version: 66.06
glider: 146
mission: 6
dive: 570
start: 7 23 111 7 47 48
data:
$ID,146
$MISSION,6
$DIVE,570
$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,-281853.12
$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,28
$R_STBD_OVSHOOT,58
$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
$GPS1,073631,2247.559,-15803.746,39,1.3,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.4
$GPS2,074656,2247.621,-15803.832,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,-0.130
$KALMAN_X,-542376.7,420.6,-258.1,530207.5,-1866.7
$KALMAN_Y,234776.2,793.6,-396.9,-228296.5,1394.9
$MHEAD_RNG_PITCHd_Wd,117.2,1828,-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,-97.3,0.0,0.0,0,89,0.00,0.00,-71.10,0.000,2,0.000,0.000,473,2194,3276,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.9,-6.4,9,118,12.40,2.80,-2.40,0.000,4,0.150,0.059,2841,522,3409,0,0,0,0,0,0
$GC,211,-1.39,-97.3,30.4,-17.0,25,216,0.15,2.42,0.00,0.000,6,0.224,0.015,2871,2105,3410,0,0,0,0,0,0
$GC,605,-1.39,-97.3,87.9,-13.5,61,609,0.00,2.47,0.00,0.000,4,0.000,0.030,2871,3658,3411,0,0,0,0,0,0
$GC,670,-1.45,-97.3,97.1,-12.7,66,675,0.00,2.42,0.00,0.000,6,0.000,0.021,2871,2099,3412,0,0,0,0,0,0
$GC,1061,-1.51,-97.3,145.0,-10.9,102,1066,0.10,2.60,0.00,0.000,4,0.086,0.055,2833,527,3412,0,0,0,0,0,0
$GC,1107,-1.51,-97.3,150.9,-11.9,105,1117,0.00,2.42,0.00,0.000,6,0.000,0.016,2833,2103,3412,0,0,0,0,0,0
$GC,1499,-1.51,-97.3,189.4,-8.9,142,1504,0.00,2.45,0.00,0.000,4,0.000,0.036,2833,3662,3413,0,0,0,0,0,0
$GC,1533,-1.55,-97.3,193.2,-10.4,144,1542,0.00,2.47,0.00,0.000,6,0.000,0.022,2833,2100,3413,0,0,0,0,0,0
$GC,1924,-1.59,-97.3,233.7,-9.9,181,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2100,3413,0,0,0,0,0,0
$GC,2313,-1.64,-97.3,268.8,-8.1,218,2317,0.00,2.47,0.00,0.000,4,0.000,0.035,2833,3649,3414,0,0,0,0,0,0
$GC,2370,-1.74,-97.3,273.8,-9.3,222,2377,0.12,2.47,0.00,0.000,6,0.033,0.028,2773,2099,3414,0,0,0,0,0,0
$GC,2762,-1.74,-97.3,318.4,-10.9,259,2767,0.10,2.53,0.00,0.000,4,0.123,0.044,2794,3647,3414,0,0,0,0,0,0
$GC,2845,-1.74,-97.3,327.4,-10.5,266,2849,0.00,2.47,0.00,0.000,6,0.000,0.034,2794,2104,3413,0,0,0,0,0,0
$GC,3235,-1.74,-97.3,369.1,-11.3,302,3239,0.00,2.55,0.00,0.000,4,0.000,0.046,2794,3648,3413,0,0,0,0,0,0
$GC,3287,-1.78,-97.3,375.0,-11.2,306,3291,0.00,2.53,0.00,0.000,6,0.000,0.038,2794,2110,3413,0,0,0,0,0,0
$GC,3675,-1.78,-97.3,417.2,-10.2,342,3679,0.00,2.58,0.00,0.000,4,0.000,0.056,2794,3649,3410,0,0,0,0,0,0
$GC,3736,-1.82,-97.3,423.5,-10.3,347,3740,0.00,2.58,0.00,0.000,6,0.000,0.051,2794,2103,3410,0,0,0,0,0,0
$GC,4125,-1.82,-97.3,459.9,-8.4,383,4129,0.00,2.60,0.00,0.000,4,0.000,0.057,2794,3641,3407,0,0,0,0,0,0
$GC,4190,-1.87,-97.3,465.7,-8.8,388,4196,0.12,2.58,0.00,0.000,6,0.071,0.051,2751,2112,3407,0,0,0,0,0,0
$GC,4577,-1.83,-97.3,504.7,-10.9,422,4582,0.12,2.65,0.00,0.000,4,0.115,0.071,2777,3638,3403,0,0,0,0,0,0
$GC,4666,-1.83,-97.3,514.0,-9.9,424,4671,0.00,2.58,0.00,0.000,6,0.000,0.059,2777,2122,3404,0,0,0,0,0,0
$GC,5068,-1.83,-97.3,550.9,-9.2,434,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2122,3400,0,0,0,0,0,0
$GC,5432,-1.83,-97.3,584.3,-9.3,443,5436,0.00,2.67,0.00,0.000,4,0.000,0.082,2776,3635,3398,0,0,0,0,0,0
$GC,5471,-1.83,-97.3,588.2,-10.0,444,5476,0.00,2.62,0.00,0.000,6,0.000,0.070,2777,2126,3397,0,0,0,0,0,0
$GC,5878,-1.83,-97.3,631.1,-11.5,454,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2126,3394,0,0,0,0,0,0
$GC,6242,-1.83,-97.3,673.5,-11.4,463,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2126,3392,0,0,0,0,0,0
$STATE,6524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6524,begin apogee
$GC,6532,-0.31,0.0,703.1,10.0,470,6618,1.48,0.00,81.97,1.089,6,0.084,0.000,3105,1996,3010,0,0,0,0,0,0
$STATE,6619,end apogee,CONTROL_FINISHED_OK
$STATE,6619,begin climb
$GC,6621,1.48,97.3,705.4,0.0,472,6713,1.65,0.00,87.60,1.062,6,0.035,0.000,3506,1996,2613,0,0,0,0,0,0
$GC,7053,1.34,113.9,677.9,8.9,483,7074,0.20,2.90,14.98,0.978,4,0.123,0.103,3467,3531,2545,0,0,0,0,0,0
$GC,7110,1.26,127.7,673.3,9.1,484,7129,0.00,2.90,13.70,0.960,6,0.000,0.103,3467,1994,2488,0,0,0,0,0,0
$GC,7502,1.23,163.3,641.4,7.6,494,7544,0.12,3.22,32.58,1.013,4,0.138,0.127,3444,406,2343,0,0,0,0,0,0
$GC,7576,1.16,179.1,635.8,8.9,495,7597,0.00,2.67,15.88,0.961,6,0.000,0.061,3444,1943,2280,0,0,0,0,0,0
$GC,7999,1.20,205.1,601.4,8.2,506,8029,0.00,2.95,24.38,0.981,4,0.000,0.099,3444,400,2172,0,0,0,0,0,0
$GC,8111,1.15,205.1,590.1,11.1,508,8115,0.00,2.60,0.00,0.000,6,0.000,0.048,3444,1942,2169,0,0,0,0,0,0
$GC,8488,1.15,205.1,552.0,10.2,518,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1942,2165,0,0,0,0,0,0
$GC,8855,1.15,205.1,513.0,10.6,527,8860,0.00,2.75,0.00,0.000,4,0.000,0.081,3444,400,2164,0,0,0,0,0,0
$GC,8943,1.15,205.1,502.3,12.0,529,8948,0.00,2.53,0.00,0.000,6,0.000,0.031,3444,1943,2162,0,0,0,0,0,0
$GC,9341,1.16,210.7,463.5,9.6,564,9354,0.00,2.78,4.32,0.640,4,0.000,0.079,3444,405,2151,0,0,0,0,0,0
$GC,9366,1.16,213.7,460.8,9.8,566,9377,0.00,2.50,4.88,0.675,6,0.000,0.033,3443,1937,2137,0,0,0,0,0,0
$GC,9761,1.16,213.7,418.8,11.6,603,9766,0.00,2.70,0.00,0.000,4,0.000,0.072,3444,394,2136,0,0,0,0,0,0
$GC,9793,1.16,213.7,414.4,13.4,605,9798,0.00,2.50,0.00,0.000,6,0.000,0.031,3444,1938,2135,0,0,0,0,0,0
$GC,10183,1.20,213.7,370.2,10.4,642,10188,0.00,2.67,0.00,0.000,4,0.000,0.065,3444,396,2135,0,0,0,0,0,0
$GC,10205,1.20,213.7,367.6,10.6,643,10211,0.00,2.50,0.00,0.000,6,0.000,0.029,3444,1950,2134,0,0,0,0,0,0
$GC,10596,1.29,243.8,333.7,7.9,680,10632,0.00,2.80,28.10,0.823,4,0.000,0.067,3444,399,2015,0,0,0,0,0,0
$GC,10721,1.30,246.1,322.3,9.9,691,10726,0.00,2.53,0.00,0.000,6,0.000,0.028,3444,1971,2012,0,0,0,0,0,0
$GC,11110,1.39,247.7,287.6,9.9,728,11122,0.15,2.65,4.25,0.548,4,0.071,0.044,3485,3568,2000,0,0,0,0,0,0
$GC,11179,1.39,247.7,280.2,10.8,734,11184,0.00,2.65,0.00,0.000,6,0.000,0.032,3485,1952,1999,0,0,0,0,0,0
$GC,11568,1.39,250.9,242.5,9.8,770,11579,0.00,2.70,4.50,0.544,4,0.000,0.065,3485,403,1987,0,0,0,0,0,0
$GC,11628,1.40,253.3,236.8,9.9,775,11639,0.00,2.50,4.07,0.504,6,0.000,0.020,3485,1994,1977,0,0,0,0,0,0
$GC,12022,1.45,262.2,199.5,9.4,812,12037,0.00,2.72,9.90,0.653,4,0.000,0.058,3485,403,1940,0,0,0,0,0,0
$GC,12102,1.45,262.2,190.7,11.1,818,12108,0.00,2.45,0.00,0.000,6,0.000,0.021,3485,1961,1938,0,0,0,0,0,0
$GC,12493,1.54,286.9,152.0,8.3,855,12522,0.10,2.62,23.27,0.653,4,0.096,0.038,3514,3566,1839,0,0,0,0,0,0
$GC,12539,1.55,296.7,147.7,9.3,858,12558,0.00,2.65,10.00,0.593,6,0.000,0.035,3514,1964,1799,0,0,0,0,0,0
$GC,12940,1.60,296.7,109.5,10.1,896,12945,0.00,2.62,0.00,0.000,4,0.000,0.064,3514,411,1797,0,0,0,0,0,0
$GC,13178,1.60,296.7,82.9,10.4,915,13182,0.00,2.40,0.00,0.000,6,0.000,0.018,3514,1953,1796,0,0,0,0,0,0
$GC,13570,1.73,337.0,54.7,7.2,951,13612,0.15,2.65,35.58,0.559,4,0.071,0.049,3554,407,1635,0,0,0,0,0,0
$GC,13668,1.73,337.0,45.5,11.3,958,13672,0.00,2.35,0.00,0.000,6,0.000,0.018,3555,1927,1633,0,0,0,0,0,0
$STATE,14014,end climb,SURFACE_DEPTH_REACHED
$STATE,14014,begin surface coast
$FINISH,0.7,0.979228
$STATE,14057,end surface coast,CONTROL_FINISHED_OK
$STATE,14057,begin surface
$SM_CCo,14081,35.08,0.511,0,0,1460,380.21
$SM_GC,1.49,0.00,0.00,35.08,0.000,0.000,0.511,474,2171,1460,-12.42,2.01,380.21
$IRIDIUM_FIX,2239.35,-15800.20,161000,070756
$TT8_MAMPS,0.026078
$HUMID,65.27
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.50
$XPDR_PINGS,124
$24V_AH,23.1,71.812
$10V_AH,9.9,65.906
$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,29.425,130.925,399.950,35.075,0.000,48.133,77.207,265.280,31.000,0.000,14.242,1759.220,8686.705,504.297,2973.647,806.443,33.373,1526.221,0.000,2991.776,0.000,0.534,0.000
$DEVICE_MAMPS,223.964,155.701,1089.140,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,688.919,688.811,941.757,1327.206,1113.877,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,79337,1006
$CAP_FILE_SIZE,138070,0
$CFSIZE,260165632,151298048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,114424,2247.149,-15803.386,39,1.1,39,10.1