version: 66.06
glider: 146
mission: 6
dive: 567
start: 7 22 111 19 43 6
data:
$ID,146
$MISSION,6
$DIVE,567
$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,-281802.47
$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,24
$R_STBD_OVSHOOT,57
$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
$GPS1,192937,2247.190,-15758.188,69,1.2,69,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.5
$GPS2,194214,2247.292,-15758.316,11,1.9,11,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.177,-0.122
$KALMAN_X,-535927.9,-855.6,-53.1,534246.2,-1392.1
$KALMAN_Y,228919.9,-172.1,-212.3,-222260.2,1448.7
$MHEAD_RNG_PITCHd_Wd,225.3,8016,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.48,-97.3,0.0,0.0,0,93,0.00,0.00,-71.03,0.000,2,0.000,0.000,474,2108,3279,0,0,0,0,0,0
$GC,96,-1.48,-97.3,3.8,-6.5,9,122,12.50,2.67,-2.38,0.000,4,0.153,0.055,2842,514,3410,0,0,0,0,0,0
$GC,251,-1.39,-97.3,35.4,-15.6,29,256,0.12,2.45,0.00,0.000,6,0.133,0.015,2868,2103,3411,0,0,0,0,0,0
$GC,643,-1.35,-97.3,91.7,-13.1,65,647,0.00,2.45,0.00,0.000,4,0.000,0.028,2868,3656,3412,0,0,0,0,0,0
$GC,703,-1.40,-97.3,99.3,-13.2,69,707,0.00,2.47,0.00,0.000,6,0.000,0.023,2868,2098,3412,0,0,0,0,0,0
$GC,1095,-1.45,-97.3,145.7,-10.3,105,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2098,3412,0,0,0,0,0,0
$GC,1489,-1.52,-97.3,186.0,-9.6,142,1494,0.10,2.50,0.00,0.000,4,0.079,0.035,2825,3664,3413,0,0,0,0,0,0
$GC,1534,-1.52,-97.3,190.5,-10.7,145,1538,0.00,2.45,0.00,0.000,6,0.000,0.020,2824,2099,3413,0,0,0,0,0,0
$GC,1926,-1.52,-97.3,228.1,-9.7,181,1930,0.00,2.47,0.00,0.000,4,0.000,0.033,2824,3661,3414,0,0,0,0,0,0
$GC,1960,-1.56,-97.3,232.0,-11.0,183,1968,0.00,2.45,0.00,0.000,6,0.000,0.028,2825,2117,3414,0,0,0,0,0,0
$GC,2351,-1.60,-97.3,267.9,-8.8,220,2356,0.00,2.47,0.00,0.000,4,0.000,0.034,2825,3662,3414,0,0,0,0,0,0
$GC,2484,-1.67,-97.3,280.8,-9.5,231,2488,0.00,2.40,0.00,0.000,6,0.000,0.030,2825,2145,3414,0,0,0,0,0,0
$GC,2873,-1.73,-97.3,322.9,-9.6,267,2878,0.12,2.47,0.00,0.000,4,0.073,0.038,2779,3653,3413,0,0,0,0,0,0
$GC,2961,-1.73,-97.3,333.1,-13.1,274,2965,0.00,2.40,0.00,0.000,6,0.000,0.038,2779,2163,3413,0,0,0,0,0,0
$GC,3356,-1.73,-97.3,374.0,-8.0,311,3360,0.00,2.47,0.00,0.000,4,0.000,0.052,2779,3652,3412,0,0,0,0,0,0
$GC,3422,-1.73,-97.3,378.9,-8.1,316,3426,0.00,2.45,0.00,0.000,6,0.000,0.037,2779,2158,3412,0,0,0,0,0,0
$GC,3814,-1.73,-97.3,416.7,-10.5,352,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2157,3409,0,0,0,0,0,0
$GC,4204,-1.73,-97.3,459.3,-11.2,389,4208,0.00,2.53,0.00,0.000,4,0.000,0.058,2779,3649,3406,0,0,0,0,0,0
$GC,4267,-1.73,-97.3,466.7,-11.9,394,4272,0.00,2.50,0.00,0.000,6,0.000,0.049,2779,2164,3406,0,0,0,0,0,0
$GC,4671,-1.73,-97.3,514.1,-11.1,423,4676,0.00,2.58,0.00,0.000,4,0.000,0.067,2779,3648,3402,0,0,0,0,0,0
$GC,4777,-1.73,-97.3,526.1,-10.8,425,4781,0.00,2.50,0.00,0.000,6,0.000,0.059,2779,2178,3401,0,0,0,0,0,0
$GC,5166,-1.73,-97.3,567.0,-10.7,435,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2177,3399,0,0,0,0,0,0
$GC,5526,-1.73,-97.3,602.9,-9.1,444,5531,0.00,2.62,0.00,0.000,4,0.000,0.091,2779,3639,3397,0,0,0,0,0,0
$GC,5606,-1.77,-97.3,610.2,-8.9,445,5611,0.00,2.55,0.00,0.000,6,0.000,0.077,2779,2194,3396,0,0,0,0,0,0
$GC,5978,-1.77,-97.3,644.4,-9.5,455,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2194,3393,0,0,0,0,0,0
$GC,6343,-1.77,-97.3,679.0,-9.5,464,6348,0.00,3.38,0.00,0.000,4,0.000,0.151,2779,534,3390,0,0,0,0,0,0
$GC,6367,-1.77,-97.3,681.2,-9.5,464,6372,0.00,2.85,0.00,0.000,6,0.000,0.085,2779,2122,3390,0,0,0,0,0,0
$STATE,6578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6579,begin apogee
$GC,6585,-0.31,0.0,703.1,10.3,470,6670,1.48,0.00,81.72,1.088,6,0.086,0.000,3107,2018,3010,0,0,0,0,0,0
$STATE,6671,end apogee,CONTROL_FINISHED_OK
$STATE,6671,begin climb
$GC,6674,1.48,97.3,706.4,0.0,472,6770,1.65,3.17,87.07,1.065,4,0.038,0.127,3506,3580,2611,0,0,0,0,0,0
$GC,6807,1.38,166.0,707.0,5.3,475,6878,0.15,3.10,61.85,1.048,6,0.132,0.120,3478,1996,2332,0,0,0,0,0,0
$GC,7281,1.30,166.0,661.6,10.5,487,7286,0.00,3.15,0.00,0.000,4,0.000,0.128,3478,402,2322,0,0,0,0,0,0
$GC,7370,1.16,166.0,650.8,12.1,489,7375,0.25,2.80,0.00,0.000,6,0.116,0.067,3428,1996,2319,0,0,0,0,0,0
$GC,7772,1.19,194.3,617.3,8.1,499,7802,0.00,3.05,24.42,0.992,4,0.000,0.101,3428,405,2218,0,0,0,0,0,0
$GC,7877,1.19,194.5,607.7,10.0,501,7881,0.00,2.67,0.00,0.000,6,0.000,0.045,3428,1979,2213,0,0,0,0,0,0
$GC,8261,1.20,199.5,572.4,9.7,511,8272,0.00,2.92,5.53,0.762,4,0.000,0.090,3428,402,2196,0,0,0,0,0,0
$GC,8311,1.20,199.5,566.9,11.6,512,8315,0.00,2.65,0.00,0.000,6,0.000,0.038,3428,1982,2194,0,0,0,0,0,0
$GC,8705,1.23,222.5,531.2,8.4,522,8734,0.00,2.97,22.58,0.950,4,0.000,0.084,3428,400,2101,0,0,0,0,0,0
$GC,8858,1.23,222.5,514.5,11.1,525,8862,0.00,2.58,0.00,0.000,6,0.000,0.037,3428,1951,2097,0,0,0,0,0,0
$GC,9244,1.31,237.6,478.1,9.0,549,9267,0.12,2.88,14.50,0.887,4,0.088,0.060,3460,3577,2040,0,0,0,0,0,0
$GC,9294,1.31,237.6,472.2,10.4,553,9300,0.00,2.78,0.00,0.000,6,0.000,0.048,3460,1949,2039,0,0,0,0,0,0
$GC,9685,1.31,237.6,428.7,11.6,590,9689,0.00,2.88,0.00,0.000,4,0.000,0.102,3460,407,2036,0,0,0,0,0,0
$GC,9727,1.31,237.6,423.1,13.4,593,9733,0.00,2.53,0.00,0.000,6,0.000,0.028,3460,1971,2035,0,0,0,0,0,0
$GC,10116,1.32,245.7,383.7,9.5,630,10130,0.00,2.78,7.93,0.762,4,0.000,0.068,3461,404,2009,0,0,0,0,0,0
$GC,10214,1.32,245.7,373.4,11.5,638,10220,0.00,2.47,0.00,0.000,6,0.000,0.021,3461,1939,2008,0,0,0,0,0,0
$GC,10603,1.36,245.7,330.2,10.7,675,10607,0.00,2.67,0.00,0.000,4,0.000,0.064,3461,401,2007,0,0,0,0,0,0
$GC,10646,1.36,245.7,324.7,12.7,678,10654,0.00,2.47,0.00,0.000,6,0.000,0.025,3461,1923,2005,0,0,0,0,0,0
$GC,11037,1.46,272.8,290.5,8.1,715,11071,0.12,2.78,26.33,0.788,4,0.083,0.044,3495,3578,1896,0,0,0,0,0,0
$GC,11131,1.50,272.8,281.1,10.7,723,11136,0.00,2.75,0.00,0.000,6,0.000,0.039,3496,1921,1894,0,0,0,0,0,0
$GC,11520,1.50,272.8,237.8,11.7,759,11524,0.00,2.62,0.00,0.000,4,0.000,0.069,3496,402,1892,0,0,0,0,0,0
$GC,11551,1.50,272.8,233.5,13.4,761,11557,0.00,2.45,0.00,0.000,6,0.000,0.021,3496,1948,1890,0,0,0,0,0,0
$GC,11940,1.50,272.8,190.2,10.3,798,11944,0.00,2.62,0.00,0.000,4,0.000,0.058,3496,402,1890,0,0,0,0,0,0
$GC,12032,1.50,273.9,181.0,9.9,805,12036,0.00,2.38,0.00,0.000,6,0.000,0.019,3496,1913,1889,0,0,0,0,0,0
$GC,12424,1.55,273.9,147.6,10.0,841,12429,0.00,2.55,0.00,0.000,4,0.000,0.057,3496,400,1889,0,0,0,0,0,0
$GC,12514,1.55,273.9,137.9,10.4,848,12518,0.00,2.35,0.00,0.000,6,0.000,0.020,3496,1904,1889,0,0,0,0,0,0
$GC,12903,1.65,286.7,101.8,9.1,884,12922,0.17,2.70,12.93,0.578,4,0.069,0.037,3542,3563,1840,0,0,0,0,0,0
$GC,12940,1.65,286.7,98.0,10.8,886,12949,0.00,2.80,0.00,0.000,6,0.000,0.031,3542,1871,1839,0,0,0,0,0,0
$GC,13334,1.67,303.2,63.0,8.9,923,13362,0.00,2.58,15.62,0.547,4,0.000,0.054,3542,392,1773,0,0,0,0,0,0
$GC,13499,1.67,303.2,45.9,10.6,936,13503,0.00,2.33,0.00,0.000,6,0.000,0.018,3542,1894,1771,0,0,0,0,0,0
$STATE,13909,end climb,SURFACE_DEPTH_REACHED
$STATE,13909,begin surface coast
$FINISH,0.8,0.980075
$STATE,13954,end surface coast,CONTROL_FINISHED_OK
$STATE,13954,begin surface
$SM_CCo,13976,64.12,0.515,0,0,1459,380.21
$SM_GC,1.48,0.00,0.00,64.12,0.000,0.000,0.515,474,2177,1459,-12.43,2.18,380.21
$IRIDIUM_FIX,2239.35,-15800.20,151000,191916
$TT8_MAMPS,0.025311
$HUMID,63.54
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,20.50
$XPDR_PINGS,108
$24V_AH,23.1,71.404
$10V_AH,9.8,65.426
$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,29.175,138.025,360.475,64.125,0.000,57.294,67.290,382.218,27.000,0.000,13.267,1761.958,8571.067,494.268,3014.372,944.066,33.379,1536.992,0.000,3029.056,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,151.099,1087.606,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,679.982,680.404,927.502,1304.586,1121.093,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,79484,992
$CAP_FILE_SIZE,139940,0
$CFSIZE,260165632,151519232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,233830,2248.117,-15800.514,36,1.1,41,10.1