version: 66.06
glider: 146
mission: 6
dive: 47
start: 5 16 111 23 6 38
data:
$ID,146
$MISSION,6
$DIVE,47
$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,-268282.19
$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,37
$R_STBD_OVSHOOT,15
$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
$GPS1,225307,2246.887,-15802.358,26,1.6,26,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.6
$GPS2,230543,2246.915,-15802.387,10,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.000,0.235
$KALMAN_X,-40048.7,-502.9,85.9,30913.5,-322.4
$KALMAN_Y,-78237.8,-2.0,-185.1,84005.1,-1040.0
$MHEAD_RNG_PITCHd_Wd,349.9,5808,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.32,0.000,2,0.000,0.000,476,1737,3349,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-6.0,10,126,12.80,2.67,-2.45,0.000,4,0.176,0.044,2772,3378,3481,0,0,0,0,0,0
$GC,351,-1.23,-116.8,59.6,-18.2,36,356,0.17,2.58,0.00,0.000,6,0.126,0.033,2807,1771,3482,0,0,0,0,0,0
$GC,615,-1.11,-116.8,104.7,-16.4,60,620,0.15,2.72,0.00,0.000,4,0.129,0.066,2836,196,3483,0,0,0,0,0,0
$GC,639,-0.99,-116.8,108.4,-17.6,61,644,0.12,2.47,0.00,0.000,6,0.132,0.018,2860,1850,3483,0,0,0,0,0,0
$GC,906,-0.99,-116.8,144.6,-13.0,85,910,0.00,2.42,0.00,0.000,4,0.000,0.033,2861,3383,3484,0,0,0,0,0,0
$GC,922,-0.99,-116.8,147.8,-13.8,86,927,0.00,2.60,0.00,0.000,6,0.000,0.028,2861,1750,3484,0,0,0,0,0,0
$GC,1184,-0.99,-116.8,178.6,-11.4,110,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1750,3485,0,0,0,0,0,0
$GC,1449,-1.02,-116.8,204.2,-9.5,132,1453,0.00,2.67,0.00,0.000,4,0.000,0.068,2860,196,3485,0,0,0,0,0,0
$GC,1492,-1.02,-116.8,208.8,-10.3,133,1496,0.00,2.47,0.00,0.000,6,0.000,0.022,2860,1818,3485,0,0,0,0,0,0
$GC,1772,-1.07,-116.8,234.5,-9.4,140,1776,0.00,2.38,0.00,0.000,4,0.000,0.031,2860,3327,3485,0,0,0,0,0,0
$GC,1816,-1.15,-116.8,238.9,-9.4,141,1821,0.12,2.53,0.00,0.000,6,0.074,0.031,2816,1767,3485,0,0,0,0,0,0
$GC,2095,-1.15,-116.8,272.1,-12.2,148,2099,0.00,2.50,0.00,0.000,4,0.000,0.035,2816,3324,3485,0,0,0,0,0,0
$GC,2116,-1.15,-116.8,275.1,-13.0,148,2121,0.00,2.53,0.00,0.000,6,0.000,0.034,2816,1772,3485,0,0,0,0,0,0
$GC,2372,-1.15,-116.8,304.9,-11.4,155,2376,0.00,2.47,0.00,0.000,4,0.000,0.039,2816,3321,3484,0,0,0,0,0,0
$GC,2415,-1.15,-116.8,309.8,-11.2,156,2420,0.00,2.53,0.00,0.000,6,0.000,0.045,2816,1778,3484,0,0,0,0,0,0
$GC,2694,-1.15,-116.8,340.9,-11.2,163,2699,0.00,2.47,0.00,0.000,4,0.000,0.042,2816,3314,3483,0,0,0,0,0,0
$GC,2733,-1.15,-116.8,345.6,-11.1,164,2738,0.00,2.55,0.00,0.000,6,0.000,0.047,2816,1784,3483,0,0,0,0,0,0
$GC,3016,-1.15,-116.8,377.3,-11.4,171,3020,0.00,2.50,0.00,0.000,4,0.000,0.039,2816,3311,3482,0,0,0,0,0,0
$GC,3072,-1.15,-116.8,383.7,-11.3,172,3077,0.00,2.60,0.00,0.000,6,0.000,0.054,2816,1785,3481,0,0,0,0,0,0
$GC,3338,-1.15,-116.8,413.0,-10.9,179,3343,0.00,2.97,0.00,0.000,4,0.000,0.112,2816,182,3479,0,0,0,0,0,0
$GC,3364,-1.15,-116.8,416.1,-11.7,179,3369,0.00,2.50,0.00,0.000,6,0.000,0.036,2816,1737,3479,0,0,0,0,0,0
$GC,3616,-1.15,-116.8,442.7,-10.6,185,3620,0.00,2.75,0.00,0.000,4,0.000,0.066,2816,3356,3478,0,0,0,0,0,0
$GC,3704,-1.15,-116.8,452.7,-10.8,187,3709,0.00,2.70,0.00,0.000,6,0.000,0.061,2816,1787,3478,0,0,0,0,0,0
$GC,3984,-1.15,-116.8,484.4,-11.6,194,3988,0.00,2.65,0.00,0.000,4,0.000,0.058,2816,3353,3476,0,0,0,0,0,0
$GC,4005,-1.15,-116.8,487.1,-11.4,194,4009,0.00,2.70,0.00,0.000,6,0.000,0.069,2816,1798,3476,0,0,0,0,0,0
$GC,4260,-1.15,-116.8,516.1,-11.2,201,4264,0.00,2.65,0.00,0.000,4,0.000,0.061,2816,3349,3475,0,0,0,0,0,0
$GC,4292,-1.20,-116.8,520.1,-11.9,201,4298,0.00,2.72,0.00,0.000,6,0.000,0.070,2816,1797,3474,0,0,0,0,0,0
$GC,4543,-1.20,-116.8,546.6,-10.4,208,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1797,3472,0,0,0,0,0,0
$GC,4786,-1.20,-116.8,572.7,-10.8,214,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1797,3471,0,0,0,0,0,0
$GC,5029,-1.20,-116.8,598.5,-10.6,220,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1797,3469,0,0,0,0,0,0
$STATE,5069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5069,begin apogee
$GC,5075,-0.31,0.0,602.7,10.6,221,5175,0.90,0.00,96.95,1.014,6,0.117,0.000,3009,1797,3001,0,0,0,0,0,0
$STATE,5176,end apogee,CONTROL_FINISHED_OK
$STATE,5176,begin climb
$GC,5179,1.38,116.8,606.4,0.0,223,5287,1.62,0.00,100.90,0.989,6,0.064,0.000,3376,1797,2524,0,0,0,0,0,0
$GC,5544,1.45,171.6,588.1,6.8,232,5598,0.00,3.33,47.42,0.971,4,0.000,0.146,3377,239,2300,0,0,0,0,0,0
$GC,5610,1.49,204.7,582.8,8.1,233,5647,0.12,2.72,30.08,0.947,6,0.086,0.055,3407,1813,2167,0,0,0,0,0,0
$GC,5911,1.49,204.7,549.6,11.5,241,5916,0.00,2.85,0.00,0.000,4,0.000,0.074,3407,3409,2157,0,0,0,0,0,0
$GC,5977,1.49,204.7,541.6,12.0,242,5981,0.00,2.80,0.00,0.000,6,0.000,0.068,3407,1820,2156,0,0,0,0,0,0
$GC,6233,1.49,204.7,511.7,11.8,249,6237,0.00,2.72,0.00,0.000,4,0.000,0.053,3407,3410,2154,0,0,0,0,0,0
$GC,6283,1.49,204.7,505.9,11.5,250,6287,0.00,2.78,0.00,0.000,6,0.000,0.067,3407,1833,2153,0,0,0,0,0,0
$GC,6554,1.49,204.7,475.6,11.0,257,6559,0.00,2.67,0.00,0.000,4,0.000,0.049,3407,3417,2151,0,0,0,0,0,0
$GC,6634,1.49,204.7,466.4,12.2,258,6639,0.00,2.72,0.00,0.000,6,0.000,0.061,3407,1849,2151,0,0,0,0,0,0
$GC,6884,1.49,204.7,439.6,10.4,265,6889,0.00,2.60,0.00,0.000,4,0.000,0.041,3407,3412,2150,0,0,0,0,0,0
$GC,6962,1.50,212.0,431.5,9.6,266,6972,0.00,2.65,4.93,0.678,6,0.000,0.057,3407,1870,2136,0,0,0,0,0,0
$GC,7251,1.52,232.2,405.3,8.8,274,7273,0.00,0.00,19.73,0.877,6,0.000,0.000,3407,1870,2053,0,0,0,0,0,0
$GC,7497,1.59,250.1,383.3,9.0,280,7520,0.00,2.60,16.35,0.856,4,0.000,0.036,3407,3413,1982,0,0,0,0,0,0
$GC,7587,1.66,254.3,375.1,9.8,282,7598,0.15,2.65,5.43,0.675,6,0.079,0.044,3445,1855,1964,0,0,0,0,0,0
$GC,7872,1.66,254.3,341.0,12.1,289,7876,0.00,2.58,0.00,0.000,4,0.000,0.035,3445,3413,1961,0,0,0,0,0,0
$GC,8018,1.66,254.3,320.7,13.9,292,8022,0.00,2.55,0.00,0.000,6,0.000,0.038,3445,1883,1960,0,0,0,0,0,0
$GC,8285,1.66,254.3,285.0,13.1,299,8290,0.00,2.50,0.00,0.000,4,0.000,0.035,3445,3414,1958,0,0,0,0,0,0
$GC,8370,1.66,254.3,274.9,11.1,301,8374,0.00,2.53,0.00,0.000,6,0.000,0.035,3445,1884,1958,0,0,0,0,0,0
$GC,8653,1.68,267.2,247.4,9.3,308,8672,0.00,2.60,12.02,0.737,4,0.000,0.040,3445,3419,1910,0,0,0,0,0,0
$GC,8807,1.68,267.2,231.8,11.1,311,8811,0.00,2.50,0.00,0.000,6,0.000,0.035,3445,1907,1908,0,0,0,0,0,0
$GC,9074,1.68,267.2,202.5,11.2,318,9079,0.00,2.92,0.00,0.000,4,0.000,0.073,3445,230,1906,0,0,0,0,0,0
$GC,9090,1.68,267.2,200.5,11.7,318,9095,0.00,2.72,0.00,0.000,6,0.000,0.025,3445,1951,1906,0,0,0,0,0,0
$GC,9353,1.68,267.2,170.6,11.4,342,9357,0.00,2.95,0.00,0.000,4,0.000,0.064,3445,233,1905,0,0,0,0,0,0
$GC,9375,1.68,267.2,167.6,12.4,343,9381,0.00,2.67,0.00,0.000,6,0.000,0.025,3445,1941,1905,0,0,0,0,0,0
$GC,9639,1.72,267.2,138.6,10.8,368,9643,0.00,2.38,0.00,0.000,4,0.000,0.032,3445,3421,1905,0,0,0,0,0,0
$GC,9691,1.78,267.2,132.3,11.6,372,9696,0.10,2.47,0.00,0.000,6,0.090,0.036,3473,1898,1904,0,0,0,0,0,0
$GC,9952,1.78,267.2,100.6,12.4,396,9956,0.00,2.42,0.00,0.000,4,0.000,0.036,3473,3421,1904,0,0,0,0,0,0
$GC,9981,1.78,267.2,97.0,12.7,398,9985,0.00,2.47,0.00,0.000,6,0.000,0.038,3473,1894,1904,0,0,0,0,0,0
$GC,10248,1.78,267.2,68.2,11.3,422,10252,0.00,2.45,0.00,0.000,4,0.000,0.029,3473,3425,1904,0,0,0,0,0,0
$GC,10332,1.78,267.2,59.0,10.4,428,10336,0.00,2.40,0.00,0.000,6,0.000,0.031,3473,1919,1905,0,0,0,0,0,0
$GC,10599,1.78,267.2,32.8,10.1,452,10604,0.00,2.88,0.00,0.000,4,0.000,0.060,3473,231,1905,0,0,0,0,0,0
$GC,10619,1.78,269.1,30.5,9.9,453,10624,0.00,2.70,0.00,0.000,6,0.000,0.018,3473,1976,1905,0,0,0,0,0,0
$STATE,10896,end climb,SURFACE_DEPTH_REACHED
$STATE,10896,begin surface coast
$FINISH,0.3,0.975593
$STATE,10945,end surface coast,CONTROL_FINISHED_OK
$STATE,10945,begin surface
$SM_CCo,10968,107.80,0.534,0,0,1370,400.08
$SM_GC,1.09,0.00,0.00,107.80,0.000,0.000,0.534,479,1747,1370,-11.96,-0.65,400.08
$IRIDIUM_FIX,2237.01,-15800.20,090800,232356
$TT8_MAMPS,0.026078
$HUMID,55.63
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.70
$XPDR_PINGS,54
$24V_AH,23.4,6.374
$10V_AH,10.5,5.224
$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,28.450,147.500,333.800,107.800,0.000,78.352,152.978,261.869,13.500,0.000,16.513,1075.330,7466.923,526.399,1977.396,788.677,33.365,1290.121,0.000,1965.171,0.000,0.534,0.000
$DEVICE_MAMPS,175.643,145.730,1013.974,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.386,268.808,358.395,667.793,1010.049,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38337,501
$CAP_FILE_SIZE,118081,0
$CFSIZE,260165632,179761152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170511,021230,2247.667,-15802.788,34,1.6,34,10.1