version: 66.06
glider: 146
mission: 6
dive: 560
start: 7 21 111 14 36 48
data:
$ID,146
$MISSION,6
$DIVE,560
$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,-281660.97
$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,7
$R_STBD_OVSHOOT,103
$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
$GPS1,141754,2248.892,-15800.203,28,1.5,45,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-64.8
$GPS2,143556,2248.875,-15800.413,11,1.6,11,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.048
$KALMAN_X,-523335.8,-316.9,186.8,517301.2,-1949.5
$KALMAN_Y,224745.0,-488.4,-182.8,-214852.9,1015.7
$MHEAD_RNG_PITCHd_Wd,92.6,6187,-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,-97.3,0.0,0.0,0,127,0.00,0.00,-109.12,0.000,2,0.000,0.000,475,2060,3307,0,0,0,0,0,0
$GC,132,-1.48,-97.3,4.1,-6.9,14,150,12.48,0.00,-1.83,0.000,6,0.153,0.000,2842,2060,3408,0,0,0,0,0,0
$GC,560,-1.40,-97.3,72.3,-14.5,61,565,0.12,2.35,0.00,0.000,4,0.133,0.028,2867,3529,3410,0,0,0,0,0,0
$GC,627,-1.40,-97.3,82.3,-12.6,66,631,0.00,2.45,0.00,0.000,6,0.000,0.021,2867,1976,3410,0,0,0,0,0,0
$GC,1015,-1.44,-97.3,129.8,-12.3,102,1020,0.00,2.45,0.00,0.000,4,0.000,0.027,2867,3529,3411,0,0,0,0,0,0
$GC,1121,-1.53,-97.3,141.7,-9.9,110,1129,0.08,2.40,0.00,0.000,6,0.040,0.027,2823,2019,3411,0,0,0,0,0,0
$GC,1509,-1.53,-97.3,184.3,-9.2,147,1513,0.00,2.42,0.00,0.000,4,0.000,0.030,2823,3532,3411,0,0,0,0,0,0
$GC,1555,-1.53,-97.3,188.7,-9.4,150,1564,0.00,2.40,0.00,0.000,6,0.000,0.021,2823,2018,3411,0,0,0,0,0,0
$GC,1944,-1.53,-97.3,226.1,-10.4,187,1948,0.00,2.42,0.00,0.000,4,0.000,0.032,2823,3528,3411,0,0,0,0,0,0
$GC,2028,-1.60,-97.3,235.3,-10.3,194,2033,0.00,2.33,0.00,0.000,6,0.000,0.022,2823,2037,3411,0,0,0,0,0,0
$GC,2417,-1.64,-97.3,276.4,-10.4,230,2421,0.00,2.40,0.00,0.000,4,0.000,0.032,2823,3530,3411,0,0,0,0,0,0
$GC,2492,-1.71,-97.3,283.7,-9.7,236,2496,0.00,2.38,0.00,0.000,6,0.000,0.023,2823,2038,3411,0,0,0,0,0,0
$GC,2881,-1.77,-97.3,319.3,-8.6,272,2886,0.15,2.42,0.00,0.000,4,0.062,0.035,2770,3521,3410,0,0,0,0,0,0
$GC,2915,-1.77,-97.3,322.4,-9.5,274,2922,0.00,2.35,0.00,0.000,6,0.000,0.036,2770,2050,3410,0,0,0,0,0,0
$GC,3303,-1.77,-97.3,364.6,-11.1,311,3307,0.00,2.42,0.00,0.000,4,0.000,0.044,2770,3522,3408,0,0,0,0,0,0
$GC,3434,-1.77,-97.3,379.0,-11.2,322,3438,0.00,2.40,0.00,0.000,6,0.000,0.046,2770,2060,3407,0,0,0,0,0,0
$GC,3826,-1.77,-97.3,422.7,-11.1,358,3830,0.00,2.42,0.00,0.000,4,0.000,0.051,2770,3515,3404,0,0,0,0,0,0
$GC,3955,-1.77,-97.3,437.2,-11.1,369,3959,0.00,2.45,0.00,0.000,6,0.000,0.049,2770,2068,3403,0,0,0,0,0,0
$GC,4345,-1.77,-97.3,476.9,-9.8,405,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2068,3400,0,0,0,0,0,0
$GC,4751,-1.77,-97.3,516.0,-9.3,432,4756,0.00,2.50,0.00,0.000,4,0.000,0.073,2770,3515,3397,0,0,0,0,0,0
$GC,4882,-1.77,-97.3,528.9,-10.1,435,4887,0.00,2.47,0.00,0.000,6,0.000,0.063,2770,2075,3396,0,0,0,0,0,0
$GC,5288,-1.77,-97.3,570.3,-10.5,445,5292,0.00,2.50,0.00,0.000,4,0.000,0.074,2770,3508,3393,0,0,0,0,0,0
$GC,5393,-1.77,-97.3,582.0,-10.8,447,5397,0.00,2.47,0.00,0.000,6,0.000,0.067,2770,2089,3391,0,0,0,0,0,0
$GC,5778,-1.77,-97.3,621.0,-10.1,457,5782,0.00,2.53,0.00,0.000,4,0.000,0.077,2770,3512,3388,0,0,0,0,0,0
$GC,5817,-1.77,-97.3,625.3,-10.5,458,5821,0.00,2.55,0.00,0.000,6,0.000,0.086,2770,2090,3388,0,0,0,0,0,0
$GC,6223,-1.77,-97.3,666.6,-10.5,468,6228,0.00,2.65,0.00,0.000,4,0.000,0.104,2770,3512,3385,0,0,0,0,0,0
$GC,6278,-1.77,-97.3,672.8,-10.7,469,6282,0.00,2.62,0.00,0.000,6,0.000,0.105,2770,2099,3385,0,0,0,0,0,0
$STATE,6542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6542,begin apogee
$GC,6549,-0.31,0.0,700.6,10.6,476,6633,1.50,0.00,80.47,1.086,6,0.087,0.000,3102,2002,3010,0,0,0,0,0,0
$STATE,6634,end apogee,CONTROL_FINISHED_OK
$STATE,6634,begin climb
$GC,6638,1.48,97.3,703.4,0.0,478,6730,1.65,0.00,87.70,1.060,6,0.038,0.000,3505,2002,2613,0,0,0,0,0,0
$GC,7087,1.38,144.8,681.7,6.7,489,7139,0.15,3.33,42.95,1.034,4,0.129,0.143,3476,405,2417,0,0,0,0,0,0
$GC,7152,1.26,154.5,676.6,9.3,490,7169,0.15,2.70,10.05,0.905,6,0.130,0.080,3449,1904,2380,0,0,0,0,0,0
$GC,7534,1.26,155.7,639.7,9.9,500,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1903,2371,0,0,0,0,0,0
$GC,7899,1.26,159.7,603.6,9.7,509,7909,0.00,2.85,4.28,0.677,4,0.000,0.104,3449,404,2359,0,0,0,0,0,0
$GC,7967,1.18,159.7,596.1,12.0,510,7971,0.00,2.53,0.00,0.000,6,0.000,0.044,3449,1902,2358,0,0,0,0,0,0
$GC,8343,1.20,170.9,560.3,9.2,520,8362,0.00,2.85,11.88,0.924,4,0.000,0.092,3449,398,2311,0,0,0,0,0,0
$GC,8408,1.13,170.9,553.6,10.9,521,8413,0.15,2.50,0.00,0.000,6,0.128,0.035,3420,1907,2310,0,0,0,0,0,0
$GC,8791,1.19,188.3,519.2,8.8,531,8810,0.00,0.00,17.23,0.933,6,0.000,0.000,3420,1907,2242,0,0,0,0,0,0
$GC,9164,1.27,208.4,488.3,8.6,549,9190,0.12,2.83,19.38,0.920,4,0.090,0.060,3452,3500,2159,0,0,0,0,0,0
$GC,9220,1.27,208.4,482.8,10.6,554,9225,0.00,2.60,0.00,0.000,6,0.000,0.052,3452,1986,2157,0,0,0,0,0,0
$GC,9609,1.27,210.7,444.4,9.9,590,9613,0.00,2.97,0.00,0.000,4,0.000,0.107,3452,400,2153,0,0,0,0,0,0
$GC,9737,1.27,210.7,430.2,11.0,601,9742,0.00,2.45,0.00,0.000,6,0.000,0.028,3452,1914,2151,0,0,0,0,0,0
$GC,10128,1.29,221.1,392.5,9.3,637,10145,0.00,0.00,11.95,0.823,6,0.000,0.000,3452,1914,2108,0,0,0,0,0,0
$GC,10530,1.30,234.1,352.2,9.1,675,10552,0.00,2.70,12.82,0.802,4,0.000,0.042,3452,3509,2054,0,0,0,0,0,0
$GC,10558,1.36,244.4,349.4,9.3,677,10576,0.00,2.58,11.18,0.774,6,0.000,0.035,3452,1972,2012,0,0,0,0,0,0
$GC,10959,1.46,277.4,314.5,7.7,715,10996,0.17,2.85,30.50,0.809,4,0.067,0.076,3498,410,1878,0,0,0,0,0,0
$GC,11116,1.40,277.4,296.9,12.1,729,11120,0.00,2.42,0.00,0.000,6,0.000,0.021,3498,1921,1873,0,0,0,0,0,0
$GC,11504,1.40,277.4,254.3,11.1,765,11508,0.00,2.60,0.00,0.000,4,0.000,0.058,3498,408,1871,0,0,0,0,0,0
$GC,11610,1.40,277.4,240.1,14.0,774,11615,0.00,2.40,0.00,0.000,6,0.000,0.021,3498,1920,1869,0,0,0,0,0,0
$GC,11999,1.40,277.4,195.8,10.1,810,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1921,1869,0,0,0,0,0,0
$GC,12382,1.47,292.0,160.4,9.0,846,12400,0.00,2.62,12.77,0.637,4,0.000,0.061,3498,405,1818,0,0,0,0,0,0
$GC,12446,1.47,292.0,153.0,11.9,851,12451,0.00,2.40,0.00,0.000,6,0.000,0.018,3498,1932,1815,0,0,0,0,0,0
$GC,12839,1.57,321.2,117.3,8.0,887,12873,0.00,2.67,26.17,0.621,4,0.000,0.054,3498,406,1699,0,0,0,0,0,0
$GC,12965,1.64,331.0,105.1,9.3,897,12985,0.15,2.38,9.38,0.553,6,0.070,0.018,3540,1923,1660,0,0,0,0,0,0
$GC,13369,1.64,331.3,65.7,10.0,935,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1924,1658,0,0,0,0,0,0
$GC,13787,1.64,331.3,17.3,10.7,980,13798,0.00,2.58,0.00,0.000,4,0.000,0.054,3540,400,1658,0,0,0,0,0,0
$GC,13865,1.64,331.3,8.2,13.3,990,13874,0.00,2.35,0.00,0.000,6,0.000,0.018,3540,1910,1658,0,0,0,0,0,0
$STATE,13895,end climb,SURFACE_DEPTH_REACHED
$STATE,13895,begin surface coast
$FINISH,0.7,0.980040
$STATE,13931,end surface coast,CONTROL_FINISHED_OK
$STATE,13931,begin surface
$SM_CCo,13953,41.03,0.518,0,0,1459,380.21
$SM_GC,1.42,0.00,0.00,41.03,0.000,0.000,0.518,476,1913,1459,-12.42,-2.74,380.21
$IRIDIUM_FIX,2239.35,-15800.20,141000,141417
$TT8_MAMPS,0.025311
$HUMID,65.16
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,19.90
$XPDR_PINGS,90
$24V_AH,23.1,70.384
$10V_AH,9.9,64.274
$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,29.325,117.125,388.700,41.025,0.000,94.078,158.108,530.768,22.500,0.000,12.487,1734.410,8666.662,506.015,2982.793,1177.301,33.379,1554.149,0.000,2995.078,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,153.400,1086.072,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,684.376,693.720,933.535,1316.425,1129.576,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,79515,999
$CAP_FILE_SIZE,139268,0
$CFSIZE,260165632,152055808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,183130,2248.701,-15759.977,40,1.8,45,10.1