version: 66.06
glider: 146
mission: 6
dive: 565
start: 7 22 111 11 18 26
data:
$ID,146
$MISSION,6
$DIVE,565
$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,-281773.16
$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,8
$R_STBD_OVSHOOT,141
$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
$GPS1,110239,2249.127,-15757.433,76,1.4,76,10.1
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.2
$GPS2,111735,2249.194,-15757.530,9,2.0,24,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,-0.193
$KALMAN_X,-531959.9,483.9,-203.7,530428.7,-1650.5
$KALMAN_Y,227543.1,-157.2,296.4,-217885.6,1.4
$MHEAD_RNG_PITCHd_Wd,143.4,4089,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.48,-97.3,0.0,0.0,0,92,0.00,0.00,-71.18,0.000,2,0.000,0.000,475,2126,3285,0,0,0,0,0,0
$GC,95,-1.48,-97.3,3.7,-6.3,9,121,12.38,2.75,-2.25,0.000,4,0.149,0.054,2844,500,3409,0,0,0,0,0,0
$GC,239,-1.39,-97.3,32.2,-13.4,28,244,0.12,2.33,0.00,0.000,6,0.133,0.020,2868,2040,3411,0,0,0,0,0,0
$GC,628,-1.35,-97.3,90.0,-14.9,64,632,0.00,2.42,0.00,0.000,4,0.000,0.029,2868,3577,3411,0,0,0,0,0,0
$GC,746,-1.40,-97.3,105.9,-13.1,73,750,0.00,2.35,0.00,0.000,6,0.000,0.024,2868,2075,3412,0,0,0,0,0,0
$GC,1139,-1.45,-97.3,149.1,-9.1,109,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2075,3412,0,0,0,0,0,0
$GC,1527,-1.53,-97.3,191.3,-12.1,146,1532,0.12,2.40,0.00,0.000,4,0.067,0.028,2818,3581,3413,0,0,0,0,0,0
$GC,1579,-1.53,-97.3,198.2,-12.8,150,1583,0.10,2.30,0.00,0.000,6,0.115,0.021,2840,2099,3413,0,0,0,0,0,0
$GC,1968,-1.59,-97.3,234.4,-7.6,186,1972,0.00,2.38,0.00,0.000,4,0.000,0.031,2840,3584,3413,0,0,0,0,0,0
$GC,2009,-1.68,-97.3,237.5,-7.8,189,2014,0.15,2.30,0.00,0.000,6,0.058,0.028,2780,2107,3413,0,0,0,0,0,0
$GC,2397,-1.68,-97.3,277.9,-10.6,225,2402,0.12,2.40,0.00,0.000,4,0.112,0.038,2805,3581,3413,0,0,0,0,0,0
$GC,2475,-1.68,-97.3,285.7,-9.9,231,2483,0.00,2.35,0.00,0.000,6,0.000,0.025,2805,2126,3413,0,0,0,0,0,0
$GC,2866,-1.68,-97.3,325.5,-9.6,268,2870,0.00,2.35,0.00,0.000,4,0.000,0.041,2805,3576,3413,0,0,0,0,0,0
$GC,2934,-1.73,-97.3,332.3,-9.8,273,2942,0.00,2.40,0.00,0.000,6,0.000,0.039,2805,2120,3413,0,0,0,0,0,0
$GC,3326,-1.77,-97.3,369.4,-9.9,310,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2120,3411,0,0,0,0,0,0
$GC,3715,-1.81,-97.3,411.1,-10.6,347,3720,0.10,2.40,0.00,0.000,4,0.091,0.047,2770,3566,3408,0,0,0,0,0,0
$GC,3780,-1.81,-97.3,418.2,-11.5,352,3785,0.00,2.40,0.00,0.000,6,0.000,0.048,2770,2120,3408,0,0,0,0,0,0
$GC,4172,-1.81,-97.3,461.6,-11.6,388,4176,0.00,2.42,0.00,0.000,4,0.000,0.051,2770,3571,3405,0,0,0,0,0,0
$GC,4217,-1.81,-97.3,467.4,-12.1,391,4223,0.00,2.45,0.00,0.000,6,0.000,0.054,2769,2110,3404,0,0,0,0,0,0
$GC,4613,-1.81,-97.3,508.7,-9.9,423,4617,0.00,2.50,0.00,0.000,4,0.000,0.061,2769,3570,3401,0,0,0,0,0,0
$GC,4675,-1.81,-97.3,515.0,-10.0,424,4680,0.00,2.45,0.00,0.000,6,0.000,0.052,2770,2120,3401,0,0,0,0,0,0
$GC,5058,-1.81,-97.3,551.1,-9.0,434,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2120,3398,0,0,0,0,0,0
$GC,5424,-1.81,-97.3,585.5,-9.8,443,5428,0.00,2.53,0.00,0.000,4,0.000,0.076,2770,3558,3396,0,0,0,0,0,0
$GC,5465,-1.81,-97.3,589.6,-11.0,444,5469,0.00,2.50,0.00,0.000,6,0.000,0.067,2770,2126,3396,0,0,0,0,0,0
$GC,5869,-1.81,-97.3,633.9,-11.2,454,5874,0.00,2.55,0.00,0.000,4,0.000,0.088,2770,3559,3393,0,0,0,0,0,0
$GC,5913,-1.81,-97.3,639.3,-11.8,455,5918,0.00,2.58,0.00,0.000,6,0.000,0.089,2770,2135,3393,0,0,0,0,0,0
$GC,6315,-1.81,-97.3,679.8,-9.8,465,6320,0.00,3.28,0.00,0.000,4,0.000,0.154,2770,512,3389,0,0,0,0,0,0
$GC,6348,-1.81,-97.3,683.6,-10.6,465,6353,0.00,2.67,0.00,0.000,6,0.000,0.091,2769,2001,3389,0,0,0,0,0,0
$STATE,6555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6555,begin apogee
$GC,6560,-0.31,0.0,702.6,9.1,471,6646,1.50,0.00,81.55,1.086,6,0.087,0.000,3103,2001,3010,0,0,0,0,0,0
$STATE,6646,end apogee,CONTROL_FINISHED_OK
$STATE,6647,begin climb
$GC,6651,1.48,97.3,703.9,0.0,473,6743,1.67,0.00,87.70,1.062,6,0.038,0.000,3507,2001,2613,0,0,0,0,0,0
$GC,7083,1.34,115.7,675.5,8.7,484,7108,0.20,2.85,16.33,0.977,4,0.120,0.110,3468,3458,2538,0,0,0,0,0,0
$GC,7143,1.26,124.8,670.4,9.4,485,7158,0.00,2.75,9.57,0.901,6,0.000,0.097,3468,1996,2501,0,0,0,0,0,0
$GC,7531,1.19,133.0,634.4,9.4,495,7546,0.17,3.10,8.15,0.877,4,0.128,0.118,3434,406,2467,0,0,0,0,0,0
$GC,7669,1.11,133.0,619.6,11.0,498,7673,0.00,2.50,0.00,0.000,6,0.000,0.049,3434,1871,2464,0,0,0,0,0,0
$GC,8069,1.14,157.9,584.0,8.3,508,8094,0.00,0.00,23.77,0.982,6,0.000,0.000,3435,1871,2366,0,0,0,0,0,0
$GC,8436,1.18,187.7,554.1,8.0,517,8470,0.00,2.78,28.25,0.969,4,0.000,0.087,3434,408,2243,0,0,0,0,0,0
$GC,8498,1.14,187.7,548.3,10.1,518,8503,0.00,2.42,0.00,0.000,6,0.000,0.036,3434,1867,2241,0,0,0,0,0,0
$GC,8881,1.16,199.6,513.1,9.2,528,8900,0.00,2.80,11.45,0.884,4,0.000,0.061,3434,3462,2195,0,0,0,0,0,0
$GC,8919,1.17,206.3,509.5,9.6,528,8933,0.00,2.53,7.88,0.815,6,0.000,0.050,3434,1983,2168,0,0,0,0,0,0
$GC,9317,1.22,212.1,468.7,9.6,557,9331,0.00,2.97,6.50,0.762,4,0.000,0.102,3434,410,2143,0,0,0,0,0,0
$GC,9353,1.22,212.1,464.8,10.6,560,9359,0.00,2.40,0.00,0.000,6,0.000,0.028,3434,1878,2142,0,0,0,0,0,0
$GC,9745,1.27,212.1,426.0,10.1,597,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1878,2141,0,0,0,0,0,0
$GC,10136,1.38,256.2,394.4,7.0,634,10184,0.17,2.62,41.08,0.872,4,0.068,0.073,3480,406,1964,0,0,0,0,0,0
$GC,10203,1.34,256.2,387.8,11.4,639,10211,0.00,2.42,0.00,0.000,6,0.000,0.028,3480,1880,1962,0,0,0,0,0,0
$GC,10595,1.34,256.2,339.8,11.7,676,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1880,1958,0,0,0,0,0,0
$GC,10985,1.34,256.2,300.5,10.0,713,10990,0.00,2.60,0.00,0.000,4,0.000,0.041,3479,3465,1955,0,0,0,0,0,0
$GC,11026,1.34,256.2,296.2,10.7,716,11031,0.00,2.45,0.00,0.000,6,0.000,0.035,3480,1977,1955,0,0,0,0,0,0
$GC,11415,1.34,256.2,253.5,10.3,752,11419,0.00,2.67,0.00,0.000,4,0.000,0.064,3479,413,1954,0,0,0,0,0,0
$GC,11513,1.34,256.3,243.7,10.0,760,11517,0.00,2.33,0.00,0.000,6,0.000,0.019,3480,1891,1953,0,0,0,0,0,0
$GC,11909,1.40,263.8,207.7,9.5,797,11920,0.00,2.53,6.43,0.599,4,0.000,0.055,3479,410,1933,0,0,0,0,0,0
$GC,11944,1.40,263.8,204.1,10.3,800,11948,0.00,2.33,0.00,0.000,6,0.000,0.026,3480,1893,1933,0,0,0,0,0,0
$GC,12339,1.50,290.4,171.5,8.2,837,12373,0.10,2.62,24.88,0.670,4,0.089,0.059,3508,410,1825,0,0,0,0,0,0
$GC,12427,1.50,290.4,163.1,11.5,844,12431,0.00,2.35,0.00,0.000,6,0.000,0.025,3508,1902,1823,0,0,0,0,0,0
$GC,12818,1.59,317.2,126.7,8.2,880,12855,0.00,2.65,24.62,0.625,4,0.000,0.054,3508,404,1714,0,0,0,0,0,0
$GC,12986,1.60,325.9,109.8,9.4,894,13001,0.00,2.30,8.57,0.547,6,0.000,0.018,3508,1878,1680,0,0,0,0,0,0
$GC,13383,1.73,348.9,78.0,8.4,931,13412,0.17,2.53,20.90,0.567,4,0.064,0.051,3554,406,1586,0,0,0,0,0,0
$GC,13479,1.73,348.9,67.7,12.4,938,13483,0.00,2.28,0.00,0.000,6,0.000,0.018,3555,1871,1584,0,0,0,0,0,0
$GC,13890,1.73,348.9,18.6,12.8,980,13899,0.00,2.47,0.00,0.000,4,0.000,0.058,3555,415,1583,0,0,0,0,0,0
$GC,13946,1.73,348.9,11.8,10.8,987,13956,0.00,2.25,0.00,0.000,6,0.000,0.018,3555,1857,1584,0,0,0,0,0,0
$STATE,13997,end climb,SURFACE_DEPTH_REACHED
$STATE,13997,begin surface coast
$FINISH,0.7,0.972403
$STATE,14026,end surface coast,CONTROL_FINISHED_OK
$STATE,14027,begin surface
$SM_CCo,14049,25.48,0.506,0,0,1460,380.21
$SM_GC,1.23,0.00,0.00,25.48,0.000,0.000,0.506,475,2041,1460,-12.42,-1.67,380.21
$IRIDIUM_FIX,2239.35,-15759.32,151000,111112
$TT8_MAMPS,0.026078
$HUMID,65.04
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,20.40
$XPDR_PINGS,106
$24V_AH,23.1,71.115
$10V_AH,9.8,65.092
$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,29.650,126.150,407.625,25.475,0.000,78.496,152.554,354.892,26.500,0.000,25.973,1744.916,8774.657,511.232,2938.970,991.150,33.377,1533.224,0.000,2936.205,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,154.167,1086.072,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,683.531,677.810,929.767,1288.266,1077.634,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,79481,998
$CAP_FILE_SIZE,139321,0
$CFSIZE,260165632,151674880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,151454,2247.785,-15758.086,53,1.4,70,10.1