version: 66.06
glider: 146
mission: 6
dive: 562
start: 7 21 111 23 4 12
data:
$ID,146
$MISSION,6
$DIVE,562
$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,-281691.56
$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,9
$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
$GPS1,224436,2249.323,-15759.321,41,1.1,41,10.1
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,6
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.1
$GPS2,230320,2249.448,-15759.546,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.028
$KALMAN_X,-527057.0,-548.2,-281.7,523196.7,-289.0
$KALMAN_Y,225502.4,334.2,278.1,-215848.6,248.8
$MHEAD_RNG_PITCHd_Wd,72.5,4464,-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,-108.97,0.000,2,0.000,0.000,475,1899,3314,0,0,0,0,0,0
$GC,130,-1.48,-97.3,4.1,-7.4,14,148,12.50,0.00,-1.67,0.000,6,0.154,0.000,2841,1899,3408,0,0,0,0,0,0
$GC,559,-1.40,-97.3,78.8,-15.5,60,564,0.12,2.62,0.00,0.000,4,0.135,0.027,2866,3533,3409,0,0,0,0,0,0
$GC,725,-1.44,-97.3,101.0,-13.2,73,730,0.00,2.45,0.00,0.000,6,0.000,0.029,2866,1983,3410,0,0,0,0,0,0
$GC,1118,-1.50,-97.3,144.8,-9.8,109,1122,0.00,2.45,0.00,0.000,4,0.000,0.027,2867,3525,3410,0,0,0,0,0,0
$GC,1199,-1.60,-97.3,151.7,-8.1,115,1204,0.17,2.38,0.00,0.000,6,0.054,0.021,2805,2018,3410,0,0,0,0,0,0
$GC,1593,-1.56,-97.3,190.8,-10.5,151,1598,0.15,2.40,0.00,0.000,4,0.103,0.035,2837,3531,3410,0,0,0,0,0,0
$GC,1708,-1.64,-97.3,202.2,-9.8,160,1714,0.00,2.33,0.00,0.000,6,0.000,0.022,2837,2040,3410,0,0,0,0,0,0
$GC,2099,-1.69,-97.3,239.2,-10.0,197,2104,0.12,2.38,0.00,0.000,4,0.070,0.035,2794,3532,3409,0,0,0,0,0,0
$GC,2138,-1.69,-97.3,243.8,-11.1,200,2142,0.00,2.35,0.00,0.000,6,0.000,0.030,2795,2044,3410,0,0,0,0,0,0
$GC,2526,-1.69,-97.3,288.5,-11.2,236,2530,0.00,2.38,0.00,0.000,4,0.000,0.031,2794,3525,3409,0,0,0,0,0,0
$GC,2632,-1.69,-97.3,301.2,-11.3,245,2636,0.00,2.33,0.00,0.000,6,0.000,0.032,2794,2054,3409,0,0,0,0,0,0
$GC,3021,-1.69,-97.3,344.3,-9.5,281,3025,0.00,2.40,0.00,0.000,4,0.000,0.037,2794,3526,3407,0,0,0,0,0,0
$GC,3131,-1.73,-97.3,355.3,-9.2,290,3137,0.00,2.40,0.00,0.000,6,0.000,0.041,2794,2052,3406,0,0,0,0,0,0
$GC,3520,-1.73,-97.3,395.0,-10.8,327,3524,0.00,2.42,0.00,0.000,4,0.000,0.050,2794,3515,3404,0,0,0,0,0,0
$GC,3551,-1.73,-97.3,398.7,-11.3,329,3557,0.00,2.40,0.00,0.000,6,0.000,0.048,2794,2059,3404,0,0,0,0,0,0
$GC,3940,-1.73,-97.3,440.4,-10.8,366,3944,0.00,2.42,0.00,0.000,4,0.000,0.051,2794,3514,3401,0,0,0,0,0,0
$GC,4040,-1.77,-97.3,451.9,-11.4,374,4046,0.00,2.45,0.00,0.000,6,0.000,0.057,2795,2070,3400,0,0,0,0,0,0
$GC,4429,-1.77,-97.3,492.6,-10.0,411,4433,0.00,2.47,0.00,0.000,4,0.000,0.057,2794,3518,3397,0,0,0,0,0,0
$GC,4546,-1.83,-97.3,504.3,-10.1,418,4550,0.00,2.47,0.00,0.000,6,0.000,0.054,2794,2069,3396,0,0,0,0,0,0
$GC,4919,-1.87,-97.3,539.0,-9.0,427,4924,0.12,2.50,0.00,0.000,4,0.073,0.069,2755,3509,3394,0,0,0,0,0,0
$GC,4968,-1.87,-97.3,544.2,-9.7,428,4973,0.00,2.47,0.00,0.000,6,0.000,0.065,2755,2072,3394,0,0,0,0,0,0
$GC,5365,-1.87,-97.3,581.4,-9.5,438,5369,0.00,2.53,0.00,0.000,4,0.000,0.071,2755,3512,3390,0,0,0,0,0,0
$GC,5500,-1.87,-97.3,595.1,-10.0,441,5504,0.00,2.50,0.00,0.000,6,0.000,0.075,2755,2090,3389,0,0,0,0,0,0
$GC,5901,-1.87,-97.3,637.9,-11.5,451,5905,0.00,2.55,0.00,0.000,4,0.000,0.089,2755,3508,3385,0,0,0,0,0,0
$GC,5978,-1.87,-97.3,647.2,-11.4,452,5984,0.00,2.55,0.00,0.000,6,0.000,0.094,2755,2097,3385,0,0,0,0,0,0
$GC,6352,-1.87,-97.3,688.3,-10.9,462,6356,0.00,2.65,0.00,0.000,4,0.000,0.107,2755,3510,3384,0,0,0,0,0,0
$GC,6390,-1.87,-97.3,692.8,-11.2,463,6395,0.00,2.65,0.00,0.000,6,0.000,0.110,2755,2101,3383,0,0,0,0,0,0
$STATE,6468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6468,begin apogee
$GC,6474,-0.31,0.0,701.0,10.2,465,6558,1.58,0.00,80.15,1.083,6,0.089,0.000,3103,2001,3010,0,0,0,0,0,0
$STATE,6559,end apogee,CONTROL_FINISHED_OK
$STATE,6559,begin climb
$GC,6563,1.48,97.3,702.8,0.0,467,6655,1.65,0.00,87.55,1.060,6,0.040,0.000,3500,2001,2613,0,0,0,0,0,0
$GC,7012,1.37,128.9,675.0,7.8,478,7048,0.12,2.85,28.25,1.021,4,0.137,0.096,3477,3489,2483,0,0,0,0,0,0
$GC,7074,1.30,153.1,670.1,8.3,479,7103,0.00,2.83,23.50,0.992,6,0.000,0.098,3477,1994,2384,0,0,0,0,0,0
$GC,7512,1.24,170.9,629.6,8.8,490,7530,0.15,0.00,16.15,0.970,6,0.131,0.000,3448,1994,2313,0,0,0,0,0,0
$GC,7877,1.26,182.4,597.4,9.2,499,7896,0.00,3.08,11.43,0.927,4,0.000,0.114,3448,405,2265,0,0,0,0,0,0
$GC,7947,1.20,182.4,589.6,11.6,500,7951,0.00,2.55,0.00,0.000,6,0.000,0.048,3448,1908,2263,0,0,0,0,0,0
$GC,8325,1.21,197.6,554.5,9.0,510,8342,0.00,0.00,15.12,0.935,6,0.000,0.000,3448,1907,2203,0,0,0,0,0,0
$GC,8689,1.23,208.4,520.3,9.3,519,8705,0.00,2.75,10.70,0.881,4,0.000,0.086,3448,401,2159,0,0,0,0,0,0
$GC,8739,1.18,208.4,514.8,11.7,520,8743,0.00,2.47,0.00,0.000,6,0.000,0.031,3448,1909,2157,0,0,0,0,0,0
$GC,9122,1.18,210.0,475.2,9.9,546,9127,0.00,2.67,0.00,0.000,4,0.000,0.076,3448,397,2155,0,0,0,0,0,0
$GC,9161,1.18,210.0,470.9,11.8,549,9165,0.00,2.47,0.00,0.000,6,0.000,0.033,3448,1919,2154,0,0,0,0,0,0
$GC,9550,1.19,212.6,433.0,9.8,585,9562,0.00,2.72,4.32,0.631,4,0.000,0.075,3448,403,2143,0,0,0,0,0,0
$GC,9574,1.19,212.6,430.2,11.4,587,9579,0.00,2.47,0.00,0.000,6,0.000,0.029,3449,1917,2142,0,0,0,0,0,0
$GC,9963,1.20,220.2,391.3,9.5,623,9977,0.00,2.72,8.82,0.788,4,0.000,0.067,3448,394,2112,0,0,0,0,0,0
$GC,10034,1.20,220.2,383.4,10.9,629,10040,0.00,2.47,0.00,0.000,6,0.000,0.029,3448,1916,2109,0,0,0,0,0,0
$GC,10423,1.26,232.8,345.9,9.1,666,10445,0.00,2.67,12.77,0.802,4,0.000,0.063,3448,400,2059,0,0,0,0,0,0
$GC,10514,1.26,232.8,336.2,10.9,674,10519,0.00,2.42,0.00,0.000,6,0.000,0.025,3448,1902,2056,0,0,0,0,0,0
$GC,10904,1.35,252.1,303.5,8.7,710,10928,0.00,2.67,18.58,0.788,4,0.000,0.044,3448,3504,1981,0,0,0,0,0,0
$GC,10942,1.45,276.1,300.5,8.4,713,10975,0.17,2.58,22.90,0.784,6,0.073,0.035,3493,1954,1884,0,0,0,0,0,0
$GC,11356,1.45,276.1,256.4,11.2,752,11361,0.00,2.67,0.00,0.000,4,0.000,0.066,3493,410,1877,0,0,0,0,0,0
$GC,11479,1.45,276.1,241.6,12.4,762,11487,0.00,2.38,0.00,0.000,6,0.000,0.021,3493,1894,1875,0,0,0,0,0,0
$GC,11873,1.48,302.6,204.7,8.2,799,11906,0.00,2.62,23.05,0.704,4,0.000,0.059,3493,414,1775,0,0,0,0,0,0
$GC,12003,1.48,302.6,189.9,12.2,810,12013,0.00,2.35,0.00,0.000,6,0.000,0.025,3493,1892,1771,0,0,0,0,0,0
$GC,12396,1.54,302.6,147.5,10.1,847,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1893,1770,0,0,0,0,0,0
$GC,12787,1.65,329.5,110.4,8.2,884,12824,0.17,2.55,24.10,0.612,4,0.068,0.056,3539,411,1664,0,0,0,0,0,0
$GC,12948,1.65,329.5,91.2,11.9,897,12954,0.00,2.33,0.00,0.000,6,0.000,0.018,3539,1900,1661,0,0,0,0,0,0
$GC,13340,1.69,329.5,48.4,11.1,934,13345,0.00,2.53,0.00,0.000,4,0.000,0.050,3539,401,1660,0,0,0,0,0,0
$GC,13425,1.69,329.5,37.9,12.2,940,13429,0.00,2.30,0.00,0.000,6,0.000,0.018,3539,1892,1660,0,0,0,0,0,0
$STATE,13733,end climb,SURFACE_DEPTH_REACHED
$STATE,13733,begin surface coast
$FINISH,0.7,0.970897
$STATE,13775,end surface coast,CONTROL_FINISHED_OK
$STATE,13776,begin surface
$SM_CCo,13798,41.38,0.518,0,0,1459,380.21
$SM_GC,1.48,0.00,0.00,41.38,0.000,0.000,0.518,474,2034,1459,-12.42,0.68,380.21
$IRIDIUM_FIX,2241.69,-15802.37,141000,232347
$TT8_MAMPS,0.026078
$HUMID,65.75
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,19.90
$XPDR_PINGS,106
$24V_AH,23.1,70.704
$10V_AH,9.9,64.605
$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,29.425,126.300,387.400,41.375,0.000,81.505,113.773,605.792,26.500,0.000,12.434,1731.646,8478.533,518.569,2980.902,1243.407,33.369,1569.330,0.000,3000.173,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,149.565,1083.004,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,674.997,684.853,924.478,1294.878,1087.366,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,79419,986
$CAP_FILE_SIZE,143905,0
$CFSIZE,260165632,151900160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,025701,2249.865,-15758.224,87,0.8,87,10.1