version: 66.06
glider: 146
mission: 6
dive: 566
start: 7 22 111 15 31 57
data:
$ID,146
$MISSION,6
$DIVE,566
$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,-281788.56
$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,23
$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
$GPS1,151454,2247.785,-15758.086,53,1.4,70,10.1
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.8
$GPS2,153102,2247.816,-15758.241,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.178,-0.121
$KALMAN_X,-533957.9,-199.2,-64.9,531761.2,-1920.2
$KALMAN_Y,228221.7,-387.5,-8.6,-220578.4,521.1
$MHEAD_RNG_PITCHd_Wd,113.9,1689,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-70.50,0.000,2,0.000,0.000,474,2041,3270,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.8,-6.5,9,118,12.52,2.60,-2.58,0.000,4,0.153,0.054,2845,508,3409,0,0,0,0,0,0
$GC,288,-1.38,-97.3,40.3,-13.9,33,292,0.12,2.33,0.00,0.000,6,0.137,0.015,2869,2027,3410,0,0,0,0,0,0
$GC,680,-1.38,-97.3,95.8,-12.9,69,684,0.00,2.50,0.00,0.000,4,0.000,0.050,2869,512,3412,0,0,0,0,0,0
$GC,785,-1.38,-97.3,110.6,-14.4,77,789,0.00,2.33,0.00,0.000,6,0.000,0.021,2869,2046,3412,0,0,0,0,0,0
$GC,1179,-1.44,-97.3,150.5,-9.9,113,1183,0.00,2.40,0.00,0.000,4,0.000,0.032,2869,3577,3412,0,0,0,0,0,0
$GC,1255,-1.56,-97.3,159.0,-9.8,119,1260,0.15,2.30,0.00,0.000,6,0.059,0.029,2810,2107,3412,0,0,0,0,0,0
$GC,1643,-1.56,-97.3,202.0,-11.1,155,1648,0.10,2.65,0.00,0.000,4,0.122,0.059,2833,528,3412,0,0,0,0,0,0
$GC,1665,-1.56,-97.3,204.7,-11.6,156,1672,0.00,2.35,0.00,0.000,6,0.000,0.022,2832,2055,3413,0,0,0,0,0,0
$GC,2058,-1.60,-97.3,242.3,-9.7,193,2062,0.00,2.53,0.00,0.000,4,0.000,0.039,2832,3646,3413,0,0,0,0,0,0
$GC,2168,-1.68,-97.3,254.9,-11.0,202,2174,0.10,2.35,0.00,0.000,6,0.082,0.021,2788,2139,3413,0,0,0,0,0,0
$GC,2556,-1.68,-97.3,300.3,-10.5,239,2561,0.10,2.45,0.00,0.000,4,0.120,0.042,2809,3650,3413,0,0,0,0,0,0
$GC,2655,-1.73,-97.3,309.3,-8.8,247,2659,0.00,2.40,0.00,0.000,6,0.000,0.028,2809,2141,3413,0,0,0,0,0,0
$GC,3045,-1.76,-97.3,346.8,-10.5,283,3050,0.00,2.45,0.00,0.000,4,0.000,0.046,2809,3641,3412,0,0,0,0,0,0
$GC,3074,-1.81,-97.3,350.1,-11.1,285,3079,0.12,2.42,0.00,0.000,6,0.069,0.033,2762,2136,3412,0,0,0,0,0,0
$GC,3463,-1.78,-97.3,395.5,-10.9,321,3468,0.12,2.50,0.00,0.000,4,0.113,0.051,2788,3638,3410,0,0,0,0,0,0
$GC,3585,-1.82,-97.3,407.4,-9.6,331,3590,0.00,2.50,0.00,0.000,6,0.000,0.050,2787,2140,3410,0,0,0,0,0,0
$GC,3977,-1.82,-97.3,444.3,-8.8,367,3982,0.00,2.55,0.00,0.000,4,0.000,0.059,2788,3642,3407,0,0,0,0,0,0
$GC,4001,-1.82,-97.3,446.7,-9.1,368,4006,0.00,2.53,0.00,0.000,6,0.000,0.049,2787,2143,3407,0,0,0,0,0,0
$GC,4389,-1.82,-97.3,481.7,-10.0,405,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2143,3403,0,0,0,0,0,0
$GC,4786,-1.82,-97.3,518.7,-8.8,428,4790,0.00,2.62,0.00,0.000,4,0.000,0.077,2788,3632,3401,0,0,0,0,0,0
$GC,4841,-1.86,-97.3,523.7,-8.3,429,4845,0.00,2.50,0.00,0.000,6,0.000,0.054,2787,2150,3400,0,0,0,0,0,0
$GC,5231,-1.86,-97.3,555.3,-8.0,439,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2150,3397,0,0,0,0,0,0
$GC,5595,-1.90,-97.3,586.5,-8.8,448,5597,0.12,0.00,0.00,0.000,6,0.074,0.000,2745,2150,3394,0,0,0,0,0,0
$GC,5960,-1.86,-97.3,627.9,-11.7,457,5966,0.12,2.75,0.00,0.000,4,0.118,0.100,2769,3637,3392,0,0,0,0,0,0
$GC,6029,-1.86,-97.3,635.9,-11.5,458,6033,0.00,2.67,0.00,0.000,6,0.000,0.083,2769,2151,3391,0,0,0,0,0,0
$GC,6405,-1.86,-97.3,676.8,-10.2,468,6410,0.00,2.72,0.00,0.000,4,0.000,0.100,2769,3629,3389,0,0,0,0,0,0
$GC,6444,-1.86,-97.3,680.7,-10.3,469,6449,0.00,2.75,0.00,0.000,6,0.000,0.106,2769,2150,3389,0,0,0,0,0,0
$STATE,6684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6684,begin apogee
$GC,6692,-0.31,0.0,702.4,8.9,475,6777,1.50,0.00,81.25,1.088,6,0.087,0.000,3103,1992,3010,0,0,0,0,0,0
$STATE,6778,end apogee,CONTROL_FINISHED_OK
$STATE,6778,begin climb
$GC,6780,1.48,97.3,703.5,0.0,477,6876,1.67,3.05,87.07,1.066,4,0.036,0.114,3508,3534,2612,0,0,0,0,0,0
$GC,6896,1.36,151.5,701.2,6.3,480,6952,0.17,3.00,49.40,1.038,6,0.132,0.114,3475,1995,2392,0,0,0,0,0,0
$GC,7336,1.28,151.5,655.8,10.2,491,7337,0.10,0.00,0.00,0.000,6,0.145,0.000,3456,1995,2379,0,0,0,0,0,0
$GC,7703,1.26,174.7,623.8,8.4,500,7725,0.00,0.00,20.23,0.984,6,0.000,0.000,3457,1995,2298,0,0,0,0,0,0
$GC,8067,1.28,189.5,591.5,9.0,509,8083,0.00,0.00,14.55,0.950,6,0.000,0.000,3456,1995,2237,0,0,0,0,0,0
$GC,8434,1.30,205.2,558.3,8.9,518,8455,0.00,3.05,15.57,0.937,4,0.000,0.102,3456,403,2172,0,0,0,0,0,0
$GC,8473,1.24,205.2,554.3,10.0,519,8478,0.00,2.60,0.00,0.000,6,0.000,0.035,3456,1954,2171,0,0,0,0,0,0
$GC,8878,1.24,205.2,512.0,10.9,529,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1954,2167,0,0,0,0,0,0
$GC,9258,1.24,205.2,471.6,10.4,556,9263,0.00,2.78,0.00,0.000,4,0.000,0.081,3456,395,2166,0,0,0,0,0,0
$GC,9280,1.20,205.2,468.8,10.9,557,9285,0.00,2.62,0.00,0.000,6,0.000,0.033,3456,1996,2165,0,0,0,0,0,0
$GC,9668,1.23,229.0,432.3,8.4,594,9696,0.00,2.88,21.90,0.887,4,0.000,0.074,3456,394,2075,0,0,0,0,0,0
$GC,9757,1.23,229.0,423.9,10.8,601,9762,0.00,2.62,0.00,0.000,6,0.000,0.027,3456,1990,2073,0,0,0,0,0,0
$GC,10151,1.23,229.0,384.8,10.4,637,10156,0.00,2.78,0.00,0.000,4,0.000,0.065,3457,396,2071,0,0,0,0,0,0
$GC,10227,1.23,229.0,375.2,12.2,643,10233,0.00,2.58,0.00,0.000,6,0.000,0.031,3456,1982,2069,0,0,0,0,0,0
$GC,10617,1.29,245.2,336.7,8.9,680,10640,0.00,2.83,15.15,0.802,4,0.000,0.063,3456,403,2010,0,0,0,0,0,0
$GC,10691,1.29,245.2,329.3,10.8,686,10697,0.00,2.55,0.00,0.000,6,0.000,0.028,3456,1976,2008,0,0,0,0,0,0
$GC,11081,1.38,268.3,296.4,8.4,723,11112,0.00,2.85,22.60,0.785,4,0.000,0.061,3456,394,1914,0,0,0,0,0,0
$GC,11183,1.42,268.3,286.6,11.3,732,11188,0.12,2.53,0.00,0.000,6,0.083,0.021,3489,1966,1911,0,0,0,0,0,0
$GC,11573,1.42,268.3,246.1,10.0,768,11578,0.00,2.70,0.00,0.000,4,0.000,0.061,3489,393,1910,0,0,0,0,0,0
$GC,11645,1.42,268.3,237.6,12.3,774,11649,0.00,2.47,0.00,0.000,6,0.000,0.022,3489,1950,1908,0,0,0,0,0,0
$GC,12035,1.46,268.3,196.5,10.8,810,12040,0.00,2.62,0.00,0.000,4,0.000,0.037,3489,3567,1908,0,0,0,0,0,0
$GC,12081,1.54,268.3,190.9,11.1,813,12090,0.00,2.67,0.00,0.000,6,0.000,0.036,3489,1946,1907,0,0,0,0,0,0
$GC,12474,1.63,278.7,157.3,9.3,850,12489,0.17,2.65,9.82,0.609,4,0.064,0.059,3535,409,1872,0,0,0,0,0,0
$GC,12610,1.58,278.7,140.9,10.9,861,12615,0.00,2.42,0.00,0.000,6,0.000,0.021,3536,1952,1871,0,0,0,0,0,0
$GC,13003,1.61,304.5,105.4,8.2,897,13029,0.00,0.00,23.88,0.603,6,0.000,0.000,3536,1954,1767,0,0,0,0,0,0
$GC,13415,1.62,317.1,66.6,9.1,936,13433,0.00,2.62,12.25,0.536,4,0.000,0.051,3535,410,1717,0,0,0,0,0,0
$GC,13569,1.63,324.6,51.0,9.5,948,13584,0.00,2.40,8.18,0.489,6,0.000,0.018,3536,1949,1685,0,0,0,0,0,0
$GC,14013,1.67,324.6,4.3,11.4,1002,14023,0.00,2.62,0.00,0.000,4,0.000,0.051,3536,406,1684,0,0,0,0,0,0
$STATE,14030,end climb,SURFACE_DEPTH_REACHED
$STATE,14031,begin surface coast
$FINISH,0.7,0.971082
$STATE,14080,end surface coast,CONTROL_FINISHED_OK
$STATE,14080,begin surface
$SM_CCo,14104,45.35,0.512,0,0,1460,380.21
$SM_GC,1.54,0.00,0.00,45.35,0.000,0.000,0.512,475,2108,1460,-12.42,0.23,380.21
$IRIDIUM_FIX,2239.35,-15800.20,151000,151517
$TT8_MAMPS,0.026078
$HUMID,64.01
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.00
$XPDR_PINGS,112
$24V_AH,23.1,71.263
$10V_AH,9.9,65.260
$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,29.800,125.050,381.850,45.350,0.000,85.875,156.335,421.992,28.000,0.000,14.766,1764.646,8806.037,495.313,2962.051,1080.777,33.376,1495.156,0.000,2976.769,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,144.963,1088.373,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,693.317,709.584,948.115,1333.444,1145.255,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,79580,1011
$CAP_FILE_SIZE,138672,0
$CFSIZE,260165632,151605248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,192937,2247.190,-15758.188,69,1.2,69,10.1