version: 66.06
glider: 146
mission: 6
dive: 39
start: 5 15 111 20 45 7
data:
$ID,146
$MISSION,6
$DIVE,39
$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,-268076.62
$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,3080
$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,32
$R_STBD_OVSHOOT,74
$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
$GPS1,203836,2250.342,-15801.142,24,1.1,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.2
$GPS2,204413,2250.300,-15801.149,10,1.1,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,0.161
$KALMAN_X,-37411.8,-328.4,122.9,30183.6,-892.5
$KALMAN_Y,-70112.9,94.6,297.3,81563.4,-2023.6
$MHEAD_RNG_PITCHd_Wd,36.5,7104,-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,-78.78,0.000,2,0.000,0.000,477,1753,3341,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-6.2,10,126,12.88,2.53,-2.55,0.000,4,0.178,0.038,2771,3313,3481,0,0,0,0,0,0
$GC,217,-1.16,-116.8,34.3,-20.9,25,222,0.28,2.50,0.00,0.000,6,0.123,0.031,2824,1767,3483,0,0,0,0,0,0
$GC,483,-1.06,-116.8,78.9,-14.5,49,492,0.12,0.00,0.00,0.000,6,0.141,0.000,2847,1767,3483,0,0,0,0,0,0
$GC,746,-1.01,-116.8,115.4,-13.4,74,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1767,3485,0,0,0,0,0,0
$GC,999,-0.97,-116.8,147.7,-12.2,98,1004,0.00,2.45,0.00,0.000,4,0.000,0.029,2847,3321,3485,0,0,0,0,0,0
$GC,1021,-0.97,-116.8,149.8,-11.8,99,1025,0.00,2.47,0.00,0.000,6,0.000,0.027,2847,1764,3485,0,0,0,0,0,0
$GC,1283,-0.97,-116.8,178.6,-10.7,123,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1764,3485,0,0,0,0,0,0
$GC,1536,-0.97,-116.8,204.4,-10.3,144,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1764,3486,0,0,0,0,0,0
$GC,1778,-0.97,-116.8,230.6,-11.0,150,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1764,3486,0,0,0,0,0,0
$GC,2022,-0.97,-116.8,258.6,-11.5,156,2026,0.00,2.47,0.00,0.000,4,0.000,0.038,2847,3314,3486,0,0,0,0,0,0
$GC,2044,-0.97,-116.8,261.1,-11.2,156,2048,0.00,2.47,0.00,0.000,6,0.000,0.036,2847,1775,3486,0,0,0,0,0,0
$GC,2300,-0.97,-116.8,289.5,-10.8,163,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1775,3486,0,0,0,0,0,0
$GC,2543,-0.97,-116.8,312.0,-9.2,169,2547,0.00,2.53,0.00,0.000,4,0.000,0.041,2847,3320,3485,0,0,0,0,0,0
$GC,2576,-1.02,-116.8,315.0,-9.4,169,2581,0.00,2.55,0.00,0.000,6,0.000,0.038,2847,1773,3485,0,0,0,0,0,0
$GC,2827,-1.06,-116.8,337.7,-9.2,176,2832,0.00,2.50,0.00,0.000,4,0.000,0.038,2847,3312,3484,0,0,0,0,0,0
$GC,2850,-1.10,-116.8,340.1,-9.9,176,2854,0.00,2.55,0.00,0.000,6,0.000,0.043,2847,1781,3484,0,0,0,0,0,0
$GC,3105,-1.14,-116.8,364.3,-9.5,183,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1781,3483,0,0,0,0,0,0
$GC,3350,-1.18,-116.8,386.5,-9.0,189,3352,0.12,0.00,0.00,0.000,6,0.079,0.000,2810,1780,3482,0,0,0,0,0,0
$GC,3592,-1.18,-116.8,413.4,-11.3,195,3596,0.00,2.53,0.00,0.000,4,0.000,0.042,2810,3304,3481,0,0,0,0,0,0
$GC,3641,-1.18,-116.8,419.0,-11.8,196,3645,0.00,2.58,0.00,0.000,6,0.000,0.059,2810,1782,3481,0,0,0,0,0,0
$GC,3920,-1.18,-116.8,449.7,-11.1,203,3925,0.00,2.97,0.00,0.000,4,0.000,0.110,2810,185,3479,0,0,0,0,0,0
$GC,3960,-1.13,-116.8,454.5,-12.6,204,3965,0.10,2.50,0.00,0.000,6,0.134,0.033,2830,1727,3479,0,0,0,0,0,0
$GC,4243,-1.13,-116.8,484.2,-10.2,211,4248,0.00,2.78,0.00,0.000,4,0.000,0.067,2830,3353,3478,0,0,0,0,0,0
$GC,4316,-1.19,-116.8,491.8,-10.0,212,4321,0.00,2.70,0.00,0.000,6,0.000,0.061,2830,1785,3477,0,0,0,0,0,0
$GC,4567,-1.24,-116.8,516.7,-9.9,218,4571,0.00,2.70,0.00,0.000,4,0.000,0.064,2830,3353,3476,0,0,0,0,0,0
$GC,4606,-1.30,-116.8,520.7,-9.9,219,4612,0.15,2.70,0.00,0.000,6,0.071,0.064,2787,1788,3475,0,0,0,0,0,0
$GC,4891,-1.26,-116.8,554.3,-12.0,226,4896,0.00,2.72,0.00,0.000,4,0.000,0.074,2787,3348,3474,0,0,0,0,0,0
$GC,4912,-1.26,-116.8,557.2,-12.2,226,4917,0.00,2.75,0.00,0.000,6,0.000,0.069,2787,1787,3474,0,0,0,0,0,0
$GC,5169,-1.26,-116.8,586.1,-11.3,233,5174,0.00,2.80,0.00,0.000,4,0.000,0.081,2787,3356,3472,0,0,0,0,0,0
$GC,5236,-1.26,-116.8,594.4,-12.1,234,5240,0.00,2.80,0.00,0.000,6,0.000,0.082,2787,1801,3472,0,0,0,0,0,0
$STATE,5286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5286,begin apogee
$GC,5292,-0.31,0.0,600.2,11.3,236,5392,1.02,0.00,97.00,1.021,6,0.099,0.000,3007,1801,3001,0,0,0,0,0,0
$STATE,5393,end apogee,CONTROL_FINISHED_OK
$STATE,5393,begin climb
$GC,5397,1.38,116.8,603.7,0.0,238,5508,1.65,3.25,101.22,0.992,4,0.070,0.133,3379,239,2522,0,0,0,0,0,0
$GC,5544,1.39,161.6,599.0,7.4,242,5588,0.00,2.75,39.12,0.962,6,0.000,0.058,3379,1812,2342,0,0,0,0,0,0
$GC,5864,1.45,184.7,572.2,8.7,250,5893,0.00,2.90,20.95,0.936,4,0.000,0.084,3379,3404,2246,0,0,0,0,0,0
$GC,5968,1.52,191.3,562.3,9.6,252,5983,0.15,2.83,6.53,0.770,6,0.077,0.072,3416,1824,2220,0,0,0,0,0,0
$GC,6240,1.52,191.3,532.2,11.0,259,6244,0.00,2.75,0.00,0.000,4,0.000,0.061,3416,3415,2217,0,0,0,0,0,0
$GC,6294,1.52,191.3,526.0,11.2,260,6299,0.00,2.78,0.00,0.000,6,0.000,0.062,3417,1838,2216,0,0,0,0,0,0
$GC,6563,1.52,192.1,498.9,10.0,267,6567,0.00,2.67,0.00,0.000,4,0.000,0.049,3416,3413,2214,0,0,0,0,0,0
$GC,6634,1.55,213.6,492.1,8.8,268,6660,0.00,2.72,20.33,0.919,6,0.000,0.061,3417,1842,2130,0,0,0,0,0,0
$GC,6929,1.58,236.4,465.9,8.7,276,6955,0.00,2.70,20.85,0.902,4,0.000,0.049,3416,3422,2038,0,0,0,0,0,0
$GC,7012,1.58,239.0,458.2,9.9,278,7021,0.00,2.70,3.85,0.568,6,0.000,0.056,3416,1864,2026,0,0,0,0,0,0
$GC,7301,1.59,245.9,430.7,9.6,285,7310,0.00,0.00,7.55,0.778,6,0.000,0.000,3416,1863,1998,0,0,0,0,0,0
$GC,7546,1.59,245.9,406.1,10.0,291,7550,0.00,2.58,0.00,0.000,4,0.000,0.041,3416,3415,1995,0,0,0,0,0,0
$GC,7572,1.59,245.9,403.1,10.5,291,7577,0.00,2.62,0.00,0.000,6,0.000,0.048,3416,1866,1994,0,0,0,0,0,0
$GC,7828,1.59,245.9,377.4,10.1,298,7832,0.00,2.55,0.00,0.000,4,0.000,0.041,3417,3422,1994,0,0,0,0,0,0
$GC,7935,1.64,245.9,366.0,10.5,300,7939,0.00,2.58,0.00,0.000,6,0.000,0.042,3416,1890,1992,0,0,0,0,0,0
$GC,8195,1.64,245.9,338.2,10.7,307,8199,0.00,2.50,0.00,0.000,4,0.000,0.039,3416,3423,1992,0,0,0,0,0,0
$GC,8227,1.64,245.9,334.7,10.8,307,8233,0.00,2.53,0.00,0.000,6,0.000,0.044,3416,1905,1992,0,0,0,0,0,0
$GC,8478,1.64,245.9,308.7,10.3,314,8483,0.00,2.47,0.00,0.000,4,0.000,0.036,3416,3415,1991,0,0,0,0,0,0
$GC,8528,1.68,245.9,303.3,10.6,315,8533,0.12,2.47,0.00,0.000,6,0.083,0.038,3451,1903,1991,0,0,0,0,0,0
$GC,8800,1.68,245.9,273.6,11.2,322,8805,0.00,2.47,0.00,0.000,4,0.000,0.039,3451,3418,1991,0,0,0,0,0,0
$GC,8868,1.68,245.9,265.7,11.9,323,8872,0.00,2.47,0.00,0.000,6,0.000,0.038,3451,1912,1991,0,0,0,0,0,0
$GC,9123,1.68,245.9,236.4,11.7,330,9127,0.00,2.45,0.00,0.000,4,0.000,0.038,3451,3417,1991,0,0,0,0,0,0
$GC,9172,1.68,245.9,230.4,12.5,331,9176,0.00,2.45,0.00,0.000,6,0.000,0.040,3451,1927,1991,0,0,0,0,0,0
$GC,9451,1.68,245.9,199.9,10.6,338,9455,0.00,2.40,0.00,0.000,4,0.000,0.038,3451,3418,1991,0,0,0,0,0,0
$GC,9483,1.68,245.9,196.9,10.3,340,9487,0.00,2.42,0.00,0.000,6,0.000,0.035,3451,1932,1990,0,0,0,0,0,0
$GC,9750,1.68,245.9,170.3,10.2,364,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1932,1991,0,0,0,0,0,0
$GC,10016,1.70,262.7,144.1,9.0,389,10040,0.00,2.47,15.10,0.654,4,0.000,0.038,3451,3421,1928,0,0,0,0,0,0
$GC,10076,1.70,263.5,137.9,10.0,394,10080,0.00,2.42,0.00,0.000,6,0.000,0.038,3451,1939,1927,0,0,0,0,0,0
$GC,10340,1.72,281.4,114.3,9.0,418,10364,0.00,2.45,17.30,0.633,4,0.000,0.031,3451,3428,1852,0,0,0,0,0,0
$GC,10427,1.76,281.4,106.0,10.3,425,10432,0.00,2.42,0.00,0.000,6,0.000,0.038,3451,1940,1850,0,0,0,0,0,0
$GC,10694,1.76,281.4,80.7,10.2,449,10699,0.00,2.38,0.00,0.000,4,0.000,0.035,3451,3427,1849,0,0,0,0,0,0
$GC,10742,1.81,285.7,76.1,9.8,452,10757,0.10,2.40,4.78,0.462,6,0.097,0.030,3480,1945,1835,0,0,0,0,0,0
$GC,11013,1.81,285.7,47.6,10.3,477,11017,0.00,2.90,0.00,0.000,4,0.000,0.059,3481,232,1835,0,0,0,0,0,0
$GC,11058,1.81,285.7,41.8,12.9,480,11062,0.00,2.75,0.00,0.000,6,0.000,0.018,3480,1995,1834,0,0,0,0,0,0
$GC,11368,1.81,285.7,7.4,10.2,518,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1997,1834,0,0,0,0,0,0
$STATE,11398,end climb,SURFACE_DEPTH_REACHED
$STATE,11398,begin surface coast
$FINISH,0.4,0.980157
$STATE,11447,end surface coast,CONTROL_FINISHED_OK
$STATE,11447,begin surface
$SM_CCo,11470,92.85,0.542,0,0,1369,400.08
$SM_GC,1.04,0.00,0.00,92.85,0.000,0.000,0.542,480,1729,1369,-11.96,-1.16,400.08
$IRIDIUM_FIX,2241.69,-15804.53,080800,171754
$TT8_MAMPS,0.026078
$HUMID,56.61
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.40
$XPDR_PINGS,49
$24V_AH,23.3,5.403
$10V_AH,10.4,4.343
$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,28.900,141.175,354.575,92.850,0.000,27.231,33.541,153.661,12.250,0.000,12.003,1096.371,7795.834,535.916,1978.166,496.761,33.372,1308.403,0.000,1978.586,0.000,0.534,0.000
$DEVICE_MAMPS,177.944,133.458,1020.877,541.502,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.831,279.058,381.616,696.551,1053.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41401,529
$CAP_FILE_SIZE,115827,0
$CFSIZE,260165632,180211712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,235858,2250.763,-15800.447,6,99.0,25,10.1