version: 66.06
glider: 146
mission: 6
dive: 580
start: 7 25 111 1 19 24
data:
$ID,146
$MISSION,6
$DIVE,580
$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,-282067.12
$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,24
$R_STBD_OVSHOOT,60
$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
$GPS1,010940,2249.062,-15758.078,62,1.6,64,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.3
$GPS2,011832,2249.117,-15758.160,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,-0.200
$KALMAN_X,-556741.5,-254.8,32.1,554637.6,-1099.2
$KALMAN_Y,243279.3,13.1,17.4,-233649.2,1019.3
$MHEAD_RNG_PITCHd_Wd,148.3,90964,-21.9,-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,15,-1.48,-96.7,0.0,0.0,0,88,0.00,0.00,-70.38,0.000,2,0.000,0.000,474,2184,3273,0,0,0,0,0,0
$GC,91,-1.49,-97.3,4.0,-7.0,9,117,12.52,2.83,-2.45,0.000,4,0.153,0.052,2844,508,3410,0,0,0,0,0,0
$GC,157,-1.36,-97.3,21.8,-17.4,17,165,0.10,2.47,0.00,0.000,6,0.249,0.016,2868,2091,3411,0,0,0,0,0,0
$GC,560,-1.36,-97.3,80.3,-14.4,57,564,0.00,2.47,0.00,0.000,4,0.000,0.031,2868,3656,3412,0,0,0,0,0,0
$GC,594,-1.36,-97.3,85.1,-14.3,59,598,0.00,2.47,0.00,0.000,6,0.000,0.022,2868,2091,3412,0,0,0,0,0,0
$GC,987,-1.41,-97.3,129.6,-9.9,95,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2091,3413,0,0,0,0,0,0
$GC,1375,-1.49,-97.3,172.2,-11.9,132,1380,0.00,2.55,0.00,0.000,4,0.000,0.035,2868,3667,3414,0,0,0,0,0,0
$GC,1456,-1.62,-97.3,181.3,-10.1,138,1466,0.17,2.50,0.00,0.000,6,0.025,0.025,2794,2092,3414,0,0,0,0,0,0
$GC,1846,-1.58,-97.3,225.2,-10.6,175,1851,0.17,2.53,0.00,0.000,4,0.100,0.031,2832,3657,3415,0,0,0,0,0,0
$GC,1959,-1.65,-97.3,236.3,-10.0,184,1964,0.00,2.40,0.00,0.000,6,0.000,0.021,2832,2113,3415,0,0,0,0,0,0
$GC,2350,-1.71,-97.3,270.6,-7.7,220,2355,0.12,2.70,0.00,0.000,4,0.067,0.067,2779,525,3415,0,0,0,0,0,0
$GC,2369,-1.71,-97.3,272.2,-8.4,221,2374,0.10,2.45,0.00,0.000,6,0.123,0.023,2800,2113,3415,0,0,0,0,0,0
$GC,2758,-1.71,-97.3,312.0,-11.0,257,2762,0.00,2.50,0.00,0.000,4,0.000,0.038,2800,3666,3415,0,0,0,0,0,0
$GC,2824,-1.71,-97.3,318.6,-10.7,262,2828,0.00,2.47,0.00,0.000,6,0.000,0.033,2800,2129,3415,0,0,0,0,0,0
$GC,3216,-1.71,-97.3,357.4,-8.6,298,3220,0.00,2.53,0.00,0.000,4,0.000,0.048,2800,3660,3414,0,0,0,0,0,0
$GC,3259,-1.75,-97.3,361.0,-8.3,301,3264,0.00,2.50,0.00,0.000,6,0.000,0.039,2800,2121,3414,0,0,0,0,0,0
$GC,3651,-1.75,-97.3,396.8,-10.5,337,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2120,3412,0,0,0,0,0,0
$GC,4042,-1.79,-97.3,438.9,-10.1,374,4046,0.00,2.58,0.00,0.000,4,0.000,0.061,2799,3656,3409,0,0,0,0,0,0
$GC,4082,-1.85,-97.3,442.9,-10.2,377,4087,0.12,2.55,0.00,0.000,6,0.071,0.048,2758,2125,3409,0,0,0,0,0,0
$GC,4471,-1.85,-97.3,485.5,-11.3,413,4475,0.00,2.62,0.00,0.000,4,0.000,0.063,2758,3662,3406,0,0,0,0,0,0
$GC,4545,-1.85,-97.3,493.8,-11.9,419,4550,0.00,2.58,0.00,0.000,6,0.000,0.048,2758,2132,3406,0,0,0,0,0,0
$GC,4929,-1.85,-97.3,535.9,-11.0,432,4934,0.00,2.62,0.00,0.000,4,0.000,0.067,2758,3653,3403,0,0,0,0,0,0
$GC,4962,-1.85,-97.3,539.7,-11.2,432,4968,0.00,2.60,0.00,0.000,6,0.000,0.061,2758,2137,3403,0,0,0,0,0,0
$GC,5335,-1.85,-97.3,581.1,-11.4,442,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2136,3400,0,0,0,0,0,0
$GC,5699,-1.85,-97.3,624.1,-11.7,451,5704,0.00,2.75,0.00,0.000,4,0.000,0.099,2758,3654,3398,0,0,0,0,0,0
$GC,5743,-1.85,-97.3,629.2,-11.6,452,5747,0.00,2.72,0.00,0.000,6,0.000,0.082,2758,2135,3397,0,0,0,0,0,0
$GC,6144,-1.85,-97.3,673.5,-11.1,462,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2135,3395,0,0,0,0,0,0
$STATE,6383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6383,begin apogee
$GC,6390,-0.31,0.0,700.3,11.0,468,6477,1.58,0.00,82.88,1.079,6,0.091,0.000,3104,1904,3010,0,0,0,0,0,0
$STATE,6477,end apogee,CONTROL_FINISHED_OK
$STATE,6477,begin climb
$GC,6480,1.49,97.3,702.8,0.0,470,6572,1.67,0.00,88.12,1.055,6,0.038,0.000,3506,1904,2613,0,0,0,0,0,0
$GC,6914,1.36,125.8,678.6,8.0,481,6948,0.17,3.33,25.55,1.009,4,0.126,0.146,3472,311,2495,0,0,0,0,0,0
$GC,6972,1.20,131.4,673.4,9.6,482,6987,0.17,2.80,6.20,0.800,6,0.128,0.074,3439,1861,2474,0,0,0,0,0,0
$GC,7368,1.22,147.4,638.9,8.9,492,7389,0.00,3.05,15.55,0.963,4,0.000,0.119,3438,306,2408,0,0,0,0,0,0
$GC,7452,1.14,147.4,629.4,12.0,494,7457,0.00,2.75,0.00,0.000,6,0.000,0.054,3438,1899,2404,0,0,0,0,0,0
$GC,7859,1.17,171.1,592.8,8.4,504,7883,0.00,0.00,22.45,0.976,6,0.000,0.000,3438,1898,2312,0,0,0,0,0,0
$GC,8223,1.21,204.4,564.4,7.7,513,8256,0.00,0.00,31.73,0.976,6,0.000,0.000,3438,1898,2176,0,0,0,0,0,0
$GC,8587,1.21,204.4,527.8,10.6,522,8592,0.00,2.92,0.00,0.000,4,0.000,0.091,3438,304,2169,0,0,0,0,0,0
$GC,8616,1.21,204.4,524.4,12.3,522,8620,0.00,2.65,0.00,0.000,6,0.000,0.036,3438,1902,2168,0,0,0,0,0,0
$GC,8993,1.22,208.7,484.0,9.7,540,8998,0.00,2.85,0.00,0.000,4,0.000,0.078,3439,307,2167,0,0,0,0,0,0
$GC,9032,1.22,208.7,479.8,10.7,543,9036,0.00,2.58,0.00,0.000,6,0.000,0.029,3439,1892,2165,0,0,0,0,0,0
$GC,9421,1.28,233.4,445.8,8.3,579,9453,0.00,2.78,26.15,0.897,4,0.000,0.055,3438,3486,2057,0,0,0,0,0,0
$GC,9546,1.37,233.4,434.1,10.1,590,9551,0.15,2.70,0.00,0.000,6,0.081,0.045,3477,1887,2054,0,0,0,0,0,0
$GC,9934,1.37,233.4,391.4,10.6,626,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1887,2052,0,0,0,0,0,0
$GC,10317,1.37,233.4,349.7,10.8,662,10321,0.00,2.83,0.00,0.000,4,0.000,0.086,3477,310,2051,0,0,0,0,0,0
$GC,10348,1.31,233.4,346.3,11.4,664,10353,0.00,2.58,0.00,0.000,6,0.000,0.020,3477,1924,2049,0,0,0,0,0,0
$GC,10738,1.31,233.4,304.6,10.7,700,10743,0.00,2.80,0.00,0.000,4,0.000,0.067,3477,311,2050,0,0,0,0,0,0
$GC,10781,1.26,233.4,299.9,11.8,703,10787,0.12,2.53,0.00,0.000,6,0.128,0.026,3451,1908,2048,0,0,0,0,0,0
$GC,11172,1.36,245.5,264.4,9.2,739,11189,0.00,0.00,10.88,0.716,6,0.000,0.000,3452,1909,2008,0,0,0,0,0,0
$GC,11572,1.47,256.0,227.9,9.3,777,11590,0.17,2.78,11.10,0.684,4,0.069,0.064,3498,310,1966,0,0,0,0,0,0
$GC,11637,1.43,256.0,220.9,11.2,782,11641,0.00,2.53,0.00,0.000,6,0.000,0.024,3498,1898,1963,0,0,0,0,0,0
$GC,12026,1.47,261.9,182.6,9.6,818,12038,0.00,2.62,6.53,0.580,4,0.000,0.038,3497,3467,1942,0,0,0,0,0,0
$GC,12068,1.53,262.0,178.5,10.0,821,12074,0.00,2.58,0.00,0.000,6,0.000,0.033,3498,1896,1941,0,0,0,0,0,0
$GC,12458,1.60,281.3,143.7,8.7,858,12483,0.10,2.72,19.17,0.634,4,0.088,0.062,3527,317,1861,0,0,0,0,0,0
$GC,12524,1.56,281.3,137.5,11.4,863,12529,0.00,2.50,0.00,0.000,6,0.000,0.019,3527,1901,1860,0,0,0,0,0,0
$GC,12918,1.58,297.7,100.9,8.9,899,12937,0.00,0.00,15.52,0.581,6,0.000,0.000,3527,1903,1795,0,0,0,0,0,0
$GC,13320,1.66,317.9,67.1,8.6,937,13351,0.00,2.75,18.55,0.553,4,0.000,0.051,3527,319,1713,0,0,0,0,0,0
$GC,13382,1.66,317.9,61.3,10.3,941,13386,0.00,2.45,0.00,0.000,6,0.000,0.018,3527,1893,1712,0,0,0,0,0,0
$GC,13799,1.72,317.9,20.0,10.0,984,13808,0.00,2.67,0.00,0.000,4,0.000,0.049,3527,317,1712,0,0,0,0,0,0
$GC,13907,1.72,317.9,7.6,11.3,999,13916,0.00,2.42,0.00,0.000,6,0.000,0.017,3527,1872,1712,0,0,0,0,0,0
$STATE,13944,end climb,SURFACE_DEPTH_REACHED
$STATE,13944,begin surface coast
$FINISH,0.7,0.974719
$STATE,13994,end surface coast,CONTROL_FINISHED_OK
$STATE,13994,begin surface
$SM_CCo,14018,51.97,0.511,0,0,1459,380.21
$SM_GC,1.32,0.00,0.00,51.97,0.000,0.000,0.511,473,2165,1459,-12.43,1.81,380.21
$IRIDIUM_FIX,2241.69,-15759.32,171000,212100
$TT8_MAMPS,0.026078
$HUMID,63.54
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,20.80
$XPDR_PINGS,140
$24V_AH,23.1,73.225
$10V_AH,9.9,67.566
$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,29.875,122.325,380.375,51.975,0.000,27.816,33.722,297.800,35.000,0.000,14.350,1758.006,8647.604,522.496,2903.818,760.102,33.377,1487.743,0.000,2923.828,0.000,0.535,0.000
$DEVICE_MAMPS,248.508,148.031,1079.169,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,692.920,702.518,950.387,1345.085,1158.598,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,79414,1011
$CAP_FILE_SIZE,132431,0
$CFSIZE,260165632,150528000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,051507,2247.826,-15758.457,32,1.0,32,10.1