version: 66.06
glider: 146
mission: 6
dive: 568
start: 7 23 111 0 1 18
data:
$ID,146
$MISSION,6
$DIVE,568
$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,-281816.88
$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,12
$R_STBD_OVSHOOT,49
$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
$GPS1,233830,2248.117,-15800.514,36,1.1,41,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.2
$GPS2,000026,2248.360,-15800.759,12,2.0,12,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.161
$KALMAN_X,-537687.4,-740.9,-99.8,531762.1,-436.4
$KALMAN_Y,230931.9,589.5,645.5,-223929.0,667.0
$MHEAD_RNG_PITCHd_Wd,211.4,4582,-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,-70.78,0.000,2,0.000,0.000,473,2178,3270,0,0,0,0,0,0
$GC,95,-1.48,-97.3,3.6,-5.6,9,121,12.45,2.78,-2.60,0.000,4,0.151,0.056,2844,509,3410,0,0,0,0,0,0
$GC,264,-1.37,-97.3,36.8,-15.9,30,269,0.15,2.47,0.00,0.000,6,0.124,0.015,2874,2120,3411,0,0,0,0,0,0
$GC,652,-1.37,-97.3,92.8,-13.3,66,657,0.00,2.70,0.00,0.000,4,0.000,0.048,2874,497,3412,0,0,0,0,0,0
$GC,677,-1.37,-97.3,95.9,-12.5,67,683,0.00,2.45,0.00,0.000,6,0.000,0.016,2874,2106,3412,0,0,0,0,0,0
$GC,1066,-1.44,-97.3,142.6,-9.8,104,1070,0.00,2.45,0.00,0.000,4,0.000,0.030,2875,3643,3412,0,0,0,0,0,0
$GC,1113,-1.55,-97.3,146.8,-10.0,107,1119,0.15,2.45,0.00,0.000,6,0.059,0.022,2818,2073,3412,0,0,0,0,0,0
$GC,1502,-1.55,-97.3,192.7,-10.8,143,1506,0.00,2.58,0.00,0.000,4,0.000,0.054,2818,517,3412,0,0,0,0,0,0
$GC,1537,-1.51,-97.3,195.5,-10.8,145,1542,0.12,2.38,0.00,0.000,6,0.117,0.021,2843,2093,3412,0,0,0,0,0,0
$GC,1927,-1.57,-97.3,234.4,-10.5,181,1932,0.00,2.47,0.00,0.000,4,0.000,0.039,2843,3644,3413,0,0,0,0,0,0
$GC,1996,-1.69,-97.3,241.7,-10.4,186,2004,0.12,2.45,0.00,0.000,6,0.035,0.022,2788,2108,3412,0,0,0,0,0,0
$GC,2388,-1.69,-97.3,286.7,-12.0,223,2393,0.00,2.50,0.00,0.000,4,0.000,0.038,2788,3643,3413,0,0,0,0,0,0
$GC,2421,-1.69,-97.3,291.4,-11.9,225,2429,0.00,2.45,0.00,0.000,6,0.000,0.027,2788,2117,3413,0,0,0,0,0,0
$GC,2815,-1.69,-97.3,330.7,-10.5,262,2819,0.00,2.50,0.00,0.000,4,0.000,0.043,2789,3642,3412,0,0,0,0,0,0
$GC,2959,-1.69,-97.3,348.9,-12.0,274,2965,0.00,2.45,0.00,0.000,6,0.000,0.036,2788,2138,3411,0,0,0,0,0,0
$GC,3348,-1.69,-97.3,392.3,-8.8,311,3352,0.00,2.47,0.00,0.000,4,0.000,0.046,2788,3638,3410,0,0,0,0,0,0
$GC,3422,-1.69,-97.3,399.5,-9.6,317,3427,0.00,2.47,0.00,0.000,6,0.000,0.044,2788,2145,3409,0,0,0,0,0,0
$GC,3811,-1.69,-97.3,433.2,-9.5,353,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2145,3406,0,0,0,0,0,0
$GC,4193,-1.69,-97.3,470.0,-9.6,389,4198,0.00,2.55,0.00,0.000,4,0.000,0.062,2788,3642,3403,0,0,0,0,0,0
$GC,4319,-1.73,-97.3,482.8,-10.3,399,4326,0.00,2.53,0.00,0.000,6,0.000,0.054,2788,2165,3402,0,0,0,0,0,0
$GC,4728,-1.73,-97.3,523.2,-9.2,421,4732,0.00,2.55,0.00,0.000,4,0.000,0.066,2788,3634,3399,0,0,0,0,0,0
$GC,4764,-1.77,-97.3,526.4,-9.5,421,4770,0.00,2.50,0.00,0.000,6,0.000,0.061,2788,2168,3399,0,0,0,0,0,0
$GC,5136,-1.77,-97.3,560.1,-9.0,431,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2168,3396,0,0,0,0,0,0
$GC,5502,-1.77,-97.3,591.0,-8.4,440,5506,0.00,2.62,0.00,0.000,4,0.000,0.083,2788,3638,3393,0,0,0,0,0,0
$GC,5565,-1.82,-97.3,596.6,-9.2,441,5569,0.00,2.58,0.00,0.000,6,0.000,0.069,2788,2166,3393,0,0,0,0,0,0
$GC,5948,-1.86,-97.3,631.8,-9.4,451,5952,0.00,2.62,0.00,0.000,4,0.000,0.091,2788,3632,3389,0,0,0,0,0,0
$GC,5977,-1.91,-97.3,634.6,-10.0,451,5982,0.12,2.60,0.00,0.000,6,0.074,0.082,2746,2181,3389,0,0,0,0,0,0
$GC,6348,-1.91,-97.3,675.6,-10.8,460,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2181,3387,0,0,0,0,0,0
$STATE,6630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6630,begin apogee
$GC,6637,-0.31,0.0,702.9,9.6,467,6722,1.62,0.00,81.15,1.087,6,0.091,0.000,3103,1999,3011,0,0,0,0,0,0
$STATE,6723,end apogee,CONTROL_FINISHED_OK
$STATE,6723,begin climb
$GC,6727,1.48,97.3,704.2,0.0,469,6824,1.62,3.00,86.93,1.061,4,0.049,0.114,3499,3524,2612,0,0,0,0,0,0
$GC,6854,1.38,149.1,702.4,6.4,472,6909,0.12,2.97,47.17,1.035,6,0.137,0.112,3476,1995,2401,0,0,0,0,0,0
$GC,7304,1.29,149.1,656.4,10.9,483,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1994,2390,0,0,0,0,0,0
$GC,7669,1.21,149.7,619.0,10.0,492,7675,0.17,3.08,0.00,0.000,4,0.124,0.119,3442,400,2387,0,0,0,0,0,0
$GC,7688,1.14,157.7,617.2,9.5,492,7702,0.00,2.65,6.43,0.815,6,0.000,0.052,3442,1955,2367,0,0,0,0,0,0
$GC,8075,1.17,183.1,585.2,8.3,502,8106,0.00,2.92,25.33,0.981,4,0.000,0.076,3441,3577,2261,0,0,0,0,0,0
$GC,8124,1.18,193.9,580.6,9.3,503,8143,0.00,2.80,11.12,0.894,6,0.000,0.064,3442,1981,2218,0,0,0,0,0,0
$GC,8521,1.19,200.0,540.5,9.6,513,8535,0.00,3.08,6.50,0.794,4,0.000,0.110,3442,410,2192,0,0,0,0,0,0
$GC,8571,1.15,200.0,535.5,10.8,514,8575,0.00,2.65,0.00,0.000,6,0.000,0.040,3442,1998,2191,0,0,0,0,0,0
$GC,8970,1.18,222.1,499.9,8.5,524,8997,0.00,2.92,21.45,0.926,4,0.000,0.080,3442,408,2103,0,0,0,0,0,0
$GC,9042,1.19,229.1,493.4,9.5,530,9056,0.00,2.60,7.68,0.802,6,0.000,0.035,3442,1980,2075,0,0,0,0,0,0
$GC,9449,1.19,229.1,453.4,10.8,568,9453,0.00,2.80,0.00,0.000,4,0.000,0.074,3442,407,2071,0,0,0,0,0,0
$GC,9516,1.19,229.1,445.2,11.9,573,9523,0.00,2.60,0.00,0.000,6,0.000,0.031,3442,1973,2070,0,0,0,0,0,0
$GC,9907,1.25,240.0,405.1,9.3,610,9923,0.00,2.80,10.88,0.816,4,0.000,0.067,3442,404,2030,0,0,0,0,0,0
$GC,9938,1.25,240.0,401.9,10.1,612,9942,0.00,2.58,0.00,0.000,6,0.000,0.031,3442,1978,2029,0,0,0,0,0,0
$GC,10327,1.31,240.0,362.3,10.1,648,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1978,2027,0,0,0,0,0,0
$GC,10709,1.40,244.7,325.6,9.7,684,10723,0.15,2.78,5.15,0.637,4,0.077,0.067,3481,406,2011,0,0,0,0,0,0
$GC,10803,1.40,244.7,314.7,11.4,692,10807,0.00,2.53,0.00,0.000,6,0.000,0.021,3481,1983,2010,0,0,0,0,0,0
$GC,11191,1.41,251.8,273.7,9.5,728,11206,0.00,2.65,8.02,0.693,4,0.000,0.039,3480,3563,1983,0,0,0,0,0,0
$GC,11230,1.41,251.8,270.0,10.3,731,11235,0.00,2.62,0.00,0.000,6,0.000,0.037,3480,1969,1982,0,0,0,0,0,0
$GC,11619,1.48,282.9,236.0,7.9,768,11654,0.00,2.78,29.52,0.739,4,0.000,0.069,3481,418,1855,0,0,0,0,0,0
$GC,11686,1.48,283.8,230.3,10.0,774,11691,0.00,2.50,0.00,0.000,6,0.000,0.023,3481,1991,1853,0,0,0,0,0,0
$GC,12077,1.59,314.3,196.1,7.9,810,12112,0.17,2.58,28.12,0.694,4,0.064,0.037,3527,3556,1728,0,0,0,0,0,0
$GC,12129,1.59,318.4,191.3,9.7,814,12141,0.00,2.60,5.38,0.532,6,0.000,0.036,3527,1980,1711,0,0,0,0,0,0
$GC,12527,1.59,318.4,138.5,11.2,851,12531,0.00,2.67,0.00,0.000,4,0.000,0.062,3527,413,1708,0,0,0,0,0,0
$GC,12680,1.59,318.4,121.3,11.6,863,12685,0.00,2.45,0.00,0.000,6,0.000,0.025,3527,1970,1706,0,0,0,0,0,0
$GC,13068,1.70,356.7,81.3,7.4,900,13109,0.00,2.70,33.55,0.590,4,0.000,0.058,3527,409,1554,0,0,0,0,0,0
$GC,13243,1.70,356.7,64.0,10.9,914,13253,0.00,2.42,0.00,0.000,6,0.000,0.018,3527,1939,1552,0,0,0,0,0,0
$GC,13655,1.75,356.7,21.8,10.7,957,13665,0.12,2.62,0.00,0.000,4,0.075,0.056,3563,407,1551,0,0,0,0,0,0
$GC,13743,1.75,356.7,10.7,12.3,969,13752,0.00,2.38,0.00,0.000,6,0.000,0.018,3563,1920,1551,0,0,0,0,0,0
$STATE,13787,end climb,SURFACE_DEPTH_REACHED
$STATE,13787,begin surface coast
$FINISH,0.7,0.974695
$STATE,13824,end surface coast,CONTROL_FINISHED_OK
$STATE,13824,begin surface
$SM_CCo,13848,19.77,0.505,0,0,1459,380.21
$SM_GC,1.71,0.00,0.00,19.77,0.000,0.000,0.505,474,2209,1459,-12.42,3.08,380.21
$IRIDIUM_FIX,2237.01,-15546.12,161000,000014
$TT8_MAMPS,0.026078
$HUMID,64.88
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,20.00
$XPDR_PINGS,102
$24V_AH,23.1,71.565
$10V_AH,9.9,65.590
$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,29.700,136.925,414.375,19.775,0.000,139.431,179.280,550.278,25.500,0.000,13.791,1717.646,8780.868,480.606,2888.778,1304.141,33.374,1509.945,0.000,2897.743,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,183.313,1086.839,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,671.130,669.714,913.537,1274.888,1043.805,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,76468,980
$CAP_FILE_SIZE,148535,0
$CFSIZE,260165632,151437312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,035431,2248.128,-15802.695,84,1.3,84,10.1