version: 66.06
glider: 146
mission: 6
dive: 559
start: 7 21 111 10 22 54
data:
$ID,146
$MISSION,6
$DIVE,559
$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,621.34491
$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,-281647.84
$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,12
$R_STBD_OVSHOOT,55
$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
$GPS1,100600,2249.389,-15800.708,62,1.0,62,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.8
$GPS2,102202,2249.460,-15800.817,15,1.3,15,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,-0.063
$KALMAN_X,-521210.1,259.4,-377.9,514454.9,-718.6
$KALMAN_Y,224755.9,-461.4,-57.0,-213944.5,1206.2
$MHEAD_RNG_PITCHd_Wd,96.8,6593,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.45,0.000,2,0.000,0.000,474,1961,3280,0,0,0,0,0,0
$GC,91,-1.48,-97.3,4.0,-6.7,9,117,12.40,2.62,-2.33,0.000,4,0.150,0.043,2843,3571,3409,0,0,0,0,0,0
$GC,195,-1.48,-97.3,26.7,-15.8,23,205,0.00,2.55,0.00,0.000,6,0.000,0.023,2842,1984,3410,0,0,0,0,0,0
$GC,594,-1.41,-97.3,84.1,-14.1,61,599,0.10,2.55,0.00,0.000,4,0.137,0.028,2863,3581,3411,0,0,0,0,0,0
$GC,666,-1.47,-97.3,93.5,-12.2,66,675,0.00,2.50,0.00,0.000,6,0.000,0.022,2863,2014,3411,0,0,0,0,0,0
$GC,1057,-1.47,-97.3,134.5,-10.4,103,1062,0.00,2.47,0.00,0.000,4,0.000,0.031,2863,3582,3412,0,0,0,0,0,0
$GC,1140,-1.57,-97.3,143.3,-10.3,109,1146,0.12,2.42,0.00,0.000,6,0.070,0.027,2814,2025,3412,0,0,0,0,0,0
$GC,1530,-1.57,-97.3,187.0,-9.9,146,1535,0.00,2.50,0.00,0.000,4,0.000,0.032,2814,3582,3413,0,0,0,0,0,0
$GC,1571,-1.57,-97.3,191.5,-10.4,149,1575,0.00,2.40,0.00,0.000,6,0.000,0.021,2814,2036,3412,0,0,0,0,0,0
$GC,1961,-1.57,-97.3,231.1,-9.5,185,1965,0.00,2.45,0.00,0.000,4,0.000,0.035,2814,3576,3413,0,0,0,0,0,0
$GC,2033,-1.62,-97.3,238.2,-9.5,191,2038,0.00,2.40,0.00,0.000,6,0.000,0.026,2814,2047,3413,0,0,0,0,0,0
$GC,2424,-1.62,-97.3,276.1,-9.3,227,2428,0.00,2.45,0.00,0.000,4,0.000,0.032,2814,3572,3413,0,0,0,0,0,0
$GC,2520,-1.68,-97.3,285.8,-10.1,235,2524,0.00,2.38,0.00,0.000,6,0.000,0.024,2814,2066,3413,0,0,0,0,0,0
$GC,2911,-1.72,-97.3,322.7,-9.6,271,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2066,3412,0,0,0,0,0,0
$GC,3292,-1.78,-97.3,363.7,-12.0,307,3297,0.12,2.47,0.00,0.000,4,0.071,0.043,2769,3572,3411,0,0,0,0,0,0
$GC,3377,-1.78,-97.3,375.4,-13.2,314,3381,0.00,2.42,0.00,0.000,6,0.000,0.040,2769,2078,3410,0,0,0,0,0,0
$GC,3769,-1.78,-97.3,420.9,-9.8,350,3773,0.00,2.47,0.00,0.000,4,0.000,0.044,2769,3570,3407,0,0,0,0,0,0
$GC,3888,-1.78,-97.3,433.5,-10.7,360,3892,0.00,2.45,0.00,0.000,6,0.000,0.045,2769,2097,3407,0,0,0,0,0,0
$GC,4276,-1.78,-97.3,472.0,-10.3,396,4281,0.00,2.47,0.00,0.000,4,0.000,0.055,2769,3559,3404,0,0,0,0,0,0
$GC,4328,-1.78,-97.3,477.4,-11.1,400,4333,0.00,2.45,0.00,0.000,6,0.000,0.052,2769,2103,3404,0,0,0,0,0,0
$GC,4713,-1.78,-97.3,518.3,-10.8,424,4717,0.00,2.53,0.00,0.000,4,0.000,0.067,2769,3561,3401,0,0,0,0,0,0
$GC,4762,-1.78,-97.3,524.3,-10.8,425,4766,0.00,2.45,0.00,0.000,6,0.000,0.059,2769,2107,3400,0,0,0,0,0,0
$GC,5156,-1.78,-97.3,564.7,-10.3,435,5160,0.00,2.53,0.00,0.000,4,0.000,0.074,2769,3555,3397,0,0,0,0,0,0
$GC,5221,-1.78,-97.3,571.7,-10.1,436,5225,0.00,2.50,0.00,0.000,6,0.000,0.066,2769,2110,3397,0,0,0,0,0,0
$GC,5599,-1.78,-97.3,610.7,-10.4,446,5603,0.00,2.55,0.00,0.000,4,0.000,0.078,2769,3555,3395,0,0,0,0,0,0
$GC,5670,-1.78,-97.3,618.5,-10.8,447,5674,0.00,2.55,0.00,0.000,6,0.000,0.083,2769,2121,3394,0,0,0,0,0,0
$GC,6044,-1.78,-97.3,654.8,-9.6,456,6049,0.00,2.62,0.00,0.000,4,0.000,0.100,2769,3554,3391,0,0,0,0,0,0
$GC,6088,-1.78,-97.3,659.4,-9.8,457,6092,0.00,2.60,0.00,0.000,6,0.000,0.096,2769,2126,3391,0,0,0,0,0,0
$GC,6487,-1.78,-97.3,697.9,-9.8,467,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2126,3388,0,0,0,0,0,0
$STATE,6525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6525,begin apogee
$GC,6533,-0.31,0.0,702.0,10.0,468,6618,1.50,0.00,81.30,1.086,6,0.087,0.000,3103,2019,3010,0,0,0,0,0,0
$STATE,6619,end apogee,CONTROL_FINISHED_OK
$STATE,6619,begin climb
$GC,6622,1.48,97.3,704.1,0.0,470,6717,1.67,3.03,87.62,1.063,4,0.037,0.122,3507,3537,2612,0,0,0,0,0,0
$GC,6754,1.37,151.3,702.9,6.3,473,6810,0.17,3.00,49.10,1.037,6,0.130,0.112,3474,1997,2393,0,0,0,0,0,0
$GC,7177,1.30,164.3,664.1,9.1,483,7190,0.00,0.00,11.43,0.933,6,0.000,0.000,3473,1997,2340,0,0,0,0,0,0
$GC,7544,1.24,173.1,629.9,9.4,492,7560,0.12,3.17,9.12,0.900,4,0.136,0.123,3449,399,2304,0,0,0,0,0,0
$GC,7584,1.17,174.2,625.9,9.9,493,7588,0.00,2.67,0.00,0.000,6,0.000,0.057,3449,1959,2302,0,0,0,0,0,0
$GC,7990,1.17,175.4,587.2,9.9,503,7995,0.00,2.88,0.00,0.000,4,0.000,0.094,3449,403,2299,0,0,0,0,0,0
$GC,8057,1.10,175.4,579.2,12.3,504,8062,0.17,2.67,0.00,0.000,6,0.127,0.041,3416,1994,2297,0,0,0,0,0,0
$GC,8434,1.15,175.4,539.1,11.0,514,8439,0.00,2.88,0.00,0.000,4,0.000,0.087,3415,402,2297,0,0,0,0,0,0
$GC,8502,1.15,175.4,530.9,11.9,515,8507,0.00,2.62,0.00,0.000,6,0.000,0.038,3415,1989,2296,0,0,0,0,0,0
$GC,8881,1.23,192.3,493.7,8.9,528,8907,0.12,2.97,17.92,0.921,4,0.087,0.080,3449,396,2225,0,0,0,0,0,0
$GC,8939,1.17,192.3,488.1,11.2,533,8944,0.00,2.60,0.00,0.000,6,0.000,0.031,3449,1973,2222,0,0,0,0,0,0
$GC,9329,1.20,216.4,451.9,8.3,569,9361,0.00,2.90,23.00,0.899,4,0.000,0.076,3449,400,2126,0,0,0,0,0,0
$GC,9401,1.20,216.4,444.9,10.5,575,9407,0.00,2.62,0.00,0.000,6,0.000,0.034,3449,1989,2123,0,0,0,0,0,0
$GC,9792,1.22,232.4,409.2,8.9,612,9814,0.00,2.88,15.15,0.845,4,0.000,0.071,3449,396,2061,0,0,0,0,0,0
$GC,9839,1.22,234.7,404.6,9.9,616,9844,0.00,2.60,0.00,0.000,6,0.000,0.027,3449,1983,2060,0,0,0,0,0,0
$GC,10232,1.27,238.1,367.8,9.8,652,10243,0.00,2.80,6.38,0.706,4,0.000,0.064,3449,400,2038,0,0,0,0,0,0
$GC,10269,1.27,238.1,363.8,11.1,655,10273,0.00,2.58,0.00,0.000,6,0.000,0.029,3449,1989,2036,0,0,0,0,0,0
$GC,10661,1.34,253.9,326.9,8.9,691,10679,0.00,0.00,15.93,0.798,6,0.000,0.000,3449,1988,1974,0,0,0,0,0,0
$GC,11062,1.46,294.3,290.7,7.2,729,11107,0.17,2.80,37.20,0.793,4,0.074,0.060,3495,399,1808,0,0,0,0,0,0
$GC,11211,1.42,294.3,273.7,12.2,742,11215,0.00,2.55,0.00,0.000,6,0.000,0.025,3495,1988,1804,0,0,0,0,0,0
$GC,11603,1.42,294.3,231.0,10.1,778,11607,0.00,2.75,0.00,0.000,4,0.000,0.063,3495,390,1801,0,0,0,0,0,0
$GC,11724,1.42,294.3,216.9,12.3,788,11730,0.00,2.47,0.00,0.000,6,0.000,0.027,3495,1966,1800,0,0,0,0,0,0
$GC,12113,1.47,294.3,174.8,11.4,825,12117,0.00,2.65,0.00,0.000,4,0.000,0.061,3495,397,1799,0,0,0,0,0,0
$GC,12141,1.47,294.3,171.4,11.8,827,12146,0.00,2.45,0.00,0.000,6,0.000,0.022,3495,1969,1799,0,0,0,0,0,0
$GC,12534,1.55,311.3,132.3,8.8,863,12559,0.00,2.75,14.70,0.621,4,0.000,0.061,3495,398,1738,0,0,0,0,0,0
$GC,12714,1.57,323.1,116.0,9.2,878,12731,0.00,2.38,11.50,0.588,6,0.000,0.025,3495,1931,1692,0,0,0,0,0,0
$GC,13127,1.70,347.1,78.8,8.4,916,13156,0.22,2.65,22.15,0.578,4,0.061,0.051,3553,394,1592,0,0,0,0,0,0
$GC,13356,1.70,347.1,50.1,14.4,934,13361,0.00,2.38,0.00,0.000,6,0.000,0.018,3553,1915,1589,0,0,0,0,0,0
$STATE,13724,end climb,SURFACE_DEPTH_REACHED
$STATE,13724,begin surface coast
$FINISH,0.6,0.975897
$STATE,13769,end surface coast,CONTROL_FINISHED_OK
$STATE,13769,begin surface
$SM_CCo,13793,220.20,0.516,0,0,476,621.34
$SM_GC,1.28,0.00,0.00,220.20,0.000,0.000,0.516,476,2060,476,-12.42,1.41,621.34
$IRIDIUM_FIX,2244.02,-15804.53,141000,101001
$TT8_MAMPS,0.026078
$HUMID,61.57
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.50
$XPDR_PINGS,104
$24V_AH,23.1,70.229
$10V_AH,9.9,64.105
$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,29.450,135.800,402.500,220.200,0.000,140.184,400.402,0.000,26.000,0.000,16.861,1734.568,8647.739,679.581,2955.748,946.190,33.379,1709.390,0.000,2963.945,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,151.866,1086.072,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,674.447,672.446,923.213,1275.743,1058.296,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,79558,984
$CAP_FILE_SIZE,133178,0
$CFSIZE,260165632,152109056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,141754,2248.892,-15800.203,28,1.5,45,10.1