version: 66.06
glider: 146
mission: 6
dive: 304
start: 6 16 111 23 4 3
data:
$ID,146
$MISSION,6
$DIVE,304
$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,-275252.34
$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,31
$R_STBD_OVSHOOT,58
$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
$GPS1,225455,2249.636,-15759.887,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,2
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.1
$GPS2,230307,2249.685,-15800.004,14,2.9,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.004
$KALMAN_X,-160407.6,-355.9,156.8,155132.0,-1473.5
$KALMAN_Y,-55085.2,-24.5,345.2,65477.5,57.2
$MHEAD_RNG_PITCHd_Wd,78.9,5160,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.30,0.000,2,0.000,0.000,477,1823,3280,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.3,9,118,12.18,2.62,-3.75,0.000,4,0.143,0.036,2849,3443,3488,0,0,0,0,0,0
$GC,130,-0.41,-116.8,17.4,-36.0,13,138,0.98,2.53,0.00,0.000,6,0.092,0.027,3065,1889,3489,0,0,0,0,0,0
$GC,426,-0.72,-116.8,38.0,-5.8,50,431,0.25,2.47,0.00,0.000,4,0.046,0.025,2981,3450,3491,0,0,0,0,0,0
$GC,462,-0.91,-116.8,40.7,-8.5,52,466,0.00,2.47,0.00,0.000,6,0.000,0.023,2981,1881,3491,0,0,0,0,0,0
$GC,730,-1.06,-116.8,64.4,-8.7,76,740,0.22,0.00,0.00,0.000,6,0.051,0.000,2912,1880,3491,0,0,0,0,0,0
$GC,996,-1.06,-116.8,94.0,-11.1,101,1001,0.00,2.53,0.00,0.000,4,0.000,0.026,2912,3454,3492,0,0,0,0,0,0
$GC,1060,-1.15,-116.8,101.4,-10.1,106,1065,0.00,2.47,0.00,0.000,6,0.000,0.024,2912,1881,3492,0,0,0,0,0,0
$GC,1324,-1.21,-116.8,127.9,-9.6,130,1328,0.00,2.47,0.00,0.000,4,0.000,0.032,2911,3457,3493,0,0,0,0,0,0
$GC,1355,-1.29,-116.8,131.1,-9.8,132,1360,0.15,2.45,0.00,0.000,6,0.060,0.026,2855,1909,3493,0,0,0,0,0,0
$GC,1617,-1.29,-116.8,162.7,-12.5,156,1622,0.10,2.67,0.00,0.000,4,0.120,0.062,2877,318,3493,0,0,0,0,0,0
$GC,1641,-1.29,-116.8,165.0,-11.8,157,1645,0.00,2.45,0.00,0.000,6,0.000,0.015,2877,1937,3493,0,0,0,0,0,0
$GC,1907,-1.29,-116.8,194.6,-10.5,181,1911,0.00,2.33,0.00,0.000,4,0.000,0.028,2877,3432,3494,0,0,0,0,0,0
$GC,1938,-1.34,-116.8,198.3,-11.1,183,1942,0.00,2.40,0.00,0.000,6,0.000,0.026,2877,1913,3494,0,0,0,0,0,0
$GC,2198,-1.34,-116.8,226.6,-10.5,190,2203,0.00,2.40,0.00,0.000,4,0.000,0.028,2877,3439,3494,0,0,0,0,0,0
$GC,2239,-1.44,-116.8,230.5,-9.3,191,2244,0.12,2.40,0.00,0.000,6,0.065,0.026,2822,1916,3494,0,0,0,0,0,0
$GC,2524,-1.39,-116.8,267.9,-13.8,198,2526,0.15,0.00,0.00,0.000,6,0.097,0.000,2856,1916,3494,0,0,0,0,0,0
$GC,2766,-1.43,-116.8,298.5,-12.5,204,2770,0.00,2.42,0.00,0.000,4,0.000,0.038,2855,3429,3494,0,0,0,0,0,0
$GC,2828,-1.51,-116.8,306.0,-12.3,205,2833,0.10,2.40,0.00,0.000,6,0.082,0.029,2814,1940,3494,0,0,0,0,0,0
$GC,3090,-1.51,-116.8,337.4,-11.9,212,3094,0.00,2.40,0.00,0.000,4,0.000,0.038,2814,3435,3494,0,0,0,0,0,0
$GC,3122,-1.51,-116.8,341.3,-11.1,212,3128,0.00,2.42,0.00,0.000,6,0.000,0.044,2814,1948,3494,0,0,0,0,0,0
$GC,3372,-1.51,-116.8,368.3,-10.7,219,3377,0.00,2.92,0.00,0.000,4,0.000,0.087,2814,314,3493,0,0,0,0,0,0
$GC,3419,-1.47,-116.8,373.0,-11.2,220,3424,0.12,2.50,0.00,0.000,6,0.115,0.034,2839,1888,3492,0,0,0,0,0,0
$GC,3697,-1.51,-116.8,396.1,-7.9,227,3702,0.00,2.60,0.00,0.000,4,0.000,0.050,2840,3470,3491,0,0,0,0,0,0
$GC,3741,-1.57,-116.8,399.7,-8.6,228,3746,0.10,2.55,0.00,0.000,6,0.081,0.048,2799,1948,3491,0,0,0,0,0,0
$GC,4026,-1.57,-116.8,429.2,-10.2,235,4030,0.00,2.97,0.00,0.000,4,0.000,0.104,2799,314,3489,0,0,0,0,0,0
$GC,4047,-1.52,-116.8,431.9,-11.2,235,4052,0.15,2.62,0.00,0.000,6,0.110,0.038,2831,1930,3489,0,0,0,0,0,0
$GC,4304,-1.52,-116.8,457.3,-10.1,242,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1930,3487,0,0,0,0,0,0
$GC,4547,-1.56,-116.8,481.6,-9.8,248,4552,0.00,2.92,0.00,0.000,4,0.000,0.089,2831,316,3485,0,0,0,0,0,0
$GC,4573,-1.56,-116.8,484.6,-11.2,248,4578,0.00,2.67,0.00,0.000,6,0.000,0.042,2831,1948,3485,0,0,0,0,0,0
$STATE,4745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4753,-0.31,0.0,502.0,9.9,253,4854,1.12,0.00,97.20,0.921,6,0.074,0.000,3089,2004,3010,0,0,0,0,0,0
$STATE,4855,end apogee,CONTROL_FINISHED_OK
$STATE,4855,begin climb
$GC,4857,1.38,116.8,504.6,0.0,255,4968,1.58,2.78,99.45,0.897,4,0.039,0.064,3469,3567,2531,0,0,0,0,0,0
$GC,4994,1.33,198.9,504.3,5.3,259,5070,0.00,2.70,70.60,0.884,6,0.000,0.048,3469,1995,2199,0,0,0,0,0,0
$GC,5314,1.23,198.9,470.4,11.2,266,5319,0.20,2.67,0.00,0.000,4,0.110,0.044,3429,3575,2190,0,0,0,0,0,0
$GC,5343,1.23,202.3,467.4,9.8,266,5348,0.00,2.70,0.00,0.000,6,0.000,0.054,3429,1994,2189,0,0,0,0,0,0
$GC,5593,1.26,226.0,445.5,8.7,272,5622,0.00,2.72,23.48,0.844,4,0.000,0.047,3428,3568,2087,0,0,0,0,0,0
$GC,5639,1.27,228.1,440.8,9.9,273,5644,0.00,2.67,0.00,0.000,6,0.000,0.049,3429,1997,2086,0,0,0,0,0,0
$GC,5919,1.27,234.0,413.4,9.7,280,5933,0.00,3.00,7.93,0.736,4,0.000,0.100,3428,411,2054,0,0,0,0,0,0
$GC,5950,1.27,234.0,409.8,10.8,280,5954,0.00,2.60,0.00,0.000,6,0.000,0.029,3428,2008,2053,0,0,0,0,0,0
$GC,6200,1.27,234.0,381.6,11.5,286,6204,0.00,2.60,0.00,0.000,4,0.000,0.045,3429,3580,2052,0,0,0,0,0,0
$GC,6233,1.27,234.0,377.6,11.8,286,6239,0.00,2.65,0.00,0.000,6,0.000,0.042,3428,1999,2050,0,0,0,0,0,0
$GC,6483,1.27,234.0,349.7,10.9,293,6488,0.00,2.83,0.00,0.000,4,0.000,0.082,3428,408,2050,0,0,0,0,0,0
$GC,6510,1.27,234.0,346.7,11.0,293,6514,0.00,2.55,0.00,0.000,6,0.000,0.025,3429,2015,2049,0,0,0,0,0,0
$GC,6767,1.31,261.9,323.9,8.4,300,6798,0.00,2.60,25.30,0.804,4,0.000,0.041,3428,3564,1941,0,0,0,0,0,0
$GC,6844,1.37,264.4,317.0,9.9,301,6851,0.12,2.62,0.00,0.000,6,0.083,0.037,3461,1996,1938,0,0,0,0,0,0
$GC,7094,1.37,268.6,292.0,9.8,308,7108,0.00,2.85,6.60,0.661,4,0.000,0.075,3461,413,1914,0,0,0,0,0,0
$GC,7143,1.32,268.6,286.4,12.3,309,7148,0.00,2.58,0.00,0.000,6,0.000,0.021,3461,2019,1913,0,0,0,0,0,0
$GC,7422,1.32,268.6,254.4,12.1,316,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2020,1912,0,0,0,0,0,0
$GC,7664,1.32,268.6,223.9,12.5,322,7669,0.00,2.72,0.00,0.000,4,0.000,0.057,3461,411,1911,0,0,0,0,0,0
$GC,7693,1.32,268.6,220.6,12.1,322,7697,0.00,2.53,0.00,0.000,6,0.000,0.026,3461,2024,1910,0,0,0,0,0,0
$GC,7948,1.32,268.6,195.5,10.2,331,7953,0.00,2.50,0.00,0.000,4,0.000,0.038,3461,3564,1910,0,0,0,0,0,0
$GC,7981,1.32,268.6,191.6,10.5,333,7991,0.00,2.55,0.00,0.000,6,0.000,0.034,3461,2009,1909,0,0,0,0,0,0
$GC,8249,1.34,287.6,168.4,8.9,358,8269,0.00,0.00,17.52,0.664,6,0.000,0.000,3461,2009,1836,0,0,0,0,0,0
$GC,8524,1.38,287.6,141.3,10.4,384,8528,0.00,2.72,0.00,0.000,4,0.000,0.064,3461,409,1834,0,0,0,0,0,0
$GC,8576,1.38,287.6,135.2,11.1,388,8580,0.00,2.50,0.00,0.000,6,0.000,0.018,3461,2011,1832,0,0,0,0,0,0
$GC,8839,1.45,288.8,109.6,10.0,412,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2013,1832,0,0,0,0,0,0
$GC,9093,1.54,307.2,85.3,9.0,436,9118,0.15,2.53,17.92,0.583,4,0.068,0.031,3506,3558,1756,0,0,0,0,0,0
$GC,9146,1.54,307.2,79.1,11.9,440,9156,0.00,2.58,0.00,0.000,6,0.000,0.033,3505,1991,1754,0,0,0,0,0,0
$GC,9412,1.54,307.2,51.3,10.3,465,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1991,1754,0,0,0,0,0,0
$GC,9692,1.54,307.2,22.3,10.2,495,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1991,1753,0,0,0,0,0,0
$STATE,9865,end climb,SURFACE_DEPTH_REACHED
$STATE,9865,begin surface coast
$FINISH,0.8,0.980021
$STATE,9925,end surface coast,CONTROL_FINISHED_OK
$STATE,9925,begin surface
$SM_CCo,9947,60.15,0.524,0,0,1460,380.21
$SM_GC,1.23,0.00,0.00,60.15,0.000,0.000,0.524,478,1865,1460,-12.34,-0.71,380.21
$IRIDIUM_FIX,2241.69,-15802.37,090900,202012
$TT8_MAMPS,0.026078
$HUMID,61.02
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,50
$24V_AH,23.5,38.111
$10V_AH,10.3,33.446
$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,30.000,130.075,366.000,60.150,0.000,27.636,42.334,265.837,12.500,0.000,36.299,1057.652,6246.256,495.944,2077.797,626.416,33.362,1216.199,0.000,2061.761,0.000,0.534,0.000
$DEVICE_MAMPS,143.429,192.517,921.167,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.001,305.507,423.465,855.461,1293.952,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,41468,528
$CAP_FILE_SIZE,110285,0
$CFSIZE,260165632,166318080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170611,015238,2249.732,-15759.520,66,1.8,67,10.1