version: 66.06
glider: 146
mission: 6
dive: 579
start: 7 24 111 21 23 18
data:
$ID,146
$MISSION,6
$DIVE,579
$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,-282052.16
$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,25
$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
$GPS1,211424,2249.962,-15757.947,44,1.2,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.9
$GPS2,212226,2249.963,-15758.026,11,1.2,11,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,-0.184
$KALMAN_X,-555483.1,-146.1,-34.5,553565.9,-1075.6
$KALMAN_Y,242966.7,-515.5,-163.1,-231064.0,1529.9
$MHEAD_RNG_PITCHd_Wd,147.2,92532,-23.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.58,-83.2,0.0,0.0,0,90,0.00,0.00,-69.60,0.000,2,0.000,0.000,472,2194,3229,0,0,0,0,0,0
$GC,94,-1.60,-97.3,3.7,-6.1,9,120,12.35,2.80,-3.38,0.000,4,0.152,0.055,2817,517,3410,0,0,0,0,0,0
$GC,177,-1.49,-97.3,24.4,-18.4,20,186,0.12,2.47,0.00,0.000,6,0.104,0.015,2845,2101,3411,0,0,0,0,0,0
$GC,580,-1.49,-97.3,87.6,-14.3,59,584,0.00,2.47,0.00,0.000,4,0.000,0.038,2845,3660,3412,0,0,0,0,0,0
$GC,649,-1.57,-97.3,97.1,-12.0,64,659,0.00,2.50,0.00,0.000,6,0.000,0.021,2845,2092,3412,0,0,0,0,0,0
$GC,1042,-1.64,-97.3,143.1,-11.7,101,1047,0.12,2.50,0.00,0.000,4,0.071,0.030,2803,3656,3413,0,0,0,0,0,0
$GC,1111,-1.64,-97.3,152.4,-14.4,106,1115,0.00,2.40,0.00,0.000,6,0.000,0.021,2803,2114,3413,0,0,0,0,0,0
$GC,1503,-1.64,-97.3,198.7,-11.0,142,1507,0.00,2.62,0.00,0.000,4,0.000,0.051,2802,525,3414,0,0,0,0,0,0
$GC,1532,-1.64,-97.3,202.4,-12.3,144,1537,0.00,2.42,0.00,0.000,6,0.000,0.020,2803,2125,3414,0,0,0,0,0,0
$GC,1921,-1.64,-97.3,250.1,-12.5,180,1925,0.00,2.45,0.00,0.000,4,0.000,0.034,2803,3655,3415,0,0,0,0,0,0
$GC,2021,-1.69,-97.3,262.4,-11.9,188,2027,0.00,2.40,0.00,0.000,6,0.000,0.026,2802,2132,3414,0,0,0,0,0,0
$GC,2410,-1.76,-97.3,299.7,-8.8,225,2414,0.00,2.45,0.00,0.000,4,0.000,0.041,2803,3654,3415,0,0,0,0,0,0
$GC,2433,-1.85,-97.3,301.9,-9.9,226,2439,0.12,2.42,0.00,0.000,6,0.068,0.030,2757,2128,3415,0,0,0,0,0,0
$GC,2821,-1.85,-97.3,347.0,-11.2,263,2826,0.00,2.47,0.00,0.000,4,0.000,0.049,2757,3642,3415,0,0,0,0,0,0
$GC,2943,-1.85,-97.3,361.6,-11.6,273,2951,0.00,2.47,0.00,0.000,6,0.000,0.043,2757,2146,3415,0,0,0,0,0,0
$GC,3335,-1.85,-97.3,405.5,-11.4,310,3339,0.00,2.50,0.00,0.000,4,0.000,0.051,2757,3643,3414,0,0,0,0,0,0
$GC,3391,-1.85,-97.3,412.9,-12.4,314,3397,0.00,2.50,0.00,0.000,6,0.000,0.051,2757,2146,3414,0,0,0,0,0,0
$GC,3781,-1.85,-97.3,454.8,-10.4,351,3786,0.00,2.53,0.00,0.000,4,0.000,0.061,2757,3645,3410,0,0,0,0,0,0
$GC,3800,-1.85,-97.3,456.9,-10.8,352,3805,0.00,2.50,0.00,0.000,6,0.000,0.048,2757,2144,3410,0,0,0,0,0,0
$GC,4191,-1.85,-97.3,500.2,-12.1,388,4195,0.00,2.58,0.00,0.000,4,0.000,0.064,2757,3635,3407,0,0,0,0,0,0
$GC,4253,-1.89,-97.3,507.9,-11.4,389,4258,0.00,2.53,0.00,0.000,6,0.000,0.053,2757,2146,3407,0,0,0,0,0,0
$GC,4635,-1.89,-97.3,552.3,-11.5,399,4640,0.00,2.60,0.00,0.000,4,0.000,0.077,2757,3641,3404,0,0,0,0,0,0
$GC,4760,-1.94,-97.3,566.9,-11.2,401,4765,0.00,2.55,0.00,0.000,6,0.000,0.068,2757,2156,3403,0,0,0,0,0,0
$GC,5131,-1.94,-97.3,608.9,-11.2,411,5136,0.00,2.62,0.00,0.000,4,0.000,0.081,2757,3636,3400,0,0,0,0,0,0
$GC,5165,-1.99,-97.3,612.7,-11.8,411,5170,0.00,2.62,0.00,0.000,6,0.000,0.075,2757,2158,3400,0,0,0,0,0,0
$GC,5539,-2.03,-97.3,648.5,-9.3,421,5544,0.10,3.30,0.00,0.000,4,0.089,0.140,2724,508,3397,0,0,0,0,0,0
$GC,5561,-2.03,-97.3,651.2,-10.8,421,5566,0.00,2.78,0.00,0.000,6,0.000,0.074,2724,2097,3397,0,0,0,0,0,0
$GC,5938,-2.03,-97.3,693.4,-11.3,431,5943,0.00,3.10,0.00,0.000,4,0.000,0.134,2724,3686,3394,0,0,0,0,0,0
$GC,5961,-2.03,-97.3,696.1,-11.8,431,5965,0.00,2.90,0.00,0.000,6,0.000,0.110,2724,2161,3394,0,0,0,0,0,0
$STATE,6010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6010,begin apogee
$GC,6016,-0.31,0.0,702.1,11.6,433,6103,1.75,0.00,82.78,1.088,6,0.095,0.000,3104,1898,3010,0,0,0,0,0,0
$STATE,6104,end apogee,CONTROL_FINISHED_OK
$STATE,6104,begin climb
$GC,6107,1.60,97.3,704.8,0.0,435,6198,1.77,0.00,87.55,1.061,6,0.035,0.000,3533,1898,2613,0,0,0,0,0,0
$GC,6540,1.47,122.5,679.8,8.0,446,6566,0.17,0.00,22.77,1.005,6,0.133,0.000,3499,1898,2510,0,0,0,0,0,0
$GC,6904,1.40,132.4,647.4,9.2,455,6916,0.00,0.00,9.30,0.906,6,0.000,0.000,3499,1898,2470,0,0,0,0,0,0
$GC,7272,1.35,152.8,615.4,8.4,464,7298,0.15,3.10,19.77,0.980,4,0.232,0.110,3471,311,2386,0,0,0,0,0,0
$GC,7410,1.27,152.8,601.8,10.3,467,7415,0.00,2.70,0.00,0.000,6,0.000,0.045,3471,1904,2383,0,0,0,0,0,0
$GC,7806,1.29,173.7,569.0,8.3,477,7831,0.00,2.88,20.05,0.963,4,0.000,0.078,3472,3490,2300,0,0,0,0,0,0
$GC,7847,1.32,198.2,565.4,8.0,478,7877,0.00,2.80,24.23,0.955,6,0.000,0.059,3471,1891,2201,0,0,0,0,0,0
$GC,8248,1.33,201.6,527.1,9.7,487,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1891,2193,0,0,0,0,0,0
$GC,8615,1.33,201.6,487.3,10.6,502,8620,0.00,2.70,0.00,0.000,4,0.000,0.045,3471,3499,2191,0,0,0,0,0,0
$GC,8703,1.36,201.6,477.6,11.1,509,8709,0.00,2.72,0.00,0.000,6,0.000,0.051,3471,1903,2190,0,0,0,0,0,0
$GC,9092,1.41,210.9,442.6,9.3,546,9109,0.00,3.05,10.95,0.842,4,0.000,0.107,3471,315,2149,0,0,0,0,0,0
$GC,9148,1.41,210.9,437.4,10.3,550,9153,0.00,2.60,0.00,0.000,6,0.000,0.028,3471,1911,2148,0,0,0,0,0,0
$GC,9539,1.46,210.9,394.7,12.0,586,9541,0.10,0.00,0.00,0.000,6,0.096,0.000,3497,1911,2146,0,0,0,0,0,0
$GC,9922,1.46,210.9,349.3,10.3,622,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1911,2145,0,0,0,0,0,0
$GC,10307,1.48,229.8,314.5,8.5,658,10327,0.00,0.00,17.83,0.791,6,0.000,0.000,3497,1911,2072,0,0,0,0,0,0
$GC,10711,1.54,232.0,276.6,9.8,696,10715,0.00,2.55,0.00,0.000,4,0.000,0.035,3497,3484,2069,0,0,0,0,0,0
$GC,10751,1.59,232.0,272.5,10.6,699,10757,0.10,2.62,0.00,0.000,6,0.091,0.032,3524,1890,2068,0,0,0,0,0,0
$GC,11140,1.59,232.0,227.9,11.3,735,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,1889,2068,0,0,0,0,0,0
$GC,11522,1.59,232.1,188.9,10.0,771,11526,0.00,2.60,0.00,0.000,4,0.000,0.037,3524,3493,2067,0,0,0,0,0,0
$GC,11551,1.60,236.8,185.9,9.6,773,11565,0.00,2.60,7.00,0.601,6,0.000,0.032,3524,1898,2043,0,0,0,0,0,0
$GC,11958,1.68,270.1,148.5,7.3,811,11996,0.00,2.80,31.08,0.655,4,0.000,0.064,3524,319,1907,0,0,0,0,0,0
$GC,12070,1.68,270.1,137.5,11.1,820,12079,0.00,2.55,0.00,0.000,6,0.000,0.020,3524,1915,1905,0,0,0,0,0,0
$GC,12462,1.80,296.4,98.5,7.9,857,12492,0.17,2.55,23.83,0.596,4,0.064,0.035,3571,3465,1800,0,0,0,0,0,0
$GC,12581,1.87,313.1,86.7,8.7,866,12605,0.00,2.58,15.40,0.568,6,0.000,0.037,3571,1882,1734,0,0,0,0,0,0
$GC,12991,1.87,313.1,46.0,11.6,904,12995,0.00,2.62,0.00,0.000,4,0.000,0.055,3571,319,1731,0,0,0,0,0,0
$GC,13037,1.87,313.1,39.4,12.8,907,13047,0.00,2.47,0.00,0.000,6,0.000,0.018,3571,1893,1730,0,0,0,0,0,0
$STATE,13349,end climb,SURFACE_DEPTH_REACHED
$STATE,13349,begin surface coast
$FINISH,0.6,0.977025
$STATE,13397,end surface coast,CONTROL_FINISHED_OK
$STATE,13397,begin surface
$SM_CCo,13420,55.15,0.515,0,0,1459,380.21
$SM_GC,1.36,0.00,0.00,55.15,0.000,0.000,0.515,474,2184,1459,-12.42,2.37,380.21
$IRIDIUM_FIX,2241.69,-15801.49,171000,171738
$TT8_MAMPS,0.026078
$HUMID,64.80
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,20.10
$XPDR_PINGS,118
$24V_AH,23.1,73.091
$10V_AH,9.9,67.401
$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,29.600,121.775,372.525,55.150,0.000,31.236,36.691,244.314,29.500,0.000,13.396,1669.671,8291.702,507.366,2784.257,694.297,33.371,1456.300,0.000,2798.914,0.000,0.533,0.000
$DEVICE_MAMPS,232.401,139.594,1088.373,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,654.878,661.655,891.731,1258.658,1076.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,76398,956
$CAP_FILE_SIZE,127200,0
$CFSIZE,260165632,150609920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,010940,2249.062,-15758.078,62,1.6,64,10.1