version: 66.06
glider: 146
mission: 6
dive: 300
start: 6 16 111 11 36 3
data:
$ID,146
$MISSION,6
$DIVE,300
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,166
$T_MISSION,400
$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,380
$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,-275131.66
$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,3160
$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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,67
$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,3010
$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
$GPS1,112852,2250.025,-15800.739,38,2.5,57,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.0
$GPS2,113507,2249.989,-15800.838,9,1.5,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,0.082
$KALMAN_X,-153375.3,134.8,73.0,146268.9,-1601.1
$KALMAN_Y,-55199.5,-155.6,235.5,66388.7,-811.6
$MHEAD_RNG_PITCHd_Wd,59.5,6551,-19.8,-10.040
$D_GRID,500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.60,0.000,2,0.000,0.000,473,1809,3245,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.5,-5.8,9,117,12.05,0.00,-4.45,0.000,6,0.137,0.000,2851,1809,3488,0,0,0,0,0,0
$GC,394,-1.26,-116.8,67.3,-16.7,42,400,0.15,2.60,0.00,0.000,4,0.124,0.025,2882,3443,3490,0,0,0,0,0,0
$GC,440,-1.26,-116.8,74.2,-13.9,45,444,0.00,2.50,0.00,0.000,6,0.000,0.031,2882,1882,3491,0,0,0,0,0,0
$GC,708,-1.26,-116.8,107.0,-11.3,69,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1881,3491,0,0,0,0,0,0
$GC,968,-1.26,-116.8,137.1,-10.4,94,973,0.00,2.47,0.00,0.000,4,0.000,0.031,2882,3450,3492,0,0,0,0,0,0
$GC,1015,-1.30,-116.8,141.3,-10.0,97,1019,0.00,2.47,0.00,0.000,6,0.000,0.029,2882,1890,3492,0,0,0,0,0,0
$GC,1281,-1.30,-116.8,168.9,-10.7,121,1285,0.00,2.65,0.00,0.000,4,0.000,0.062,2882,317,3493,0,0,0,0,0,0
$GC,1299,-1.30,-116.8,171.3,-10.4,122,1303,0.00,2.40,0.00,0.000,6,0.000,0.021,2882,1921,3493,0,0,0,0,0,0
$GC,1562,-1.35,-116.8,198.0,-10.5,146,1566,0.00,2.38,0.00,0.000,4,0.000,0.034,2882,3427,3493,0,0,0,0,0,0
$GC,1659,-1.44,-116.8,208.0,-10.0,150,1664,0.15,2.40,0.00,0.000,6,0.061,0.025,2829,1899,3493,0,0,0,0,0,0
$GC,1931,-1.39,-116.8,242.0,-12.5,157,1933,0.12,0.00,0.00,0.000,6,0.112,0.000,2856,1900,3493,0,0,0,0,0,0
$GC,2175,-1.39,-116.8,269.0,-11.1,163,2179,0.00,2.42,0.00,0.000,4,0.000,0.027,2856,3424,3493,0,0,0,0,0,0
$GC,2198,-1.39,-116.8,271.6,-11.2,163,2202,0.00,2.42,0.00,0.000,6,0.000,0.027,2856,1906,3493,0,0,0,0,0,0
$GC,2453,-1.42,-116.8,298.8,-10.5,170,2457,0.00,2.40,0.00,0.000,4,0.000,0.037,2857,3423,3493,0,0,0,0,0,0
$GC,2474,-1.48,-116.8,301.1,-10.2,170,2478,0.00,2.45,0.00,0.000,6,0.000,0.031,2857,1899,3493,0,0,0,0,0,0
$GC,2731,-1.53,-116.8,326.5,-10.2,177,2736,0.12,2.47,0.00,0.000,4,0.072,0.035,2813,3425,3493,0,0,0,0,0,0
$GC,2808,-1.53,-116.8,335.9,-11.5,178,2814,0.00,2.47,0.00,0.000,6,0.000,0.040,2814,1919,3493,0,0,0,0,0,0
$GC,3058,-1.53,-116.8,364.1,-11.2,185,3063,0.00,2.88,0.00,0.000,4,0.000,0.092,2813,307,3491,0,0,0,0,0,0
$GC,3081,-1.48,-116.8,366.7,-11.8,185,3086,0.10,2.47,0.00,0.000,6,0.121,0.028,2834,1859,3491,0,0,0,0,0,0
$GC,3337,-1.48,-116.8,391.8,-9.5,192,3341,0.00,2.67,0.00,0.000,4,0.000,0.050,2834,3472,3490,0,0,0,0,0,0
$GC,3386,-1.54,-116.8,396.9,-10.0,193,3391,0.00,2.62,0.00,0.000,6,0.000,0.054,2834,1911,3490,0,0,0,0,0,0
$GC,3660,-1.54,-116.8,421.4,-8.8,200,3664,0.00,2.58,0.00,0.000,4,0.000,0.047,2834,3468,3488,0,0,0,0,0,0
$GC,3704,-1.60,-116.8,425.3,-9.0,201,3709,0.10,2.62,0.00,0.000,6,0.091,0.055,2796,1914,3488,0,0,0,0,0,0
$GC,3983,-1.60,-116.8,452.0,-9.7,208,3988,0.00,2.58,0.00,0.000,4,0.000,0.046,2797,3466,3486,0,0,0,0,0,0
$GC,4000,-1.60,-116.8,453.9,-9.9,208,4004,0.00,2.65,0.00,0.000,6,0.000,0.058,2796,1911,3486,0,0,0,0,0,0
$GC,4260,-1.60,-116.8,482.3,-11.4,215,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1910,3484,0,0,0,0,0,0
$STATE,4420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4420,begin apogee
$GC,4426,-0.31,0.0,502.8,12.6,219,4527,1.30,0.00,97.12,0.921,6,0.081,0.000,3089,2020,3010,0,0,0,0,0,0
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4532,1.38,116.8,506.4,0.0,221,4641,1.55,2.67,99.12,0.899,4,0.044,0.059,3463,3551,2532,0,0,0,0,0,0
$GC,4705,1.32,169.7,505.7,7.0,225,4756,0.00,2.67,45.53,0.878,6,0.000,0.052,3463,1995,2318,0,0,0,0,0,0
$GC,5025,1.24,182.5,477.8,9.3,233,5045,0.15,3.15,11.68,0.799,4,0.117,0.114,3432,406,2264,0,0,0,0,0,0
$GC,5080,1.15,182.5,472.0,10.8,234,5084,0.00,2.60,0.00,0.000,6,0.000,0.036,3432,1979,2262,0,0,0,0,0,0
$GC,5351,1.15,182.5,443.9,10.3,241,5356,0.00,2.70,0.00,0.000,4,0.000,0.052,3432,3578,2260,0,0,0,0,0,0
$GC,5378,1.15,182.5,440.8,10.4,241,5382,0.00,2.70,0.00,0.000,6,0.000,0.047,3432,1987,2258,0,0,0,0,0,0
$GC,5629,1.15,182.5,414.1,10.8,247,5634,0.00,2.62,0.00,0.000,4,0.000,0.044,3431,3581,2257,0,0,0,0,0,0
$GC,5651,1.15,182.5,411.5,10.9,247,5655,0.00,2.65,0.00,0.000,6,0.000,0.042,3432,1998,2256,0,0,0,0,0,0
$GC,5907,1.18,203.6,387.9,8.8,254,5931,0.00,2.70,18.48,0.824,4,0.000,0.041,3432,3577,2178,0,0,0,0,0,0
$GC,5951,1.20,222.5,384.2,8.9,255,5975,0.00,2.67,18.30,0.811,6,0.000,0.040,3432,1995,2101,0,0,0,0,0,0
$GC,6237,1.21,229.4,356.5,9.6,262,6251,0.00,2.70,6.70,0.688,4,0.000,0.040,3432,3581,2073,0,0,0,0,0,0
$GC,6282,1.21,229.4,351.9,10.8,263,6286,0.00,2.65,0.00,0.000,6,0.000,0.041,3432,1998,2072,0,0,0,0,0,0
$GC,6565,1.21,229.4,319.1,11.5,270,6569,0.00,2.80,0.00,0.000,4,0.000,0.074,3432,406,2070,0,0,0,0,0,0
$GC,6580,1.21,229.4,317.0,11.4,270,6585,0.00,2.58,0.00,0.000,6,0.000,0.023,3432,2018,2069,0,0,0,0,0,0
$GC,6843,1.21,229.4,288.1,10.8,277,6847,0.00,2.53,0.00,0.000,4,0.000,0.044,3431,3570,2069,0,0,0,0,0,0
$GC,6861,1.21,229.4,286.0,10.5,277,6865,0.00,2.60,0.00,0.000,6,0.000,0.033,3432,1988,2068,0,0,0,0,0,0
$GC,7121,1.21,232.4,260.2,9.9,284,7126,0.00,2.72,0.00,0.000,4,0.000,0.073,3432,413,2067,0,0,0,0,0,0
$GC,7154,1.21,232.4,256.6,11.3,284,7160,0.00,2.53,0.00,0.000,6,0.000,0.022,3432,2009,2067,0,0,0,0,0,0
$GC,7406,1.30,270.1,235.8,7.9,291,7448,0.00,2.78,35.90,0.745,4,0.000,0.056,3432,415,1908,0,0,0,0,0,0
$GC,7470,1.32,282.3,230.3,9.3,292,7491,0.00,2.53,12.23,0.681,6,0.000,0.020,3432,2001,1858,0,0,0,0,0,0
$GC,7737,1.40,289.7,205.7,9.6,299,7752,0.12,2.80,7.32,0.615,4,0.085,0.060,3468,414,1828,0,0,0,0,0,0
$GC,7802,1.40,289.7,197.2,12.9,300,7806,0.00,2.47,0.00,0.000,6,0.000,0.025,3468,1979,1827,0,0,0,0,0,0
$GC,8067,1.40,289.7,165.7,12.0,324,8071,0.00,2.55,0.00,0.000,4,0.000,0.034,3468,3560,1826,0,0,0,0,0,0
$GC,8202,1.43,289.7,150.3,11.0,335,8206,0.00,2.55,0.00,0.000,6,0.000,0.036,3468,1990,1824,0,0,0,0,0,0
$GC,8470,1.47,289.7,121.8,11.0,359,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1990,1824,0,0,0,0,0,0
$GC,8732,1.53,299.8,94.6,9.5,384,8745,0.10,0.00,9.73,0.565,6,0.093,0.000,3498,1990,1787,0,0,0,0,0,0
$GC,9002,1.54,303.6,68.5,9.8,409,9017,0.00,2.70,4.57,0.433,4,0.000,0.056,3498,418,1771,0,0,0,0,0,0
$GC,9071,1.54,307.5,61.6,9.8,414,9086,0.00,2.42,5.20,0.455,6,0.000,0.018,3498,1996,1755,0,0,0,0,0,0
$GC,9341,1.56,320.5,35.9,9.3,439,9359,0.00,2.70,12.90,0.527,4,0.000,0.051,3497,411,1702,0,0,0,0,0,0
$GC,9420,1.56,320.5,27.1,12.2,446,9429,0.00,2.45,0.00,0.000,6,0.000,0.018,3498,1975,1700,0,0,0,0,0,0
$STATE,9692,end climb,SURFACE_DEPTH_REACHED
$STATE,9693,begin surface coast
$FINISH,0.5,0.980041
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9791,48.42,0.523,0,0,1460,380.21
$SM_GC,1.32,0.00,0.00,48.42,0.000,0.000,0.523,472,1855,1460,-12.36,-0.99,380.21
$IRIDIUM_FIX,2244.02,-15756.28,090900,080813
$TT8_MAMPS,0.026078
$HUMID,61.14
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.5,37.652
$10V_AH,10.4,32.998
$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,28.250,130.100,384.775,48.425,0.000,29.050,37.682,171.734,12.000,0.000,16.301,1015.903,6265.562,491.705,1923.514,524.632,33.364,1213.016,0.000,1920.724,0.000,0.534,0.000
$DEVICE_MAMPS,136.526,114.283,921.167,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.577,284.480,382.709,738.019,1116.238,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38478,496
$CAP_FILE_SIZE,106498,0
$CFSIZE,260165632,166535168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160611,142130,2249.917,-15800.682,40,1.9,45,10.1