version: 66.06
glider: 146
mission: 6
dive: 592
start: 7 27 111 13 59 58
data:
$ID,146
$MISSION,6
$DIVE,592
$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,-282299
$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,60
$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
$GPS1,135207,2231.243,-15800.911,40,1.0,40,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.7
$GPS2,135907,2231.251,-15800.979,16,1.3,16,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.169
$KALMAN_X,-583947.2,129.3,-93.2,576768.9,-2231.0
$KALMAN_Y,249505.0,-328.1,-108.8,-272497.0,652.2
$MHEAD_RNG_PITCHd_Wd,131.3,58102,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-69.68,0.000,2,0.000,0.000,473,2171,3239,0,0,0,0,0,0
$GC,93,-1.47,-97.3,4.1,-8.5,11,114,12.52,2.78,-3.08,0.000,4,0.153,0.051,2848,499,3407,0,0,0,0,0,0
$GC,143,-1.30,-97.3,19.7,-17.9,19,152,0.15,2.50,0.00,0.000,6,0.104,0.017,2883,2094,3409,0,0,0,0,0,0
$GC,535,-1.30,-97.3,66.0,-13.2,63,539,0.00,2.50,0.00,0.000,4,0.000,0.031,2883,3667,3410,0,0,0,0,0,0
$GC,554,-1.30,-97.3,68.8,-13.2,64,559,0.00,2.53,0.00,0.000,6,0.000,0.022,2884,2068,3411,0,0,0,0,0,0
$GC,943,-1.35,-97.3,117.1,-9.1,100,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2067,3411,0,0,0,0,0,0
$GC,1326,-1.44,-97.3,152.1,-9.2,136,1330,0.00,2.55,0.00,0.000,4,0.000,0.032,2884,3659,3413,0,0,0,0,0,0
$GC,1367,-1.58,-97.3,155.6,-8.7,139,1372,0.22,2.47,0.00,0.000,6,0.046,0.021,2811,2086,3413,0,0,0,0,0,0
$GC,1785,-1.58,-97.3,205.7,-11.7,175,1790,0.00,2.53,0.00,0.000,4,0.000,0.028,2811,3668,3413,0,0,0,0,0,0
$GC,1809,-1.58,-97.3,208.6,-12.8,175,1813,0.00,2.47,0.00,0.000,6,0.000,0.023,2811,2094,3413,0,0,0,0,0,0
$GC,2185,-1.58,-97.3,250.4,-10.4,185,2190,0.00,2.53,0.00,0.000,4,0.000,0.031,2811,3668,3414,0,0,0,0,0,0
$GC,2212,-1.58,-97.3,253.3,-10.2,185,2217,0.00,2.45,0.00,0.000,6,0.000,0.022,2811,2107,3414,0,0,0,0,0,0
$GC,2587,-1.58,-97.3,289.8,-9.6,194,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2107,3414,0,0,0,0,0,0
$GC,2950,-1.58,-97.3,325.7,-9.5,203,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2107,3414,0,0,0,0,0,0
$GC,3316,-1.58,-97.3,360.8,-9.6,212,3320,0.00,2.55,0.00,0.000,4,0.000,0.045,2811,3656,3413,0,0,0,0,0,0
$GC,3362,-1.65,-97.3,365.5,-9.7,213,3366,0.00,2.53,0.00,0.000,6,0.000,0.038,2811,2120,3413,0,0,0,0,0,0
$GC,3762,-1.69,-97.3,401.4,-9.0,223,3766,0.00,2.58,0.00,0.000,4,0.000,0.049,2811,3660,3410,0,0,0,0,0,0
$GC,3819,-1.76,-97.3,407.0,-9.9,224,3823,0.00,2.58,0.00,0.000,6,0.000,0.044,2811,2114,3410,0,0,0,0,0,0
$GC,4208,-1.81,-97.3,442.9,-9.1,234,4210,0.12,0.00,0.00,0.000,6,0.074,0.000,2770,2114,3407,0,0,0,0,0,0
$GC,4572,-1.81,-97.3,481.4,-10.6,243,4577,0.00,2.62,0.00,0.000,4,0.000,0.061,2770,3648,3405,0,0,0,0,0,0
$GC,4624,-1.81,-97.3,486.5,-9.3,244,4629,0.00,2.62,0.00,0.000,6,0.000,0.059,2770,2106,3404,0,0,0,0,0,0
$GC,5018,-1.81,-97.3,524.4,-9.9,254,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2106,3401,0,0,0,0,0,0
$GC,5383,-1.81,-97.3,563.1,-10.8,263,5388,0.00,2.72,0.00,0.000,4,0.000,0.077,2770,3650,3399,0,0,0,0,0,0
$GC,5424,-1.81,-97.3,567.4,-11.5,264,5428,0.00,2.67,0.00,0.000,6,0.000,0.067,2770,2105,3399,0,0,0,0,0,0
$GC,5829,-1.81,-97.3,610.2,-10.4,274,5833,0.00,2.75,0.00,0.000,4,0.000,0.089,2770,3644,3396,0,0,0,0,0,0
$GC,5884,-1.81,-97.3,616.0,-10.0,275,5888,0.00,2.75,0.00,0.000,6,0.000,0.084,2770,2104,3396,0,0,0,0,0,0
$GC,6273,-1.81,-97.3,655.5,-10.3,285,6278,0.00,2.83,0.00,0.000,4,0.000,0.100,2770,3649,3393,0,0,0,0,0,0
$GC,6317,-1.81,-97.3,660.4,-10.3,286,6321,0.00,2.83,0.00,0.000,6,0.000,0.095,2770,2116,3393,0,0,0,0,0,0
$GC,6718,-1.81,-97.3,698.5,-9.4,296,6723,0.00,2.92,0.00,0.000,4,0.000,0.115,2770,3651,3390,0,0,0,0,0,0
$GC,6751,-1.81,-97.3,701.9,-9.9,296,6757,0.00,2.95,0.00,0.000,6,0.000,0.120,2770,2112,3389,0,0,0,0,0,0
$GC,7123,-1.81,-97.3,736.1,-9.2,306,7128,0.00,3.05,0.00,0.000,4,0.000,0.139,2770,3644,3388,0,0,0,0,0,0
$GC,7164,-1.81,-97.3,740.1,-10.6,307,7168,0.00,2.67,0.00,0.000,6,0.000,0.073,2770,2112,3388,0,0,0,0,0,0
$GC,7568,-1.81,-97.3,778.9,-10.1,317,7573,0.00,2.70,0.00,0.000,4,0.000,0.080,2770,3646,3386,0,0,0,0,0,0
$GC,7608,-1.81,-97.3,783.1,-10.9,318,7612,0.00,2.67,0.00,0.000,6,0.000,0.071,2770,2112,3386,0,0,0,0,0,0
$GC,8015,-1.81,-97.3,823.7,-9.8,328,8020,0.00,3.10,0.00,0.000,4,0.000,0.127,2770,511,3383,0,0,0,0,0,0
$GC,8032,-1.81,-97.3,825.5,-9.3,328,8037,0.00,2.65,0.00,0.000,6,0.000,0.055,2770,2072,3383,0,0,0,0,0,0
$GC,8417,-1.81,-97.3,861.5,-9.2,338,8421,0.00,2.88,0.00,0.000,4,0.000,0.096,2770,508,3382,0,0,0,0,0,0
$GC,8440,-1.81,-97.3,863.7,-8.8,338,8445,0.00,2.72,0.00,0.000,6,0.000,0.050,2770,2116,3382,0,0,0,0,0,0
$GC,8817,-1.81,-97.3,895.8,-8.5,348,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2117,3380,0,0,0,0,0,0
$STATE,8895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8896,begin apogee
$GC,8902,-0.31,0.0,902.6,8.4,350,8989,1.52,0.00,83.35,1.240,6,0.088,0.000,3106,1894,3010,0,0,0,0,0,0
$STATE,8990,end apogee,CONTROL_FINISHED_OK
$STATE,8990,begin climb
$GC,8994,1.47,97.3,903.7,0.0,352,9094,1.65,2.90,91.55,1.221,4,0.037,0.075,3502,3494,2612,0,0,0,0,0,0
$GC,9107,1.35,153.9,901.4,6.2,354,9167,0.17,2.78,53.47,1.196,6,0.226,0.057,3470,1904,2382,0,0,0,0,0,0
$GC,9545,1.26,153.9,851.2,12.0,365,9547,0.10,0.00,0.00,0.000,6,0.147,0.000,3451,1904,2369,0,0,0,0,0,0
$GC,9911,1.19,153.9,811.9,10.4,374,9916,0.00,3.00,0.00,0.000,4,0.000,0.107,3451,313,2367,0,0,0,0,0,0
$GC,9956,1.06,153.9,806.7,12.2,375,9962,0.22,2.65,0.00,0.000,6,0.121,0.034,3407,1904,2366,0,0,0,0,0,0
$GC,10356,1.10,181.3,772.8,8.1,385,10383,0.00,0.00,24.85,1.117,6,0.000,0.000,3407,1905,2270,0,0,0,0,0,0
$GC,10723,1.16,198.9,741.1,8.8,394,10747,0.00,3.00,17.50,1.074,4,0.000,0.084,3406,317,2197,0,0,0,0,0,0
$GC,10760,1.17,214.1,737.7,9.0,394,10784,0.10,2.65,16.08,1.054,6,0.096,0.037,3431,1897,2136,0,0,0,0,0,0
$GC,11175,1.17,214.1,694.7,10.5,405,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1898,2130,0,0,0,0,0,0
$GC,11540,1.17,214.1,656.2,10.3,414,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1899,2128,0,0,0,0,0,0
$GC,11905,1.18,215.2,619.2,9.9,423,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1900,2127,0,0,0,0,0,0
$GC,12270,1.18,215.2,582.9,10.1,432,12274,0.00,2.90,0.00,0.000,4,0.000,0.084,3431,312,2127,0,0,0,0,0,0
$GC,12315,1.18,215.2,577.9,10.8,433,12319,0.00,2.62,0.00,0.000,6,0.000,0.033,3431,1897,2126,0,0,0,0,0,0
$GC,12714,1.18,215.2,537.4,10.0,443,12719,0.00,2.85,0.00,0.000,4,0.000,0.081,3431,312,2126,0,0,0,0,0,0
$GC,12735,1.18,215.8,535.0,10.0,443,12740,0.00,2.62,0.00,0.000,6,0.000,0.038,3431,1902,2125,0,0,0,0,0,0
$GC,13115,1.18,219.2,497.8,9.8,453,13124,0.00,2.88,4.10,0.655,4,0.000,0.083,3431,309,2116,0,0,0,0,0,0
$GC,13146,1.18,221.1,494.1,9.9,453,13152,0.00,2.62,0.00,0.000,6,0.000,0.032,3431,1897,2116,0,0,0,0,0,0
$GC,13519,1.25,248.3,462.0,8.1,463,13554,0.00,2.78,29.25,0.940,4,0.000,0.058,3431,3485,1996,0,0,0,0,0,0
$GC,13572,1.33,265.1,457.4,8.9,463,13599,0.15,2.72,17.10,0.893,6,0.080,0.052,3469,1897,1928,0,0,0,0,0,0
$GC,13966,1.33,265.1,411.2,12.4,473,13971,0.00,2.92,0.00,0.000,4,0.000,0.104,3469,313,1923,0,0,0,0,0,0
$GC,14028,1.28,265.1,402.5,13.5,474,14033,0.00,2.58,0.00,0.000,6,0.000,0.031,3469,1899,1922,0,0,0,0,0,0
$GC,14411,1.28,265.1,357.7,11.0,484,14415,0.00,2.78,0.00,0.000,4,0.000,0.071,3469,311,1921,0,0,0,0,0,0
$GC,14456,1.24,265.1,352.5,11.7,485,14461,0.12,2.55,0.00,0.000,6,0.128,0.030,3445,1891,1920,0,0,0,0,0,0
$GC,14858,1.30,265.1,313.2,10.1,495,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1891,1920,0,0,0,0,0,0
$GC,15222,1.39,265.1,274.7,10.5,504,15224,0.15,0.00,0.00,0.000,6,0.074,0.000,3485,1892,1920,0,0,0,0,0,0
$GC,15589,1.40,273.1,238.2,9.5,513,15598,0.00,0.00,7.32,0.663,6,0.000,0.000,3485,1892,1896,0,0,0,0,0,0
$GC,15953,1.44,273.1,199.4,11.6,522,15957,0.00,2.72,0.00,0.000,4,0.000,0.064,3485,304,1895,0,0,0,0,0,0
$GC,16050,1.44,273.1,187.4,11.5,530,16054,0.00,2.53,0.00,0.000,6,0.000,0.028,3485,1902,1894,0,0,0,0,0,0
$GC,16439,1.50,274.4,146.8,9.9,566,16444,0.00,2.72,0.00,0.000,4,0.000,0.059,3485,305,1894,0,0,0,0,0,0
$GC,16526,1.54,300.9,138.4,8.2,573,16559,0.10,2.47,26.02,0.650,6,0.097,0.025,3513,1887,1783,0,0,0,0,0,0
$GC,16945,1.60,300.9,101.5,10.4,612,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,1887,1780,0,0,0,0,0,0
$GC,17336,1.69,316.9,61.0,8.9,649,17355,0.12,0.00,15.23,0.553,6,0.081,0.000,3549,1888,1717,0,0,0,0,0,0
$GC,17733,1.69,316.9,16.9,11.4,698,17741,0.00,2.70,0.00,0.000,4,0.000,0.058,3549,312,1716,0,0,0,0,0,0
$GC,17765,1.63,316.9,13.3,11.6,703,17773,0.00,2.45,0.00,0.000,6,0.000,0.019,3549,1873,1716,0,0,0,0,0,0
$STATE,17842,end climb,SURFACE_DEPTH_REACHED
$STATE,17843,begin surface coast
$FINISH,1.0,0.980045
$STATE,17878,end surface coast,CONTROL_FINISHED_OK
$STATE,17879,begin surface
$SM_CCo,17901,52.53,0.520,0,0,1459,380.21
$SM_GC,1.54,0.00,0.00,52.53,0.000,0.000,0.520,475,2162,1459,-12.42,1.75,380.21
$IRIDIUM_FIX,2223.01,-15802.82,201000,080825
$TT8_MAMPS,0.026078
$HUMID,64.60
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.30
$XPDR_PINGS,153
$24V_AH,22.9,75.140
$10V_AH,10.0,69.312
$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,30.025,151.750,385.825,52.525,0.000,29.953,36.675,196.969,38.250,0.000,18.093,1392.492,13934.586,539.188,1877.104,624.003,33.378,1402.958,0.000,1866.707,0.000,0.533,0.000
$DEVICE_MAMPS,226.265,138.827,1240.239,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.261,337.815,456.676,728.550,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,54305,723
$CAP_FILE_SIZE,134907,0
$CFSIZE,260165632,149618688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,190127,2229.705,-15800.845,72,99.0,91,10.0