version: 66.06
glider: 146
mission: 6
dive: 588
start: 7 26 111 17 3 58
data:
$ID,146
$MISSION,6
$DIVE,588
$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,-282239.03
$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,11
$R_STBD_OVSHOOT,61
$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
$GPS1,165054,2237.713,-15759.844,27,2.0,45,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.4
$GPS2,170308,2237.732,-15759.979,13,1.9,13,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,-0.198
$KALMAN_X,-574262.4,-203.3,-176.9,569209.7,-1433.0
$KALMAN_Y,247463.8,-165.0,171.2,-258899.8,-62.3
$MHEAD_RNG_PITCHd_Wd,145.7,69963,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,88,0.00,0.00,-70.45,0.000,2,0.000,0.000,474,2178,3257,0,0,0,0,0,0
$GC,93,-1.47,-97.3,3.7,-5.9,9,119,12.68,2.83,-2.75,0.000,4,0.157,0.052,2847,499,3409,0,0,0,0,0,0
$GC,170,-1.37,-97.3,23.4,-16.3,19,178,0.10,2.50,0.00,0.000,6,0.107,0.016,2871,2093,3411,0,0,0,0,0,0
$GC,576,-1.37,-97.3,80.8,-11.8,59,580,0.00,2.50,0.00,0.000,4,0.000,0.031,2871,3673,3412,0,0,0,0,0,0
$GC,609,-1.37,-97.3,84.8,-11.2,61,613,0.00,2.53,0.00,0.000,6,0.000,0.023,2871,2082,3412,0,0,0,0,0,0
$GC,1001,-1.43,-97.3,129.9,-10.5,97,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2082,3412,0,0,0,0,0,0
$GC,1391,-1.51,-97.3,168.0,-10.1,134,1396,0.10,2.55,0.00,0.000,4,0.085,0.036,2832,3673,3413,0,0,0,0,0,0
$GC,1466,-1.51,-97.3,176.8,-11.5,140,1471,0.00,2.45,0.00,0.000,6,0.000,0.021,2831,2113,3413,0,0,0,0,0,0
$GC,1857,-1.51,-97.3,215.6,-10.0,176,1861,0.00,2.50,0.00,0.000,4,0.000,0.037,2831,3672,3414,0,0,0,0,0,0
$GC,1907,-1.56,-97.3,221.4,-11.5,180,1911,0.00,2.45,0.00,0.000,6,0.000,0.020,2832,2104,3414,0,0,0,0,0,0
$GC,2296,-1.61,-97.3,263.2,-9.4,216,2300,0.00,2.65,0.00,0.000,4,0.000,0.061,2832,526,3414,0,0,0,0,0,0
$GC,2315,-1.61,-97.3,264.6,-8.3,217,2319,0.00,2.45,0.00,0.000,6,0.000,0.018,2832,2110,3414,0,0,0,0,0,0
$GC,2707,-1.68,-97.3,299.4,-10.4,253,2712,0.00,2.53,0.00,0.000,4,0.000,0.042,2832,3664,3414,0,0,0,0,0,0
$GC,2782,-1.77,-97.3,307.3,-10.2,259,2788,0.17,2.45,0.00,0.000,6,0.051,0.026,2763,2126,3414,0,0,0,0,0,0
$GC,3173,-1.73,-97.3,356.2,-13.0,295,3175,0.17,0.00,0.00,0.000,6,0.101,0.000,2800,2126,3413,0,0,0,0,0,0
$GC,3557,-1.73,-97.3,394.9,-9.3,331,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2126,3411,0,0,0,0,0,0
$GC,3946,-1.77,-97.3,431.8,-9.6,368,3950,0.00,2.60,0.00,0.000,4,0.000,0.058,2800,3660,3409,0,0,0,0,0,0
$GC,3991,-1.84,-97.3,436.3,-10.6,371,3997,0.12,2.60,0.00,0.000,6,0.070,0.049,2759,2123,3409,0,0,0,0,0,0
$GC,4379,-1.84,-97.3,483.0,-12.0,408,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2123,3406,0,0,0,0,0,0
$GC,4773,-1.84,-97.3,526.6,-10.2,428,4778,0.00,2.70,0.00,0.000,4,0.000,0.076,2758,3660,3403,0,0,0,0,0,0
$GC,4857,-1.84,-97.3,535.5,-10.7,430,4862,0.00,2.65,0.00,0.000,6,0.000,0.058,2759,2112,3402,0,0,0,0,0,0
$GC,5264,-1.84,-97.3,576.6,-10.4,440,5269,0.00,3.15,0.00,0.000,4,0.000,0.137,2759,512,3399,0,0,0,0,0,0
$GC,5281,-1.79,-97.3,578.5,-10.3,440,5287,0.12,2.67,0.00,0.000,6,0.118,0.057,2784,2085,3399,0,0,0,0,0,0
$GC,5665,-1.79,-97.3,615.3,-9.3,450,5669,0.00,2.95,0.00,0.000,4,0.000,0.102,2784,3684,3396,0,0,0,0,0,0
$GC,5716,-1.83,-97.3,620.2,-10.0,451,5721,0.00,2.80,0.00,0.000,6,0.000,0.082,2784,2109,3396,0,0,0,0,0,0
$GC,6110,-1.83,-97.3,655.9,-8.6,461,6114,0.00,2.88,0.00,0.000,4,0.000,0.098,2784,3681,3393,0,0,0,0,0,0
$GC,6165,-1.87,-97.3,660.8,-8.7,462,6170,0.00,2.88,0.00,0.000,6,0.000,0.092,2784,2113,3393,0,0,0,0,0,0
$GC,6555,-1.87,-97.3,694.1,-9.1,472,6560,0.00,3.00,0.00,0.000,4,0.000,0.117,2783,3680,3390,0,0,0,0,0,0
$GC,6599,-1.93,-97.3,698.7,-10.5,473,6605,0.12,2.80,0.00,0.000,6,0.073,0.076,2744,2107,3390,0,0,0,0,0,0
$GC,7001,-1.89,-97.3,743.1,-11.4,483,7006,0.00,3.08,0.00,0.000,4,0.000,0.123,2744,512,3387,0,0,0,0,0,0
$GC,7019,-1.83,-97.3,745.3,-11.6,483,7024,0.15,2.72,0.00,0.000,6,0.116,0.054,2774,2119,3387,0,0,0,0,0,0
$GC,7402,-1.83,-97.3,785.8,-10.4,493,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2119,3386,0,0,0,0,0,0
$GC,7769,-1.83,-97.3,822.2,-9.7,502,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2119,3383,0,0,0,0,0,0
$GC,8133,-1.83,-97.3,856.4,-9.2,511,8138,0.00,2.95,0.00,0.000,4,0.000,0.095,2774,512,3382,0,0,0,0,0,0
$GC,8165,-1.83,-97.3,859.7,-10.1,511,8171,0.00,2.72,0.00,0.000,6,0.000,0.050,2774,2120,3382,0,0,0,0,0,0
$GC,8540,-1.83,-97.3,893.3,-9.1,521,8544,0.00,2.92,0.00,0.000,4,0.000,0.093,2774,510,3381,0,0,0,0,0,0
$GC,8561,-1.83,-97.3,895.6,-9.3,521,8565,0.00,2.72,0.00,0.000,6,0.000,0.048,2774,2121,3380,0,0,0,0,0,0
$STATE,8610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8610,begin apogee
$GC,8616,-0.31,0.0,900.4,9.5,523,8703,1.50,0.00,82.78,1.238,6,0.088,0.000,3104,1884,3010,0,0,0,0,0,0
$STATE,8704,end apogee,CONTROL_FINISHED_OK
$STATE,8704,begin climb
$GC,8708,1.47,97.3,902.3,0.0,525,8804,1.67,0.00,91.72,1.213,6,0.039,0.000,3505,1884,2613,0,0,0,0,0,0
$GC,9139,1.32,125.2,875.6,8.1,536,9171,0.20,2.88,25.50,1.152,4,0.123,0.068,3466,3489,2499,0,0,0,0,0,0
$GC,9190,1.25,150.5,871.5,8.3,537,9221,0.00,2.75,25.48,1.141,6,0.000,0.054,3466,1901,2396,0,0,0,0,0,0
$GC,9588,1.16,150.5,831.5,10.2,547,9590,0.20,0.00,0.00,0.000,6,0.121,0.000,3427,1901,2386,0,0,0,0,0,0
$GC,9952,1.18,168.9,799.3,8.8,556,9971,0.00,0.00,17.25,1.101,6,0.000,0.000,3427,1901,2321,0,0,0,0,0,0
$GC,10319,1.20,183.1,766.2,9.0,565,10336,0.00,0.00,14.75,1.070,6,0.000,0.000,3427,1901,2263,0,0,0,0,0,0
$GC,10683,1.21,192.6,732.2,9.4,574,10695,0.00,0.00,10.00,1.002,6,0.000,0.000,3427,1901,2223,0,0,0,0,0,0
$GC,11049,1.24,217.9,700.2,8.3,583,11080,0.00,3.10,25.05,1.071,4,0.000,0.112,3426,313,2121,0,0,0,0,0,0
$GC,11109,1.24,217.9,694.6,10.8,584,11114,0.00,2.65,0.00,0.000,6,0.000,0.031,3427,1898,2119,0,0,0,0,0,0
$GC,11492,1.26,229.7,659.2,9.2,594,11512,0.10,2.85,12.07,0.988,4,0.096,0.064,3453,3487,2072,0,0,0,0,0,0
$GC,11541,1.26,229.7,654.0,11.2,595,11546,0.00,2.78,0.00,0.000,6,0.000,0.055,3453,1887,2071,0,0,0,0,0,0
$GC,11942,1.26,229.7,610.3,11.2,605,11946,0.00,2.70,0.00,0.000,4,0.000,0.051,3453,3491,2068,0,0,0,0,0,0
$GC,11963,1.26,229.7,607.3,12.6,605,11967,0.00,2.75,0.00,0.000,6,0.000,0.056,3453,1895,2068,0,0,0,0,0,0
$GC,12342,1.26,229.7,563.3,11.5,615,12347,0.00,3.05,0.00,0.000,4,0.000,0.117,3453,315,2067,0,0,0,0,0,0
$GC,12414,1.19,229.7,553.9,13.4,616,12419,0.00,2.60,0.00,0.000,6,0.000,0.030,3453,1890,2066,0,0,0,0,0,0
$GC,12787,1.19,229.7,512.5,10.8,625,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1892,2066,0,0,0,0,0,0
$GC,13163,1.20,230.6,475.7,9.9,649,13168,0.00,2.83,0.00,0.000,4,0.000,0.080,3453,313,2066,0,0,0,0,0,0
$GC,13241,1.15,230.6,466.4,12.2,655,13247,0.12,2.58,0.00,0.000,6,0.128,0.032,3428,1885,2064,0,0,0,0,0,0
$GC,13630,1.21,234.2,426.8,9.8,692,13641,0.00,2.72,4.22,0.634,4,0.000,0.054,3428,3493,2055,0,0,0,0,0,0
$GC,13666,1.27,234.4,423.1,10.0,695,13671,0.10,2.75,0.00,0.000,6,0.097,0.050,3454,1878,2055,0,0,0,0,0,0
$GC,14056,1.27,234.4,380.2,10.8,731,14060,0.00,2.83,0.00,0.000,4,0.000,0.088,3454,308,2054,0,0,0,0,0,0
$GC,14164,1.27,234.4,367.6,11.5,740,14168,0.00,2.55,0.00,0.000,6,0.000,0.023,3454,1893,2053,0,0,0,0,0,0
$GC,14554,1.32,251.2,329.1,8.9,776,14578,0.00,2.83,17.90,0.814,4,0.000,0.069,3454,312,1984,0,0,0,0,0,0
$GC,14662,1.32,251.2,317.8,10.2,785,14668,0.00,2.53,0.00,0.000,6,0.000,0.028,3454,1881,1981,0,0,0,0,0,0
$GC,15051,1.40,261.3,282.3,9.3,822,15067,0.10,2.65,10.32,0.735,4,0.091,0.038,3482,3480,1943,0,0,0,0,0,0
$GC,15084,1.40,261.3,278.7,10.9,824,15090,0.00,2.67,0.00,0.000,6,0.000,0.039,3482,1861,1942,0,0,0,0,0,0
$GC,15473,1.40,263.0,238.2,9.9,861,15477,0.00,2.70,0.00,0.000,4,0.000,0.071,3482,312,1941,0,0,0,0,0,0
$GC,15516,1.40,263.0,233.3,11.1,864,15524,0.00,2.50,0.00,0.000,6,0.000,0.021,3482,1871,1940,0,0,0,0,0,0
$GC,15909,1.46,275.3,196.4,9.2,901,15930,0.00,2.75,13.93,0.677,4,0.000,0.058,3482,312,1886,0,0,0,0,0,0
$GC,16038,1.46,275.3,182.6,10.8,912,16043,0.00,2.45,0.00,0.000,6,0.000,0.020,3482,1869,1884,0,0,0,0,0,0
$GC,16427,1.54,294.5,144.3,8.7,948,16448,0.12,0.00,18.45,0.639,6,0.080,0.000,3516,1869,1809,0,0,0,0,0,0
$GC,16830,1.60,304.9,106.2,9.3,986,16843,0.00,0.00,10.35,0.568,6,0.000,0.000,3516,1870,1766,0,0,0,0,0,0
$GC,17226,1.70,325.7,70.5,8.6,1023,17255,0.12,2.72,20.05,0.563,4,0.077,0.052,3552,313,1680,0,0,0,0,0,0
$GC,17325,1.66,325.7,58.9,13.3,1030,17334,0.00,2.45,0.00,0.000,6,0.000,0.018,3552,1858,1679,0,0,0,0,0,0
$GC,17758,1.66,325.7,8.6,10.2,1080,17768,0.00,2.62,0.00,0.000,4,0.000,0.052,3552,320,1679,0,0,0,0,0,0
$STATE,17796,end climb,SURFACE_DEPTH_REACHED
$STATE,17796,begin surface coast
$FINISH,0.7,0.974275
$STATE,17832,end surface coast,CONTROL_FINISHED_OK
$STATE,17832,begin surface
$SM_CCo,17859,44.78,0.515,0,0,1460,380.21
$SM_GC,1.47,0.00,0.00,44.78,0.000,0.000,0.515,476,2123,1460,-12.42,0.65,380.21
$IRIDIUM_FIX,2232.34,-15801.07,191000,171736
$TT8_MAMPS,0.025311
$HUMID,63.93
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.10
$XPDR_PINGS,166
$24V_AH,22.9,74.515
$10V_AH,9.8,68.929
$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,30.500,157.650,399.825,44.775,0.000,53.591,76.700,350.096,41.500,0.000,15.427,1934.841,12122.231,555.706,3085.169,921.088,33.380,1637.954,0.000,3083.355,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,136.526,1237.938,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,748.150,703.839,944.788,1301.638,1107.859,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355876
$DATA_FILE_SIZE,85819,1090
$CAP_FILE_SIZE,158386,0
$CFSIZE,260165632,149852160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260711,220406,2236.185,-15800.411,50,1.2,61,10.0