version: 66.06
glider: 146
mission: 6
dive: 36
start: 5 15 111 10 53 26
data:
$ID,146
$MISSION,6
$DIVE,36
$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,-268037.59
$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,42
$R_STBD_OVSHOOT,82
$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
$GPS1,104631,2249.653,-15803.810,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.3
$GPS2,105232,2249.568,-15803.814,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,0.151
$KALMAN_X,-35619.3,356.6,-31.3,23303.5,-1475.4
$KALMAN_Y,-65791.5,-99.9,-394.1,76776.9,-1764.7
$MHEAD_RNG_PITCHd_Wd,39.8,11659,-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,-78.55,0.000,2,0.000,0.000,475,1727,3342,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.6,-6.9,10,127,12.77,2.58,-2.47,0.000,4,0.176,0.039,2761,3310,3482,0,0,0,0,0,0
$GC,192,-1.12,-116.8,31.8,-23.6,22,201,0.25,2.47,0.00,0.000,6,0.112,0.028,2816,1788,3483,0,0,0,0,0,0
$GC,458,-0.97,-116.8,81.1,-18.1,47,463,0.20,2.72,0.00,0.000,4,0.127,0.067,2853,196,3483,0,0,0,0,0,0
$GC,501,-0.88,-116.8,89.3,-16.8,50,506,0.10,2.35,0.00,0.000,6,0.142,0.015,2873,1769,3484,0,0,0,0,0,0
$GC,763,-0.88,-116.8,124.4,-12.3,74,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1769,3485,0,0,0,0,0,0
$GC,1018,-0.88,-116.8,154.4,-10.9,98,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1769,3486,0,0,0,0,0,0
$GC,1272,-0.88,-116.8,180.4,-10.1,122,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1770,3486,0,0,0,0,0,0
$GC,1546,-0.92,-116.8,209.3,-10.5,142,1550,0.00,2.42,0.00,0.000,4,0.000,0.034,2874,3308,3487,0,0,0,0,0,0
$GC,1578,-0.99,-116.8,212.7,-10.5,142,1584,0.00,2.50,0.00,0.000,6,0.000,0.033,2874,1750,3487,0,0,0,0,0,0
$GC,1828,-1.05,-116.8,240.5,-11.6,149,1830,0.15,0.00,0.00,0.000,6,0.070,0.000,2829,1749,3487,0,0,0,0,0,0
$GC,2073,-1.05,-116.8,270.7,-12.3,155,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1749,3487,0,0,0,0,0,0
$GC,2315,-1.05,-116.8,296.5,-10.4,161,2319,0.00,2.50,0.00,0.000,4,0.000,0.041,2829,3302,3487,0,0,0,0,0,0
$GC,2355,-1.05,-116.8,300.6,-10.5,162,2359,0.00,2.55,0.00,0.000,6,0.000,0.037,2828,1757,3487,0,0,0,0,0,0
$GC,2638,-1.05,-116.8,329.4,-10.1,169,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1757,3486,0,0,0,0,0,0
$GC,2881,-1.05,-116.8,353.3,-9.9,175,2886,0.00,2.50,0.00,0.000,4,0.000,0.045,2829,3292,3486,0,0,0,0,0,0
$GC,2903,-1.05,-116.8,355.6,-9.5,175,2908,0.00,2.60,0.00,0.000,6,0.000,0.054,2828,1760,3486,0,0,0,0,0,0
$GC,3158,-1.05,-116.8,380.8,-10.0,182,3162,0.00,2.53,0.00,0.000,4,0.000,0.047,2829,3292,3484,0,0,0,0,0,0
$GC,3200,-1.09,-116.8,384.8,-11.1,183,3204,0.00,2.58,0.00,0.000,6,0.000,0.056,2828,1765,3484,0,0,0,0,0,0
$GC,3483,-1.09,-116.8,414.5,-10.4,190,3487,0.00,2.55,0.00,0.000,4,0.000,0.050,2829,3290,3482,0,0,0,0,0,0
$GC,3522,-1.14,-116.8,418.6,-10.6,191,3527,0.00,2.62,0.00,0.000,6,0.000,0.058,2828,1762,3482,0,0,0,0,0,0
$GC,3806,-1.14,-116.8,447.3,-10.2,198,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1762,3481,0,0,0,0,0,0
$GC,4048,-1.14,-116.8,472.1,-10.1,204,4053,0.00,2.60,0.00,0.000,4,0.000,0.052,2829,3288,3479,0,0,0,0,0,0
$GC,4082,-1.19,-116.8,475.5,-9.7,204,4087,0.00,2.65,0.00,0.000,6,0.000,0.063,2829,1764,3479,0,0,0,0,0,0
$GC,4333,-1.19,-116.8,500.4,-9.9,211,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1764,3477,0,0,0,0,0,0
$GC,4576,-1.23,-116.8,525.2,-10.2,217,4581,0.12,2.65,0.00,0.000,4,0.080,0.064,2793,3285,3476,0,0,0,0,0,0
$GC,4603,-1.23,-116.8,528.2,-10.8,217,4607,0.00,2.65,0.00,0.000,6,0.000,0.067,2792,1771,3476,0,0,0,0,0,0
$GC,4854,-1.23,-116.8,556.7,-11.3,223,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1771,3474,0,0,0,0,0,0
$GC,5096,-1.23,-116.8,582.4,-10.1,229,5101,0.00,2.67,0.00,0.000,4,0.000,0.082,2793,3285,3473,0,0,0,0,0,0
$GC,5145,-1.23,-116.8,587.6,-10.8,230,5150,0.00,2.72,0.00,0.000,6,0.000,0.084,2793,1769,3473,0,0,0,0,0,0
$STATE,5293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5293,begin apogee
$GC,5300,-0.31,0.0,603.1,10.4,234,5401,0.98,0.00,97.05,1.023,6,0.105,0.000,3000,1769,3001,0,0,0,0,0,0
$STATE,5401,end apogee,CONTROL_FINISHED_OK
$STATE,5401,begin climb
$GC,5404,1.38,116.8,606.2,0.0,236,5517,1.62,3.22,100.88,0.996,4,0.071,0.139,3367,235,2522,0,0,0,0,0,0
$GC,5551,1.45,173.6,601.0,6.7,239,5606,0.00,2.62,49.60,0.984,6,0.000,0.058,3367,1747,2293,0,0,0,0,0,0
$GC,5853,1.55,205.6,577.2,8.2,246,5888,0.17,2.92,28.02,0.955,4,0.078,0.082,3408,3327,2162,0,0,0,0,0,0
$GC,6061,1.55,205.6,555.3,11.2,250,6066,0.00,2.62,0.00,0.000,6,0.000,0.064,3408,1843,2156,0,0,0,0,0,0
$GC,6312,1.55,205.6,530.3,10.0,256,6316,0.00,2.58,0.00,0.000,4,0.000,0.054,3408,3342,2154,0,0,0,0,0,0
$GC,6357,1.55,207.9,525.9,9.9,257,6361,0.00,2.60,0.00,0.000,6,0.000,0.063,3408,1860,2153,0,0,0,0,0,0
$GC,6634,1.56,216.5,499.1,9.5,264,6648,0.00,2.53,9.52,0.861,4,0.000,0.048,3408,3343,2118,0,0,0,0,0,0
$GC,6676,1.57,220.7,494.7,9.8,265,6687,0.00,2.60,5.43,0.722,6,0.000,0.062,3408,1855,2101,0,0,0,0,0,0
$GC,6955,1.57,220.7,466.2,10.3,272,6959,0.00,2.47,0.00,0.000,4,0.000,0.050,3408,3343,2097,0,0,0,0,0,0
$GC,7039,1.57,220.7,457.3,10.7,274,7043,0.00,2.55,0.00,0.000,6,0.000,0.061,3408,1870,2096,0,0,0,0,0,0
$GC,7323,1.57,220.7,428.7,10.2,281,7327,0.00,2.45,0.00,0.000,4,0.000,0.044,3408,3347,2095,0,0,0,0,0,0
$GC,7400,1.57,220.7,420.3,10.9,282,7406,0.00,2.47,0.00,0.000,6,0.000,0.047,3408,1881,2094,0,0,0,0,0,0
$GC,7650,1.57,223.9,395.2,9.8,289,7654,0.00,2.42,0.00,0.000,4,0.000,0.038,3408,3352,2094,0,0,0,0,0,0
$GC,7740,1.58,233.2,386.9,9.5,291,7758,0.00,2.45,11.52,0.840,6,0.000,0.045,3408,1897,2050,0,0,0,0,0,0
$GC,8020,1.61,258.6,362.6,8.5,298,8050,0.00,2.45,24.17,0.866,4,0.000,0.042,3408,3352,1945,0,0,0,0,0,0
$GC,8111,1.70,280.9,355.3,8.7,300,8138,0.12,2.42,20.95,0.843,6,0.083,0.046,3441,1901,1855,0,0,0,0,0,0
$GC,8393,1.70,280.9,324.0,11.3,307,8398,0.00,2.40,0.00,0.000,4,0.000,0.034,3442,3356,1849,0,0,0,0,0,0
$GC,8422,1.70,280.9,320.5,12.6,307,8426,0.00,2.42,0.00,0.000,6,0.000,0.041,3442,1907,1848,0,0,0,0,0,0
$GC,8673,1.70,280.9,289.6,12.6,313,8677,0.00,3.00,0.00,0.000,4,0.000,0.081,3442,227,1848,0,0,0,0,0,0
$GC,8688,1.70,280.9,287.1,13.1,313,8692,0.00,2.62,0.00,0.000,6,0.000,0.025,3442,1865,1846,0,0,0,0,0,0
$GC,8949,1.70,280.9,252.8,13.0,320,8954,0.00,2.50,0.00,0.000,4,0.000,0.043,3441,3398,1846,0,0,0,0,0,0
$GC,9073,1.70,280.9,236.6,12.6,322,9079,0.00,2.45,0.00,0.000,6,0.000,0.038,3441,1911,1845,0,0,0,0,0,0
$GC,9323,1.70,280.9,208.6,10.8,329,9327,0.00,2.40,0.00,0.000,4,0.000,0.034,3441,3396,1844,0,0,0,0,0,0
$GC,9372,1.70,280.9,203.5,10.4,330,9376,0.00,2.38,0.00,0.000,6,0.000,0.038,3441,1931,1844,0,0,0,0,0,0
$GC,9640,1.70,280.9,175.4,11.5,350,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1931,1844,0,0,0,0,0,0
$GC,9893,1.70,280.9,145.5,11.7,374,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1931,1843,0,0,0,0,0,0
$GC,10150,1.75,280.9,116.4,11.4,398,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1931,1844,0,0,0,0,0,0
$GC,10403,1.80,280.9,89.7,10.7,422,10408,0.00,2.35,0.00,0.000,4,0.000,0.038,3442,3404,1844,0,0,0,0,0,0
$GC,10457,1.86,280.9,84.3,10.9,426,10462,0.15,2.38,0.00,0.000,6,0.074,0.030,3482,1931,1843,0,0,0,0,0,0
$GC,10722,1.86,280.9,55.0,10.7,450,10727,0.00,2.90,0.00,0.000,4,0.000,0.061,3482,231,1844,0,0,0,0,0,0
$GC,10757,1.86,280.9,51.4,12.0,452,10761,0.00,2.70,0.00,0.000,6,0.000,0.018,3482,1962,1844,0,0,0,0,0,0
$GC,11035,1.88,294.1,23.9,9.2,480,11053,0.00,2.30,11.27,0.529,4,0.000,0.031,3482,3399,1800,0,0,0,0,0,0
$GC,11077,1.88,294.1,19.7,10.3,485,11087,0.00,2.40,0.00,0.000,6,0.000,0.030,3482,1929,1799,0,0,0,0,0,0
$STATE,11223,end climb,SURFACE_DEPTH_REACHED
$STATE,11223,begin surface coast
$FINISH,0.4,0.977275
$STATE,11270,end surface coast,CONTROL_FINISHED_OK
$STATE,11270,begin surface
$SM_CCo,11292,85.53,0.537,0,0,1370,400.08
$SM_GC,1.15,0.00,0.00,85.53,0.000,0.000,0.537,476,1730,1370,-11.93,-1.13,400.08
$IRIDIUM_FIX,2239.35,-15802.37,080800,070752
$TT8_MAMPS,0.026078
$HUMID,56.61
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.60
$XPDR_PINGS,45
$24V_AH,23.3,5.036
$10V_AH,10.4,4.010
$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,28.900,128.300,358.425,85.525,0.000,30.875,35.234,169.166,11.250,0.000,12.709,1064.898,7714.917,504.485,1949.392,507.093,33.361,1266.155,0.000,1950.422,0.000,0.534,0.000
$DEVICE_MAMPS,176.410,138.827,1023.178,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.489,262.823,367.116,674.190,1019.671,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,41542,512
$CAP_FILE_SIZE,111075,0
$CFSIZE,260165632,180383744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150511,140424,2249.659,-15803.144,39,1.2,39,10.1