version: 66.06
glider: 146
mission: 6
dive: 573
start: 7 23 111 20 20 0
data:
$ID,146
$MISSION,6
$DIVE,573
$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,-281928.41
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,59
$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
$GPS1,200731,2249.540,-15802.268,38,1.7,38,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.6
$GPS2,201908,2249.590,-15802.368,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,-0.193
$KALMAN_X,-547063.4,-207.1,-28.5,537773.2,-1244.9
$KALMAN_Y,238783.6,-825.7,-420.4,-227001.3,2709.1
$MHEAD_RNG_PITCHd_Wd,143.7,9195,-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,-70.95,0.000,2,0.000,0.000,474,2179,3279,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.7,-6.0,9,120,12.65,2.80,-2.33,0.000,4,0.158,0.059,2842,512,3410,0,0,0,0,0,0
$GC,224,-1.39,-97.3,33.1,-16.2,26,234,0.10,2.45,0.00,0.000,6,0.106,0.015,2866,2095,3411,0,0,0,0,0,0
$GC,616,-1.34,-97.3,91.0,-15.1,63,620,0.00,2.47,0.00,0.000,4,0.000,0.030,2867,3653,3412,0,0,0,0,0,0
$GC,648,-1.34,-97.3,96.2,-15.8,65,653,0.00,2.45,0.00,0.000,6,0.000,0.030,2866,2090,3412,0,0,0,0,0,0
$GC,1041,-1.39,-97.3,143.3,-10.0,101,1045,0.00,2.47,0.00,0.000,4,0.000,0.034,2866,3655,3413,0,0,0,0,0,0
$GC,1062,-1.44,-97.3,145.8,-9.2,102,1071,0.00,2.45,0.00,0.000,6,0.000,0.020,2866,2107,3413,0,0,0,0,0,0
$GC,1455,-1.50,-97.3,181.2,-10.0,139,1459,0.00,2.45,0.00,0.000,4,0.000,0.033,2866,3656,3414,0,0,0,0,0,0
$GC,1483,-1.60,-97.3,184.4,-9.9,141,1488,0.17,2.40,0.00,0.000,6,0.054,0.028,2805,2114,3414,0,0,0,0,0,0
$GC,1871,-1.60,-97.3,230.6,-11.0,177,1876,0.10,2.45,0.00,0.000,4,0.121,0.038,2826,3653,3414,0,0,0,0,0,0
$GC,1915,-1.65,-97.3,235.6,-11.5,180,1923,0.00,2.42,0.00,0.000,6,0.000,0.026,2826,2119,3414,0,0,0,0,0,0
$GC,2306,-1.69,-97.3,275.5,-10.0,217,2310,0.00,2.47,0.00,0.000,4,0.000,0.038,2826,3653,3414,0,0,0,0,0,0
$GC,2374,-1.78,-97.3,282.8,-10.1,222,2383,0.12,2.45,0.00,0.000,6,0.034,0.028,2773,2125,3414,0,0,0,0,0,0
$GC,2767,-1.74,-97.3,329.9,-11.4,259,2772,0.10,2.47,0.00,0.000,4,0.121,0.038,2794,3650,3415,0,0,0,0,0,0
$GC,2823,-1.74,-97.3,336.3,-10.9,263,2828,0.00,2.42,0.00,0.000,6,0.000,0.034,2794,2141,3415,0,0,0,0,0,0
$GC,3211,-1.74,-97.3,372.8,-9.1,300,3216,0.00,2.47,0.00,0.000,4,0.000,0.046,2794,3650,3414,0,0,0,0,0,0
$GC,3290,-1.74,-97.3,380.3,-9.7,306,3298,0.00,2.50,0.00,0.000,6,0.000,0.041,2794,2145,3414,0,0,0,0,0,0
$GC,3681,-1.74,-97.3,418.7,-9.9,343,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2145,3411,0,0,0,0,0,0
$GC,4063,-1.74,-97.3,457.5,-9.7,379,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2145,3408,0,0,0,0,0,0
$GC,4445,-1.78,-97.3,493.8,-8.8,415,4450,0.00,2.60,0.00,0.000,4,0.000,0.065,2794,3649,3405,0,0,0,0,0,0
$GC,4581,-1.84,-97.3,506.3,-9.0,423,4586,0.00,2.55,0.00,0.000,6,0.000,0.054,2794,2136,3404,0,0,0,0,0,0
$GC,4983,-1.88,-97.3,544.1,-9.8,433,4989,0.12,2.62,0.00,0.000,4,0.073,0.070,2754,3639,3401,0,0,0,0,0,0
$GC,5005,-1.88,-97.3,547.0,-11.1,433,5009,0.00,2.58,0.00,0.000,6,0.000,0.064,2753,2137,3401,0,0,0,0,0,0
$GC,5383,-1.88,-97.3,589.1,-11.2,443,5387,0.00,2.65,0.00,0.000,4,0.000,0.083,2754,3639,3398,0,0,0,0,0,0
$GC,5433,-1.88,-97.3,595.1,-11.8,444,5438,0.00,2.60,0.00,0.000,6,0.000,0.074,2754,2142,3398,0,0,0,0,0,0
$GC,5827,-1.88,-97.3,641.4,-12.0,454,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2142,3395,0,0,0,0,0,0
$GC,6193,-1.88,-97.3,683.8,-11.3,463,6198,0.00,2.85,0.00,0.000,4,0.000,0.115,2754,3642,3393,0,0,0,0,0,0
$GC,6227,-1.88,-97.3,687.4,-10.9,463,6233,0.00,2.83,0.00,0.000,6,0.000,0.107,2754,2141,3393,0,0,0,0,0,0
$STATE,6352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6352,begin apogee
$GC,6358,-0.31,0.0,700.9,10.6,467,6445,1.60,0.00,82.20,1.083,6,0.090,0.000,3105,1895,3010,0,0,0,0,0,0
$STATE,6445,end apogee,CONTROL_FINISHED_OK
$STATE,6446,begin climb
$GC,6448,1.48,97.3,702.6,0.0,469,6539,1.67,0.00,87.35,1.058,6,0.038,0.000,3508,1895,2613,0,0,0,0,0,0
$GC,6881,1.35,125.7,676.8,8.0,480,6909,0.20,0.00,25.38,1.010,6,0.120,0.000,3469,1895,2497,0,0,0,0,0,0
$GC,7247,1.28,136.8,644.8,9.3,489,7263,0.00,3.17,10.45,0.925,4,0.000,0.132,3469,311,2451,0,0,0,0,0,0
$GC,7315,1.13,136.8,637.5,11.6,490,7320,0.22,2.70,0.00,0.000,6,0.120,0.063,3425,1856,2449,0,0,0,0,0,0
$GC,7693,1.17,171.3,606.3,7.6,500,7727,0.00,0.00,32.72,1.002,6,0.000,0.000,3424,1856,2311,0,0,0,0,0,0
$GC,8060,1.20,194.2,576.7,8.4,509,8084,0.00,0.00,21.58,0.967,6,0.000,0.000,3424,1856,2218,0,0,0,0,0,0
$GC,8424,1.24,194.2,539.8,10.2,518,8429,0.00,2.85,0.00,0.000,4,0.000,0.093,3424,311,2213,0,0,0,0,0,0
$GC,8445,1.24,194.2,537.2,10.8,518,8450,0.00,2.62,0.00,0.000,6,0.000,0.038,3425,1905,2212,0,0,0,0,0,0
$GC,8825,1.29,195.8,499.5,9.9,528,8830,0.12,2.75,0.00,0.000,4,0.084,0.063,3458,3495,2210,0,0,0,0,0,0
$GC,8868,1.29,195.8,494.5,11.1,531,8876,0.00,2.75,0.00,0.000,6,0.000,0.048,3458,1896,2209,0,0,0,0,0,0
$GC,9260,1.29,195.8,450.9,10.8,568,9265,0.00,2.65,0.00,0.000,4,0.000,0.040,3458,3494,2208,0,0,0,0,0,0
$GC,9293,1.29,195.8,446.7,11.6,570,9301,0.00,2.70,0.00,0.000,6,0.000,0.048,3458,1910,2208,0,0,0,0,0,0
$GC,9687,1.32,219.9,410.8,8.3,607,9712,0.00,0.00,23.23,0.875,6,0.000,0.000,3458,1910,2113,0,0,0,0,0,0
$GC,10090,1.32,219.9,373.0,10.3,645,10094,0.00,2.60,0.00,0.000,4,0.000,0.040,3458,3492,2108,0,0,0,0,0,0
$GC,10125,1.32,219.9,369.2,11.2,647,10130,0.00,2.67,0.00,0.000,6,0.000,0.044,3458,1895,2106,0,0,0,0,0,0
$GC,10513,1.34,238.1,330.1,8.8,684,10536,0.00,2.85,17.00,0.803,4,0.000,0.079,3458,315,2038,0,0,0,0,0,0
$GC,10577,1.34,238.1,323.9,10.8,689,10582,0.00,2.58,0.00,0.000,6,0.000,0.025,3458,1913,2036,0,0,0,0,0,0
$GC,10966,1.42,254.9,288.9,8.8,726,10985,0.10,0.00,16.52,0.765,6,0.100,0.000,3486,1914,1969,0,0,0,0,0,0
$GC,11367,1.42,254.9,244.7,10.1,764,11372,0.00,2.75,0.00,0.000,4,0.000,0.063,3486,313,1965,0,0,0,0,0,0
$GC,11452,1.42,254.9,235.3,11.2,771,11456,0.00,2.53,0.00,0.000,6,0.000,0.025,3486,1908,1965,0,0,0,0,0,0
$GC,11840,1.43,263.1,197.4,9.5,807,11855,0.00,2.75,7.68,0.624,4,0.000,0.061,3486,311,1938,0,0,0,0,0,0
$GC,11873,1.43,265.4,194.0,9.9,809,11883,0.00,2.50,4.03,0.471,6,0.000,0.020,3486,1894,1928,0,0,0,0,0,0
$GC,12277,1.52,291.7,157.4,8.2,847,12312,0.00,2.78,25.00,0.661,4,0.000,0.059,3486,317,1819,0,0,0,0,0,0
$GC,12376,1.52,293.7,148.0,9.9,855,12380,0.00,2.47,0.00,0.000,6,0.000,0.026,3486,1889,1817,0,0,0,0,0,0
$GC,12770,1.63,311.7,112.9,8.8,891,12796,0.20,2.58,18.38,0.604,4,0.067,0.031,3538,3460,1739,0,0,0,0,0,0
$GC,12881,1.69,311.7,100.2,11.2,900,12886,0.00,2.60,0.00,0.000,6,0.000,0.034,3539,1878,1737,0,0,0,0,0,0
$GC,13273,1.75,326.6,62.5,9.0,936,13302,0.00,2.67,14.60,0.548,4,0.000,0.055,3539,317,1676,0,0,0,0,0,0
$GC,13394,1.75,326.6,49.9,11.2,945,13398,0.00,2.45,0.00,0.000,6,0.000,0.018,3539,1903,1674,0,0,0,0,0,0
$STATE,13823,end climb,SURFACE_DEPTH_REACHED
$STATE,13823,begin surface coast
$FINISH,0.8,0.974951
$STATE,13876,end surface coast,CONTROL_FINISHED_OK
$STATE,13876,begin surface
$SM_CCo,13899,44.38,0.517,0,0,1460,380.21
$SM_GC,1.48,0.00,0.00,44.38,0.000,0.000,0.517,476,2173,1460,-12.42,2.09,380.21
$IRIDIUM_FIX,2241.69,-15801.49,161000,202057
$TT8_MAMPS,0.025311
$HUMID,65.12
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,19.90
$XPDR_PINGS,116
$24V_AH,23.1,72.246
$10V_AH,9.9,66.398
$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,29.925,120.625,386.100,44.375,0.000,52.619,73.904,330.199,29.000,0.000,12.415,1735.716,8640.227,525.444,2874.599,853.097,33.379,1490.077,0.000,2885.807,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,141.128,1083.004,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,687.961,689.191,939.060,1325.525,1113.869,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,79395,1004
$CAP_FILE_SIZE,133413,0
$CFSIZE,260165632,151068672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,001337,2249.054,-15802.437,33,1.8,33,10.1