version: 66.06
glider: 146
mission: 6
dive: 572
start: 7 23 111 16 13 20
data:
$ID,146
$MISSION,6
$DIVE,572
$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,-281915.38
$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,27
$R_STBD_OVSHOOT,54
$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
$GPS1,155957,2248.399,-15802.919,42,3.1,61,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.0
$GPS2,161230,2248.412,-15803.050,39,2.0,45,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,0.108
$KALMAN_X,-546087.1,-39.7,290.9,535151.8,-2532.9
$KALMAN_Y,237671.5,-949.9,139.4,-228509.5,1006.5
$MHEAD_RNG_PITCHd_Wd,49.8,2942,-21.7,-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,-70.68,0.000,2,0.000,0.000,476,2189,3266,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.8,-6.7,9,112,12.40,0.00,-2.58,0.000,6,0.150,0.000,2845,2189,3408,0,0,0,0,0,0
$GC,518,-1.39,-97.3,77.4,-16.0,55,528,0.12,0.00,0.00,0.000,6,0.137,0.000,2869,2190,3412,0,0,0,0,0,0
$GC,907,-1.44,-97.3,126.9,-10.0,92,911,0.00,2.35,0.00,0.000,4,0.000,0.037,2869,3661,3413,0,0,0,0,0,0
$GC,937,-1.49,-97.3,130.0,-10.5,94,942,0.00,2.45,0.00,0.000,6,0.000,0.020,2869,2089,3413,0,0,0,0,0,0
$GC,1330,-1.57,-97.3,171.4,-10.8,130,1335,0.15,0.00,0.00,0.000,6,0.063,0.000,2816,2089,3414,0,0,0,0,0,0
$GC,1719,-1.57,-97.3,217.9,-11.2,167,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2089,3414,0,0,0,0,0,0
$GC,2100,-1.57,-97.3,258.7,-9.1,203,2105,0.00,2.53,0.00,0.000,4,0.000,0.040,2816,3660,3415,0,0,0,0,0,0
$GC,2247,-1.62,-97.3,271.7,-8.6,215,2253,0.00,2.45,0.00,0.000,6,0.000,0.022,2816,2100,3415,0,0,0,0,0,0
$GC,2637,-1.66,-97.3,312.7,-11.4,252,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2099,3415,0,0,0,0,0,0
$GC,3018,-1.71,-97.3,348.4,-8.8,288,3023,0.00,2.55,0.00,0.000,4,0.000,0.044,2816,3655,3414,0,0,0,0,0,0
$GC,3082,-1.78,-97.3,354.3,-9.3,293,3087,0.12,2.53,0.00,0.000,6,0.070,0.035,2769,2102,3414,0,0,0,0,0,0
$GC,3470,-1.78,-97.3,400.0,-11.1,329,3475,0.00,2.60,0.00,0.000,4,0.000,0.052,2769,3660,3412,0,0,0,0,0,0
$GC,3588,-1.78,-97.3,414.1,-11.4,339,3593,0.00,2.62,0.00,0.000,6,0.000,0.053,2768,2096,3412,0,0,0,0,0,0
$GC,3978,-1.78,-97.3,460.4,-11.7,375,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2096,3409,0,0,0,0,0,0
$GC,4368,-1.78,-97.3,504.9,-10.9,409,4372,0.00,2.70,0.00,0.000,4,0.000,0.069,2768,3654,3405,0,0,0,0,0,0
$GC,4541,-1.78,-97.3,523.0,-10.1,413,4546,0.00,2.62,0.00,0.000,6,0.000,0.058,2768,2107,3404,0,0,0,0,0,0
$GC,4947,-1.78,-97.3,561.7,-9.3,423,4952,0.00,2.70,0.00,0.000,4,0.000,0.074,2768,3652,3400,0,0,0,0,0,0
$GC,5038,-1.78,-97.3,570.5,-9.4,425,5043,0.00,2.67,0.00,0.000,6,0.000,0.071,2769,2113,3400,0,0,0,0,0,0
$GC,5439,-1.78,-97.3,608.9,-9.9,435,5444,0.00,2.72,0.00,0.000,4,0.000,0.082,2768,3646,3397,0,0,0,0,0,0
$GC,5500,-1.78,-97.3,615.3,-9.8,436,5504,0.00,2.70,0.00,0.000,6,0.000,0.081,2768,2118,3397,0,0,0,0,0,0
$GC,5884,-1.78,-97.3,651.5,-9.3,446,5889,0.00,2.80,0.00,0.000,4,0.000,0.102,2769,3645,3394,0,0,0,0,0,0
$GC,5945,-1.78,-97.3,657.6,-9.3,447,5950,0.00,2.78,0.00,0.000,6,0.000,0.092,2768,2127,3394,0,0,0,0,0,0
$GC,6329,-1.78,-97.3,695.8,-10.1,457,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2128,3391,0,0,0,0,0,0
$STATE,6406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6406,begin apogee
$GC,6412,-0.31,0.0,703.4,9.7,459,6498,1.52,0.00,82.15,1.090,6,0.087,0.000,3106,1995,3010,0,0,0,0,0,0
$STATE,6499,end apogee,CONTROL_FINISHED_OK
$STATE,6499,begin climb
$GC,6501,1.48,97.3,705.3,0.0,461,6593,1.62,0.00,87.30,1.061,6,0.036,0.000,3504,1994,2613,0,0,0,0,0,0
$GC,6952,1.38,147.7,681.5,6.5,472,7004,0.15,2.95,45.15,1.034,4,0.126,0.100,3476,3544,2407,0,0,0,0,0,0
$GC,7067,1.31,161.9,672.4,9.0,474,7087,0.00,2.92,14.05,0.953,6,0.000,0.098,3476,1998,2349,0,0,0,0,0,0
$GC,7486,1.26,187.5,636.8,8.3,485,7517,0.12,3.20,24.02,0.999,4,0.139,0.130,3452,406,2244,0,0,0,0,0,0
$GC,7587,1.18,187.5,627.0,10.9,487,7592,0.00,2.67,0.00,0.000,6,0.000,0.060,3452,1963,2240,0,0,0,0,0,0
$GC,7975,1.18,187.5,588.9,10.0,497,7980,0.00,2.90,0.00,0.000,4,0.000,0.101,3452,404,2237,0,0,0,0,0,0
$GC,8025,1.10,187.5,583.0,11.9,498,8030,0.17,2.70,0.00,0.000,6,0.123,0.046,3418,2008,2235,0,0,0,0,0,0
$GC,8421,1.15,187.5,543.3,10.6,508,8426,0.00,2.90,0.00,0.000,4,0.000,0.092,3418,402,2235,0,0,0,0,0,0
$GC,8481,1.15,187.5,535.8,11.1,509,8486,0.00,2.62,0.00,0.000,6,0.000,0.040,3418,2000,2233,0,0,0,0,0,0
$GC,8865,1.22,197.2,498.6,9.3,519,8879,0.10,2.88,8.02,0.834,4,0.253,0.077,3443,403,2206,0,0,0,0,0,0
$GC,8984,1.18,197.2,486.4,10.6,529,8989,0.00,2.62,0.00,0.000,6,0.000,0.031,3444,1999,2204,0,0,0,0,0,0
$GC,9375,1.20,215.6,453.9,8.7,565,9399,0.00,2.92,18.42,0.899,4,0.000,0.080,3444,406,2130,0,0,0,0,0,0
$GC,9486,1.20,215.6,442.1,11.4,575,9491,0.00,2.60,0.00,0.000,6,0.000,0.031,3444,2002,2127,0,0,0,0,0,0
$GC,9875,1.21,223.6,401.5,9.5,611,9889,0.00,2.88,8.23,0.785,4,0.000,0.069,3444,403,2097,0,0,0,0,0,0
$GC,9906,1.22,228.4,398.3,9.7,614,9918,0.00,2.58,6.22,0.716,6,0.000,0.031,3444,1995,2078,0,0,0,0,0,0
$GC,10301,1.29,244.9,362.4,8.9,651,10324,0.00,2.72,16.50,0.827,4,0.000,0.044,3444,3578,2010,0,0,0,0,0,0
$GC,10337,1.35,244.9,358.9,10.4,654,10345,0.08,2.72,0.00,0.000,6,0.054,0.037,3471,1968,2009,0,0,0,0,0,0
$GC,10728,1.35,244.9,316.4,10.6,691,10732,0.00,2.62,0.00,0.000,4,0.000,0.039,3471,3579,2007,0,0,0,0,0,0
$GC,10747,1.35,244.9,314.4,10.1,692,10752,0.00,2.65,0.00,0.000,6,0.000,0.035,3471,1973,2006,0,0,0,0,0,0
$GC,11136,1.39,244.9,277.7,10.4,728,11141,0.00,2.70,0.00,0.000,4,0.000,0.067,3471,411,2005,0,0,0,0,0,0
$GC,11210,1.39,244.9,269.4,11.9,734,11214,0.00,2.47,0.00,0.000,6,0.000,0.021,3471,1988,2004,0,0,0,0,0,0
$GC,11599,1.51,289.2,238.8,7.0,770,11646,0.15,2.80,39.97,0.749,4,0.073,0.058,3511,406,1830,0,0,0,0,0,0
$GC,11680,1.47,289.2,231.2,11.7,777,11684,0.00,2.47,0.00,0.000,6,0.000,0.023,3511,1969,1828,0,0,0,0,0,0
$GC,12070,1.47,295.6,190.0,9.6,813,12084,0.00,2.70,6.57,0.585,4,0.000,0.060,3511,414,1804,0,0,0,0,0,0
$GC,12207,1.47,295.6,173.3,12.7,824,12213,0.00,2.45,0.00,0.000,6,0.000,0.024,3511,1968,1801,0,0,0,0,0,0
$GC,12600,1.48,296.7,130.1,9.9,861,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,1969,1801,0,0,0,0,0,0
$GC,12990,1.60,334.0,96.2,7.4,898,13030,0.00,0.00,34.50,0.600,6,0.000,0.000,3511,1969,1647,0,0,0,0,0,0
$GC,13418,1.68,334.0,57.4,10.2,938,13423,0.12,2.65,0.00,0.000,4,0.079,0.051,3546,404,1644,0,0,0,0,0,0
$GC,13539,1.68,334.0,42.1,13.6,947,13543,0.00,2.42,0.00,0.000,6,0.000,0.018,3545,1969,1644,0,0,0,0,0,0
$STATE,13868,end climb,SURFACE_DEPTH_REACHED
$STATE,13868,begin surface coast
$FINISH,0.8,0.974824
$STATE,13910,end surface coast,CONTROL_FINISHED_OK
$STATE,13911,begin surface
$SM_CCo,13934,37.70,0.512,0,0,1460,380.21
$SM_GC,1.54,0.00,0.00,37.70,0.000,0.000,0.512,475,2178,1460,-12.42,2.21,380.21
$IRIDIUM_FIX,2241.69,-15800.20,161000,161635
$TT8_MAMPS,0.026078
$HUMID,64.41
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.60
$XPDR_PINGS,129
$24V_AH,23.1,72.109
$10V_AH,9.9,66.236
$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,29.275,112.950,391.125,37.700,0.000,60.224,77.221,340.708,32.250,0.000,47.056,1740.318,8590.939,477.686,3011.369,891.276,33.375,1492.407,0.000,2994.773,0.000,0.534,0.000
$DEVICE_MAMPS,253.110,149.565,1089.907,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,682.715,703.886,930.905,1304.797,1101.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,79508,996
$CAP_FILE_SIZE,133950,0
$CFSIZE,260165632,151146496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,200731,2249.540,-15802.268,38,1.7,38,10.1