version: 66.06
glider: 146
mission: 6
dive: 589
start: 7 26 111 22 17 22
data:
$ID,146
$MISSION,6
$DIVE,589
$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,-282254.12
$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,21
$R_STBD_OVSHOOT,75
$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
$GPS1,220406,2236.185,-15800.411,50,1.2,61,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.1
$GPS2,221632,2236.259,-15800.547,12,1.6,12,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,-0.193
$KALMAN_X,-576809.6,-302.3,-89.5,570803.6,-1591.2
$KALMAN_Y,248254.0,57.1,-28.4,-262445.5,761.6
$MHEAD_RNG_PITCHd_Wd,143.1,67293,-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,17,-1.47,-97.3,0.0,0.0,0,88,0.00,0.00,-68.43,0.000,2,0.000,0.000,476,2123,3184,0,0,0,0,0,0
$GC,91,-1.47,-97.3,3.4,-6.5,11,119,12.70,2.72,-4.43,0.000,4,0.159,0.054,2850,516,3409,0,0,0,0,0,0
$GC,128,-0.72,-97.3,15.0,-29.6,16,136,0.73,2.45,0.00,0.000,6,0.091,0.023,3012,2085,3409,0,0,0,0,0,0
$GC,522,-0.98,-97.3,46.6,-7.5,68,524,0.22,0.00,0.00,0.000,6,0.048,0.000,2943,2087,3411,0,0,0,0,0,0
$GC,905,-1.09,-97.3,85.6,-10.3,104,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2087,3412,0,0,0,0,0,0
$GC,1286,-1.27,-97.3,118.2,-8.2,140,1288,0.17,0.00,0.00,0.000,6,0.057,0.000,2886,2087,3413,0,0,0,0,0,0
$GC,1671,-1.37,-97.3,156.4,-8.8,176,1675,0.00,2.50,0.00,0.000,4,0.000,0.034,2886,3661,3414,0,0,0,0,0,0
$GC,1716,-1.49,-97.3,160.6,-9.2,179,1723,0.15,2.47,0.00,0.000,6,0.059,0.024,2827,2090,3414,0,0,0,0,0,0
$GC,2133,-1.49,-97.3,211.7,-13.4,213,2138,0.10,2.53,0.00,0.000,4,0.119,0.031,2849,3652,3414,0,0,0,0,0,0
$GC,2229,-1.59,-97.3,223.2,-11.1,215,2234,0.00,2.40,0.00,0.000,6,0.000,0.028,2849,2110,3414,0,0,0,0,0,0
$GC,2624,-1.66,-97.3,258.8,-8.4,225,2629,0.15,2.50,0.00,0.000,4,0.061,0.034,2797,3650,3414,0,0,0,0,0,0
$GC,2687,-1.66,-97.3,265.2,-10.7,226,2691,0.00,2.40,0.00,0.000,6,0.000,0.029,2797,2117,3415,0,0,0,0,0,0
$GC,3069,-1.66,-97.3,307.5,-11.5,236,3073,0.00,2.47,0.00,0.000,4,0.000,0.042,2797,3654,3414,0,0,0,0,0,0
$GC,3198,-1.66,-97.3,323.1,-11.3,239,3202,0.00,2.42,0.00,0.000,6,0.000,0.031,2797,2130,3414,0,0,0,0,0,0
$GC,3605,-1.66,-97.3,365.9,-9.8,249,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2131,3413,0,0,0,0,0,0
$GC,3968,-1.66,-97.3,402.3,-10.8,258,3972,0.00,2.53,0.00,0.000,4,0.000,0.053,2797,3651,3411,0,0,0,0,0,0
$GC,4001,-1.69,-97.3,405.8,-10.5,258,4007,0.00,2.50,0.00,0.000,6,0.000,0.047,2797,2133,3412,0,0,0,0,0,0
$GC,4374,-1.69,-97.3,445.7,-10.7,268,4379,0.00,3.00,0.00,0.000,4,0.000,0.106,2796,517,3409,0,0,0,0,0,0
$GC,4418,-1.69,-97.3,450.7,-10.9,269,4422,0.00,2.60,0.00,0.000,6,0.000,0.040,2796,2088,3408,0,0,0,0,0,0
$GC,4819,-1.69,-97.3,487.6,-8.6,279,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2088,3405,0,0,0,0,0,0
$GC,5183,-1.73,-97.3,520.9,-9.6,288,5188,0.00,2.83,0.00,0.000,4,0.000,0.079,2796,3689,3402,0,0,0,0,0,0
$GC,5250,-1.79,-97.3,528.2,-10.9,289,5254,0.00,2.65,0.00,0.000,6,0.000,0.052,2796,2131,3402,0,0,0,0,0,0
$GC,5629,-1.83,-97.3,568.6,-10.7,299,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2131,3399,0,0,0,0,0,0
$GC,5993,-1.88,-97.3,603.6,-8.9,308,5995,0.12,0.00,0.00,0.000,6,0.076,0.000,2757,2131,3397,0,0,0,0,0,0
$GC,6358,-1.88,-97.3,637.8,-9.3,317,6363,0.00,2.85,0.00,0.000,4,0.000,0.100,2758,3681,3394,0,0,0,0,0,0
$GC,6403,-1.88,-97.3,642.5,-10.3,318,6408,0.00,2.78,0.00,0.000,6,0.000,0.091,2758,2139,3394,0,0,0,0,0,0
$GC,6802,-1.88,-97.3,686.3,-11.2,328,6807,0.00,2.92,0.00,0.000,4,0.000,0.117,2757,3678,3391,0,0,0,0,0,0
$GC,6846,-1.88,-97.3,691.4,-11.7,329,6850,0.00,2.75,0.00,0.000,6,0.000,0.081,2757,2136,3391,0,0,0,0,0,0
$GC,7247,-1.88,-97.3,735.9,-10.9,339,7252,0.00,3.15,0.00,0.000,4,0.000,0.130,2757,513,3388,0,0,0,0,0,0
$GC,7280,-1.82,-97.3,739.9,-11.7,339,7286,0.10,2.80,0.00,0.000,6,0.131,0.058,2776,2137,3388,0,0,0,0,0,0
$GC,7653,-1.82,-97.3,777.1,-9.8,349,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2137,3386,0,0,0,0,0,0
$GC,8017,-1.82,-97.3,812.4,-9.7,358,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2137,3384,0,0,0,0,0,0
$GC,8383,-1.82,-97.3,849.6,-10.3,367,8387,0.00,3.00,0.00,0.000,4,0.000,0.100,2776,505,3382,0,0,0,0,0,0
$GC,8426,-1.82,-97.3,854.7,-11.8,368,8431,0.00,2.78,0.00,0.000,6,0.000,0.054,2777,2140,3382,0,0,0,0,0,0
$GC,8828,-1.85,-97.3,897.3,-10.4,378,8833,0.00,3.00,0.00,0.000,4,0.000,0.094,2777,505,3381,0,0,0,0,0,0
$STATE,8853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8853,begin apogee
$GC,8861,-0.31,0.0,900.6,11.5,378,8952,1.45,0.00,82.68,1.234,6,0.087,0.000,3101,1901,3010,0,0,0,0,0,0
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8957,1.47,97.3,904.2,0.0,381,9059,1.65,2.95,90.40,1.213,4,0.041,0.086,3499,3481,2612,0,0,0,0,0,0
$GC,9076,1.38,171.9,903.7,4.9,383,9152,0.12,2.80,69.68,1.193,6,0.142,0.061,3477,1894,2309,0,0,0,0,0,0
$GC,9528,1.28,171.9,853.8,12.1,395,9533,0.12,2.72,0.00,0.000,4,0.136,0.053,3454,3490,2297,0,0,0,0,0,0
$GC,9561,1.23,171.9,849.6,12.3,395,9567,0.00,2.75,0.00,0.000,6,0.000,0.054,3454,1901,2296,0,0,0,0,0,0
$GC,9935,1.18,171.9,806.1,11.7,405,9940,0.10,2.72,0.00,0.000,4,0.143,0.049,3434,3496,2294,0,0,0,0,0,0
$GC,9951,1.13,171.9,803.9,11.5,405,9956,0.00,2.75,0.00,0.000,6,0.000,0.051,3434,1905,2293,0,0,0,0,0,0
$GC,10335,1.13,171.9,763.4,10.5,415,10340,0.00,2.70,0.00,0.000,4,0.000,0.054,3434,3490,2292,0,0,0,0,0,0
$GC,10386,1.13,171.9,757.7,10.8,416,10390,0.00,2.72,0.00,0.000,6,0.000,0.054,3434,1912,2291,0,0,0,0,0,0
$GC,10781,1.14,175.0,718.6,9.8,426,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1912,2290,0,0,0,0,0,0
$GC,11148,1.16,194.6,685.7,8.7,435,11173,0.00,3.20,19.23,1.049,4,0.000,0.121,3433,309,2216,0,0,0,0,0,0
$GC,11232,1.11,194.6,676.8,11.4,437,11236,0.00,2.67,0.00,0.000,6,0.000,0.033,3433,1916,2214,0,0,0,0,0,0
$GC,11638,1.11,194.6,635.2,10.4,447,11643,0.00,2.90,0.00,0.000,4,0.000,0.088,3433,311,2212,0,0,0,0,0,0
$GC,11671,1.06,194.6,631.0,11.5,447,11677,0.12,2.65,0.00,0.000,6,0.135,0.031,3409,1908,2211,0,0,0,0,0,0
$GC,12043,1.14,205.1,595.8,9.3,457,12060,0.00,2.78,11.05,0.952,4,0.000,0.061,3409,3485,2172,0,0,0,0,0,0
$GC,12090,1.23,222.5,591.6,8.8,458,12115,0.15,2.72,18.05,0.983,6,0.082,0.056,3447,1895,2100,0,0,0,0,0,0
$GC,12496,1.23,222.5,547.4,10.8,468,12500,0.00,2.67,0.00,0.000,4,0.000,0.044,3447,3485,2096,0,0,0,0,0,0
$GC,12524,1.23,222.5,544.1,10.8,468,12529,0.00,2.72,0.00,0.000,6,0.000,0.055,3447,1904,2095,0,0,0,0,0,0
$GC,12895,1.23,222.5,502.0,11.4,477,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1904,2095,0,0,0,0,0,0
$GC,13261,1.23,222.5,462.3,10.9,486,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1904,2094,0,0,0,0,0,0
$GC,13627,1.23,222.5,424.7,10.3,495,13628,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1904,2093,0,0,0,0,0,0
$GC,13994,1.23,222.5,386.6,10.5,504,13999,0.00,2.92,0.00,0.000,4,0.000,0.097,3447,305,2093,0,0,0,0,0,0
$GC,14065,1.23,222.5,378.2,11.8,505,14070,0.00,2.60,0.00,0.000,6,0.000,0.026,3447,1917,2092,0,0,0,0,0,0
$GC,14439,1.28,222.5,340.6,10.1,514,14440,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1918,2092,0,0,0,0,0,0
$GC,14803,1.39,271.5,313.1,6.7,523,14854,0.12,2.88,44.55,0.821,4,0.083,0.071,3479,310,1902,0,0,0,0,0,0
$GC,14917,1.39,271.5,301.1,12.7,525,14922,0.00,2.58,0.00,0.000,6,0.000,0.021,3479,1908,1900,0,0,0,0,0,0
$GC,15290,1.39,271.5,260.0,10.5,534,15295,0.00,2.80,0.00,0.000,4,0.000,0.061,3479,302,1897,0,0,0,0,0,0
$GC,15345,1.39,271.5,253.6,11.2,535,15350,0.00,2.55,0.00,0.000,6,0.000,0.023,3479,1898,1895,0,0,0,0,0,0
$GC,15737,1.45,279.1,216.2,9.5,545,15751,0.00,2.65,7.20,0.624,4,0.000,0.035,3479,3473,1871,0,0,0,0,0,0
$GC,15768,1.52,288.7,213.0,9.3,545,15785,0.10,2.65,10.15,0.660,6,0.088,0.033,3508,1873,1833,0,0,0,0,0,0
$GC,16166,1.52,288.7,170.3,12.3,574,16170,0.00,2.70,0.00,0.000,4,0.000,0.064,3507,313,1830,0,0,0,0,0,0
$GC,16250,1.52,288.7,159.0,13.7,581,16254,0.00,2.47,0.00,0.000,6,0.000,0.019,3507,1900,1829,0,0,0,0,0,0
$GC,16641,1.56,288.7,118.1,10.1,617,16645,0.00,2.70,0.00,0.000,4,0.000,0.055,3508,315,1829,0,0,0,0,0,0
$GC,16725,1.56,288.7,109.3,11.7,624,16729,0.00,2.42,0.00,0.000,6,0.000,0.019,3508,1871,1829,0,0,0,0,0,0
$GC,17121,1.69,331.9,74.5,7.1,661,17171,0.15,2.72,38.83,0.581,4,0.068,0.053,3550,320,1655,0,0,0,0,0,0
$GC,17214,1.69,331.9,65.8,10.3,668,17221,0.00,2.45,0.00,0.000,6,0.000,0.018,3550,1867,1653,0,0,0,0,0,0
$GC,17607,1.69,331.9,20.6,12.4,711,17615,0.00,2.65,0.00,0.000,4,0.000,0.053,3550,320,1653,0,0,0,0,0,0
$GC,17657,1.64,331.9,14.7,12.7,719,17664,0.00,2.42,0.00,0.000,6,0.000,0.018,3550,1865,1653,0,0,0,0,0,0
$STATE,17743,end climb,SURFACE_DEPTH_REACHED
$STATE,17743,begin surface coast
$FINISH,0.9,0.972902
$STATE,17784,end surface coast,CONTROL_FINISHED_OK
$STATE,17784,begin surface
$SM_CCo,17807,39.30,0.514,0,0,1459,380.21
$SM_GC,1.69,0.00,0.00,39.30,0.000,0.000,0.514,473,2171,1459,-12.43,2.01,380.21
$IRIDIUM_FIX,2230.01,-15758.91,191000,222244
$TT8_MAMPS,0.026078
$HUMID,65.27
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.30
$XPDR_PINGS,116
$24V_AH,22.9,74.670
$10V_AH,9.8,69.028
$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,31.000,156.325,391.800,39.300,0.000,59.426,73.501,367.128,29.000,0.000,14.479,1431.617,13695.022,504.858,2056.378,887.772,33.386,1445.873,0.000,2045.706,0.000,0.533,0.000
$DEVICE_MAMPS,158.769,130.390,1234.103,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.466,348.976,482.554,815.220,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,54345,742
$CAP_FILE_SIZE,144395,0
$CFSIZE,260165632,149811200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,031627,2234.782,-15800.795,34,99.0,53,10.0