version: 66.06
glider: 146
mission: 6
dive: 587
start: 7 26 111 11 46 31
data:
$ID,146
$MISSION,6
$DIVE,587
$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,-282222.97
$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,12
$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
$GPS1,112901,2239.104,-15759.686,38,1.3,38,10.0
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.5
$GPS2,114543,2239.146,-15759.786,11,1.8,22,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.175
$KALMAN_X,-572129.1,12.2,96.0,566910.9,-2179.1
$KALMAN_Y,247050.8,-8.2,-86.1,-255757.1,135.5
$MHEAD_RNG_PITCHd_Wd,133.8,72562,-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,-70.80,0.000,2,0.000,0.000,473,2200,3278,0,0,0,0,0,0
$GC,94,-1.47,-97.3,3.7,-6.1,9,120,12.57,2.88,-2.33,0.000,4,0.153,0.054,2847,497,3409,0,0,0,0,0,0
$GC,151,-1.29,-97.3,21.3,-22.2,16,161,0.17,2.50,0.00,0.000,6,0.127,0.015,2887,2094,3410,0,0,0,0,0,0
$GC,562,-1.29,-97.3,75.3,-12.7,57,566,0.00,2.50,0.00,0.000,4,0.000,0.031,2887,3664,3411,0,0,0,0,0,0
$GC,597,-1.29,-97.3,80.5,-13.1,59,607,0.00,2.53,0.00,0.000,6,0.000,0.023,2887,2087,3411,0,0,0,0,0,0
$GC,987,-1.34,-97.3,128.9,-13.3,96,991,0.00,2.50,0.00,0.000,4,0.000,0.031,2887,3656,3412,0,0,0,0,0,0
$GC,1054,-1.44,-97.3,136.6,-11.2,101,1059,0.10,2.45,0.00,0.000,6,0.077,0.021,2835,2102,3412,0,0,0,0,0,0
$GC,1442,-1.44,-97.3,179.2,-10.2,137,1444,0.12,0.00,0.00,0.000,6,0.107,0.000,2862,2102,3413,0,0,0,0,0,0
$GC,1827,-1.52,-97.3,216.0,-9.5,173,1832,0.00,2.65,0.00,0.000,4,0.000,0.058,2862,521,3413,0,0,0,0,0,0
$GC,1867,-1.58,-97.3,220.2,-10.5,176,1872,0.15,2.45,0.00,0.000,6,0.067,0.022,2814,2130,3413,0,0,0,0,0,0
$GC,2257,-1.58,-97.3,265.6,-11.7,212,2261,0.00,2.42,0.00,0.000,4,0.000,0.038,2814,3652,3413,0,0,0,0,0,0
$GC,2300,-1.58,-97.3,270.8,-11.0,215,2306,0.00,2.40,0.00,0.000,6,0.000,0.028,2813,2128,3413,0,0,0,0,0,0
$GC,2689,-1.58,-97.3,308.7,-10.3,252,2693,0.00,2.47,0.00,0.000,4,0.000,0.039,2813,3650,3413,0,0,0,0,0,0
$GC,2765,-1.63,-97.3,316.8,-10.6,258,2773,0.00,2.47,0.00,0.000,6,0.000,0.033,2814,2129,3413,0,0,0,0,0,0
$GC,3156,-1.66,-97.3,355.5,-10.2,295,3161,0.00,2.50,0.00,0.000,4,0.000,0.045,2813,3648,3412,0,0,0,0,0,0
$GC,3199,-1.73,-97.3,359.6,-9.7,298,3203,0.00,2.47,0.00,0.000,6,0.000,0.035,2813,2135,3412,0,0,0,0,0,0
$GC,3590,-1.78,-97.3,397.9,-9.4,334,3595,0.12,2.55,0.00,0.000,4,0.067,0.048,2762,3646,3410,0,0,0,0,0,0
$GC,3612,-1.78,-97.3,400.4,-9.7,335,3618,0.12,2.50,0.00,0.000,6,0.104,0.041,2788,2138,3410,0,0,0,0,0,0
$GC,4000,-1.78,-97.3,437.6,-9.6,372,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2138,3407,0,0,0,0,0,0
$GC,4384,-1.78,-97.3,476.1,-10.5,408,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2138,3405,0,0,0,0,0,0
$GC,4768,-1.78,-97.3,518.8,-10.9,433,4772,0.00,2.62,0.00,0.000,4,0.000,0.075,2789,3639,3401,0,0,0,0,0,0
$GC,4880,-1.82,-97.3,530.4,-10.2,435,4885,0.00,2.58,0.00,0.000,6,0.000,0.061,2788,2141,3400,0,0,0,0,0,0
$GC,5258,-1.82,-97.3,567.1,-9.5,445,5262,0.00,2.62,0.00,0.000,4,0.000,0.074,2789,3638,3398,0,0,0,0,0,0
$GC,5302,-1.87,-97.3,571.4,-9.9,446,5307,0.00,2.58,0.00,0.000,6,0.000,0.062,2789,2146,3398,0,0,0,0,0,0
$GC,5704,-1.87,-97.3,609.0,-9.7,456,5708,0.00,2.65,0.00,0.000,4,0.000,0.086,2788,3638,3395,0,0,0,0,0,0
$GC,5759,-1.92,-97.3,614.9,-10.5,457,5764,0.12,2.65,0.00,0.000,6,0.077,0.075,2746,2147,3394,0,0,0,0,0,0
$GC,6150,-1.87,-97.3,657.9,-11.1,467,6154,0.00,2.75,0.00,0.000,4,0.000,0.100,2746,3638,3391,0,0,0,0,0,0
$GC,6182,-1.84,-97.3,661.9,-11.7,467,6188,0.12,2.72,0.00,0.000,6,0.112,0.093,2772,2154,3391,0,0,0,0,0,0
$GC,6556,-1.84,-97.3,696.6,-8.9,477,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2154,3389,0,0,0,0,0,0
$GC,6921,-1.84,-97.3,727.4,-8.5,486,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2154,3387,0,0,0,0,0,0
$GC,7285,-1.84,-97.3,759.1,-8.9,495,7290,0.00,3.17,0.00,0.000,4,0.000,0.127,2772,505,3384,0,0,0,0,0,0
$GC,7325,-1.84,-97.3,763.0,-10.6,496,7329,0.00,2.72,0.00,0.000,6,0.000,0.058,2772,2107,3384,0,0,0,0,0,0
$GC,7731,-1.84,-97.3,801.0,-9.5,506,7736,0.00,2.95,0.00,0.000,4,0.000,0.097,2772,505,3382,0,0,0,0,0,0
$GC,7764,-1.84,-97.3,804.5,-10.3,506,7769,0.00,2.80,0.00,0.000,6,0.000,0.054,2772,2153,3382,0,0,0,0,0,0
$GC,8136,-1.84,-97.3,839.7,-9.4,516,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2153,3381,0,0,0,0,0,0
$GC,8503,-1.84,-97.3,875.0,-9.8,525,8508,0.00,3.00,0.00,0.000,4,0.000,0.097,2772,512,3379,0,0,0,0,0,0
$GC,8519,-1.84,-97.3,876.8,-9.4,525,8524,0.00,2.78,0.00,0.000,6,0.000,0.051,2772,2152,3379,0,0,0,0,0,0
$STATE,8778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8778,begin apogee
$GC,8784,-0.31,0.0,900.7,9.0,532,8871,1.50,0.00,82.28,1.241,6,0.089,0.000,3102,1888,3010,0,0,0,0,0,0
$STATE,8871,end apogee,CONTROL_FINISHED_OK
$STATE,8871,begin climb
$GC,8876,1.47,97.3,902.2,0.0,534,8971,1.65,0.00,91.00,1.213,6,0.040,0.000,3498,1888,2613,0,0,0,0,0,0
$GC,9323,1.32,109.9,870.6,9.1,545,9337,0.17,0.00,11.38,1.071,6,0.127,0.000,3465,1888,2562,0,0,0,0,0,0
$GC,9691,1.23,123.6,837.9,9.1,554,9710,0.00,2.88,14.07,1.095,4,0.000,0.067,3464,3489,2505,0,0,0,0,0,0
$GC,9766,1.13,123.6,830.3,10.3,555,9773,0.20,2.72,0.00,0.000,6,0.129,0.051,3425,1904,2502,0,0,0,0,0,0
$GC,10140,1.16,145.0,798.3,8.5,565,10166,0.00,2.78,20.62,1.118,4,0.000,0.049,3426,3490,2417,0,0,0,0,0,0
$GC,10218,1.17,155.3,791.0,9.3,566,10237,0.00,2.75,11.27,1.041,6,0.000,0.055,3426,1904,2376,0,0,0,0,0,0
$GC,10636,1.20,175.4,754.2,8.6,577,10662,0.00,3.17,20.12,1.104,4,0.000,0.120,3425,313,2293,0,0,0,0,0,0
$GC,10684,1.15,177.2,749.3,9.9,578,10689,0.00,2.67,0.00,0.000,6,0.000,0.032,3426,1917,2291,0,0,0,0,0,0
$GC,11078,1.18,201.9,715.6,8.3,588,11109,0.00,2.97,25.60,1.079,4,0.000,0.082,3426,313,2185,0,0,0,0,0,0
$GC,11176,1.18,201.9,706.1,10.9,590,11180,0.00,2.65,0.00,0.000,6,0.000,0.033,3426,1898,2182,0,0,0,0,0,0
$GC,11570,1.19,210.3,668.1,9.4,600,11584,0.00,2.97,8.45,0.939,4,0.000,0.088,3426,311,2152,0,0,0,0,0,0
$GC,11619,1.19,210.3,662.8,12.3,601,11624,0.00,2.65,0.00,0.000,6,0.000,0.032,3426,1897,2149,0,0,0,0,0,0
$GC,12019,1.19,210.3,621.5,10.5,611,12024,0.00,2.88,0.00,0.000,4,0.000,0.082,3426,313,2148,0,0,0,0,0,0
$GC,12040,1.19,210.3,618.9,11.2,611,12044,0.00,2.62,0.00,0.000,6,0.000,0.037,3425,1898,2147,0,0,0,0,0,0
$GC,12425,1.19,210.3,577.2,10.9,621,12429,0.00,2.85,0.00,0.000,4,0.000,0.081,3426,312,2147,0,0,0,0,0,0
$GC,12474,1.19,210.3,570.9,12.1,622,12478,0.00,2.60,0.00,0.000,6,0.000,0.031,3426,1884,2146,0,0,0,0,0,0
$GC,12870,1.23,210.3,529.0,10.4,632,12875,0.00,2.83,0.00,0.000,4,0.000,0.080,3426,312,2146,0,0,0,0,0,0
$GC,12936,1.23,210.3,521.2,11.0,633,12941,0.00,2.58,0.00,0.000,6,0.000,0.030,3426,1876,2145,0,0,0,0,0,0
$GC,13327,1.28,211.7,481.7,9.9,655,13333,0.12,0.00,0.00,0.000,6,0.083,0.000,3460,1878,2145,0,0,0,0,0,0
$GC,13716,1.28,211.7,440.4,10.3,692,13720,0.00,2.80,0.00,0.000,4,0.000,0.074,3460,305,2145,0,0,0,0,0,0
$GC,13849,1.22,211.7,425.9,10.6,703,13854,0.00,2.55,0.00,0.000,6,0.000,0.029,3460,1876,2144,0,0,0,0,0,0
$GC,14240,1.23,219.7,390.1,9.5,739,14254,0.00,2.83,8.90,0.808,4,0.000,0.075,3460,315,2114,0,0,0,0,0,0
$GC,14319,1.19,219.7,381.6,11.7,746,14324,0.12,2.50,0.00,0.000,6,0.127,0.028,3436,1860,2112,0,0,0,0,0,0
$GC,14710,1.30,254.4,349.4,7.6,782,14752,0.00,2.85,33.25,0.850,4,0.000,0.072,3436,308,1972,0,0,0,0,0,0
$GC,14857,1.30,254.4,334.3,10.7,795,14865,0.00,2.53,0.00,0.000,6,0.000,0.023,3436,1857,1969,0,0,0,0,0,0
$GC,15250,1.42,280.8,298.2,8.2,832,15283,0.20,2.80,25.17,0.797,4,0.065,0.067,3488,306,1863,0,0,0,0,0,0
$GC,15357,1.38,280.8,285.0,13.6,841,15363,0.00,2.47,0.00,0.000,6,0.000,0.023,3488,1849,1860,0,0,0,0,0,0
$GC,15747,1.38,280.8,241.6,10.2,878,15752,0.00,2.67,0.00,0.000,4,0.000,0.064,3487,309,1859,0,0,0,0,0,0
$GC,15881,1.38,280.8,227.4,11.7,889,15885,0.00,2.42,0.00,0.000,6,0.000,0.027,3487,1842,1858,0,0,0,0,0,0
$GC,16275,1.42,284.1,186.9,9.8,925,16280,0.00,2.65,0.00,0.000,4,0.000,0.064,3488,302,1857,0,0,0,0,0,0
$GC,16332,1.42,284.1,180.1,11.3,929,16338,0.00,2.42,0.00,0.000,6,0.000,0.020,3487,1834,1857,0,0,0,0,0,0
$GC,16721,1.49,284.1,141.1,10.2,966,16725,0.00,2.67,0.00,0.000,4,0.000,0.035,3487,3482,1857,0,0,0,0,0,0
$GC,16750,1.56,284.1,138.1,10.2,968,16755,0.10,2.75,0.00,0.000,6,0.092,0.032,3517,1804,1856,0,0,0,0,0,0
$GC,17139,1.64,322.4,101.8,7.4,1004,17180,0.00,0.00,36.55,0.614,6,0.000,0.000,3517,1804,1694,0,0,0,0,0,0
$GC,17569,1.72,322.4,62.4,10.3,1044,17574,0.12,2.55,0.00,0.000,4,0.076,0.058,3553,307,1691,0,0,0,0,0,0
$GC,17626,1.67,322.4,54.9,12.6,1048,17630,0.00,2.40,0.00,0.000,6,0.000,0.018,3553,1850,1691,0,0,0,0,0,0
$STATE,18059,end climb,SURFACE_DEPTH_REACHED
$STATE,18059,begin surface coast
$FINISH,0.8,0.977078
$STATE,18103,end surface coast,CONTROL_FINISHED_OK
$STATE,18103,begin surface
$SM_CCo,18126,47.22,0.518,0,0,1459,380.21
$SM_GC,1.31,0.00,0.00,47.22,0.000,0.000,0.518,474,2177,1459,-12.42,2.18,380.21
$IRIDIUM_FIX,2232.34,-15823.20,191000,111135
$TT8_MAMPS,0.026078
$HUMID,64.01
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,19.90
$XPDR_PINGS,133
$24V_AH,22.9,74.357
$10V_AH,9.8,68.759
$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,30.350,166.125,388.675,47.225,0.000,121.903,153.217,342.159,33.250,0.000,23.902,1974.594,12355.291,523.763,3218.073,1085.347,33.385,1682.437,0.000,3215.239,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,126.555,1241.006,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,758.970,721.497,960.622,1315.467,1104.211,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,85878,1106
$CAP_FILE_SIZE,164051,0
$CFSIZE,260165632,149925888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,165054,2237.713,-15759.844,27,2.0,45,10.0