version: 66.06
glider: 146
mission: 6
dive: 564
start: 7 22 111 7 10 25
data:
$ID,146
$MISSION,6
$DIVE,564
$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,-281746.56
$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,2100
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,126
$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
$GPS1,070026,2250.188,-15757.070,52,99.0,71,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.3
$GPS2,070931,2250.252,-15757.160,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,-0.195
$KALMAN_X,-530364.8,536.2,38.0,529167.6,-1677.9
$KALMAN_Y,226788.2,292.8,-167.9,-215158.5,452.3
$MHEAD_RNG_PITCHd_Wd,145.1,6121,-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,-97.3,0.0,0.0,0,81,0.00,0.00,-63.47,0.000,2,0.000,0.000,476,2103,3050,0,0,0,0,0,0
$GC,84,-1.48,-97.3,3.1,-4.6,8,110,12.52,2.67,-7.30,0.000,4,0.153,0.058,2844,493,3409,0,0,0,0,0,0
$GC,188,-1.41,-97.3,25.4,-17.9,22,197,0.08,2.40,0.00,0.000,6,0.110,0.015,2863,2048,3411,0,0,0,0,0,0
$GC,582,-1.36,-97.3,90.5,-15.6,60,586,0.00,2.45,0.00,0.000,4,0.000,0.035,2863,3595,3411,0,0,0,0,0,0
$GC,689,-1.42,-97.3,104.7,-12.2,68,698,0.00,2.42,0.00,0.000,6,0.000,0.023,2863,2080,3411,0,0,0,0,0,0
$GC,1081,-1.47,-97.3,144.1,-9.8,105,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2080,3412,0,0,0,0,0,0
$GC,1475,-1.53,-97.3,184.8,-11.2,142,1479,0.00,2.45,0.00,0.000,4,0.000,0.035,2863,3597,3413,0,0,0,0,0,0
$GC,1520,-1.62,-97.3,189.6,-10.6,145,1525,0.17,2.30,0.00,0.000,6,0.054,0.020,2801,2113,3413,0,0,0,0,0,0
$GC,1911,-1.62,-97.3,235.0,-10.0,181,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2113,3414,0,0,0,0,0,0
$GC,2292,-1.62,-97.3,270.9,-10.1,217,2296,0.00,2.40,0.00,0.000,4,0.000,0.036,2802,3598,3414,0,0,0,0,0,0
$GC,2353,-1.62,-97.3,278.0,-10.6,222,2361,0.00,2.35,0.00,0.000,6,0.000,0.029,2801,2126,3414,0,0,0,0,0,0
$GC,2744,-1.62,-97.3,319.9,-11.4,259,2748,0.00,2.38,0.00,0.000,4,0.000,0.035,2801,3590,3414,0,0,0,0,0,0
$GC,2818,-1.66,-97.3,328.9,-11.9,265,2822,0.00,2.33,0.00,0.000,6,0.000,0.033,2801,2147,3414,0,0,0,0,0,0
$GC,3208,-1.66,-97.3,369.5,-10.1,301,3213,0.00,2.38,0.00,0.000,4,0.000,0.046,2801,3590,3414,0,0,0,0,0,0
$GC,3259,-1.72,-97.3,374.9,-10.1,305,3263,0.00,2.38,0.00,0.000,6,0.000,0.036,2801,2142,3413,0,0,0,0,0,0
$GC,3648,-1.76,-97.3,413.8,-9.2,341,3652,0.00,2.40,0.00,0.000,4,0.000,0.053,2801,3581,3411,0,0,0,0,0,0
$GC,3692,-1.82,-97.3,418.1,-9.4,344,3698,0.10,2.40,0.00,0.000,6,0.083,0.046,2763,2145,3411,0,0,0,0,0,0
$GC,4080,-1.82,-97.3,459.2,-10.4,381,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2145,3409,0,0,0,0,0,0
$GC,4464,-1.82,-97.3,496.4,-10.1,417,4468,0.00,2.45,0.00,0.000,4,0.000,0.064,2763,3577,3405,0,0,0,0,0,0
$GC,4502,-1.82,-97.3,500.7,-10.1,420,4508,0.00,2.40,0.00,0.000,6,0.000,0.053,2762,2157,3405,0,0,0,0,0,0
$GC,4874,-1.82,-97.3,539.7,-10.4,430,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2157,3402,0,0,0,0,0,0
$GC,5239,-1.82,-97.3,579.8,-11.1,439,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2157,3400,0,0,0,0,0,0
$GC,5607,-1.82,-97.3,621.7,-11.5,448,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2157,3397,0,0,0,0,0,0
$GC,5971,-1.82,-97.3,663.1,-10.9,457,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2157,3394,0,0,0,0,0,0
$GC,6337,-1.82,-97.3,699.7,-9.9,466,6341,0.00,2.08,0.00,0.000,3,0.000,0.157,2762,1144,3391,0,0,0,0,0,0
$STATE,6341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6341,begin apogee
$GC,6350,-0.31,0.0,700.3,10.1,466,6437,1.52,0.00,81.88,1.084,6,0.090,0.000,3102,1888,3010,0,0,0,0,0,0
$STATE,6437,end apogee,CONTROL_FINISHED_OK
$STATE,6437,begin climb
$GC,6440,1.48,97.3,703.1,0.0,468,6536,1.67,3.17,86.80,1.059,4,0.039,0.121,3503,3462,2612,0,0,0,0,0,0
$GC,6573,1.37,149.0,701.7,6.4,471,6628,0.15,2.85,47.25,1.029,6,0.132,0.114,3475,2003,2401,0,0,0,0,0,0
$GC,7001,1.29,157.9,661.2,9.4,482,7015,0.00,3.28,7.47,0.854,4,0.000,0.133,3475,404,2366,0,0,0,0,0,0
$GC,7091,1.15,157.9,651.6,11.4,484,7097,0.22,2.58,0.00,0.000,6,0.121,0.063,3429,1872,2363,0,0,0,0,0,0
$GC,7497,1.20,194.7,619.5,7.5,494,7538,0.00,2.85,34.70,1.005,4,0.000,0.104,3429,403,2215,0,0,0,0,0,0
$GC,7622,1.20,194.7,606.8,10.7,496,7628,0.00,2.50,0.00,0.000,6,0.000,0.048,3429,1876,2210,0,0,0,0,0,0
$GC,7994,1.20,199.3,570.8,9.7,506,8000,0.00,0.00,4.45,0.680,6,0.000,0.000,3429,1876,2197,0,0,0,0,0,0
$GC,8361,1.21,204.7,534.8,9.6,515,8375,0.00,2.70,6.68,0.805,4,0.000,0.083,3429,396,2174,0,0,0,0,0,0
$GC,8432,1.22,210.6,527.7,9.6,516,8447,0.00,2.42,6.82,0.802,6,0.000,0.035,3428,1875,2151,0,0,0,0,0,0
$GC,8813,1.30,242.8,497.7,7.8,526,8850,0.12,2.67,30.85,0.939,4,0.088,0.077,3460,402,2019,0,0,0,0,0,0
$GC,8892,1.26,242.8,489.8,13.1,532,8896,0.00,2.42,0.00,0.000,6,0.000,0.027,3460,1873,2016,0,0,0,0,0,0
$GC,9282,1.26,242.8,445.3,11.7,568,9287,0.00,2.60,0.00,0.000,4,0.000,0.077,3460,398,2013,0,0,0,0,0,0
$GC,9324,1.21,242.8,440.4,12.5,571,9329,0.10,2.40,0.00,0.000,6,0.136,0.026,3440,1871,2012,0,0,0,0,0,0
$GC,9716,1.26,242.8,399.2,10.5,607,9721,0.00,2.55,0.00,0.000,4,0.000,0.074,3440,400,2011,0,0,0,0,0,0
$GC,9767,1.26,242.8,392.9,12.0,611,9771,0.00,2.38,0.00,0.000,6,0.000,0.026,3440,1868,2010,0,0,0,0,0,0
$GC,10161,1.32,242.8,349.7,10.2,648,10166,0.10,2.55,0.00,0.000,4,0.103,0.064,3467,400,2010,0,0,0,0,0,0
$GC,10204,1.32,242.8,344.4,11.9,651,10212,0.00,2.38,0.00,0.000,6,0.000,0.028,3467,1862,2009,0,0,0,0,0,0
$GC,10595,1.32,242.8,304.0,10.6,688,10599,0.00,2.53,0.00,0.000,4,0.000,0.067,3467,398,2009,0,0,0,0,0,0
$GC,10624,1.32,242.8,300.1,12.9,690,10628,0.00,2.30,0.00,0.000,6,0.000,0.022,3467,1859,2008,0,0,0,0,0,0
$GC,11013,1.40,256.7,260.9,9.1,726,11031,0.00,2.70,12.27,0.732,4,0.000,0.036,3467,3490,1962,0,0,0,0,0,0
$GC,11123,1.47,260.2,251.1,9.8,735,11136,0.12,2.58,4.72,0.564,6,0.087,0.035,3499,1930,1948,0,0,0,0,0,0
$GC,11518,1.47,261.0,213.6,10.0,772,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1930,1946,0,0,0,0,0,0
$GC,11903,1.48,266.8,175.3,9.6,808,11917,0.00,2.70,7.20,0.596,4,0.000,0.065,3499,398,1922,0,0,0,0,0,0
$GC,12009,1.50,279.0,164.8,9.2,817,12030,0.00,2.33,12.62,0.640,6,0.000,0.025,3499,1883,1871,0,0,0,0,0,0
$GC,12417,1.56,286.4,127.2,9.5,855,12431,0.00,2.60,7.88,0.559,4,0.000,0.059,3499,396,1841,0,0,0,0,0,0
$GC,12572,1.57,293.5,111.5,9.5,868,12584,0.00,2.33,7.82,0.544,6,0.000,0.025,3500,1868,1813,0,0,0,0,0,0
$GC,12976,1.73,328.9,79.9,7.6,906,13015,0.22,2.65,31.83,0.581,4,0.058,0.036,3560,3487,1669,0,0,0,0,0,0
$GC,13033,1.73,334.3,74.5,9.6,910,13046,0.00,2.60,6.28,0.469,6,0.000,0.037,3560,1921,1646,0,0,0,0,0,0
$GC,13441,1.73,334.3,32.7,10.2,948,13445,0.00,2.58,0.00,0.000,4,0.000,0.056,3560,389,1644,0,0,0,0,0,0
$GC,13521,1.67,334.3,22.9,12.9,957,13530,0.08,2.30,0.00,0.000,6,0.099,0.018,3541,1864,1642,0,0,0,0,0,0
$STATE,13706,end climb,SURFACE_DEPTH_REACHED
$STATE,13707,begin surface coast
$FINISH,0.7,0.978692
$STATE,13756,end surface coast,CONTROL_FINISHED_OK
$STATE,13756,begin surface
$SM_CCo,13778,37.05,0.510,0,0,1459,380.21
$SM_GC,1.60,0.00,0.00,37.05,0.000,0.000,0.510,476,2126,1459,-12.42,0.71,380.21
$IRIDIUM_FIX,2239.35,-15757.16,151000,030328
$TT8_MAMPS,0.025311
$HUMID,64.33
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.70
$XPDR_PINGS,102
$24V_AH,23.1,70.971
$10V_AH,9.9,64.928
$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,29.675,114.725,397.525,37.050,0.000,24.322,40.801,280.525,25.500,0.000,34.198,1724.729,8493.911,467.893,2920.302,747.138,33.377,1474.433,0.000,2910.960,0.000,0.533,0.000
$DEVICE_MAMPS,153.400,157.235,1083.771,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,678.556,707.560,928.847,1304.064,1126.354,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,79408,991
$CAP_FILE_SIZE,131308,0
$CFSIZE,260165632,151760896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,110239,2249.127,-15757.433,76,1.4,76,10.1