version: 66.06
glider: 146
mission: 6
dive: 561
start: 7 21 111 18 48 35
data:
$ID,146
$MISSION,6
$DIVE,561
$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,-281678.5
$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,18
$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
$GPS1,183130,2248.701,-15759.977,40,1.8,45,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.2
$GPS2,184743,2248.771,-15800.155,10,1.7,15,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.024
$KALMAN_X,-525137.2,-654.5,-163.5,520222.5,-1247.1
$KALMAN_Y,224866.5,-137.5,-174.6,-215532.2,1065.6
$MHEAD_RNG_PITCHd_Wd,86.2,5847,-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,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-70.57,0.000,2,0.000,0.000,475,1913,3263,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.7,-6.0,9,110,12.68,0.00,-2.78,0.000,6,0.160,0.000,2842,1913,3409,0,0,0,0,0,0
$GC,516,-1.39,-97.3,75.0,-15.8,55,521,0.12,2.55,0.00,0.000,4,0.135,0.033,2868,3524,3413,0,0,0,0,0,0
$GC,622,-1.39,-97.3,91.0,-14.0,63,628,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,1983,3413,0,0,0,0,0,0
$GC,1011,-1.44,-97.3,135.3,-10.3,100,1015,0.00,2.42,0.00,0.000,4,0.000,0.032,2868,3526,3413,0,0,0,0,0,0
$GC,1034,-1.50,-97.3,137.6,-9.4,101,1039,0.00,2.38,0.00,0.000,6,0.000,0.027,2868,2005,3413,0,0,0,0,0,0
$GC,1423,-1.57,-97.3,175.2,-10.2,138,1427,0.15,2.42,0.00,0.000,4,0.061,0.033,2814,3526,3414,0,0,0,0,0,0
$GC,1463,-1.57,-97.3,180.2,-12.9,141,1467,0.00,2.38,0.00,0.000,6,0.000,0.022,2815,2002,3414,0,0,0,0,0,0
$GC,1853,-1.57,-97.3,225.4,-9.2,177,1857,0.00,2.40,0.00,0.000,4,0.000,0.033,2814,3528,3414,0,0,0,0,0,0
$GC,2011,-1.61,-97.3,239.6,-8.1,190,2017,0.00,2.35,0.00,0.000,6,0.000,0.022,2814,2024,3415,0,0,0,0,0,0
$GC,2401,-1.61,-97.3,278.9,-11.4,227,2405,0.00,2.38,0.00,0.000,4,0.000,0.031,2814,3523,3415,0,0,0,0,0,0
$GC,2434,-1.61,-97.3,282.9,-11.7,229,2440,0.00,2.35,0.00,0.000,6,0.000,0.024,2814,2032,3414,0,0,0,0,0,0
$GC,2825,-1.61,-97.3,322.4,-9.2,266,2829,0.00,2.42,0.00,0.000,4,0.000,0.034,2814,3529,3414,0,0,0,0,0,0
$GC,2881,-1.68,-97.3,327.7,-9.0,270,2889,0.00,2.42,0.00,0.000,6,0.000,0.031,2814,2045,3414,0,0,0,0,0,0
$GC,3272,-1.73,-97.3,366.1,-11.1,307,3276,0.00,2.45,0.00,0.000,4,0.000,0.046,2815,3526,3413,0,0,0,0,0,0
$GC,3373,-1.81,-97.3,377.6,-10.9,315,3380,0.10,2.45,0.00,0.000,6,0.038,0.038,2769,2054,3413,0,0,0,0,0,0
$GC,3765,-1.81,-97.3,423.6,-11.0,352,3769,0.00,2.42,0.00,0.000,4,0.000,0.048,2769,3514,3411,0,0,0,0,0,0
$GC,3893,-1.81,-97.3,438.5,-11.2,363,3897,0.00,2.47,0.00,0.000,6,0.000,0.057,2769,2044,3409,0,0,0,0,0,0
$GC,4281,-1.81,-97.3,480.4,-10.6,399,4285,0.00,2.50,0.00,0.000,4,0.000,0.058,2769,3516,3407,0,0,0,0,0,0
$GC,4357,-1.81,-97.3,488.7,-10.4,405,4365,0.00,2.53,0.00,0.000,6,0.000,0.061,2769,2050,3406,0,0,0,0,0,0
$GC,4755,-1.81,-97.3,531.9,-10.8,423,4760,0.00,2.53,0.00,0.000,4,0.000,0.070,2769,3511,3403,0,0,0,0,0,0
$GC,4923,-1.81,-97.3,549.8,-10.4,426,4928,0.00,2.50,0.00,0.000,6,0.000,0.067,2769,2063,3402,0,0,0,0,0,0
$GC,5295,-1.81,-97.3,585.8,-9.7,436,5299,0.00,2.53,0.00,0.000,4,0.000,0.074,2769,3514,3399,0,0,0,0,0,0
$GC,5344,-1.81,-97.3,590.8,-9.6,437,5349,0.00,2.53,0.00,0.000,6,0.000,0.077,2769,2064,3398,0,0,0,0,0,0
$GC,5739,-1.81,-97.3,628.9,-9.8,447,5743,0.00,2.58,0.00,0.000,4,0.000,0.089,2769,3508,3395,0,0,0,0,0,0
$GC,5812,-1.81,-97.3,636.4,-10.4,448,5816,0.00,2.60,0.00,0.000,6,0.000,0.086,2769,2063,3395,0,0,0,0,0,0
$GC,6183,-1.81,-97.3,674.3,-10.4,457,6188,0.00,2.67,0.00,0.000,4,0.000,0.100,2769,3514,3392,0,0,0,0,0,0
$GC,6283,-1.81,-97.3,685.0,-10.7,459,6288,0.00,2.67,0.00,0.000,6,0.000,0.106,2769,2082,3391,0,0,0,0,0,0
$STATE,6426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6426,begin apogee
$GC,6434,-0.31,0.0,700.5,10.8,463,6520,1.50,0.00,82.03,1.086,6,0.087,0.000,3102,1998,3010,0,0,0,0,0,0
$STATE,6520,end apogee,CONTROL_FINISHED_OK
$STATE,6520,begin climb
$GC,6523,1.48,97.3,703.5,0.0,465,6615,1.65,0.00,87.68,1.060,6,0.038,0.000,3505,1998,2613,0,0,0,0,0,0
$GC,6974,1.37,138.9,681.2,7.1,476,7014,0.15,0.00,37.60,1.029,6,0.130,0.000,3477,1998,2442,0,0,0,0,0,0
$GC,7376,1.28,139.6,643.9,10.0,486,7378,0.10,0.00,0.00,0.000,6,0.145,0.000,3458,1998,2434,0,0,0,0,0,0
$GC,7743,1.25,152.2,609.6,9.1,495,7762,0.00,3.17,11.52,0.934,4,0.000,0.115,3458,403,2389,0,0,0,0,0,0
$GC,7836,1.14,152.2,599.8,10.4,497,7841,0.17,2.58,0.00,0.000,6,0.127,0.048,3424,1915,2386,0,0,0,0,0,0
$GC,8237,1.18,188.5,568.0,7.5,507,8279,0.00,2.85,34.45,0.988,4,0.000,0.088,3424,400,2240,0,0,0,0,0,0
$GC,8336,1.19,193.1,559.7,9.7,509,8346,0.00,2.53,5.40,0.741,6,0.000,0.035,3424,1909,2222,0,0,0,0,0,0
$GC,8732,1.27,228.4,528.8,7.6,519,8770,0.12,0.00,33.40,0.960,6,0.087,0.000,3456,1909,2077,0,0,0,0,0,0
$GC,9141,1.27,228.4,488.7,10.6,535,9145,0.00,2.67,0.00,0.000,4,0.000,0.081,3456,403,2070,0,0,0,0,0,0
$GC,9191,1.23,228.4,482.7,11.7,539,9195,0.00,2.47,0.00,0.000,6,0.000,0.033,3456,1908,2069,0,0,0,0,0,0
$GC,9579,1.23,228.4,440.7,11.1,575,9584,0.00,2.67,0.00,0.000,4,0.000,0.077,3457,396,2068,0,0,0,0,0,0
$GC,9622,1.23,228.4,435.4,11.9,578,9628,0.00,2.47,0.00,0.000,6,0.000,0.027,3457,1912,2067,0,0,0,0,0,0
$GC,10011,1.25,239.5,394.9,9.2,615,10027,0.00,2.72,9.55,0.800,4,0.000,0.068,3457,403,2032,0,0,0,0,0,0
$GC,10060,1.25,239.5,390.2,10.8,619,10064,0.00,2.45,0.00,0.000,6,0.000,0.031,3457,1917,2031,0,0,0,0,0,0
$GC,10452,1.29,239.5,352.5,10.6,655,10457,0.00,2.65,0.00,0.000,4,0.000,0.069,3456,395,2030,0,0,0,0,0,0
$GC,10502,1.29,239.5,345.9,12.7,659,10506,0.00,2.42,0.00,0.000,6,0.000,0.025,3456,1903,2029,0,0,0,0,0,0
$GC,10891,1.35,240.7,303.2,9.9,695,10895,0.00,2.60,0.00,0.000,4,0.000,0.061,3457,393,2028,0,0,0,0,0,0
$GC,10965,1.36,248.8,296.0,9.5,701,10979,0.00,2.40,9.50,0.732,6,0.000,0.020,3457,1914,1995,0,0,0,0,0,0
$GC,11372,1.49,289.5,265.9,7.2,739,11418,0.17,2.72,37.78,0.775,4,0.071,0.063,3502,398,1828,0,0,0,0,0,0
$GC,11496,1.49,289.5,252.3,11.7,750,11504,0.00,2.42,0.00,0.000,6,0.000,0.025,3502,1905,1824,0,0,0,0,0,0
$GC,11887,1.49,289.5,209.1,11.1,787,11891,0.00,2.58,0.00,0.000,4,0.000,0.058,3502,400,1822,0,0,0,0,0,0
$GC,11938,1.49,289.5,202.4,12.0,791,11942,0.00,2.38,0.00,0.000,6,0.000,0.024,3502,1908,1821,0,0,0,0,0,0
$GC,12326,1.49,289.5,155.3,11.7,827,12331,0.00,2.58,0.00,0.000,4,0.000,0.055,3502,399,1820,0,0,0,0,0,0
$GC,12405,1.49,289.5,144.9,13.9,833,12409,0.00,2.35,0.00,0.000,6,0.000,0.021,3502,1900,1820,0,0,0,0,0,0
$GC,12797,1.59,319.5,104.6,7.9,869,12831,0.00,2.62,25.98,0.612,4,0.000,0.059,3502,402,1706,0,0,0,0,0,0
$GC,12920,1.66,333.3,93.7,9.1,879,12945,0.15,2.33,13.00,0.569,6,0.072,0.019,3542,1887,1650,0,0,0,0,0,0
$GC,13327,1.66,333.3,52.7,10.4,917,13331,0.00,2.62,0.00,0.000,4,0.000,0.031,3542,3515,1648,0,0,0,0,0,0
$GC,13350,1.70,333.3,50.5,10.4,918,13354,0.00,2.60,0.00,0.000,6,0.000,0.030,3542,1903,1647,0,0,0,0,0,0
$STATE,13773,end climb,SURFACE_DEPTH_REACHED
$STATE,13773,begin surface coast
$FINISH,0.7,0.978033
$STATE,13825,end surface coast,CONTROL_FINISHED_OK
$STATE,13826,begin surface
$SM_CCo,13847,231.73,0.513,0,0,476,621.34
$SM_GC,1.27,0.00,0.00,231.73,0.000,0.000,0.513,476,1899,476,-12.42,-3.14,621.34
$IRIDIUM_FIX,2239.35,-15759.32,141000,181837
$TT8_MAMPS,0.026078
$HUMID,61.02
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,19.90
$XPDR_PINGS,106
$24V_AH,23.1,70.546
$10V_AH,9.9,64.438
$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,29.475,126.350,387.875,231.725,0.000,141.976,400.406,0.000,26.500,0.000,16.918,1723.805,8712.883,702.249,2952.492,949.264,33.376,1701.811,0.000,2965.237,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,154.167,1086.072,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,668.537,671.343,908.898,1284.667,1092.135,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,76408,976
$CAP_FILE_SIZE,129880,0
$CFSIZE,260165632,151961600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,224436,2249.323,-15759.321,41,1.1,41,10.1