version: 66.06
glider: 146
mission: 6
dive: 38
start: 5 15 111 17 28 2
data:
$ID,146
$MISSION,6
$DIVE,38
$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,-268064
$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,63
$R_STBD_OVSHOOT,72
$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
$GPS1,172106,2249.983,-15801.900,35,1.0,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.3
$GPS2,172708,2249.956,-15801.891,11,1.9,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,0.149
$KALMAN_X,-36656.7,-264.3,206.6,28008.8,-797.7
$KALMAN_Y,-68925.5,-180.8,534.1,79778.2,-1773.0
$MHEAD_RNG_PITCHd_Wd,40.5,8348,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-83.62,0.000,6,0.000,0.000,475,1722,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.3,11,126,12.85,2.55,0.00,0.000,4,0.179,0.029,2761,3328,3482,0,0,0,0,0,0
$GC,208,-1.14,-116.8,35.9,-21.9,23,213,0.30,2.47,0.00,0.000,6,0.127,0.028,2818,1798,3483,0,0,0,0,0,0
$GC,475,-1.02,-116.8,81.6,-14.8,47,481,0.12,0.00,0.00,0.000,6,0.142,0.000,2841,1798,3484,0,0,0,0,0,0
$GC,738,-0.97,-116.8,118.0,-13.2,72,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1798,3484,0,0,0,0,0,0
$GC,991,-0.93,-116.8,151.2,-12.6,96,993,0.12,0.00,0.00,0.000,6,0.137,0.000,2865,1798,3485,0,0,0,0,0,0
$GC,1247,-0.93,-116.8,179.2,-10.6,120,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1798,3486,0,0,0,0,0,0
$GC,1518,-0.93,-116.8,209.0,-10.4,140,1523,0.00,2.75,0.00,0.000,4,0.000,0.068,2865,200,3487,0,0,0,0,0,0
$GC,1558,-0.93,-116.8,213.3,-11.4,141,1563,0.00,2.38,0.00,0.000,6,0.000,0.016,2866,1777,3487,0,0,0,0,0,0
$GC,1842,-0.97,-116.8,242.4,-10.5,148,1846,0.00,2.45,0.00,0.000,4,0.000,0.037,2865,3313,3486,0,0,0,0,0,0
$GC,1898,-1.04,-116.8,248.6,-11.2,149,1902,0.00,2.45,0.00,0.000,6,0.000,0.035,2865,1780,3486,0,0,0,0,0,0
$GC,2165,-1.09,-116.8,275.5,-9.8,156,2167,0.15,0.00,0.00,0.000,6,0.071,0.000,2821,1780,3486,0,0,0,0,0,0
$GC,2407,-1.09,-116.8,301.3,-10.5,162,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1780,3486,0,0,0,0,0,0
$GC,2651,-1.09,-116.8,328.9,-11.6,168,2655,0.00,2.50,0.00,0.000,4,0.000,0.038,2821,3317,3485,0,0,0,0,0,0
$GC,2673,-1.09,-116.8,331.6,-12.7,168,2678,0.00,2.53,0.00,0.000,6,0.000,0.042,2821,1793,3485,0,0,0,0,0,0
$GC,2928,-1.09,-116.8,364.2,-12.9,175,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1793,3484,0,0,0,0,0,0
$GC,3172,-1.09,-116.8,392.4,-11.4,181,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1793,3483,0,0,0,0,0,0
$GC,3415,-1.09,-116.8,418.1,-10.4,187,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1793,3482,0,0,0,0,0,0
$GC,3660,-1.09,-116.8,443.8,-10.4,193,3664,0.00,2.55,0.00,0.000,4,0.000,0.054,2821,3302,3481,0,0,0,0,0,0
$GC,3699,-1.09,-116.8,447.9,-10.0,194,3704,0.00,2.60,0.00,0.000,6,0.000,0.061,2821,1795,3480,0,0,0,0,0,0
$GC,3983,-1.09,-116.8,474.6,-9.3,201,3987,0.00,2.58,0.00,0.000,4,0.000,0.056,2821,3306,3479,0,0,0,0,0,0
$GC,4024,-1.14,-116.8,478.0,-9.0,202,4028,0.00,2.65,0.00,0.000,6,0.000,0.067,2821,1782,3479,0,0,0,0,0,0
$GC,4307,-1.14,-116.8,504.4,-9.5,209,4311,0.00,2.58,0.00,0.000,4,0.000,0.056,2821,3298,3477,0,0,0,0,0,0
$GC,4333,-1.14,-116.8,507.2,-10.1,209,4338,0.00,2.62,0.00,0.000,6,0.000,0.065,2821,1785,3477,0,0,0,0,0,0
$GC,4585,-1.14,-116.8,533.8,-10.7,215,4589,0.00,2.62,0.00,0.000,4,0.000,0.066,2821,3302,3475,0,0,0,0,0,0
$GC,4628,-1.19,-116.8,538.7,-10.3,216,4633,0.00,2.62,0.00,0.000,6,0.000,0.069,2821,1799,3475,0,0,0,0,0,0
$GC,4906,-1.19,-116.8,566.8,-10.0,223,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1799,3473,0,0,0,0,0,0
$GC,5151,-1.19,-116.8,588.9,-8.8,229,5155,0.00,2.67,0.00,0.000,4,0.000,0.083,2821,3295,3472,0,0,0,0,0,0
$GC,5242,-1.26,-116.8,596.2,-8.2,231,5247,0.10,2.70,0.00,0.000,6,0.091,0.090,2791,1801,3471,0,0,0,0,0,0
$STATE,5314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5314,begin apogee
$GC,5320,-0.31,0.0,602.7,8.9,233,5421,0.98,0.00,96.80,1.029,6,0.113,0.000,2997,1801,3001,0,0,0,0,0,0
$STATE,5421,end apogee,CONTROL_FINISHED_OK
$STATE,5422,begin climb
$GC,5424,1.38,116.8,604.9,0.0,235,5535,1.67,2.90,101.65,0.994,4,0.076,0.078,3370,3354,2522,0,0,0,0,0,0
$GC,5546,1.45,176.3,599.6,6.6,238,5606,0.00,2.83,52.03,0.973,6,0.000,0.079,3370,1816,2280,0,0,0,0,0,0
$GC,5886,1.54,199.0,569.5,8.7,247,5912,0.15,2.72,19.92,0.934,4,0.076,0.070,3407,3347,2189,0,0,0,0,0,0
$GC,5963,1.54,199.0,561.9,10.6,248,5969,0.00,2.72,0.00,0.000,6,0.000,0.076,3407,1830,2185,0,0,0,0,0,0
$GC,6213,1.54,199.0,535.3,10.7,255,6217,0.00,2.62,0.00,0.000,4,0.000,0.058,3407,3351,2182,0,0,0,0,0,0
$GC,6308,1.54,199.0,525.0,10.8,257,6313,0.00,2.65,0.00,0.000,6,0.000,0.071,3407,1851,2181,0,0,0,0,0,0
$GC,6581,1.54,199.2,497.4,10.0,264,6585,0.00,2.55,0.00,0.000,4,0.000,0.054,3407,3359,2179,0,0,0,0,0,0
$GC,6647,1.55,207.5,490.8,9.5,265,6663,0.00,2.60,7.25,0.806,6,0.000,0.063,3407,1855,2154,0,0,0,0,0,0
$GC,6907,1.58,228.7,467.7,8.8,272,6933,0.00,2.58,20.52,0.917,4,0.000,0.046,3407,3361,2067,0,0,0,0,0,0
$GC,7020,1.59,239.2,457.6,9.4,274,7036,0.00,2.60,10.30,0.844,6,0.000,0.054,3407,1856,2026,0,0,0,0,0,0
$GC,7280,1.60,251.2,433.2,9.3,281,7298,0.00,2.60,11.90,0.854,4,0.000,0.044,3407,3367,1976,0,0,0,0,0,0
$GC,7329,1.65,251.2,428.6,10.1,282,7333,0.00,2.60,0.00,0.000,6,0.000,0.056,3407,1862,1975,0,0,0,0,0,0
$GC,7606,1.69,251.2,399.7,10.6,289,7611,0.12,2.50,0.00,0.000,4,0.086,0.038,3440,3367,1973,0,0,0,0,0,0
$GC,7629,1.69,251.2,396.8,11.7,289,7633,0.00,2.55,0.00,0.000,6,0.000,0.044,3441,1863,1972,0,0,0,0,0,0
$GC,7886,1.69,251.2,365.7,12.3,296,7890,0.00,2.45,0.00,0.000,4,0.000,0.036,3440,3364,1971,0,0,0,0,0,0
$GC,7935,1.69,251.2,359.6,12.6,297,7939,0.00,2.50,0.00,0.000,6,0.000,0.045,3440,1869,1971,0,0,0,0,0,0
$GC,8212,1.69,251.2,326.6,12.1,304,8216,0.00,2.42,0.00,0.000,4,0.000,0.040,3440,3363,1970,0,0,0,0,0,0
$GC,8298,1.69,251.2,316.0,13.1,306,8302,0.00,2.45,0.00,0.000,6,0.000,0.043,3440,1881,1969,0,0,0,0,0,0
$GC,8581,1.69,251.2,282.2,11.8,313,8585,0.00,2.40,0.00,0.000,4,0.000,0.038,3440,3360,1969,0,0,0,0,0,0
$GC,8631,1.69,251.2,276.2,11.9,314,8635,0.00,2.42,0.00,0.000,6,0.000,0.043,3440,1876,1969,0,0,0,0,0,0
$GC,8902,1.69,251.2,244.7,11.7,321,8907,0.00,2.40,0.00,0.000,4,0.000,0.035,3441,3360,1969,0,0,0,0,0,0
$GC,8997,1.69,251.2,233.9,10.8,323,9001,0.00,2.40,0.00,0.000,6,0.000,0.039,3441,1891,1968,0,0,0,0,0,0
$GC,9276,1.69,251.2,203.9,10.8,330,9281,0.00,2.35,0.00,0.000,4,0.000,0.038,3441,3362,1967,0,0,0,0,0,0
$GC,9321,1.72,251.2,198.6,11.2,331,9326,0.00,2.38,0.00,0.000,6,0.000,0.039,3440,1901,1968,0,0,0,0,0,0
$GC,9583,1.72,251.2,169.6,11.1,356,9587,0.00,2.35,0.00,0.000,4,0.000,0.037,3440,3365,1968,0,0,0,0,0,0
$GC,9618,1.76,251.2,166.3,11.4,358,9622,0.00,2.35,0.00,0.000,6,0.000,0.038,3440,1916,1968,0,0,0,0,0,0
$GC,9881,1.76,251.2,137.4,10.5,382,9885,0.00,2.88,0.00,0.000,4,0.000,0.067,3441,236,1968,0,0,0,0,0,0
$GC,9902,1.76,251.2,135.3,11.0,383,9906,0.00,2.60,0.00,0.000,6,0.000,0.020,3441,1901,1967,0,0,0,0,0,0
$GC,10169,1.82,264.0,109.5,9.3,407,10186,0.10,2.38,11.25,0.606,4,0.097,0.038,3470,3374,1924,0,0,0,0,0,0
$GC,10296,1.82,264.0,96.1,11.3,417,10300,0.00,2.35,0.00,0.000,6,0.000,0.034,3470,1923,1922,0,0,0,0,0,0
$GC,10562,1.82,264.0,67.8,10.8,441,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1924,1922,0,0,0,0,0,0
$GC,10827,1.82,264.0,40.2,10.2,466,10831,0.00,2.30,0.00,0.000,4,0.000,0.028,3469,3367,1922,0,0,0,0,0,0
$GC,10862,1.82,264.0,36.8,10.4,468,10866,0.00,2.33,0.00,0.000,6,0.000,0.030,3470,1919,1922,0,0,0,0,0,0
$GC,11185,1.83,275.0,6.3,9.4,510,11203,0.00,2.35,11.10,0.511,4,0.000,0.029,3470,3360,1879,0,0,0,0,0,0
$STATE,11212,end climb,SURFACE_DEPTH_REACHED
$STATE,11212,begin surface coast
$FINISH,0.6,0.980160
$STATE,11242,end surface coast,CONTROL_FINISHED_OK
$STATE,11242,begin surface
$SM_CCo,11266,100.97,0.541,0,0,1370,400.08
$SM_GC,1.19,0.00,0.00,100.97,0.000,0.000,0.541,478,1754,1370,-11.93,-0.45,400.08
$IRIDIUM_FIX,2239.35,-15802.37,080800,141407
$TT8_MAMPS,0.026078
$HUMID,55.67
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.60
$XPDR_PINGS,50
$24V_AH,23.3,5.281
$10V_AH,10.4,4.231
$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,28.950,131.950,342.725,100.975,0.000,31.189,32.152,175.027,12.500,0.000,12.704,1078.150,7653.543,537.261,1953.578,510.630,33.369,1280.978,0.000,1954.881,0.000,0.533,0.000
$DEVICE_MAMPS,178.711,89.739,1028.547,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.671,263.970,371.284,683.405,1034.213,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,41582,517
$CAP_FILE_SIZE,111405,0
$CFSIZE,260165632,180269056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,203836,2250.342,-15801.142,24,1.1,24,10.1