version: 66.06
glider: 146
mission: 6
dive: 590
start: 7 27 111 3 31 46
data:
$ID,146
$MISSION,6
$DIVE,590
$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,-282267.66
$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,22
$R_STBD_OVSHOOT,58
$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
$GPS1,031627,2234.782,-15800.795,34,99.0,53,10.0
$_CALLS,2
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.8
$GPS2,033056,2234.843,-15800.946,11,1.5,11,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.112,-0.186
$KALMAN_X,-579380.8,-180.2,-84.8,572562.6,-1768.6
$KALMAN_Y,248776.1,324.2,45.2,-265924.9,195.4
$MHEAD_RNG_PITCHd_Wd,138.9,64727,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.47,-97.3,0.0,0.0,0,85,0.00,0.00,-63.47,0.000,2,0.000,0.000,473,2172,3061,0,0,0,0,0,0
$GC,88,-1.47,-97.3,3.4,-6.7,10,116,12.57,2.80,-7.05,0.000,4,0.155,0.052,2849,511,3408,0,0,0,0,0,0
$GC,132,-1.04,-97.3,14.3,-21.8,16,139,0.40,2.50,0.00,0.000,6,0.093,0.018,2946,2107,3409,0,0,0,0,0,0
$GC,530,-1.15,-97.3,59.7,-11.0,65,534,0.10,2.50,0.00,0.000,4,0.085,0.031,2908,3664,3410,0,0,0,0,0,0
$GC,562,-1.23,-97.3,63.9,-12.6,67,566,0.00,2.50,0.00,0.000,6,0.000,0.022,2908,2091,3410,0,0,0,0,0,0
$GC,955,-1.33,-97.3,107.5,-9.6,103,960,0.10,2.53,0.00,0.000,4,0.085,0.036,2868,3662,3411,0,0,0,0,0,0
$GC,987,-1.39,-97.3,111.5,-11.0,105,993,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2107,3411,0,0,0,0,0,0
$GC,1376,-1.45,-97.3,150.5,-10.5,142,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2107,3411,0,0,0,0,0,0
$GC,1759,-1.53,-97.3,191.0,-9.5,178,1760,0.12,0.00,0.00,0.000,6,0.068,0.000,2822,2107,3413,0,0,0,0,0,0
$GC,2129,-1.53,-97.3,229.8,-9.8,193,2134,0.00,2.47,0.00,0.000,4,0.000,0.031,2822,3661,3413,0,0,0,0,0,0
$GC,2157,-1.53,-97.3,232.8,-9.8,193,2161,0.00,2.42,0.00,0.000,6,0.000,0.028,2822,2107,3412,0,0,0,0,0,0
$GC,2528,-1.53,-97.3,270.2,-10.4,202,2533,0.00,2.50,0.00,0.000,4,0.000,0.033,2821,3653,3413,0,0,0,0,0,0
$GC,2615,-1.60,-97.3,279.8,-10.5,204,2620,0.00,2.42,0.00,0.000,6,0.000,0.024,2822,2128,3412,0,0,0,0,0,0
$GC,3021,-1.64,-97.3,320.3,-9.6,214,3026,0.00,2.50,0.00,0.000,4,0.000,0.038,2821,3652,3412,0,0,0,0,0,0
$GC,3063,-1.73,-97.3,324.4,-10.1,215,3068,0.10,2.45,0.00,0.000,6,0.081,0.034,2779,2138,3412,0,0,0,0,0,0
$GC,3468,-1.73,-97.3,371.0,-11.4,225,3473,0.00,2.50,0.00,0.000,4,0.000,0.044,2779,3655,3410,0,0,0,0,0,0
$GC,3518,-1.73,-97.3,376.9,-11.8,226,3522,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2139,3410,0,0,0,0,0,0
$GC,3914,-1.73,-97.3,419.3,-10.3,236,3918,0.00,2.53,0.00,0.000,4,0.000,0.051,2778,3653,3408,0,0,0,0,0,0
$GC,3964,-1.73,-97.3,424.9,-10.4,237,3968,0.00,2.50,0.00,0.000,6,0.000,0.050,2778,2145,3407,0,0,0,0,0,0
$GC,4360,-1.73,-97.3,468.1,-11.3,247,4364,0.00,2.53,0.00,0.000,4,0.000,0.061,2779,3646,3404,0,0,0,0,0,0
$GC,4415,-1.73,-97.3,475.0,-11.8,248,4419,0.00,2.53,0.00,0.000,6,0.000,0.051,2778,2150,3404,0,0,0,0,0,0
$GC,4803,-1.73,-97.3,518.0,-11.1,258,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2150,3401,0,0,0,0,0,0
$GC,5170,-1.73,-97.3,557.0,-10.2,267,5175,0.00,2.65,0.00,0.000,4,0.000,0.081,2779,3648,3399,0,0,0,0,0,0
$GC,5244,-1.73,-97.3,564.4,-9.2,268,5248,0.00,2.58,0.00,0.000,6,0.000,0.060,2779,2153,3398,0,0,0,0,0,0
$GC,5616,-1.73,-97.3,598.4,-9.5,277,5620,0.00,2.65,0.00,0.000,4,0.000,0.086,2779,3642,3395,0,0,0,0,0,0
$GC,5702,-1.73,-97.3,607.1,-9.8,279,5706,0.00,2.62,0.00,0.000,6,0.000,0.078,2778,2161,3394,0,0,0,0,0,0
$GC,6110,-1.73,-97.3,643.2,-8.4,289,6115,0.00,3.28,0.00,0.000,4,0.000,0.138,2778,514,3392,0,0,0,0,0,0
$GC,6143,-1.73,-97.3,646.3,-8.8,289,6149,0.00,2.83,0.00,0.000,6,0.000,0.072,2778,2112,3391,0,0,0,0,0,0
$GC,6517,-1.73,-97.3,675.6,-7.9,299,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2112,3389,0,0,0,0,0,0
$GC,6881,-1.73,-97.3,708.1,-9.2,308,6886,0.00,3.22,0.00,0.000,4,0.000,0.146,2778,518,3386,0,0,0,0,0,0
$GC,6903,-1.73,-97.3,710.4,-10.0,308,6907,0.00,3.05,0.00,0.000,6,0.000,0.100,2778,2152,3386,0,0,0,0,0,0
$GC,7281,-1.73,-97.3,746.3,-9.7,318,7286,0.00,3.08,0.00,0.000,4,0.000,0.107,2778,516,3384,0,0,0,0,0,0
$GC,7336,-1.73,-97.3,752.5,-11.8,319,7341,0.00,2.80,0.00,0.000,6,0.000,0.056,2778,2162,3383,0,0,0,0,0,0
$GC,7727,-1.73,-97.3,790.4,-9.6,329,7731,0.00,3.05,0.00,0.000,4,0.000,0.096,2778,508,3382,0,0,0,0,0,0
$GC,7750,-1.73,-97.3,792.7,-9.5,329,7754,0.00,2.78,0.00,0.000,6,0.000,0.051,2778,2155,3381,0,0,0,0,0,0
$GC,8127,-1.77,-97.3,827.7,-9.2,339,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2155,3380,0,0,0,0,0,0
$GC,8494,-1.77,-97.3,858.2,-8.0,348,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2155,3378,0,0,0,0,0,0
$GC,8858,-1.81,-97.3,888.7,-8.4,357,8863,0.00,3.00,0.00,0.000,4,0.000,0.095,2778,515,3377,0,0,0,0,0,0
$GC,8898,-1.81,-97.3,892.3,-9.6,358,8902,0.00,2.78,0.00,0.000,6,0.000,0.049,2778,2155,3376,0,0,0,0,0,0
$STATE,9016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9016,begin apogee
$GC,9024,-0.31,0.0,902.9,8.7,361,9110,1.48,0.00,81.93,1.245,6,0.086,0.000,3105,1890,3010,0,0,0,0,0,0
$STATE,9110,end apogee,CONTROL_FINISHED_OK
$STATE,9110,begin climb
$GC,9113,1.47,97.3,904.4,0.0,363,9209,1.65,0.00,91.85,1.216,6,0.038,0.000,3502,1890,2613,0,0,0,0,0,0
$GC,9545,1.33,128.7,877.9,7.9,374,9580,0.17,2.92,28.85,1.160,4,0.128,0.071,3469,3490,2484,0,0,0,0,0,0
$GC,9600,1.27,159.5,873.8,7.9,374,9637,0.00,2.75,30.40,1.151,6,0.000,0.057,3469,1907,2359,0,0,0,0,0,0
$GC,10035,1.18,160.9,831.0,9.9,385,10040,0.17,2.70,0.00,0.000,4,0.124,0.052,3435,3494,2350,0,0,0,0,0,0
$GC,10075,1.19,164.2,826.9,9.8,386,10080,0.00,2.75,0.00,0.000,6,0.000,0.050,3435,1899,2348,0,0,0,0,0,0
$GC,10480,1.19,170.6,789.2,9.6,396,10495,0.00,2.78,9.90,1.024,4,0.000,0.050,3434,3492,2314,0,0,0,0,0,0
$GC,10530,1.19,170.6,784.2,10.1,397,10535,0.00,2.75,0.00,0.000,6,0.000,0.057,3435,1909,2312,0,0,0,0,0,0
$GC,10925,1.20,177.1,746.0,9.6,407,10934,0.00,0.00,7.53,0.950,6,0.000,0.000,3435,1909,2287,0,0,0,0,0,0
$GC,11292,1.21,182.9,710.7,9.6,416,11306,0.00,3.17,6.95,0.921,4,0.000,0.120,3434,315,2264,0,0,0,0,0,0
$GC,11340,1.14,182.9,705.2,11.9,417,11345,0.00,2.67,0.00,0.000,6,0.000,0.034,3434,1917,2262,0,0,0,0,0,0
$GC,11740,1.15,189.3,666.5,9.6,427,11754,0.00,2.80,7.40,0.921,4,0.000,0.066,3434,3479,2237,0,0,0,0,0,0
$GC,11790,1.16,195.2,661.8,9.6,428,11804,0.00,2.72,7.47,0.909,6,0.000,0.056,3435,1904,2214,0,0,0,0,0,0
$GC,12193,1.18,208.7,624.2,9.1,438,12209,0.00,0.00,14.07,0.992,6,0.000,0.000,3434,1904,2159,0,0,0,0,0,0
$GC,12561,1.18,210.4,588.4,9.9,447,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1904,2156,0,0,0,0,0,0
$GC,12924,1.18,210.4,549.8,10.5,456,12929,0.00,2.67,0.00,0.000,4,0.000,0.044,3434,3489,2154,0,0,0,0,0,0
$GC,12957,1.18,210.4,546.2,10.6,456,12962,0.00,2.70,0.00,0.000,6,0.000,0.054,3435,1911,2153,0,0,0,0,0,0
$GC,13330,1.18,213.8,508.6,9.8,466,13338,0.00,0.00,5.57,0.770,6,0.000,0.000,3434,1911,2138,0,0,0,0,0,0
$GC,13694,1.19,223.7,474.7,9.3,475,13713,0.00,3.08,10.93,0.884,4,0.000,0.114,3434,313,2097,0,0,0,0,0,0
$GC,13741,1.19,223.7,470.1,10.0,476,13746,0.00,2.65,0.00,0.000,6,0.000,0.030,3435,1922,2095,0,0,0,0,0,0
$GC,14144,1.25,230.6,432.0,9.5,486,14158,0.00,2.95,7.75,0.805,4,0.000,0.079,3434,312,2069,0,0,0,0,0,0
$GC,14214,1.25,230.6,424.1,11.8,487,14218,0.00,2.60,0.00,0.000,6,0.000,0.028,3434,1902,2067,0,0,0,0,0,0
$GC,14600,1.32,246.2,389.0,8.9,497,14624,0.12,2.67,16.20,0.858,4,0.081,0.048,3469,3484,2005,0,0,0,0,0,0
$GC,14674,1.32,246.2,381.1,10.3,498,14679,0.00,2.70,0.00,0.000,6,0.000,0.041,3469,1891,2002,0,0,0,0,0,0
$GC,15046,1.32,246.2,342.3,10.4,507,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1891,2001,0,0,0,0,0,0
$GC,15413,1.32,246.2,304.4,10.2,516,15414,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1891,2000,0,0,0,0,0,0
$GC,15778,1.37,253.6,269.5,9.5,525,15792,0.00,2.85,7.57,0.690,4,0.000,0.074,3469,310,1976,0,0,0,0,0,0
$GC,15831,1.37,253.6,263.8,10.6,526,15836,0.00,2.58,0.00,0.000,6,0.000,0.026,3469,1935,1975,0,0,0,0,0,0
$GC,16228,1.43,260.6,225.8,9.5,536,16242,0.00,2.88,8.15,0.662,4,0.000,0.061,3469,312,1946,0,0,0,0,0,0
$GC,16254,1.45,271.8,223.1,9.2,536,16273,0.00,2.55,12.00,0.690,6,0.000,0.020,3469,1905,1901,0,0,0,0,0,0
$GC,16657,1.52,280.9,184.0,9.4,556,16673,0.15,2.80,9.52,0.640,4,0.075,0.064,3509,311,1864,0,0,0,0,0,0
$GC,16767,1.52,280.9,171.4,10.8,565,16771,0.00,2.53,0.00,0.000,6,0.000,0.026,3509,1898,1862,0,0,0,0,0,0
$GC,17157,1.52,280.9,130.3,11.1,601,17162,0.00,2.70,0.00,0.000,4,0.000,0.056,3509,313,1862,0,0,0,0,0,0
$GC,17254,1.52,280.9,119.1,13.0,609,17259,0.00,2.47,0.00,0.000,6,0.000,0.020,3509,1890,1861,0,0,0,0,0,0
$GC,17645,1.61,298.3,84.8,8.8,645,17669,0.00,2.72,16.60,0.581,4,0.000,0.052,3509,311,1793,0,0,0,0,0,0
$GC,17705,1.62,311.3,79.4,9.1,650,17729,0.00,2.47,12.70,0.557,6,0.000,0.018,3509,1889,1740,0,0,0,0,0,0
$GC,18114,1.73,340.0,46.8,8.0,688,18143,0.17,0.00,26.48,0.549,6,0.062,0.000,3558,1889,1622,0,0,0,0,0,0
$STATE,18481,end climb,SURFACE_DEPTH_REACHED
$STATE,18481,begin surface coast
$FINISH,0.8,0.974939
$STATE,18517,end surface coast,CONTROL_FINISHED_OK
$STATE,18517,begin surface
$SM_CCo,18540,32.72,0.512,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,32.72,0.000,0.000,0.512,477,2121,1459,-12.41,0.59,380.21
$IRIDIUM_FIX,2225.34,-15801.95,201000,030342
$TT8_MAMPS,0.026078
$HUMID,65.63
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.30
$XPDR_PINGS,135
$24V_AH,22.9,74.836
$10V_AH,9.9,69.128
$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,29.900,162.800,419.825,32.725,0.000,56.609,73.519,514.784,33.750,0.000,12.901,1473.021,14330.229,557.230,2040.591,1031.444,33.384,1483.240,0.000,2035.366,0.000,0.533,0.000
$DEVICE_MAMPS,154.934,146.497,1244.841,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,512.489,350.160,477.791,778.974,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356088
$DATA_FILE_SIZE,57302,751
$CAP_FILE_SIZE,150607,0
$CFSIZE,260165632,149737472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,084307,2233.150,-15800.771,65,1.1,65,10.0