version: 66.06
glider: 146
mission: 6
dive: 558
start: 7 21 111 6 5 47
data:
$ID,146
$MISSION,6
$DIVE,558
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$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,100
$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,-281630.34
$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,3175
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,63
$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
$GPS1,055236,2249.376,-15801.464,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.8
$GPS2,060456,2249.452,-15801.573,16,1.0,16,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.047
$KALMAN_X,-520086.4,334.9,85.1,511504.4,-2241.1
$KALMAN_Y,223828.1,-194.5,-57.4,-213292.8,740.4
$MHEAD_RNG_PITCHd_Wd,92.4,7871,-21.8,-10.014
$D_GRID,700
$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,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,127,0.00,0.00,-109.25,0.000,2,0.000,0.000,473,2023,3335,0,0,0,0,0,0
$GC,130,-1.48,-97.3,4.2,-7.9,14,156,12.65,2.70,-1.27,0.000,4,0.157,0.053,2845,423,3410,0,0,0,0,0,0
$GC,170,-0.59,-97.3,17.6,-34.6,18,180,0.88,2.47,0.00,0.000,6,0.093,0.015,3042,2012,3410,0,0,0,0,0,0
$GC,607,-0.93,-97.3,48.3,-6.8,67,613,0.25,2.47,0.00,0.000,4,0.044,0.028,2960,3570,3410,0,0,0,0,0,0
$GC,656,-1.14,-97.3,52.6,-9.6,70,661,0.15,2.50,0.00,0.000,6,0.056,0.022,2896,1989,3410,0,0,0,0,0,0
$GC,1047,-1.22,-97.3,96.5,-9.7,106,1051,0.00,2.53,0.00,0.000,4,0.000,0.034,2896,3566,3410,0,0,0,0,0,0
$GC,1070,-1.31,-97.3,99.0,-9.8,107,1075,0.00,2.45,0.00,0.000,6,0.000,0.022,2896,2003,3410,0,0,0,0,0,0
$GC,1460,-1.41,-97.3,137.8,-10.2,144,1465,0.12,2.53,0.00,0.000,4,0.066,0.034,2841,3573,3411,0,0,0,0,0,0
$GC,1541,-1.46,-97.3,147.8,-11.8,150,1550,0.00,2.47,0.00,0.000,6,0.000,0.026,2841,2023,3410,0,0,0,0,0,0
$GC,1933,-1.46,-97.3,191.2,-11.3,187,1937,0.00,2.42,0.00,0.000,4,0.000,0.034,2841,3565,3411,0,0,0,0,0,0
$GC,1996,-1.53,-97.3,198.4,-10.8,192,2000,0.00,2.38,0.00,0.000,6,0.000,0.023,2840,2039,3411,0,0,0,0,0,0
$GC,2385,-1.57,-97.3,236.7,-10.0,228,2389,0.00,2.45,0.00,0.000,4,0.000,0.028,2840,3572,3411,0,0,0,0,0,0
$GC,2437,-1.65,-97.3,241.9,-10.5,232,2442,0.12,2.38,0.00,0.000,6,0.066,0.028,2788,2049,3411,0,0,0,0,0,0
$GC,2827,-1.65,-97.3,286.0,-10.8,268,2832,0.12,2.45,0.00,0.000,4,0.107,0.035,2815,3566,3410,0,0,0,0,0,0
$GC,2939,-1.70,-97.3,296.8,-9.4,277,2944,0.00,2.38,0.00,0.000,6,0.000,0.028,2815,2059,3410,0,0,0,0,0,0
$GC,3332,-1.75,-97.3,332.9,-9.1,313,3336,0.00,2.45,0.00,0.000,4,0.000,0.039,2815,3559,3409,0,0,0,0,0,0
$GC,3428,-1.83,-97.3,341.5,-9.4,321,3433,0.17,2.40,0.00,0.000,6,0.055,0.040,2757,2074,3409,0,0,0,0,0,0
$GC,3817,-1.78,-97.3,379.4,-10.4,357,3822,0.15,2.47,0.00,0.000,4,0.106,0.042,2789,3555,3407,0,0,0,0,0,0
$GC,3846,-1.78,-97.3,382.1,-9.9,359,3851,0.00,2.42,0.00,0.000,6,0.000,0.044,2789,2077,3407,0,0,0,0,0,0
$GC,4235,-1.78,-97.3,420.8,-10.1,395,4239,0.00,2.47,0.00,0.000,4,0.000,0.047,2789,3552,3404,0,0,0,0,0,0
$GC,4266,-1.78,-97.3,423.8,-11.1,397,4270,0.00,2.47,0.00,0.000,6,0.000,0.047,2789,2083,3404,0,0,0,0,0,0
$GC,4657,-1.78,-97.3,462.0,-9.0,433,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2083,3401,0,0,0,0,0,0
$GC,5038,-1.78,-97.3,498.9,-10.2,469,5042,0.00,2.53,0.00,0.000,4,0.000,0.070,2789,3551,3397,0,0,0,0,0,0
$GC,5065,-1.82,-97.3,502.1,-10.4,470,5069,0.00,2.47,0.00,0.000,6,0.000,0.053,2789,2094,3397,0,0,0,0,0,0
$GC,5438,-1.82,-97.3,540.2,-10.3,479,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2094,3395,0,0,0,0,0,0
$GC,5802,-1.82,-97.3,579.0,-10.6,488,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2094,3391,0,0,0,0,0,0
$GC,6168,-1.86,-97.3,616.9,-10.1,497,6173,0.00,2.65,0.00,0.000,4,0.000,0.092,2789,3545,3388,0,0,0,0,0,0
$GC,6255,-1.92,-97.3,625.9,-11.1,499,6260,0.15,2.60,0.00,0.000,6,0.071,0.084,2744,2095,3388,0,0,0,0,0,0
$GC,6660,-1.92,-97.3,674.4,-11.7,509,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2095,3384,0,0,0,0,0,0
$STATE,6901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6902,begin apogee
$GC,6909,-0.31,0.0,700.8,10.8,515,6994,1.62,0.00,80.72,1.084,6,0.087,0.000,3104,2015,3010,0,0,0,0,0,0
$STATE,6995,end apogee,CONTROL_FINISHED_OK
$STATE,6995,begin climb
$GC,6998,1.48,97.3,702.7,0.0,517,7090,1.65,0.00,87.85,1.058,6,0.038,0.000,3502,2014,2612,0,0,0,0,0,0
$GC,7447,1.36,127.7,675.3,7.9,528,7482,0.15,2.95,27.27,1.013,4,0.128,0.101,3473,3533,2488,0,0,0,0,0,0
$GC,7543,1.28,131.5,666.9,9.8,530,7553,0.00,2.85,4.47,0.686,6,0.000,0.095,3473,1994,2473,0,0,0,0,0,0
$GC,7944,1.20,137.9,628.0,9.6,540,7959,0.17,3.20,6.57,0.828,4,0.124,0.125,3437,405,2446,0,0,0,0,0,0
$GC,8024,1.12,137.9,620.2,10.2,541,8029,0.00,2.65,0.00,0.000,6,0.000,0.056,3437,1945,2445,0,0,0,0,0,0
$GC,8396,1.16,170.3,589.4,7.8,550,8436,0.00,2.97,31.08,0.993,4,0.000,0.078,3437,3582,2313,0,0,0,0,0,0
$GC,8460,1.18,190.2,584.3,8.6,551,8485,0.00,2.80,19.52,0.950,6,0.000,0.064,3437,1989,2234,0,0,0,0,0,0
$GC,8887,1.21,212.5,547.2,8.5,562,8914,0.00,3.08,20.73,0.947,4,0.000,0.107,3437,402,2142,0,0,0,0,0,0
$GC,9042,1.21,212.5,531.1,11.0,565,9047,0.00,2.65,0.00,0.000,6,0.000,0.035,3437,1995,2137,0,0,0,0,0,0
$GC,9421,1.21,212.5,492.4,10.8,578,9426,0.00,2.88,0.00,0.000,4,0.000,0.079,3437,400,2135,0,0,0,0,0,0
$GC,9495,1.21,212.5,483.7,12.3,584,9499,0.00,2.60,0.00,0.000,6,0.000,0.030,3437,1983,2134,0,0,0,0,0,0
$GC,9885,1.25,213.5,441.3,9.9,620,9890,0.00,2.80,0.00,0.000,4,0.000,0.077,3437,399,2132,0,0,0,0,0,0
$GC,9930,1.25,213.5,436.3,11.1,623,9935,0.00,2.60,0.00,0.000,6,0.000,0.028,3437,1987,2132,0,0,0,0,0,0
$GC,10320,1.33,231.7,400.5,8.8,660,10340,0.12,0.00,17.02,0.853,6,0.087,0.000,3469,1987,2065,0,0,0,0,0,0
$GC,10721,1.33,231.7,359.6,11.0,698,10722,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1987,2059,0,0,0,0,0,0
$GC,11103,1.33,231.7,314.3,11.8,734,11107,0.00,2.75,0.00,0.000,4,0.000,0.063,3470,401,2058,0,0,0,0,0,0
$GC,11166,1.33,231.7,306.5,12.5,739,11170,0.00,2.55,0.00,0.000,6,0.000,0.021,3470,2000,2056,0,0,0,0,0,0
$GC,11556,1.42,268.3,271.3,7.5,775,11599,0.00,2.88,33.10,0.779,4,0.000,0.063,3470,401,1915,0,0,0,0,0,0
$GC,11647,1.42,268.4,263.6,10.0,783,11652,0.00,2.53,0.00,0.000,6,0.000,0.019,3470,1993,1912,0,0,0,0,0,0
$GC,12036,1.50,268.4,222.9,10.7,819,12041,0.12,2.72,0.00,0.000,4,0.080,0.063,3506,402,1909,0,0,0,0,0,0
$GC,12103,1.50,268.4,213.9,14.3,824,12109,0.00,2.50,0.00,0.000,6,0.000,0.022,3506,1983,1908,0,0,0,0,0,0
$GC,12492,1.50,268.4,169.6,10.1,861,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1983,1907,0,0,0,0,0,0
$GC,12879,1.56,275.8,132.7,9.5,897,12893,0.00,2.75,6.97,0.551,4,0.000,0.057,3506,400,1884,0,0,0,0,0,0
$GC,12951,1.56,276.4,125.4,10.0,903,12956,0.00,2.47,0.00,0.000,6,0.000,0.022,3506,1995,1883,0,0,0,0,0,0
$GC,13344,1.68,318.6,95.2,7.1,939,13395,0.15,2.78,38.12,0.601,4,0.071,0.055,3547,406,1709,0,0,0,0,0,0
$GC,13556,1.70,335.4,77.0,8.9,956,13584,0.00,2.45,15.30,0.556,6,0.000,0.018,3547,1976,1640,0,0,0,0,0,0
$GC,13969,1.70,335.4,35.2,13.0,994,13973,0.00,2.65,0.00,0.000,4,0.000,0.049,3547,400,1638,0,0,0,0,0,0
$GC,14091,1.70,335.4,18.5,14.3,1009,14100,0.00,2.45,0.00,0.000,6,0.000,0.018,3547,1959,1636,0,0,0,0,0,0
$STATE,14207,end climb,SURFACE_DEPTH_REACHED
$STATE,14207,begin surface coast
$FINISH,0.7,0.975166
$STATE,14251,end surface coast,CONTROL_FINISHED_OK
$STATE,14251,begin surface
$SM_CCo,14273,36.05,0.513,0,0,1460,380.21
$SM_GC,1.58,0.00,0.00,36.05,0.000,0.000,0.513,475,1961,1460,-12.42,-1.39,380.21
$IRIDIUM_FIX,2241.69,-15801.49,141000,010156
$TT8_MAMPS,0.026078
$HUMID,64.84
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,20.30
$XPDR_PINGS,91
$24V_AH,23.1,70.065
$10V_AH,10.0,63.942
$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,31.250,125.200,388.750,36.050,0.000,23.959,32.364,491.489,22.750,0.000,17.736,1795.918,8648.823,499.528,3120.299,965.752,33.384,1565.486,0.000,3128.868,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,164.905,1083.771,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,706.771,732.047,972.334,1420.857,1278.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,82480,1032
$CAP_FILE_SIZE,142152,0
$CFSIZE,260165632,152207360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,100600,2249.389,-15800.708,62,1.0,62,10.1