version: 66.06
glider: 146
mission: 6
dive: 584
start: 7 25 111 20 10 19
data:
$ID,146
$MISSION,6
$DIVE,584
$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,-282151.88
$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,10
$R_STBD_OVSHOOT,93
$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
$GPS1,195936,2243.816,-15800.178,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.5
$GPS2,200926,2243.813,-15800.253,12,1.0,12,10.1
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,-0.186
$KALMAN_X,-565917.9,-131.9,-26.1,560173.9,-1903.4
$KALMAN_Y,246487.6,-338.2,-99.4,-246218.6,1333.4
$MHEAD_RNG_PITCHd_Wd,139.1,81234,-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,16,-1.47,-97.3,0.0,0.0,0,89,0.00,0.00,-71.20,0.000,2,0.000,0.000,473,2147,3289,0,0,0,0,0,0
$GC,92,-1.47,-97.3,4.0,-7.0,9,118,12.70,2.78,-2.17,0.000,4,0.158,0.052,2845,499,3410,0,0,0,0,0,0
$GC,164,-1.36,-97.3,22.6,-17.3,18,173,0.12,2.45,0.00,0.000,6,0.106,0.016,2875,2064,3411,0,0,0,0,0,0
$GC,567,-1.36,-97.3,79.9,-14.3,58,572,0.00,2.55,0.00,0.000,4,0.000,0.030,2875,3655,3412,0,0,0,0,0,0
$GC,603,-1.36,-97.3,86.0,-15.0,60,613,0.00,2.53,0.00,0.000,6,0.000,0.026,2875,2082,3412,0,0,0,0,0,0
$GC,996,-1.40,-97.3,136.0,-11.7,97,1000,0.00,2.50,0.00,0.000,4,0.000,0.031,2875,3655,3413,0,0,0,0,0,0
$GC,1061,-1.49,-97.3,143.1,-10.4,102,1067,0.10,2.45,0.00,0.000,6,0.079,0.023,2831,2107,3413,0,0,0,0,0,0
$GC,1450,-1.49,-97.3,188.1,-11.9,138,1454,0.00,2.50,0.00,0.000,4,0.000,0.035,2831,3664,3414,0,0,0,0,0,0
$GC,1471,-1.49,-97.3,190.1,-12.0,139,1476,0.00,2.42,0.00,0.000,6,0.000,0.027,2831,2107,3414,0,0,0,0,0,0
$GC,1863,-1.49,-97.3,232.8,-10.3,175,1867,0.00,2.50,0.00,0.000,4,0.000,0.037,2831,3661,3415,0,0,0,0,0,0
$GC,1940,-1.54,-97.3,240.4,-9.6,181,1945,0.00,2.42,0.00,0.000,6,0.000,0.023,2831,2118,3415,0,0,0,0,0,0
$GC,2331,-1.59,-97.3,275.1,-9.7,217,2336,0.00,2.47,0.00,0.000,4,0.000,0.036,2831,3660,3415,0,0,0,0,0,0
$GC,2362,-1.66,-97.3,278.4,-11.6,219,2366,0.00,2.42,0.00,0.000,6,0.000,0.028,2831,2120,3415,0,0,0,0,0,0
$GC,2753,-1.73,-97.3,316.7,-9.2,255,2758,0.15,2.50,0.00,0.000,4,0.061,0.038,2777,3652,3415,0,0,0,0,0,0
$GC,2780,-1.73,-97.3,319.9,-11.3,257,2785,0.10,2.42,0.00,0.000,6,0.113,0.028,2799,2134,3415,0,0,0,0,0,0
$GC,3170,-1.73,-97.3,360.0,-10.1,293,3175,0.00,2.47,0.00,0.000,4,0.000,0.043,2799,3650,3415,0,0,0,0,0,0
$GC,3248,-1.77,-97.3,368.1,-10.3,299,3253,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2133,3414,0,0,0,0,0,0
$GC,3638,-1.77,-97.3,401.8,-8.5,336,3642,0.00,2.53,0.00,0.000,4,0.000,0.053,2799,3653,3412,0,0,0,0,0,0
$GC,3677,-1.82,-97.3,405.4,-8.9,339,3682,0.00,2.53,0.00,0.000,6,0.000,0.041,2799,2135,3412,0,0,0,0,0,0
$GC,4066,-1.82,-97.3,439.8,-9.0,375,4070,0.00,2.55,0.00,0.000,4,0.000,0.054,2799,3652,3409,0,0,0,0,0,0
$GC,4087,-1.82,-97.3,441.9,-9.4,376,4092,0.00,2.55,0.00,0.000,6,0.000,0.053,2799,2137,3409,0,0,0,0,0,0
$GC,4477,-1.86,-97.3,478.8,-9.7,413,4483,0.12,2.60,0.00,0.000,4,0.077,0.064,2760,3646,3406,0,0,0,0,0,0
$GC,4494,-1.86,-97.3,480.9,-10.5,414,4499,0.00,2.55,0.00,0.000,6,0.000,0.054,2760,2141,3406,0,0,0,0,0,0
$GC,4905,-1.86,-97.3,528.9,-11.6,435,4910,0.00,3.12,0.00,0.000,4,0.000,0.121,2759,514,3403,0,0,0,0,0,0
$GC,4921,-1.82,-97.3,531.2,-11.4,435,4926,0.00,2.65,0.00,0.000,6,0.000,0.049,2759,2100,3402,0,0,0,0,0,0
$GC,5304,-1.82,-97.3,572.8,-10.6,445,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2100,3400,0,0,0,0,0,0
$GC,5671,-1.82,-97.3,608.8,-10.0,454,5676,0.00,2.97,0.00,0.000,4,0.000,0.114,2760,3681,3398,0,0,0,0,0,0
$GC,5766,-1.82,-97.3,618.4,-9.9,456,5770,0.00,2.72,0.00,0.000,6,0.000,0.082,2759,2150,3397,0,0,0,0,0,0
$GC,6159,-1.82,-97.3,659.2,-10.1,466,6164,0.00,2.83,0.00,0.000,4,0.000,0.100,2759,3680,3394,0,0,0,0,0,0
$GC,6216,-1.82,-97.3,665.3,-10.8,467,6220,0.00,2.80,0.00,0.000,6,0.000,0.096,2760,2153,3393,0,0,0,0,0,0
$GC,6604,-1.82,-97.3,704.6,-10.1,477,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2154,3391,0,0,0,0,0,0
$GC,6969,-1.82,-97.3,740.2,-9.6,486,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2154,3388,0,0,0,0,0,0
$GC,7337,-1.82,-97.3,775.7,-9.8,495,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2153,3387,0,0,0,0,0,0
$GC,7701,-1.82,-97.3,810.6,-9.5,504,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2153,3385,0,0,0,0,0,0
$GC,8066,-1.82,-97.3,847.6,-10.3,513,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2149,3383,0,0,0,0,0,0
$GC,8434,-1.82,-97.3,884.2,-9.7,522,8438,0.00,3.05,0.00,0.000,4,0.000,0.107,2760,509,3382,0,0,0,0,0,0
$GC,8479,-1.78,-97.3,889.1,-11.3,523,8485,0.12,2.78,0.00,0.000,6,0.116,0.051,2786,2153,3382,0,0,0,0,0,0
$STATE,8634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8635,begin apogee
$GC,8641,-0.31,0.0,903.1,8.7,527,8728,1.42,0.00,83.45,1.243,6,0.085,0.000,3103,1887,3010,0,0,0,0,0,0
$STATE,8729,end apogee,CONTROL_FINISHED_OK
$STATE,8729,begin climb
$GC,8733,1.47,97.3,904.6,0.0,529,8829,1.67,0.00,91.85,1.218,6,0.044,0.000,3504,1887,2613,0,0,0,0,0,0
$GC,9161,1.31,114.0,875.4,8.9,540,9180,0.22,0.00,15.65,1.112,6,0.152,0.000,3462,1887,2545,0,0,0,0,0,0
$GC,9528,1.24,136.1,843.7,8.5,549,9557,0.00,2.92,21.35,1.132,4,0.000,0.091,3461,318,2453,0,0,0,0,0,0
$GC,9580,1.08,136.1,838.4,10.7,550,9585,0.25,2.65,0.00,0.000,6,0.120,0.032,3412,1899,2451,0,0,0,0,0,0
$GC,9974,1.13,174.4,808.0,7.4,560,10015,0.00,0.00,37.30,1.148,6,0.000,0.000,3412,1899,2297,0,0,0,0,0,0
$GC,10383,1.13,174.4,768.9,10.2,570,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1900,2291,0,0,0,0,0,0
$GC,10747,1.13,174.4,729.9,10.8,579,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,1901,2289,0,0,0,0,0,0
$GC,11113,1.13,177.7,692.3,9.8,588,11117,0.00,2.83,0.00,0.000,4,0.000,0.081,3412,322,2287,0,0,0,0,0,0
$GC,11141,1.13,177.7,689.3,10.6,588,11145,0.00,2.62,0.00,0.000,6,0.000,0.036,3412,1904,2286,0,0,0,0,0,0
$GC,11513,1.20,204.1,656.9,8.2,597,11548,0.10,2.97,27.45,1.059,4,0.106,0.081,3437,322,2176,0,0,0,0,0,0
$GC,11574,1.16,208.0,651.4,9.7,598,11584,0.00,2.65,4.70,0.748,6,0.000,0.032,3437,1900,2162,0,0,0,0,0,0
$GC,11962,1.19,235.3,617.9,8.1,608,11991,0.00,0.00,27.20,1.032,6,0.000,0.000,3436,1901,2050,0,0,0,0,0,0
$GC,12327,1.20,242.9,584.3,9.5,617,12337,0.00,0.00,8.15,0.890,6,0.000,0.000,3437,1902,2019,0,0,0,0,0,0
$GC,12694,1.20,242.9,547.7,10.1,626,12699,0.00,2.88,0.00,0.000,4,0.000,0.082,3436,316,2016,0,0,0,0,0,0
$GC,12749,1.20,242.9,540.5,12.9,627,12754,0.00,2.62,0.00,0.000,6,0.000,0.037,3436,1897,2014,0,0,0,0,0,0
$GC,13131,1.24,242.9,492.9,13.3,639,13136,0.00,2.85,0.00,0.000,4,0.000,0.081,3436,316,2014,0,0,0,0,0,0
$GC,13204,1.24,242.9,482.2,14.4,645,13208,0.00,2.60,0.00,0.000,6,0.000,0.035,3437,1894,2013,0,0,0,0,0,0
$GC,13592,1.29,242.9,437.1,11.1,681,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1894,2013,0,0,0,0,0,0
$GC,13975,1.34,242.9,394.8,10.2,717,13980,0.12,2.67,0.00,0.000,4,0.082,0.047,3469,3490,2012,0,0,0,0,0,0
$GC,14016,1.34,242.9,390.3,10.9,720,14020,0.00,2.67,0.00,0.000,6,0.000,0.047,3469,1897,2012,0,0,0,0,0,0
$GC,14404,1.34,242.9,343.8,11.2,756,14409,0.00,2.80,0.00,0.000,4,0.000,0.087,3469,316,2012,0,0,0,0,0,0
$GC,14499,1.34,242.9,332.5,11.9,764,14503,0.00,2.53,0.00,0.000,6,0.000,0.021,3469,1909,2011,0,0,0,0,0,0
$GC,14889,1.35,250.3,295.1,9.5,800,14902,0.00,2.80,7.12,0.701,4,0.000,0.064,3470,313,1989,0,0,0,0,0,0
$GC,14919,1.35,256.1,291.9,9.6,802,14935,0.00,2.50,7.05,0.684,6,0.000,0.021,3470,1880,1966,0,0,0,0,0,0
$GC,15318,1.41,256.1,252.6,10.4,840,15322,0.00,2.72,0.00,0.000,4,0.000,0.066,3470,309,1965,0,0,0,0,0,0
$GC,15403,1.41,256.1,242.3,11.5,847,15407,0.00,2.50,0.00,0.000,6,0.000,0.025,3470,1877,1963,0,0,0,0,0,0
$GC,15794,1.56,323.4,210.7,5.4,883,15862,0.17,2.67,61.42,0.726,4,0.066,0.038,3516,3470,1691,0,0,0,0,0,0
$GC,15887,1.56,327.5,203.0,9.7,891,15898,0.00,2.70,4.78,0.515,6,0.000,0.037,3516,1865,1675,0,0,0,0,0,0
$GC,16287,1.56,327.5,156.1,12.9,929,16292,0.00,2.65,0.00,0.000,4,0.000,0.062,3516,318,1671,0,0,0,0,0,0
$GC,16351,1.56,327.5,147.4,13.5,934,16356,0.00,2.47,0.00,0.000,6,0.000,0.020,3516,1885,1670,0,0,0,0,0,0
$GC,16740,1.64,339.9,103.4,9.2,970,16758,0.00,2.75,11.77,0.574,4,0.000,0.058,3516,319,1623,0,0,0,0,0,0
$GC,16814,1.64,339.9,95.9,10.5,976,16818,0.00,2.45,0.00,0.000,6,0.000,0.019,3516,1875,1621,0,0,0,0,0,0
$GC,17208,1.71,339.9,55.2,10.5,1012,17217,0.12,0.00,0.00,0.000,6,0.076,0.000,3552,1876,1622,0,0,0,0,0,0
$STATE,17637,end climb,SURFACE_DEPTH_REACHED
$STATE,17637,begin surface coast
$FINISH,0.9,0.974956
$STATE,17682,end surface coast,CONTROL_FINISHED_OK
$STATE,17682,begin surface
$SM_CCo,17704,33.72,0.515,0,0,1459,380.21
$SM_GC,1.51,0.00,0.00,33.72,0.000,0.000,0.515,474,2188,1459,-12.42,2.49,380.21
$IRIDIUM_FIX,2239.35,-15800.20,181000,141450
$TT8_MAMPS,0.026078
$HUMID,65.08
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.00
$XPDR_PINGS,138
$24V_AH,22.9,73.883
$10V_AH,9.8,68.249
$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,29.975,143.425,409.250,33.725,0.000,27.342,34.967,344.589,34.500,0.000,13.820,1887.989,12094.697,533.336,2958.169,839.493,33.379,1581.857,0.000,2968.521,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,121.186,1243.307,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,735.676,693.437,928.139,1272.026,1047.442,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356120
$DATA_FILE_SIZE,85708,1071
$CAP_FILE_SIZE,149622,0
$CFSIZE,260165632,150183936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,010726,2242.382,-15800.206,26,99.0,45,10.0