version: 66.06
glider: 146
mission: 6
dive: 576
start: 7 24 111 8 56 46
data:
$ID,146
$MISSION,6
$DIVE,576
$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,-281992.25
$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,23
$R_STBD_OVSHOOT,71
$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
$GPS1,084657,2249.352,-15800.846,38,99.0,57,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.8
$GPS2,085552,2249.370,-15800.932,13,2.8,32,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.008
$KALMAN_X,-551830.5,74.6,67.8,544623.2,-1279.3
$KALMAN_Y,240727.5,627.2,-184.1,-231049.1,418.3
$MHEAD_RNG_PITCHd_Wd,82.1,6812,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,475,2123,3265,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.8,-6.3,9,117,12.57,2.47,-2.67,0.000,4,0.156,0.043,2842,3639,3409,0,0,0,0,0,0
$GC,144,-1.19,-97.3,18.4,-24.4,15,154,0.30,2.50,0.00,0.000,6,0.090,0.024,2910,2088,3410,0,0,0,0,0,0
$GC,562,-1.24,-97.3,67.4,-11.6,58,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2088,3411,0,0,0,0,0,0
$GC,954,-1.35,-97.3,113.8,-11.3,95,959,0.12,2.53,0.00,0.000,4,0.070,0.030,2867,3652,3412,0,0,0,0,0,0
$GC,1023,-1.44,-97.3,122.5,-11.2,100,1032,0.00,2.47,0.00,0.000,6,0.000,0.021,2866,2093,3412,0,0,0,0,0,0
$GC,1411,-1.50,-97.3,155.6,-8.3,137,1415,0.00,2.60,0.00,0.000,4,0.000,0.056,2866,524,3413,0,0,0,0,0,0
$GC,1434,-1.54,-97.3,157.7,-8.9,138,1444,0.08,2.42,0.00,0.000,6,0.048,0.022,2832,2102,3413,0,0,0,0,0,0
$GC,1825,-1.54,-97.3,197.0,-11.3,175,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2103,3413,0,0,0,0,0,0
$GC,2214,-1.54,-97.3,239.5,-9.8,212,2218,0.00,2.47,0.00,0.000,4,0.000,0.031,2832,3653,3414,0,0,0,0,0,0
$GC,2245,-1.59,-97.3,242.5,-10.8,214,2249,0.00,2.42,0.00,0.000,6,0.000,0.021,2832,2101,3415,0,0,0,0,0,0
$GC,2636,-1.63,-97.3,278.5,-8.8,250,2640,0.00,2.50,0.00,0.000,4,0.000,0.041,2832,3644,3414,0,0,0,0,0,0
$GC,2724,-1.71,-97.3,287.0,-9.1,257,2730,0.12,2.42,0.00,0.000,6,0.064,0.023,2772,2105,3414,0,0,0,0,0,0
$GC,3112,-1.71,-97.3,332.1,-12.0,294,3114,0.12,0.00,0.00,0.000,6,0.110,0.000,2800,2104,3414,0,0,0,0,0,0
$GC,3497,-1.71,-97.3,370.1,-9.6,330,3501,0.00,2.55,0.00,0.000,4,0.000,0.052,2800,3638,3413,0,0,0,0,0,0
$GC,3607,-1.76,-97.3,381.2,-8.8,339,3615,0.00,2.53,0.00,0.000,6,0.000,0.038,2800,2125,3413,0,0,0,0,0,0
$GC,3998,-1.80,-97.3,420.6,-10.9,376,4003,0.00,2.53,0.00,0.000,4,0.000,0.058,2800,3638,3410,0,0,0,0,0,0
$GC,4145,-1.87,-97.3,437.9,-11.2,388,4151,0.15,2.55,0.00,0.000,6,0.062,0.055,2751,2126,3410,0,0,0,0,0,0
$GC,4534,-1.83,-97.3,487.0,-12.1,425,4539,0.12,2.60,0.00,0.000,4,0.115,0.067,2777,3632,3407,0,0,0,0,0,0
$GC,4586,-1.83,-97.3,492.9,-11.2,429,4591,0.00,2.53,0.00,0.000,6,0.000,0.052,2777,2127,3407,0,0,0,0,0,0
$GC,4982,-1.83,-97.3,533.1,-10.3,443,4987,0.00,3.10,0.00,0.000,4,0.000,0.124,2777,516,3403,0,0,0,0,0,0
$GC,4998,-1.83,-97.3,534.9,-10.3,443,5002,0.00,2.58,0.00,0.000,6,0.000,0.045,2777,2085,3403,0,0,0,0,0,0
$GC,5383,-1.83,-97.3,572.6,-9.7,453,5388,0.00,2.90,0.00,0.000,4,0.000,0.100,2777,3684,3400,0,0,0,0,0,0
$GC,5444,-1.83,-97.3,578.9,-9.8,454,5449,0.00,2.67,0.00,0.000,6,0.000,0.067,2776,2132,3400,0,0,0,0,0,0
$GC,5827,-1.83,-97.3,616.0,-9.9,464,5831,0.00,3.10,0.00,0.000,4,0.000,0.122,2776,514,3397,0,0,0,0,0,0
$GC,5849,-1.83,-97.3,618.3,-10.4,464,5854,0.00,2.78,0.00,0.000,6,0.000,0.061,2777,2129,3397,0,0,0,0,0,0
$GC,6226,-1.83,-97.3,655.4,-9.8,474,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2130,3394,0,0,0,0,0,0
$GC,6592,-1.83,-97.3,691.0,-10.0,483,6596,0.00,3.20,0.00,0.000,4,0.000,0.136,2777,514,3392,0,0,0,0,0,0
$GC,6607,-1.83,-97.3,692.8,-10.2,483,6612,0.00,2.95,0.00,0.000,6,0.000,0.093,2776,2134,3392,0,0,0,0,0,0
$STATE,6703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6703,begin apogee
$GC,6711,-0.31,0.0,702.3,9.7,486,6797,1.48,0.00,82.05,1.083,6,0.084,0.000,3105,1903,3010,0,0,0,0,0,0
$STATE,6798,end apogee,CONTROL_FINISHED_OK
$STATE,6798,begin climb
$GC,6800,1.48,97.3,704.8,0.0,488,6894,1.67,0.00,87.62,1.060,6,0.038,0.000,3507,1903,2612,0,0,0,0,0,0
$GC,7278,1.35,132.6,677.4,7.6,500,7312,0.17,0.00,31.80,1.019,6,0.126,0.000,3473,1903,2469,0,0,0,0,0,0
$GC,7678,1.28,145.0,640.1,9.2,510,7697,0.00,3.15,11.65,0.932,4,0.000,0.114,3473,307,2417,0,0,0,0,0,0
$GC,7728,1.12,145.0,635.3,10.4,511,7734,0.25,2.78,0.00,0.000,6,0.118,0.053,3422,1906,2415,0,0,0,0,0,0
$GC,8128,1.16,180.3,603.9,7.6,521,8167,0.00,0.00,33.60,0.994,6,0.000,0.000,3422,1906,2275,0,0,0,0,0,0
$GC,8534,1.19,199.6,569.2,8.7,531,8558,0.00,3.05,18.25,0.948,4,0.000,0.098,3422,313,2195,0,0,0,0,0,0
$GC,8571,1.19,199.6,565.6,10.5,531,8577,0.00,2.67,0.00,0.000,6,0.000,0.041,3422,1905,2193,0,0,0,0,0,0
$GC,8943,1.23,199.6,527.9,10.2,541,8945,0.10,0.00,0.00,0.000,6,0.102,0.000,3448,1905,2190,0,0,0,0,0,0
$GC,9318,1.23,199.6,485.1,11.5,559,9322,0.00,2.88,0.00,0.000,4,0.000,0.079,3448,306,2188,0,0,0,0,0,0
$GC,9434,1.18,199.6,470.5,11.3,569,9438,0.00,2.60,0.00,0.000,6,0.000,0.034,3449,1892,2186,0,0,0,0,0,0
$GC,9823,1.21,225.7,434.1,8.2,605,9855,0.00,2.90,23.77,0.890,4,0.000,0.078,3448,315,2088,0,0,0,0,0,0
$GC,9872,1.23,241.3,429.8,8.9,609,9893,0.00,2.60,15.65,0.852,6,0.000,0.031,3448,1883,2026,0,0,0,0,0,0
$GC,10277,1.27,241.3,389.8,10.5,647,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1883,2020,0,0,0,0,0,0
$GC,10661,1.32,241.3,351.6,10.3,683,10665,0.00,2.78,0.00,0.000,4,0.000,0.072,3449,301,2018,0,0,0,0,0,0
$GC,10699,1.32,241.3,347.3,10.7,686,10704,0.00,2.53,0.00,0.000,6,0.000,0.025,3448,1883,2017,0,0,0,0,0,0
$GC,11090,1.39,243.8,307.9,9.8,722,11095,0.12,2.65,0.00,0.000,4,0.086,0.039,3480,3486,2017,0,0,0,0,0,0
$GC,11122,1.39,243.8,304.1,10.5,724,11128,0.00,2.67,0.00,0.000,6,0.000,0.041,3481,1860,2015,0,0,0,0,0,0
$GC,11511,1.40,253.2,266.7,9.4,761,11527,0.00,2.70,10.93,0.718,4,0.000,0.069,3481,316,1976,0,0,0,0,0,0
$GC,11575,1.40,253.2,260.2,10.5,766,11579,0.00,2.47,0.00,0.000,6,0.000,0.020,3481,1874,1974,0,0,0,0,0,0
$GC,11966,1.45,267.0,225.6,9.1,802,11987,0.00,2.65,13.38,0.696,4,0.000,0.034,3481,3460,1921,0,0,0,0,0,0
$GC,12014,1.51,267.0,220.8,10.2,806,12020,0.10,2.65,0.00,0.000,6,0.088,0.035,3508,1858,1919,0,0,0,0,0,0
$GC,12403,1.51,267.0,176.6,13.0,843,12407,0.00,2.62,0.00,0.000,4,0.000,0.032,3508,3473,1918,0,0,0,0,0,0
$GC,12423,1.51,267.0,174.4,13.0,844,12427,0.00,2.65,0.00,0.000,6,0.000,0.036,3508,1854,1917,0,0,0,0,0,0
$GC,12813,1.58,289.6,134.4,8.5,880,12836,0.00,0.00,21.12,0.633,6,0.000,0.000,3508,1854,1828,0,0,0,0,0,0
$GC,13215,1.68,313.1,104.5,8.4,918,13243,0.12,2.70,21.42,0.597,4,0.075,0.058,3543,319,1732,0,0,0,0,0,0
$GC,13304,1.63,313.1,95.4,11.9,925,13310,0.00,2.45,0.00,0.000,6,0.000,0.018,3543,1881,1730,0,0,0,0,0,0
$GC,13696,1.64,316.7,57.5,9.8,962,13710,0.00,2.70,4.57,0.411,4,0.000,0.053,3543,317,1717,0,0,0,0,0,0
$GC,13728,1.64,316.7,53.5,10.4,964,13737,0.00,2.42,0.00,0.000,6,0.000,0.018,3543,1864,1717,0,0,0,0,0,0
$GC,14170,1.64,316.7,6.5,11.8,1017,14179,0.00,2.62,0.00,0.000,4,0.000,0.056,3543,317,1717,0,0,0,0,0,0
$STATE,14194,end climb,SURFACE_DEPTH_REACHED
$STATE,14194,begin surface coast
$FINISH,0.8,0.979244
$STATE,14245,end surface coast,CONTROL_FINISHED_OK
$STATE,14245,begin surface
$SM_CCo,14272,51.92,0.515,0,0,1460,380.21
$SM_GC,1.47,0.00,0.00,51.92,0.000,0.000,0.515,473,2120,1460,-12.43,0.57,380.21
$IRIDIUM_FIX,2239.35,-15802.37,171000,040418
$TT8_MAMPS,0.026078
$HUMID,64.09
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,20.30
$XPDR_PINGS,130
$24V_AH,23.1,72.685
$10V_AH,9.9,66.916
$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,30.075,128.575,375.825,51.925,0.000,28.480,37.205,274.520,32.500,0.000,38.207,1764.274,8804.303,529.625,3014.381,736.231,33.374,1520.359,0.000,3005.956,0.000,0.534,0.000
$DEVICE_MAMPS,155.701,135.759,1083.004,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,702.740,695.346,959.244,1377.995,1227.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,82746,1027
$CAP_FILE_SIZE,133647,0
$CFSIZE,260165632,150831104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,125656,2249.469,-15759.721,24,99.0,43,10.1