,2836,3319,3482,0,0,0,0,0,0
$GC,1941,-1.01,-116.8,249.6,-9.9,151,1945,0.00,2.50,0.00,0.000,6,0.000,0.035,2836,1752,3482,0,0,0,0,0,0
$GC,2191,-1.01,-116.8,275.7,-10.7,157,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1752,3482,0,0,0,0,0,0
$GC,2434,-1.01,-116.8,301.5,-10.6,163,2439,0.00,2.50,0.00,0.000,4,0.000,0.032,2836,3314,3482,0,0,0,0,0,0
$GC,2468,-1.01,-116.8,305.2,-10.8,163,2474,0.00,2.58,0.00,0.000,6,0.000,0.038,2836,1754,3482,0,0,0,0,0,0
$GC,2718,-1.01,-116.8,331.4,-10.7,170,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1754,3481,0,0,0,0,0,0
$GC,2961,-1.01,-116.8,358.5,-11.2,176,2966,0.00,2.55,0.00,0.000,4,0.000,0.044,2835,3315,3481,0,0,0,0,0,0
$GC,2984,-1.01,-116.8,361.1,-11.7,176,2989,0.00,2.62,0.00,0.000,6,0.000,0.053,2835,1758,3481,0,0,0,0,0,0
$GC,3239,-1.01,-116.8,390.4,-11.6,183,3243,0.00,2.55,0.00,0.000,4,0.000,0.040,2835,3313,3480,0,0,0,0,0,0
$GC,3266,-1.06,-116.8,393.4,-11.0,183,3270,0.00,2.62,0.00,0.000,6,0.000,0.053,2836,1769,3479,0,0,0,0,0,0
$GC,3515,-1.06,-116.8,419.2,-10.2,189,3520,0.00,2.55,0.00,0.000,4,0.000,0.047,2836,3308,3479,0,0,0,0,0,0
$GC,3566,-1.12,-116.8,424.3,-10.2,190,3571,0.00,2.62,0.00,0.000,6,0.000,0.056,2836,1775,3478,0,0,0,0,0,0
$GC,3839,-1.12,-116.8,449.3,-9.1,197,3843,0.00,2.55,0.00,0.000,4,0.000,0.054,2835,3315,3476,0,0,0,0,0,0
$GC,3880,-1.20,-116.8,453.2,-9.9,198,3885,0.12,2.62,0.00,0.000,6,0.079,0.064,2797,1781,3476,0,0,0,0,0,0
$GC,4163,-1.20,-116.8,483.7,-10.8,205,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1781,3475,0,0,0,0,0,0
$GC,4407,-1.20,-116.8,511.2,-11.5,211,4411,0.00,2.60,0.00,0.000,4,0.000,0.066,2797,3300,3473,0,0,0,0,0,0
$GC,4433,-1.20,-116.8,514.6,-12.7,211,4438,0.00,2.62,0.00,0.000,6,0.000,0.071,2797,1786,3473,0,0,0,0,0,0
$GC,4685,-1.20,-116.8,544.3,-11.8,217,4689,0.00,2.62,0.00,0.000,4,0.000,0.067,2797,3299,3471,0,0,0,0,0,0
$GC,4717,-1.20,-116.8,548.2,-11.6,217,4723,0.00,2.65,0.00,0.000,6,0.000,0.070,2797,1792,3471,0,0,0,0,0,0
$GC,4967,-1.20,-116.8,574.8,-10.4,224,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1792,3470,0,0,0,0,0,0
$GC,5212,-1.20,-116.8,596.2,-8.6,230,5217,0.00,2.70,0.00,0.000,4,0.000,0.080,2797,3305,3468,0,0,0,0,0,0
$STATE,5259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5259,begin apogee
$GC,5267,-0.31,0.0,600.4,7.9,231,5367,0.93,0.00,96.15,1.023,6,0.105,0.000,2996,1820,3000,0,0,0,0,0,0
$STATE,5368,end apogee,CONTROL_FINISHED_OK
$STATE,5368,begin climb
$GC,5370,1.38,116.8,602.1,0.0,233,5483,1.65,3.30,100.75,0.999,4,0.074,0.135,3367,239,2523,0,0,0,0,0,0
$GC,5511,1.43,160.7,595.2,7.5,236,5556,0.00,2.65,38.45,0.966,6,0.000,0.053,3367,1766,2345,0,0,0,0,0,0
$GC,5826,1.53,193.2,569.9,8.1,244,5861,0.15,2.90,28.52,0.953,4,0.081,0.081,3404,3350,2213,0,0,0,0,0,0
$GC,6036,1.53,193.2,549.1,10.4,248,6041,0.00,2.70,0.00,0.000,6,0.000,0.070,3404,1830,2207,0,0,0,0,0,0
$GC,6286,1.54,206.1,525.9,9.3,254,6305,0.00,2.70,11.80,0.884,4,0.000,0.055,3404,3353,2159,0,0,0,0,0,0
$GC,6322,1.56,216.7,522.3,9.4,254,6338,0.00,2.67,11.10,0.872,6,0.000,0.062,3404,1843,2117,0,0,0,0,0,0
$GC,6612,1.56,216.7,493.0,10.3,262,6617,0.00,2.58,0.00,0.000,4,0.000,0.048,3405,3362,2111,0,0,0,0,0,0
$GC,6678,1.59,216.7,485.8,10.5,263,6683,0.00,2.62,0.00,0.000,6,0.000,0.062,3404,1856,2110,0,0,0,0,0,0
$GC,6934,1.59,217.2,459.8,10.0,270,6938,0.00,2.50,0.00,0.000,4,0.000,0.047,3404,3361,2109,0,0,0,0,0,0
$GC,6968,1.60,219.8,456.4,9.9,270,6973,0.00,2.60,0.00,0.000,6,0.000,0.056,3404,1857,2108,0,0,0,0,0,0
$GC,7217,1.62,242.2,433.8,8.7,277,7247,0.00,2.60,22.67,0.904,4,0.000,0.042,3404,3360,2013,0,0,0,0,0,0
$GC,7335,1.70,268.3,424.0,8.5,279,7366,0.15,2.55,24.42,0.890,6,0.086,0.048,3442,1871,1906,0,0,0,0,0,0
$GC,7640,1.70,268.3,391.3,10.8,287,7644,0.00,2.45,0.00,0.000,4,0.000,0.037,3442,3367,1900,0,0,0,0,0,0
$GC,7695,1.70,268.3,384.8,11.7,288,7700,0.00,2.53,0.00,0.000,6,0.000,0.044,3442,1874,1899,0,0,0,0,0,0
$GC,7962,1.70,268.3,353.4,11.9,295,7966,0.00,2.45,0.00,0.000,4,0.000,0.040,3441,3364,1898,0,0,0,0,0,0
$GC,7988,1.70,268.3,349.8,12.9,295,7993,0.00,2.50,0.00,0.000,6,0.000,0.046,3442,1869,1897,0,0,0,0,0,0
$GC,8238,1.70,268.3,318.4,12.6,301,8243,0.00,2.45,0.00,0.000,4,0.000,0.034,3441,3365,1896,0,0,0,0,0,0
$GC,8284,1.70,268.3,312.3,13.7,302,8288,0.00,2.45,0.00,0.000,6,0.000,0.043,3442,1878,1896,0,0,0,0,0,0
$GC,8561,1.70,268.3,277.2,12.3,309,8566,0.00,2.42,0.00,0.000,4,0.000,0.037,3442,3364,1895,0,0,0,0,0,0
$GC,8605,1.70,268.3,271.7,11.8,310,8609,0.00,2.40,0.00,0.000,6,0.000,0.036,3442,1892,1895,0,0,0,0,0,0
$GC,8890,1.70,268.3,239.3,11.5,317,8895,0.00,2.38,0.00,0.000,4,0.000,0.035,3441,3368,1895,0,0,0,0,0,0
$GC,8970,1.70,268.3,230.9,10.2,318,8975,0.00,2.40,0.00,0.000,6,0.000,0.038,3442,1904,1895,0,0,0,0,0,0
$GC,9219,1.70,268.5,205.6,10.0,325,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1904,1895,0,0,0,0,0,0
$GC,9475,1.70,268.5,178.8,11.2,343,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1904,1895,0,0,0,0,0,0
$GC,9736,1.70,268.5,150.6,10.2,368,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1903,1894,0,0,0,0,0,0
$GC,9992,1.70,268.5,124.0,10.8,392,9996,0.00,2.35,0.00,0.000,4,0.000,0.035,3442,3374,1895,0,0,0,0,0,0
$GC,10063,1.76,268.5,116.2,10.8,398,10067,0.00,2.38,0.00,0.000,6,0.000,0.034,3442,1907,1895,0,0,0,0,0,0
$GC,10327,1.83,276.9,89.4,9.5,422,10342,0.10,0.00,7.00,0.537,6,0.097,0.000,3471,1907,1870,0,0,0,0,0,0
$GC,10597,1.83,276.9,59.8,11.0,447,10601,0.00,2.33,0.00,0.000,4,0.000,0.029,3471,3367,1871,0,0,0,0,0,0
$GC,10631,1.83,276.9,56.3,10.6,449,10635,0.00,2.33,0.00,0.000,6,0.000,0.031,3471,1911,1870,0,0,0,0,0,0
$GC,10897,1.83,276.9,29.7,10.5,473,10907,0.00,2.35,0.00,0.000,4,0.000,0.029,3471,3367,1870,0,0,0,0,0,0
$GC,10924,1.83,280.1,27.1,9.8,476,10934,0.00,2.35,4.38,0.409,6,0.000,0.030,3471,1921,1858,0,0,0,0,0,0
$STATE,11161,end climb,SURFACE_DEPTH_REACHED
$STATE,11161,begin surface coast
$FINISH,0.5,0.976333
$STATE,11210,end surface coast,CONTROL_FINISHED_OK
$STATE,11211,begin surface
$SM_CCo,11233,97.18,0.543,0,0,1370,400.08
$SM_GC,1.18,0.00,0.00,97.18,0.000,0.000,0.543,475,1722,1370,-11.94,-1.36,400.08
$IRIDIUM_FIX,2241.69,-15802.37,080800,101019
$TT8_MAMPS,0.026078
$HUMID,55.11
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.70
$XPDR_PINGS,47
$24V_AH,23.3,5.158
$10V_AH,10.4,4.121
$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,28.850,133.275,345.250,97.175,0.000,27.409,32.886,154.044,11.750,0.000,12.450,1068.799,7640.256,506.056,1965.155,491.741,33.368,1271.020,0.000,1967.427,0.000,0.535,0.000
$DEVICE_MAMPS,177.944,134.992,1023.178,543.036,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.167,277.309,377.430,699.761,1058.277,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41599,518
$CAP_FILE_SIZE,111562,0
$CFSIZE,260165632,180326400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,172106,2249.983,-15801.900,35,1.0,38,10.1