version: 66.06
glider: 146
mission: 6
dive: 563
start: 7 22 111 3 7 5
data:
$ID,146
$MISSION,6
$DIVE,563
$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,-281711.75
$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,23
$R_STBD_OVSHOOT,126
$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
$GPS1,025701,2249.865,-15758.224,87,0.8,87,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-71.1
$GPS2,030613,2249.894,-15758.316,13,1.2,18,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,0.020
$KALMAN_X,-528944.8,26.5,164.8,526162.4,-1291.2
$KALMAN_Y,226025.8,521.2,0.5,-215453.8,-129.6
$MHEAD_RNG_PITCHd_Wd,74.6,2256,-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,-71.07,0.000,2,0.000,0.000,473,2034,3254,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.5,-5.1,9,118,12.50,2.53,-2.90,0.000,4,0.153,0.040,2843,3587,3410,0,0,0,0,0,0
$GC,156,-1.42,-97.3,20.0,-15.9,17,165,0.08,2.42,0.00,0.000,6,0.104,0.024,2862,2084,3410,0,0,0,0,0,0
$GC,568,-1.37,-97.3,77.8,-14.7,59,572,0.00,2.42,0.00,0.000,4,0.000,0.028,2862,3599,3412,0,0,0,0,0,0
$GC,659,-1.37,-97.3,92.1,-14.9,66,664,0.00,2.35,0.00,0.000,6,0.000,0.021,2862,2092,3412,0,0,0,0,0,0
$GC,1048,-1.42,-97.3,140.3,-10.7,102,1052,0.00,2.38,0.00,0.000,4,0.000,0.034,2862,3598,3413,0,0,0,0,0,0
$GC,1072,-1.49,-97.3,141.9,-10.1,103,1076,0.00,2.33,0.00,0.000,6,0.000,0.021,2862,2106,3413,0,0,0,0,0,0
$GC,1465,-1.55,-97.3,179.0,-9.4,139,1470,0.10,0.00,0.00,0.000,6,0.087,0.000,2823,2106,3414,0,0,0,0,0,0
$GC,1853,-1.55,-97.3,223.2,-10.4,176,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2106,3414,0,0,0,0,0,0
$GC,2237,-1.55,-97.3,263.1,-9.8,212,2242,0.00,2.40,0.00,0.000,4,0.000,0.038,2823,3599,3415,0,0,0,0,0,0
$GC,2310,-1.62,-97.3,270.2,-10.1,218,2314,0.00,2.33,0.00,0.000,6,0.000,0.028,2823,2115,3414,0,0,0,0,0,0
$GC,2701,-1.67,-97.3,307.5,-9.1,254,2705,0.00,2.35,0.00,0.000,4,0.000,0.041,2823,3588,3414,0,0,0,0,0,0
$GC,2756,-1.76,-97.3,313.2,-9.9,258,2764,0.10,2.35,0.00,0.000,6,0.034,0.032,2770,2137,3415,0,0,0,0,0,0
$GC,3146,-1.76,-97.3,357.0,-11.8,295,3151,0.10,2.40,0.00,0.000,4,0.121,0.046,2791,3592,3414,0,0,0,0,0,0
$GC,3201,-1.81,-97.3,363.7,-11.3,299,3207,0.00,2.40,0.00,0.000,6,0.000,0.036,2791,2131,3414,0,0,0,0,0,0
$GC,3589,-1.81,-97.3,405.5,-11.1,336,3594,0.00,2.40,0.00,0.000,4,0.000,0.051,2791,3587,3412,0,0,0,0,0,0
$GC,3610,-1.81,-97.3,408.0,-11.4,337,3616,0.00,2.40,0.00,0.000,6,0.000,0.046,2791,2132,3412,0,0,0,0,0,0
$GC,3999,-1.81,-97.3,448.0,-10.0,374,4004,0.00,2.42,0.00,0.000,4,0.000,0.050,2791,3578,3409,0,0,0,0,0,0
$GC,4055,-1.85,-97.3,453.7,-9.9,378,4063,0.00,2.45,0.00,0.000,6,0.000,0.049,2790,2142,3409,0,0,0,0,0,0
$GC,4446,-1.85,-97.3,489.8,-9.0,415,4450,0.00,2.45,0.00,0.000,4,0.000,0.058,2791,3577,3406,0,0,0,0,0,0
$GC,4508,-1.89,-97.3,495.9,-9.0,420,4513,0.12,2.42,0.00,0.000,6,0.074,0.054,2751,2135,3406,0,0,0,0,0,0
$GC,4883,-1.89,-97.3,538.1,-11.6,432,4887,0.00,2.50,0.00,0.000,4,0.000,0.074,2751,3576,3403,0,0,0,0,0,0
$GC,4909,-1.89,-97.3,541.5,-11.7,432,4913,0.00,2.45,0.00,0.000,6,0.000,0.061,2751,2141,3403,0,0,0,0,0,0
$GC,5281,-1.89,-97.3,581.1,-10.3,441,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2141,3400,0,0,0,0,0,0
$GC,5649,-1.89,-97.3,613.5,-8.7,450,5653,0.00,2.58,0.00,0.000,4,0.000,0.091,2751,3573,3398,0,0,0,0,0,0
$GC,5688,-1.89,-97.3,617.3,-9.6,451,5692,0.00,2.55,0.00,0.000,6,0.000,0.084,2751,2143,3397,0,0,0,0,0,0
$GC,6093,-1.89,-97.3,657.4,-10.1,461,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2143,3394,0,0,0,0,0,0
$GC,6460,-1.89,-97.3,696.3,-10.3,470,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2143,3393,0,0,0,0,0,0
$STATE,6496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6496,begin apogee
$GC,6503,-0.31,0.0,700.6,10.3,471,6589,1.60,0.00,82.25,1.084,6,0.087,0.000,3105,1998,3010,0,0,0,0,0,0
$STATE,6590,end apogee,CONTROL_FINISHED_OK
$STATE,6590,begin climb
$GC,6592,1.48,97.3,702.2,0.0,473,6688,1.65,2.92,87.35,1.059,4,0.036,0.119,3504,3461,2612,0,0,0,0,0,0
$GC,6712,1.36,143.8,700.3,6.8,476,6762,0.15,2.88,42.12,1.029,6,0.134,0.113,3476,1993,2423,0,0,0,0,0,0
$GC,7151,1.28,143.8,653.4,11.2,487,7156,0.00,3.17,0.00,0.000,4,0.000,0.140,3475,400,2412,0,0,0,0,0,0
$GC,7180,1.15,143.8,649.9,12.5,487,7186,0.25,2.60,0.00,0.000,6,0.119,0.064,3426,1891,2411,0,0,0,0,0,0
$GC,7552,1.17,162.0,615.1,8.8,496,7573,0.00,2.85,15.55,0.960,4,0.000,0.103,3425,403,2349,0,0,0,0,0,0
$GC,7603,1.12,162.0,610.5,10.2,497,7607,0.00,2.50,0.00,0.000,6,0.000,0.050,3425,1885,2347,0,0,0,0,0,0
$GC,7996,1.15,183.1,575.6,8.6,507,8020,0.00,0.00,20.73,0.965,6,0.000,0.000,3425,1885,2262,0,0,0,0,0,0
$GC,8405,1.17,195.9,538.3,9.1,517,8424,0.00,2.80,12.07,0.903,4,0.000,0.084,3426,401,2210,0,0,0,0,0,0
$GC,8464,1.17,195.9,532.3,10.8,518,8468,0.00,2.45,0.00,0.000,6,0.000,0.031,3426,1886,2208,0,0,0,0,0,0
$GC,8845,1.22,202.0,496.8,9.6,530,8858,0.00,2.75,6.62,0.785,4,0.000,0.083,3425,400,2186,0,0,0,0,0,0
$GC,8883,1.22,202.0,492.7,10.7,533,8888,0.00,2.45,0.00,0.000,6,0.000,0.033,3426,1890,2185,0,0,0,0,0,0
$GC,9273,1.28,202.0,451.9,10.6,570,9278,0.12,2.65,0.00,0.000,4,0.084,0.071,3460,400,2182,0,0,0,0,0,0
$GC,9296,1.28,202.0,449.2,11.1,571,9301,0.00,2.42,0.00,0.000,6,0.000,0.025,3460,1889,2182,0,0,0,0,0,0
$GC,9684,1.28,202.0,405.6,10.3,608,9688,0.00,2.62,0.00,0.000,4,0.000,0.072,3460,392,2181,0,0,0,0,0,0
$GC,9726,1.23,202.0,401.2,11.3,611,9730,0.00,2.42,0.00,0.000,6,0.000,0.031,3460,1890,2181,0,0,0,0,0,0
$GC,10120,1.25,221.9,365.8,8.6,648,10141,0.00,0.00,19.05,0.838,6,0.000,0.000,3460,1890,2105,0,0,0,0,0,0
$GC,10522,1.28,249.6,329.2,8.1,686,10552,0.00,0.00,26.33,0.818,6,0.000,0.000,3460,1890,1990,0,0,0,0,0,0
$GC,10936,1.35,260.1,291.6,9.3,725,10948,0.00,0.00,10.10,0.729,6,0.000,0.000,3460,1890,1949,0,0,0,0,0,0
$GC,11330,1.43,260.1,252.2,10.0,762,11332,0.12,0.00,0.00,0.000,6,0.085,0.000,3494,1890,1945,0,0,0,0,0,0
$GC,11710,1.43,260.1,212.6,10.7,798,11714,0.00,2.58,0.00,0.000,4,0.000,0.059,3494,389,1945,0,0,0,0,0,0
$GC,11783,1.43,260.1,204.3,11.7,804,11787,0.00,2.40,0.00,0.000,6,0.000,0.021,3494,1913,1943,0,0,0,0,0,0
$GC,12172,1.52,304.2,171.0,7.0,840,12219,0.00,2.67,39.10,0.677,4,0.000,0.058,3494,397,1769,0,0,0,0,0,0
$GC,12249,1.53,310.5,164.6,9.6,846,12261,0.00,2.42,6.95,0.559,6,0.000,0.019,3494,1912,1743,0,0,0,0,0,0
$GC,12653,1.63,325.8,126.5,9.0,884,12677,0.15,2.60,14.35,0.600,4,0.076,0.052,3534,396,1681,0,0,0,0,0,0
$GC,12845,1.63,325.8,103.4,12.2,900,12849,0.00,2.35,0.00,0.000,6,0.000,0.020,3534,1896,1678,0,0,0,0,0,0
$GC,13237,1.68,325.8,58.8,13.2,936,13241,0.00,2.55,0.00,0.000,4,0.000,0.058,3534,388,1678,0,0,0,0,0,0
$GC,13333,1.68,325.8,46.9,12.5,943,13337,0.00,2.35,0.00,0.000,6,0.000,0.018,3534,1903,1678,0,0,0,0,0,0
$STATE,13768,end climb,SURFACE_DEPTH_REACHED
$STATE,13768,begin surface coast
$FINISH,0.8,0.979801
$STATE,13819,end surface coast,CONTROL_FINISHED_OK
$STATE,13819,begin surface
$SM_CCo,13843,44.15,0.515,0,0,1459,380.21
$SM_GC,1.44,0.00,0.00,44.15,0.000,0.000,0.515,476,2102,1459,-12.42,0.08,380.21
$IRIDIUM_FIX,2239.35,-15802.37,141000,232306
$TT8_MAMPS,0.026078
$HUMID,64.96
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.30
$XPDR_PINGS,102
$24V_AH,23.1,70.838
$10V_AH,9.9,64.766
$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,29.475,111.150,382.575,44.150,0.000,25.453,35.057,315.057,25.500,0.000,19.561,1725.610,8563.408,485.085,2881.690,771.986,33.367,1456.943,0.000,2897.074,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,151.866,1083.771,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,687.195,700.930,944.471,1317.544,1109.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,79445,1003
$CAP_FILE_SIZE,128770,0
$CFSIZE,260165632,151842816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220711,070026,2250.188,-15757.070,52,99.0,71,10.1