version: 66.06
glider: 146
mission: 6
dive: 597
start: 7 28 111 15 54 40
data:
$ID,146
$MISSION,6
$DIVE,597
$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,-282379.53
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,64
$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
$GPS1,154636,2224.031,-15800.297,43,1.2,56,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.6
$GPS2,155349,2224.005,-15800.396,9,1.2,14,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,-0.177
$KALMAN_X,-594398.8,28.9,-24.8,588244.9,-2028.1
$KALMAN_Y,251788.2,-418.8,-7.3,-288213.8,619.8
$MHEAD_RNG_PITCHd_Wd,134.5,44647,-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,-97.3,0.0,0.0,0,82,0.00,0.00,-63.58,0.000,2,0.000,0.000,474,2112,3033,0,0,0,0,0,0
$GC,86,-1.47,-97.3,3.2,-5.2,10,114,12.77,2.70,-7.55,0.000,4,0.161,0.054,2850,500,3408,0,0,0,0,0,0
$GC,170,-1.34,-97.3,22.5,-19.2,24,178,0.10,2.50,0.00,0.000,6,0.108,0.016,2873,2093,3410,0,0,0,0,0,0
$GC,569,-1.34,-97.3,79.4,-13.6,65,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2094,3411,0,0,0,0,0,0
$GC,958,-1.39,-97.3,120.8,-10.8,102,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2095,3413,0,0,0,0,0,0
$GC,1341,-1.45,-97.3,163.2,-9.1,138,1345,0.00,2.50,0.00,0.000,4,0.000,0.037,2874,3657,3414,0,0,0,0,0,0
$GC,1358,-1.53,-97.3,164.7,-8.1,139,1364,0.15,2.50,0.00,0.000,6,0.059,0.026,2819,2074,3414,0,0,0,0,0,0
$GC,1775,-1.53,-97.3,208.9,-10.7,172,1777,0.10,0.00,0.00,0.000,6,0.121,0.000,2840,2073,3415,0,0,0,0,0,0
$GC,2141,-1.57,-97.3,245.3,-9.2,181,2145,0.00,2.53,0.00,0.000,4,0.000,0.031,2840,3656,3415,0,0,0,0,0,0
$GC,2193,-1.65,-97.3,249.8,-8.8,182,2198,0.10,2.47,0.00,0.000,6,0.077,0.029,2794,2092,3415,0,0,0,0,0,0
$GC,2587,-1.65,-97.3,293.1,-11.3,192,2591,0.00,2.55,0.00,0.000,4,0.000,0.035,2794,3658,3415,0,0,0,0,0,0
$GC,2637,-1.65,-97.3,299.1,-11.8,193,2642,0.00,2.47,0.00,0.000,6,0.000,0.027,2794,2103,3415,0,0,0,0,0,0
$GC,3031,-1.65,-97.3,341.5,-10.0,203,3036,0.00,2.55,0.00,0.000,4,0.000,0.049,2794,3656,3415,0,0,0,0,0,0
$GC,3093,-1.65,-97.3,347.5,-9.3,204,3097,0.00,2.53,0.00,0.000,6,0.000,0.037,2794,2114,3415,0,0,0,0,0,0
$GC,3477,-1.65,-97.3,383.4,-9.4,214,3481,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3648,3414,0,0,0,0,0,0
$GC,3526,-1.65,-97.3,388.5,-9.7,215,3531,0.00,2.58,0.00,0.000,6,0.000,0.050,2794,2107,3413,0,0,0,0,0,0
$GC,3921,-1.65,-97.3,426.9,-10.1,225,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2107,3411,0,0,0,0,0,0
$GC,4285,-1.65,-97.3,465.7,-10.8,234,4290,0.00,2.65,0.00,0.000,4,0.000,0.064,2794,3652,3408,0,0,0,0,0,0
$GC,4329,-1.70,-97.3,470.6,-11.5,235,4334,0.00,2.60,0.00,0.000,6,0.000,0.058,2794,2122,3408,0,0,0,0,0,0
$GC,4730,-1.70,-97.3,515.2,-11.5,245,4735,0.00,2.62,0.00,0.000,4,0.000,0.071,2794,3644,3405,0,0,0,0,0,0
$GC,4757,-1.74,-97.3,518.6,-11.3,245,4762,0.00,2.60,0.00,0.000,6,0.000,0.061,2794,2122,3405,0,0,0,0,0,0
$GC,5130,-1.78,-97.3,555.7,-9.3,254,5134,0.00,2.67,0.00,0.000,4,0.000,0.071,2794,3647,3402,0,0,0,0,0,0
$GC,5187,-1.83,-97.3,561.1,-9.1,255,5191,0.00,2.62,0.00,0.000,6,0.000,0.064,2794,2131,3402,0,0,0,0,0,0
$GC,5575,-1.87,-97.3,595.6,-8.9,265,5581,0.12,2.70,0.00,0.000,4,0.074,0.082,2756,3649,3399,0,0,0,0,0,0
$GC,5608,-1.87,-97.3,599.3,-11.1,265,5614,0.00,2.67,0.00,0.000,6,0.000,0.078,2755,2130,3398,0,0,0,0,0,0
$GC,5982,-1.87,-97.3,638.6,-10.4,275,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2130,3396,0,0,0,0,0,0
$GC,6346,-1.87,-97.3,673.1,-9.3,284,6351,0.00,2.83,0.00,0.000,4,0.000,0.110,2755,3642,3393,0,0,0,0,0,0
$GC,6389,-1.87,-97.3,677.4,-10.1,285,6394,0.00,2.83,0.00,0.000,6,0.000,0.104,2755,2136,3393,0,0,0,0,0,0
$GC,6791,-1.87,-97.3,714.3,-9.4,295,6796,0.00,2.95,0.00,0.000,4,0.000,0.133,2755,3642,3390,0,0,0,0,0,0
$GC,6813,-1.87,-97.3,716.6,-9.8,295,6817,0.00,2.67,0.00,0.000,6,0.000,0.074,2755,2130,3390,0,0,0,0,0,0
$GC,7190,-1.87,-97.3,750.8,-9.0,305,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2129,3388,0,0,0,0,0,0
$GC,7557,-1.87,-97.3,783.6,-9.1,314,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2128,3387,0,0,0,0,0,0
$GC,7921,-1.87,-97.3,817.5,-9.4,323,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2127,3385,0,0,0,0,0,0
$GC,8286,-1.87,-97.3,853.3,-10.0,332,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2127,3383,0,0,0,0,0,0
$GC,8653,-1.87,-97.3,891.7,-10.8,341,8658,0.00,3.15,0.00,0.000,4,0.000,0.128,2755,504,3382,0,0,0,0,0,0
$GC,8697,-1.83,-97.3,897.0,-11.4,342,8703,0.10,2.72,0.00,0.000,6,0.129,0.054,2774,2100,3381,0,0,0,0,0,0
$STATE,8729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8729,begin apogee
$GC,8736,-0.31,0.0,900.5,10.4,343,8823,1.50,0.00,83.32,1.241,6,0.090,0.000,3104,1839,3010,0,0,0,0,0,0
$STATE,8824,end apogee,CONTROL_FINISHED_OK
$STATE,8824,begin climb
$GC,8828,1.47,97.3,903.1,0.0,345,8927,1.67,2.92,91.12,1.216,4,0.041,0.081,3501,3438,2612,0,0,0,0,0,0
$GC,8940,1.38,181.4,903.4,4.3,347,9029,0.12,2.80,78.65,1.203,6,0.142,0.066,3479,1858,2270,0,0,0,0,0,0
$GC,9424,1.28,181.4,848.5,12.1,359,9429,0.12,2.70,0.00,0.000,4,0.133,0.051,3456,3449,2258,0,0,0,0,0,0
$GC,9468,1.23,181.4,843.0,11.4,360,9473,0.00,2.78,0.00,0.000,6,0.000,0.058,3456,1849,2257,0,0,0,0,0,0
$GC,9870,1.18,181.4,798.4,10.9,370,9875,0.12,2.72,0.00,0.000,4,0.137,0.048,3432,3443,2254,0,0,0,0,0,0
$GC,9891,1.18,181.4,795.8,10.8,370,9896,0.00,2.78,0.00,0.000,6,0.000,0.055,3432,1845,2254,0,0,0,0,0,0
$GC,10269,1.18,181.4,756.9,10.5,380,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1845,2253,0,0,0,0,0,0
$GC,10635,1.18,181.4,717.0,11.1,389,10640,0.00,2.70,0.00,0.000,4,0.000,0.055,3432,3445,2252,0,0,0,0,0,0
$GC,10701,1.18,181.4,709.2,11.7,390,10706,0.00,2.75,0.00,0.000,6,0.000,0.061,3432,1857,2251,0,0,0,0,0,0
$GC,11080,1.18,181.4,668.8,10.3,400,11085,0.00,2.70,0.00,0.000,4,0.000,0.050,3432,3448,2250,0,0,0,0,0,0
$GC,11135,1.18,181.4,663.0,10.1,401,11140,0.00,2.75,0.00,0.000,6,0.000,0.057,3432,1865,2251,0,0,0,0,0,0
$GC,11524,1.20,203.1,627.8,8.5,411,11544,0.00,0.00,18.20,1.019,6,0.000,0.000,3432,1865,2182,0,0,0,0,0,0
$GC,11891,1.24,230.4,597.1,8.1,420,11926,0.00,3.28,27.08,1.016,4,0.000,0.127,3432,264,2069,0,0,0,0,0,0
$GC,11959,1.24,230.4,590.1,10.5,421,11964,0.00,2.70,0.00,0.000,6,0.000,0.032,3432,1878,2066,0,0,0,0,0,0
$GC,12338,1.24,230.4,550.7,11.0,431,12343,0.00,2.70,0.00,0.000,4,0.000,0.064,3432,3435,2064,0,0,0,0,0,0
$GC,12365,1.24,230.4,547.5,10.8,431,12369,0.00,2.72,0.00,0.000,6,0.000,0.058,3432,1867,2063,0,0,0,0,0,0
$GC,12737,1.24,230.4,505.9,11.0,440,12741,0.00,3.10,0.00,0.000,4,0.000,0.119,3432,263,2062,0,0,0,0,0,0
$GC,12788,1.24,230.4,499.8,11.8,441,12792,0.00,2.65,0.00,0.000,6,0.000,0.035,3432,1870,2061,0,0,0,0,0,0
$GC,13182,1.30,241.4,461.5,9.3,451,13195,0.10,0.00,10.48,0.872,6,0.100,0.000,3458,1871,2025,0,0,0,0,0,0
$GC,13547,1.30,241.4,423.1,10.8,460,13551,0.00,2.88,0.00,0.000,4,0.000,0.075,3458,262,2023,0,0,0,0,0,0
$GC,13590,1.26,241.4,417.4,12.9,461,13595,0.00,2.62,0.00,0.000,6,0.000,0.031,3458,1869,2022,0,0,0,0,0,0
$GC,13989,1.26,241.4,373.8,10.5,471,13990,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1869,2022,0,0,0,0,0,0
$GC,14355,1.28,256.6,339.5,9.0,480,14376,0.00,2.65,15.73,0.821,4,0.000,0.044,3458,3439,1962,0,0,0,0,0,0
$GC,14406,1.33,256.6,334.9,10.2,481,14411,0.00,2.67,0.00,0.000,6,0.000,0.046,3458,1853,1961,0,0,0,0,0,0
$GC,14800,1.37,256.6,294.6,10.7,491,14804,0.00,2.83,0.00,0.000,4,0.000,0.079,3459,260,1959,0,0,0,0,0,0
$GC,14845,1.37,256.6,289.2,12.4,492,14850,0.00,2.58,0.00,0.000,6,0.000,0.023,3458,1860,1958,0,0,0,0,0,0
$GC,15247,1.47,278.3,252.3,8.5,502,15276,0.15,2.83,20.80,0.754,4,0.077,0.064,3497,263,1873,0,0,0,0,0,0
$GC,15313,1.42,278.3,245.7,10.4,503,15317,0.00,2.55,0.00,0.000,6,0.000,0.023,3497,1848,1872,0,0,0,0,0,0
$GC,15695,1.42,278.3,207.0,10.2,513,15696,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,1850,1870,0,0,0,0,0,0
$GC,16079,1.42,279.2,165.5,9.9,543,16084,0.00,2.78,0.00,0.000,4,0.000,0.061,3497,255,1870,0,0,0,0,0,0
$GC,16210,1.44,287.5,151.7,9.4,554,16225,0.00,2.50,9.00,0.603,6,0.000,0.027,3497,1836,1837,0,0,0,0,0,0
$GC,16615,1.50,287.5,117.7,10.2,592,16619,0.00,2.70,0.00,0.000,4,0.000,0.060,3497,257,1835,0,0,0,0,0,0
$GC,16679,1.50,287.5,111.3,10.9,597,16685,0.00,2.45,0.00,0.000,6,0.000,0.020,3498,1817,1836,0,0,0,0,0,0
$GC,17070,1.63,314.5,76.7,8.2,634,17107,0.15,2.75,25.25,0.576,4,0.070,0.056,3539,259,1726,0,0,0,0,0,0
$GC,17178,1.63,314.5,66.0,10.0,643,17182,0.00,2.45,0.00,0.000,6,0.000,0.019,3539,1821,1724,0,0,0,0,0,0
$GC,17568,1.63,314.5,24.3,11.3,684,17575,0.00,2.67,0.00,0.000,4,0.000,0.054,3540,263,1725,0,0,0,0,0,0
$GC,17615,1.63,314.5,18.9,12.3,692,17623,0.00,2.42,0.00,0.000,6,0.000,0.019,3540,1808,1724,0,0,0,0,0,0
$STATE,17755,end climb,SURFACE_DEPTH_REACHED
$STATE,17755,begin surface coast
$FINISH,0.8,0.974395
$STATE,17798,end surface coast,CONTROL_FINISHED_OK
$STATE,17798,begin surface
$SM_CCo,17822,55.10,0.515,0,0,1459,380.21
$SM_GC,1.52,0.00,0.00,55.10,0.000,0.000,0.515,476,2150,1459,-12.42,1.44,380.21
$IRIDIUM_FIX,2216.01,-15758.50,211000,101009
$TT8_MAMPS,0.026078
$HUMID,63.54
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.80
$XPDR_PINGS,168
$24V_AH,22.9,75.893
$10V_AH,9.9,69.769
$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,29.825,156.700,379.625,55.100,0.000,29.984,44.340,201.929,42.000,0.000,15.806,1408.567,13791.731,537.074,1934.205,629.101,33.384,1423.779,0.000,1920.527,0.000,0.535,0.000
$DEVICE_MAMPS,161.070,133.458,1241.006,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,495.457,341.121,460.664,731.648,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,54150,726
$CAP_FILE_SIZE,136621,0
$CFSIZE,260165632,149286912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,205406,2222.342,-15800.388,46,1.1,46,10.0