version: 66.06
glider: 146
mission: 6
dive: 41
start: 5 16 111 3 34 2
data:
$ID,146
$MISSION,6
$DIVE,41
$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,-268133.09
$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,44
$R_STBD_OVSHOOT,14
$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
$GPS1,032707,2250.922,-15758.769,40,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.7
$GPS2,033308,2250.970,-15758.788,10,2.0,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,-0.067
$KALMAN_X,-38598.1,177.4,-11.8,35028.1,-86.4
$KALMAN_Y,-71440.9,642.3,99.1,83780.5,-729.1
$MHEAD_RNG_PITCHd_Wd,96.4,3542,-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,-78.43,0.000,2,0.000,0.000,476,1733,3307,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-4.8,10,126,12.80,0.00,-3.25,0.000,6,0.176,0.000,2772,1733,3480,0,0,0,0,0,0
$GC,405,-1.14,-116.8,74.5,-20.8,43,410,0.25,2.58,0.00,0.000,4,0.129,0.058,2824,205,3482,0,0,0,0,0,0
$GC,415,-0.92,-116.8,77.7,-19.7,43,425,0.22,2.50,0.00,0.000,6,0.107,0.015,2873,1871,3482,0,0,0,0,0,0
$GC,679,-0.92,-116.8,111.0,-12.5,68,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1873,3483,0,0,0,0,0,0
$GC,931,-0.92,-116.8,140.8,-11.0,92,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1873,3484,0,0,0,0,0,0
$GC,1187,-0.92,-116.8,169.7,-11.7,116,1191,0.00,2.40,0.00,0.000,4,0.000,0.028,2873,3375,3485,0,0,0,0,0,0
$GC,1227,-0.99,-116.8,174.4,-11.6,119,1231,0.00,2.53,0.00,0.000,6,0.000,0.026,2873,1784,3485,0,0,0,0,0,0
$GC,1500,-1.03,-116.8,205.5,-11.7,141,1504,0.00,2.72,0.00,0.000,4,0.000,0.067,2873,199,3485,0,0,0,0,0,0
$GC,1515,-1.03,-116.8,207.7,-11.3,141,1519,0.00,2.47,0.00,0.000,6,0.000,0.021,2873,1847,3485,0,0,0,0,0,0
$GC,1776,-1.08,-116.8,234.3,-10.1,148,1778,0.12,0.00,0.00,0.000,6,0.077,0.000,2834,1848,3486,0,0,0,0,0,0
$GC,2021,-1.08,-116.8,262.5,-11.6,154,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1848,3485,0,0,0,0,0,0
$GC,2264,-1.08,-116.8,289.8,-10.8,160,2268,0.00,2.45,0.00,0.000,4,0.000,0.038,2835,3372,3486,0,0,0,0,0,0
$GC,2285,-1.08,-116.8,292.1,-10.6,160,2289,0.00,2.58,0.00,0.000,6,0.000,0.037,2834,1774,3486,0,0,0,0,0,0
$GC,2540,-1.08,-116.8,314.6,-8.6,167,2544,0.00,2.60,0.00,0.000,4,0.000,0.041,2834,3377,3485,0,0,0,0,0,0
$GC,2568,-1.08,-116.8,317.1,-9.2,167,2573,0.00,2.65,0.00,0.000,6,0.000,0.044,2834,1777,3485,0,0,0,0,0,0
$GC,2818,-1.08,-116.8,340.5,-9.4,173,2822,0.00,2.60,0.00,0.000,4,0.000,0.036,2835,3372,3485,0,0,0,0,0,0
$GC,2851,-1.12,-116.8,343.9,-10.3,173,2856,0.00,2.65,0.00,0.000,6,0.000,0.048,2834,1786,3485,0,0,0,0,0,0
$GC,3101,-1.12,-116.8,370.0,-10.8,180,3106,0.00,2.60,0.00,0.000,4,0.000,0.045,2835,3370,3483,0,0,0,0,0,0
$GC,3145,-1.18,-116.8,375.2,-10.9,181,3150,0.00,2.65,0.00,0.000,6,0.000,0.051,2835,1800,3483,0,0,0,0,0,0
$GC,3422,-1.18,-116.8,405.3,-10.6,188,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1800,3482,0,0,0,0,0,0
$GC,3668,-1.18,-116.8,428.8,-9.5,194,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1800,3480,0,0,0,0,0,0
$GC,3910,-1.18,-116.8,450.5,-8.8,200,3915,0.00,2.62,0.00,0.000,4,0.000,0.049,2834,3367,3479,0,0,0,0,0,0
$GC,3932,-1.23,-116.8,452.4,-8.1,200,3937,0.00,2.70,0.00,0.000,6,0.000,0.062,2834,1799,3479,0,0,0,0,0,0
$GC,4189,-1.26,-116.8,471.9,-7.6,207,4194,0.12,2.62,0.00,0.000,4,0.087,0.051,2797,3363,3477,0,0,0,0,0,0
$GC,4212,-1.26,-116.8,474.0,-8.4,207,4217,0.00,2.70,0.00,0.000,6,0.000,0.069,2797,1808,3477,0,0,0,0,0,0
$GC,4467,-1.26,-116.8,498.5,-9.9,214,4471,0.00,2.62,0.00,0.000,4,0.000,0.059,2796,3368,3475,0,0,0,0,0,0
$GC,4489,-1.26,-116.8,500.9,-11.1,214,4494,0.00,2.70,0.00,0.000,6,0.000,0.067,2796,1810,3475,0,0,0,0,0,0
$GC,4744,-1.26,-116.8,530.0,-11.7,221,4748,0.00,2.67,0.00,0.000,4,0.000,0.064,2797,3364,3473,0,0,0,0,0,0
$GC,4765,-1.26,-116.8,532.7,-12.2,221,4769,0.00,2.72,0.00,0.000,6,0.000,0.073,2797,1811,3473,0,0,0,0,0,0
$GC,5021,-1.26,-116.8,562.8,-12.0,228,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1811,3472,0,0,0,0,0,0
$GC,5263,-1.26,-116.8,589.5,-10.8,234,5268,0.00,2.78,0.00,0.000,4,0.000,0.087,2797,3364,3471,0,0,0,0,0,0
$GC,5284,-1.26,-116.8,591.7,-10.1,234,5289,0.00,2.78,0.00,0.000,6,0.000,0.082,2797,1815,3470,0,0,0,0,0,0
$STATE,5375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5375,begin apogee
$GC,5380,-0.31,0.0,601.1,10.2,237,5481,1.00,0.00,97.12,1.014,6,0.110,0.000,3010,1815,3001,0,0,0,0,0,0
$STATE,5482,end apogee,CONTROL_FINISHED_OK
$STATE,5482,begin climb
$GC,5486,1.38,116.8,604.0,0.0,239,5592,1.62,0.00,101.40,0.988,6,0.064,0.000,3379,1815,2524,0,0,0,0,0,0
$GC,5812,1.45,176.1,588.2,6.6,247,5871,0.00,2.97,51.70,0.969,4,0.000,0.076,3379,3411,2281,0,0,0,0,0,0
$GC,5967,1.52,187.5,575.3,9.3,250,5984,0.15,2.85,10.93,0.870,6,0.082,0.072,3415,1835,2236,0,0,0,0,0,0
$GC,6228,1.52,187.5,547.9,10.7,257,6233,0.00,2.75,0.00,0.000,4,0.000,0.064,3415,3411,2230,0,0,0,0,0,0
$GC,6277,1.52,187.5,542.2,10.9,258,6282,0.00,2.80,0.00,0.000,6,0.000,0.072,3415,1841,2229,0,0,0,0,0,0
$GC,6549,1.52,187.5,512.9,10.7,265,6554,0.00,2.70,0.00,0.000,4,0.000,0.057,3415,3417,2227,0,0,0,0,0,0
$GC,6582,1.52,187.5,509.1,11.3,265,6587,0.00,2.78,0.00,0.000,6,0.000,0.068,3415,1843,2226,0,0,0,0,0,0
$GC,6833,1.52,187.5,483.0,10.6,272,6837,0.00,2.65,0.00,0.000,4,0.000,0.054,3415,3415,2225,0,0,0,0,0,0
$GC,6865,1.52,187.5,479.3,11.1,272,6871,0.00,2.75,0.00,0.000,6,0.000,0.064,3415,1837,2225,0,0,0,0,0,0
$GC,7115,1.53,196.4,455.4,9.5,279,7129,0.00,2.72,7.32,0.795,4,0.000,0.044,3415,3415,2199,0,0,0,0,0,0
$GC,7188,1.54,200.0,448.3,9.8,280,7198,0.00,2.70,4.95,0.681,6,0.000,0.054,3415,1848,2185,0,0,0,0,0,0
$GC,7443,1.57,229.2,426.1,8.3,286,7472,0.00,0.00,27.70,0.898,6,0.000,0.000,3415,1848,2066,0,0,0,0,0,0
$GC,7686,1.59,245.4,404.6,9.1,292,7707,0.00,2.67,15.40,0.850,4,0.000,0.038,3415,3424,1998,0,0,0,0,0,0
$GC,7788,1.63,245.4,394.4,11.4,294,7792,0.00,2.70,0.00,0.000,6,0.000,0.049,3415,1851,1996,0,0,0,0,0,0
$GC,8054,1.63,245.4,365.9,11.0,301,8058,0.00,2.60,0.00,0.000,4,0.000,0.041,3415,3422,1994,0,0,0,0,0,0
$GC,8127,1.67,245.4,357.8,11.1,302,8132,0.12,2.65,0.00,0.000,6,0.085,0.043,3449,1854,1993,0,0,0,0,0,0
$GC,8377,1.63,245.4,328.2,12.0,308,8382,0.00,2.58,0.00,0.000,4,0.000,0.038,3449,3417,1992,0,0,0,0,0,0
$GC,8438,1.63,245.4,321.2,10.7,309,8443,0.00,2.58,0.00,0.000,6,0.000,0.044,3449,1860,1991,0,0,0,0,0,0
$GC,8701,1.63,245.4,294.5,10.1,316,8705,0.00,2.58,0.00,0.000,4,0.000,0.041,3449,3426,1991,0,0,0,0,0,0
$GC,8817,1.63,245.4,282.3,10.4,318,8821,0.00,2.55,0.00,0.000,6,0.000,0.038,3449,1883,1990,0,0,0,0,0,0
$GC,9067,1.63,245.4,256.8,10.5,324,9072,0.00,2.50,0.00,0.000,4,0.000,0.039,3449,3418,1990,0,0,0,0,0,0
$GC,9184,1.63,245.4,242.9,11.8,326,9189,0.00,2.50,0.00,0.000,6,0.000,0.042,3449,1902,1990,0,0,0,0,0,0
$GC,9434,1.63,245.4,215.2,11.1,332,9439,0.00,2.45,0.00,0.000,4,0.000,0.035,3450,3422,1989,0,0,0,0,0,0
$GC,9475,1.63,245.4,210.9,10.6,333,9479,0.00,2.45,0.00,0.000,6,0.000,0.040,3449,1912,1990,0,0,0,0,0,0
$GC,9737,1.63,245.4,183.5,10.4,349,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1911,1989,0,0,0,0,0,0
$GC,9999,1.63,245.4,154.3,10.0,374,10004,0.00,2.45,0.00,0.000,4,0.000,0.036,3450,3428,1989,0,0,0,0,0,0
$GC,10023,1.64,253.0,152.0,9.6,375,10035,0.00,2.47,6.53,0.580,6,0.000,0.032,3450,1922,1969,0,0,0,0,0,0
$GC,10301,1.67,273.9,128.0,8.8,401,10326,0.00,2.45,19.60,0.646,4,0.000,0.031,3449,3422,1883,0,0,0,0,0,0
$GC,10391,1.71,273.9,119.0,10.5,408,10400,0.00,2.45,0.00,0.000,6,0.000,0.037,3449,1935,1881,0,0,0,0,0,0
$GC,10658,1.71,273.9,92.6,10.1,433,10662,0.00,2.40,0.00,0.000,4,0.000,0.030,3450,3425,1881,0,0,0,0,0,0
$GC,10691,1.75,273.9,88.9,11.1,435,10695,0.00,2.42,0.00,0.000,6,0.000,0.030,3450,1930,1880,0,0,0,0,0,0
$GC,10957,1.79,273.9,60.5,10.0,459,10961,0.00,2.40,0.00,0.000,4,0.000,0.030,3449,3423,1880,0,0,0,0,0,0
$GC,10980,1.84,273.9,58.1,10.2,460,10984,0.12,2.40,0.00,0.000,6,0.082,0.029,3487,1935,1880,0,0,0,0,0,0
$GC,11249,1.84,273.9,28.2,11.0,485,11259,0.00,2.92,0.00,0.000,4,0.000,0.060,3488,236,1880,0,0,0,0,0,0
$GC,11312,1.81,273.9,20.5,12.6,493,11321,0.00,2.72,0.00,0.000,6,0.000,0.023,3487,1966,1880,0,0,0,0,0,0
$STATE,11466,end climb,SURFACE_DEPTH_REACHED
$STATE,11466,begin surface coast
$FINISH,0.4,0.972924
$STATE,11517,end surface coast,CONTROL_FINISHED_OK
$STATE,11517,begin surface
$SM_CCo,11539,102.07,0.538,0,0,1370,400.08
$SM_GC,1.20,0.00,0.00,102.07,0.000,0.000,0.538,479,1738,1370,-11.97,-0.90,400.08
$IRIDIUM_FIX,2239.35,-15737.19,090800,000045
$TT8_MAMPS,0.026078
$HUMID,55.43
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.60
$XPDR_PINGS,53
$24V_AH,23.3,5.649
$10V_AH,10.4,4.573
$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,28.825,146.825,342.650,102.075,0.000,27.719,36.147,166.338,13.250,0.000,11.757,1083.514,7956.776,540.272,1897.672,524.483,33.371,1293.875,0.000,1911.010,0.000,0.534,0.000
$DEVICE_MAMPS,175.643,86.671,1013.974,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.814,282.602,375.621,673.348,1019.410,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41659,522
$CAP_FILE_SIZE,115748,0
$CFSIZE,260165632,180088832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,064925,2250.402,-15756.627,39,1.0,39,10.1