version: 66.06
glider: 146
mission: 6
dive: 583
start: 7 25 111 14 56 51
data:
$ID,146
$MISSION,6
$DIVE,583
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,300
$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,-282137.44
$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,63
$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
$GPS1,143227,2245.332,-15759.994,29,99.0,48,10.1
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.7
$GPS2,145603,2245.323,-15800.205,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,-0.182
$KALMAN_X,-563520.9,-292.7,-56.2,558056.4,-1972.3
$KALMAN_Y,245434.0,45.8,86.1,-242937.4,59.2
$MHEAD_RNG_PITCHd_Wd,137.1,84023,-21.6,-10.000
$D_GRID,900
$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,17,-1.47,-97.3,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,2,0.000,0.000,474,2109,3237,0,0,0,0,0,0
$GC,93,-1.47,-97.3,3.4,-5.1,9,118,12.62,2.67,-3.28,0.000,4,0.156,0.051,2844,518,3409,0,0,0,0,0,0
$GC,163,-1.37,-97.3,21.2,-17.0,18,173,0.10,2.47,0.00,0.000,6,0.108,0.015,2868,2097,3410,0,0,0,0,0,0
$GC,563,-1.33,-97.3,82.3,-14.0,58,568,0.00,2.50,0.00,0.000,4,0.000,0.031,2868,3666,3411,0,0,0,0,0,0
$GC,617,-1.38,-97.3,90.1,-14.3,62,622,0.00,2.50,0.00,0.000,6,0.000,0.028,2868,2088,3411,0,0,0,0,0,0
$GC,1006,-1.38,-97.3,134.0,-9.5,98,1010,0.00,2.53,0.00,0.000,4,0.000,0.035,2868,3661,3411,0,0,0,0,0,0
$GC,1088,-1.48,-97.3,142.0,-8.9,104,1097,0.00,2.45,0.00,0.000,6,0.000,0.020,2868,2116,3412,0,0,0,0,0,0
$GC,1478,-1.54,-97.3,179.4,-9.5,141,1483,0.12,2.47,0.00,0.000,4,0.067,0.037,2820,3663,3412,0,0,0,0,0,0
$GC,1535,-1.54,-97.3,184.9,-10.9,145,1539,0.00,2.40,0.00,0.000,6,0.000,0.021,2820,2120,3412,0,0,0,0,0,0
$GC,1925,-1.54,-97.3,225.6,-11.0,181,1929,0.00,2.47,0.00,0.000,4,0.000,0.033,2820,3660,3412,0,0,0,0,0,0
$GC,1954,-1.54,-97.3,229.0,-11.8,183,1958,0.00,2.40,0.00,0.000,6,0.000,0.028,2820,2132,3412,0,0,0,0,0,0
$GC,2343,-1.54,-97.3,266.9,-9.6,219,2347,0.00,2.72,0.00,0.000,4,0.000,0.067,2819,531,3412,0,0,0,0,0,0
$GC,2363,-1.54,-97.3,268.6,-9.8,220,2368,0.00,2.50,0.00,0.000,6,0.000,0.021,2819,2128,3412,0,0,0,0,0,0
$GC,2755,-1.58,-97.3,308.6,-9.5,256,2759,0.00,2.50,0.00,0.000,4,0.000,0.038,2819,3673,3412,0,0,0,0,0,0
$GC,2879,-1.66,-97.3,321.0,-10.2,266,2885,0.00,2.45,0.00,0.000,6,0.000,0.034,2819,2153,3411,0,0,0,0,0,0
$GC,3268,-1.72,-97.3,355.4,-8.3,303,3272,0.00,2.50,0.00,0.000,4,0.000,0.041,2819,3664,3410,0,0,0,0,0,0
$GC,3325,-1.81,-97.3,360.4,-8.6,307,3331,0.17,2.45,0.00,0.000,6,0.057,0.036,2762,2173,3409,0,0,0,0,0,0
$GC,3715,-1.76,-97.3,402.1,-10.8,344,3717,0.12,0.00,0.00,0.000,6,0.114,0.000,2787,2174,3407,0,0,0,0,0,0
$GC,4097,-1.76,-97.3,439.4,-9.7,380,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2174,3404,0,0,0,0,0,0
$GC,4478,-1.76,-97.3,476.2,-9.9,416,4482,0.00,2.55,0.00,0.000,4,0.000,0.067,2787,3658,3401,0,0,0,0,0,0
$GC,4541,-1.80,-97.3,482.5,-10.4,421,4546,0.00,2.50,0.00,0.000,6,0.000,0.056,2787,2175,3400,0,0,0,0,0,0
$GC,4935,-1.80,-97.3,520.3,-9.5,443,4939,0.00,2.58,0.00,0.000,4,0.000,0.069,2787,3663,3397,0,0,0,0,0,0
$GC,4974,-1.80,-97.3,524.6,-10.3,444,4978,0.00,2.53,0.00,0.000,6,0.000,0.055,2787,2180,3398,0,0,0,0,0,0
$GC,5381,-1.80,-97.3,560.4,-8.4,454,5385,0.00,2.60,0.00,0.000,4,0.000,0.074,2787,3657,3394,0,0,0,0,0,0
$GC,5447,-1.84,-97.3,566.6,-9.4,455,5452,0.00,2.55,0.00,0.000,6,0.000,0.066,2787,2184,3394,0,0,0,0,0,0
$GC,5825,-1.84,-97.3,602.2,-9.9,465,5829,0.00,2.65,0.00,0.000,4,0.000,0.090,2787,3661,3391,0,0,0,0,0,0
$GC,5854,-1.88,-97.3,605.2,-11.3,465,5858,0.00,2.58,0.00,0.000,6,0.000,0.074,2787,2194,3391,0,0,0,0,0,0
$GC,6225,-1.88,-97.3,642.6,-10.0,474,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2194,3388,0,0,0,0,0,0
$GC,6591,-1.92,-97.3,678.0,-9.8,483,6597,0.12,2.78,0.00,0.000,4,0.072,0.113,2746,3663,3386,0,0,0,0,0,0
$GC,6682,-1.92,-97.3,688.3,-11.5,485,6687,0.00,2.78,0.00,0.000,6,0.000,0.114,2745,2199,3384,0,0,0,0,0,0
$GC,7082,-1.88,-97.3,734.0,-11.6,495,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2199,3382,0,0,0,0,0,0
$GC,7447,-1.88,-97.3,775.9,-11.4,504,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2199,3381,0,0,0,0,0,0
$GC,7814,-1.88,-97.3,816.1,-11.0,513,7818,0.00,2.53,0.00,0.000,4,0.000,0.067,2745,3663,3380,0,0,0,0,0,0
$GC,7846,-1.88,-97.3,820.1,-11.9,513,7852,0.00,2.50,0.00,0.000,6,0.000,0.052,2746,2194,3379,0,0,0,0,0,0
$GC,8218,-1.88,-97.3,860.5,-11.0,523,8223,0.00,2.55,0.00,0.000,4,0.000,0.074,2745,3656,3377,0,0,0,0,0,0
$GC,8315,-1.88,-97.3,871.3,-10.8,525,8319,0.00,2.47,0.00,0.000,6,0.000,0.059,2745,2209,3376,0,0,0,0,0,0
$STATE,8624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8624,begin apogee
$GC,8631,-0.31,0.0,904.2,10.5,533,8717,1.65,0.00,81.72,1.246,6,0.093,0.000,3106,1928,3010,0,0,0,0,0,0
$STATE,8717,end apogee,CONTROL_FINISHED_OK
$STATE,8717,begin climb
$GC,8722,1.47,97.3,906.0,0.0,535,8824,1.62,3.28,90.57,1.214,4,0.038,0.120,3499,311,2611,0,0,0,0,0,0
$GC,8852,1.22,119.0,902.8,8.5,538,8882,0.28,2.67,21.30,1.144,6,0.124,0.041,3444,1879,2525,0,0,0,0,0,0
$GC,9259,1.17,133.6,867.5,9.0,548,9274,0.00,0.00,13.35,1.098,6,0.000,0.000,3445,1879,2465,0,0,0,0,0,0
$GC,9620,1.13,140.4,832.5,9.5,557,9635,0.12,2.90,7.20,0.973,4,0.137,0.067,3421,3488,2436,0,0,0,0,0,0
$GC,9675,1.13,140.7,827.3,10.0,558,9680,0.00,2.75,0.00,0.000,6,0.000,0.051,3421,1901,2435,0,0,0,0,0,0
$GC,10069,1.16,166.5,793.1,8.2,568,10103,0.00,3.12,26.10,1.132,4,0.000,0.114,3421,308,2329,0,0,0,0,0,0
$GC,10118,1.14,181.9,789.1,9.0,569,10141,0.00,2.67,16.23,1.076,6,0.000,0.035,3421,1909,2268,0,0,0,0,0,0
$GC,10519,1.14,181.9,749.3,10.2,579,10524,0.00,2.90,0.00,0.000,4,0.000,0.083,3421,306,2262,0,0,0,0,0,0
$GC,10576,1.10,181.9,743.0,11.6,580,10581,0.00,2.65,0.00,0.000,6,0.000,0.033,3421,1900,2260,0,0,0,0,0,0
$GC,10964,1.12,198.0,706.4,8.9,590,10981,0.00,0.00,15.48,1.046,6,0.000,0.000,3421,1901,2202,0,0,0,0,0,0
$GC,11330,1.15,218.7,674.7,8.6,599,11352,0.00,0.00,20.83,1.051,6,0.000,0.000,3421,1901,2118,0,0,0,0,0,0
$GC,11697,1.15,221.9,639.7,9.8,608,11702,0.00,2.88,0.00,0.000,4,0.000,0.081,3421,307,2113,0,0,0,0,0,0
$GC,11718,1.15,221.9,637.2,10.4,608,11722,0.00,2.62,0.00,0.000,6,0.000,0.032,3421,1902,2112,0,0,0,0,0,0
$GC,12096,1.19,221.9,597.0,10.9,618,12097,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1903,2111,0,0,0,0,0,0
$GC,12463,1.23,221.9,556.8,11.0,627,12468,0.10,2.90,0.00,0.000,4,0.109,0.082,3446,311,2110,0,0,0,0,0,0
$GC,12496,1.17,221.9,552.3,12.1,627,12502,0.00,2.62,0.00,0.000,6,0.000,0.036,3446,1896,2109,0,0,0,0,0,0
$GC,12868,1.17,221.9,511.7,10.6,637,12873,0.00,2.75,0.00,0.000,4,0.000,0.062,3446,3492,2109,0,0,0,0,0,0
$GC,12896,1.17,221.9,508.8,10.6,637,12901,0.00,2.75,0.00,0.000,6,0.000,0.059,3446,1894,2108,0,0,0,0,0,0
$GC,13283,1.17,223.7,470.0,9.9,667,13294,0.00,3.05,4.38,0.666,4,0.000,0.114,3446,306,2098,0,0,0,0,0,0
$GC,13321,1.17,223.7,465.9,11.5,670,13326,0.00,2.60,0.00,0.000,6,0.000,0.031,3446,1899,2097,0,0,0,0,0,0
$GC,13713,1.17,224.3,426.1,10.0,706,13718,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1899,2097,0,0,0,0,0,0
$GC,14102,1.17,224.9,386.9,10.0,743,14106,0.00,2.83,0.00,0.000,4,0.000,0.071,3446,304,2097,0,0,0,0,0,0
$GC,14167,1.17,224.9,379.4,11.3,748,14173,0.00,2.60,0.00,0.000,6,0.000,0.025,3446,1909,2096,0,0,0,0,0,0
$GC,14556,1.23,233.2,342.7,9.4,785,14572,0.00,2.83,10.62,0.788,4,0.000,0.065,3446,309,2058,0,0,0,0,0,0
$GC,14611,1.24,237.5,337.2,9.7,789,14622,0.00,2.60,5.65,0.668,6,0.000,0.029,3446,1897,2041,0,0,0,0,0,0
$GC,15011,1.31,239.5,301.5,9.9,827,15016,0.00,2.78,0.00,0.000,4,0.000,0.067,3446,306,2039,0,0,0,0,0,0
$GC,15043,1.31,239.5,298.4,10.8,829,15048,0.00,2.55,0.00,0.000,6,0.000,0.024,3446,1899,2038,0,0,0,0,0,0
$GC,15436,1.42,255.2,260.5,8.9,865,15461,0.15,2.85,17.67,0.753,4,0.074,0.066,3486,308,1969,0,0,0,0,0,0
$GC,15519,1.42,255.2,251.6,11.5,872,15525,0.00,2.53,0.00,0.000,6,0.000,0.026,3486,1883,1966,0,0,0,0,0,0
$GC,15909,1.45,255.2,212.3,10.3,909,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1883,1965,0,0,0,0,0,0
$GC,16290,1.56,298.9,179.1,7.0,945,16338,0.12,0.00,39.97,0.690,6,0.086,0.000,3519,1884,1790,0,0,0,0,0,0
$GC,16720,1.56,298.9,132.0,10.7,985,16724,0.00,2.67,0.00,0.000,4,0.000,0.061,3519,307,1787,0,0,0,0,0,0
$GC,16787,1.56,298.9,123.4,13.1,990,16799,0.00,2.53,0.00,0.000,6,0.000,0.020,3519,1895,1785,0,0,0,0,0,0
$GC,17183,1.65,321.7,85.0,8.5,1027,17209,0.00,0.00,20.80,0.581,6,0.000,0.000,3519,1896,1697,0,0,0,0,0,0
$GC,17596,1.73,328.6,48.9,9.5,1066,17612,0.12,2.72,7.57,0.485,4,0.080,0.050,3553,300,1668,0,0,0,0,0,0
$GC,17641,1.69,328.6,43.7,12.9,1069,17646,0.00,2.47,0.00,0.000,6,0.000,0.018,3553,1882,1668,0,0,0,0,0,0
$STATE,17978,end climb,SURFACE_DEPTH_REACHED
$STATE,17978,begin surface coast
$FINISH,0.8,0.974732
$STATE,18020,end surface coast,CONTROL_FINISHED_OK
$STATE,18020,begin surface
$SM_CCo,18045,42.30,0.512,0,0,1460,380.21
$SM_GC,1.43,0.00,0.00,42.30,0.000,0.000,0.512,473,2147,1460,-12.43,1.33,380.21
$IRIDIUM_FIX,2237.01,-15758.03,181000,141432
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,20.00
$XPDR_PINGS,125
$24V_AH,22.9,73.728
$10V_AH,9.8,68.086
$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,30.000,154.025,399.450,42.300,0.000,80.883,115.735,887.978,31.250,0.000,31.913,1972.824,12217.919,524.769,3221.083,1546.026,33.379,1660.812,0.000,3211.753,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,119.652,1245.608,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,766.918,719.808,978.605,1343.138,1125.927,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356224
$DATA_FILE_SIZE,88910,1117
$CAP_FILE_SIZE,169209,0
$CFSIZE,260165632,150245376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,195936,2243.816,-15800.178,35,1.1,35,10.1