version: 66.06
glider: 146
mission: 6
dive: 599
start: 7 29 111 2 20 10
data:
$ID,146
$MISSION,6
$DIVE,599
$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,-282410.62
$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,16
$R_STBD_OVSHOOT,52
$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
$GPS1,020437,2220.777,-15800.740,33,1.1,33,10.0
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.5
$GPS2,021920,2220.770,-15800.941,14,1.5,14,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,-0.184
$KALMAN_X,-599018.8,-288.3,-88.5,592323.2,-1701.1
$KALMAN_Y,251938.7,113.5,-37.9,-294852.7,496.2
$MHEAD_RNG_PITCHd_Wd,138.0,38795,-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,12,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,81,0.00,0.00,-63.12,0.000,2,0.000,0.000,474,2185,3043,0,0,0,0,0,0
$GC,84,-1.47,-97.3,3.0,-5.0,10,112,12.70,2.83,-7.60,0.000,4,0.159,0.054,2849,499,3408,0,0,0,0,0,0
$GC,160,-1.35,-97.3,18.4,-15.8,22,168,0.10,2.53,0.00,0.000,6,0.107,0.016,2873,2111,3410,0,0,0,0,0,0
$GC,557,-1.35,-97.3,74.0,-13.6,66,561,0.00,2.47,0.00,0.000,4,0.000,0.029,2873,3662,3411,0,0,0,0,0,0
$GC,568,-1.35,-97.3,76.0,-13.0,66,576,0.00,2.53,0.00,0.000,6,0.000,0.022,2873,2084,3411,0,0,0,0,0,0
$GC,961,-1.40,-97.3,120.8,-10.4,103,966,0.00,2.53,0.00,0.000,4,0.000,0.029,2873,3661,3411,0,0,0,0,0,0
$GC,979,-1.46,-97.3,123.1,-10.9,104,983,0.00,2.45,0.00,0.000,6,0.000,0.022,2873,2107,3411,0,0,0,0,0,0
$GC,1370,-1.53,-97.3,162.6,-9.3,140,1372,0.15,0.00,0.00,0.000,6,0.061,0.000,2822,2107,3412,0,0,0,0,0,0
$GC,1767,-1.53,-97.3,210.9,-12.2,172,1771,0.00,2.50,0.00,0.000,4,0.000,0.036,2822,3664,3413,0,0,0,0,0,0
$GC,1846,-1.53,-97.3,220.5,-12.3,173,1851,0.00,2.45,0.00,0.000,6,0.000,0.021,2822,2111,3413,0,0,0,0,0,0
$GC,2218,-1.53,-97.3,259.6,-9.8,183,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2111,3413,0,0,0,0,0,0
$GC,2583,-1.53,-97.3,292.1,-8.7,192,2588,0.00,2.50,0.00,0.000,4,0.000,0.035,2822,3660,3412,0,0,0,0,0,0
$GC,2674,-1.59,-97.3,300.8,-10.2,194,2679,0.00,2.42,0.00,0.000,6,0.000,0.028,2822,2131,3413,0,0,0,0,0,0
$GC,3074,-1.65,-97.3,341.5,-10.5,204,3079,0.00,2.85,0.00,0.000,4,0.000,0.080,2822,518,3411,0,0,0,0,0,0
$GC,3095,-1.65,-97.3,344.0,-11.2,204,3100,0.00,2.53,0.00,0.000,6,0.000,0.025,2822,2102,3411,0,0,0,0,0,0
$GC,3475,-1.71,-97.3,381.4,-9.2,214,3480,0.00,2.65,0.00,0.000,4,0.000,0.058,2822,3683,3409,0,0,0,0,0,0
$GC,3554,-1.79,-97.3,388.5,-8.7,215,3560,0.15,2.55,0.00,0.000,6,0.058,0.044,2764,2132,3409,0,0,0,0,0,0
$GC,3928,-1.75,-97.3,427.0,-10.3,225,3933,0.12,2.60,0.00,0.000,4,0.114,0.059,2790,3673,3407,0,0,0,0,0,0
$GC,4000,-1.75,-97.3,434.7,-10.1,226,4004,0.00,2.58,0.00,0.000,6,0.000,0.052,2790,2138,3406,0,0,0,0,0,0
$GC,4377,-1.75,-97.3,473.4,-10.9,236,4381,0.00,2.60,0.00,0.000,4,0.000,0.060,2790,3670,3403,0,0,0,0,0,0
$GC,4394,-1.75,-97.3,475.2,-11.2,236,4398,0.00,2.58,0.00,0.000,6,0.000,0.051,2790,2138,3403,0,0,0,0,0,0
$GC,4776,-1.75,-97.3,517.5,-11.1,246,4780,0.00,2.65,0.00,0.000,4,0.000,0.072,2790,3673,3400,0,0,0,0,0,0
$GC,4831,-1.79,-97.3,523.4,-10.3,247,4836,0.00,2.62,0.00,0.000,6,0.000,0.057,2790,2139,3400,0,0,0,0,0,0
$GC,5221,-1.79,-97.3,563.0,-10.0,257,5225,0.00,2.70,0.00,0.000,4,0.000,0.075,2790,3668,3397,0,0,0,0,0,0
$GC,5270,-1.84,-97.3,568.4,-10.6,258,5275,0.00,2.65,0.00,0.000,6,0.000,0.063,2790,2144,3397,0,0,0,0,0,0
$GC,5665,-1.84,-97.3,607.0,-9.7,268,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2144,3394,0,0,0,0,0,0
$GC,6033,-1.88,-97.3,641.9,-9.5,277,6038,0.12,2.83,0.00,0.000,4,0.081,0.100,2753,3674,3391,0,0,0,0,0,0
$GC,6054,-1.88,-97.3,644.5,-10.7,277,6059,0.00,2.78,0.00,0.000,6,0.000,0.088,2753,2149,3391,0,0,0,0,0,0
$GC,6433,-1.88,-97.3,687.5,-11.4,287,6438,0.00,2.88,0.00,0.000,4,0.000,0.118,2753,3666,3389,0,0,0,0,0,0
$GC,6488,-1.88,-97.3,694.2,-11.4,288,6492,0.00,2.78,0.00,0.000,6,0.000,0.095,2753,2150,3388,0,0,0,0,0,0
$GC,6876,-1.88,-97.3,734.9,-10.2,298,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2149,3386,0,0,0,0,0,0
$GC,7244,-1.88,-97.3,770.6,-9.5,307,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2148,3383,0,0,0,0,0,0
$GC,7607,-1.88,-97.3,805.0,-9.6,316,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2147,3382,0,0,0,0,0,0
$GC,7973,-1.88,-97.3,839.3,-9.2,325,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2146,3381,0,0,0,0,0,0
$GC,8339,-1.88,-97.3,872.3,-9.2,334,8343,0.00,3.15,0.00,0.000,4,0.000,0.123,2753,512,3379,0,0,0,0,0,0
$GC,8357,-1.84,-97.3,874.1,-9.5,334,8361,0.00,2.78,0.00,0.000,6,0.000,0.058,2753,2139,3379,0,0,0,0,0,0
$STATE,8655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8655,begin apogee
$GC,8662,-0.31,0.0,903.0,9.6,342,8748,1.60,0.00,82.32,1.242,6,0.093,0.000,3103,1837,3010,0,0,0,0,0,0
$STATE,8749,end apogee,CONTROL_FINISHED_OK
$STATE,8749,begin climb
$GC,8753,1.47,97.3,904.7,0.0,344,8849,1.67,0.00,91.57,1.219,6,0.048,0.000,3500,1838,2613,0,0,0,0,0,0
$GC,9184,1.32,119.0,877.0,8.5,355,9211,0.17,2.88,20.30,1.134,4,0.129,0.074,3465,3439,2523,0,0,0,0,0,0
$GC,9239,1.22,126.8,872.1,9.5,356,9254,0.12,2.78,8.43,0.999,6,0.144,0.062,3443,1859,2493,0,0,0,0,0,0
$GC,9636,1.19,149.6,838.5,8.4,366,9665,0.00,2.83,22.17,1.133,4,0.000,0.054,3443,3454,2399,0,0,0,0,0,0
$GC,9694,1.15,152.5,832.7,9.8,367,9703,0.00,2.80,3.97,0.710,6,0.000,0.054,3443,1848,2388,0,0,0,0,0,0
$GC,10090,1.12,168.4,796.8,8.9,377,10109,0.12,0.00,16.50,1.092,6,0.133,0.000,3419,1848,2323,0,0,0,0,0,0
$GC,10453,1.14,182.8,764.4,9.0,386,10473,0.00,2.80,14.98,1.066,4,0.000,0.055,3419,3448,2263,0,0,0,0,0,0
$GC,10503,1.15,189.1,759.8,9.6,387,10517,0.00,2.78,7.68,0.943,6,0.000,0.055,3419,1851,2237,0,0,0,0,0,0
$GC,10900,1.15,189.1,719.6,10.2,397,10905,0.00,2.72,0.00,0.000,4,0.000,0.054,3419,3449,2233,0,0,0,0,0,0
$GC,10923,1.15,189.1,717.3,10.1,397,10928,0.00,2.78,0.00,0.000,6,0.000,0.056,3419,1853,2232,0,0,0,0,0,0
$GC,11300,1.15,189.1,679.1,10.0,407,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1853,2231,0,0,0,0,0,0
$GC,11666,1.17,207.1,645.7,8.8,416,11690,0.00,2.80,17.33,1.026,4,0.000,0.054,3419,3439,2164,0,0,0,0,0,0
$GC,11737,1.24,223.1,639.3,8.9,417,11761,0.10,2.80,16.45,1.009,6,0.107,0.058,3445,1847,2100,0,0,0,0,0,0
$GC,12161,1.24,223.1,594.0,10.8,428,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1847,2095,0,0,0,0,0,0
$GC,12529,1.24,223.1,551.4,11.8,437,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1848,2094,0,0,0,0,0,0
$GC,12893,1.24,223.1,510.3,10.9,446,12897,0.00,2.70,0.00,0.000,4,0.000,0.048,3445,3449,2093,0,0,0,0,0,0
$GC,12936,1.24,223.1,505.2,11.6,447,12941,0.00,2.78,0.00,0.000,6,0.000,0.061,3445,1847,2092,0,0,0,0,0,0
$GC,13338,1.24,223.1,461.6,11.0,457,13342,0.00,3.03,0.00,0.000,4,0.000,0.118,3445,261,2092,0,0,0,0,0,0
$GC,13370,1.19,223.1,457.3,12.4,457,13376,0.00,2.62,0.00,0.000,6,0.000,0.031,3446,1873,2091,0,0,0,0,0,0
$GC,13742,1.19,223.1,417.3,10.2,467,13746,0.00,2.60,0.00,0.000,4,0.000,0.048,3444,3434,2092,0,0,0,0,0,0
$GC,13768,1.19,223.1,414.3,10.5,467,13773,0.00,2.67,0.00,0.000,6,0.000,0.046,3445,1853,2090,0,0,0,0,0,0
$GC,14142,1.20,231.8,378.8,9.4,476,14152,0.00,0.00,8.07,0.778,6,0.000,0.000,3445,1853,2063,0,0,0,0,0,0
$GC,14507,1.25,244.9,344.5,9.1,485,14526,0.00,2.90,13.70,0.812,4,0.000,0.082,3445,265,2010,0,0,0,0,0,0
$GC,14551,1.25,244.9,340.0,11.0,486,14556,0.00,2.58,0.00,0.000,6,0.000,0.027,3445,1862,2009,0,0,0,0,0,0
$GC,14957,1.33,260.2,301.7,9.0,496,14978,0.00,2.85,15.60,0.786,4,0.000,0.067,3445,263,1947,0,0,0,0,0,0
$GC,15071,1.33,260.2,289.6,11.3,498,15075,0.00,2.58,0.00,0.000,6,0.000,0.027,3446,1858,1945,0,0,0,0,0,0
$GC,15448,1.41,260.2,253.6,10.0,508,15450,0.15,0.00,0.00,0.000,6,0.071,0.000,3487,1860,1944,0,0,0,0,0,0
$GC,15813,1.43,272.7,218.2,9.2,517,15832,0.00,2.85,12.23,0.693,4,0.000,0.060,3487,263,1897,0,0,0,0,0,0
$GC,15845,1.44,280.9,215.3,9.4,517,15860,0.00,2.55,9.30,0.657,6,0.000,0.022,3487,1851,1864,0,0,0,0,0,0
$GC,16248,1.48,280.9,176.0,10.8,543,16252,0.00,2.75,0.00,0.000,4,0.000,0.060,3487,262,1861,0,0,0,0,0,0
$GC,16298,1.48,280.9,169.6,12.8,547,16303,0.00,2.53,0.00,0.000,6,0.000,0.021,3487,1856,1860,0,0,0,0,0,0
$GC,16691,1.54,281.7,127.7,9.9,583,16697,0.10,0.00,0.00,0.000,6,0.097,0.000,3515,1857,1859,0,0,0,0,0,0
$GC,17080,1.60,328.3,91.9,6.8,620,17128,0.00,2.83,42.22,0.608,4,0.000,0.059,3515,262,1670,0,0,0,0,0,0
$GC,17175,1.61,337.5,84.1,9.4,628,17193,0.00,2.53,9.07,0.534,6,0.000,0.020,3515,1837,1633,0,0,0,0,0,0
$GC,17580,1.69,342.0,47.0,9.7,666,17593,0.12,2.75,5.25,0.439,4,0.079,0.056,3551,262,1615,0,0,0,0,0,0
$GC,17619,1.64,342.0,41.8,13.6,669,17623,0.00,2.47,0.00,0.000,6,0.000,0.019,3551,1835,1614,0,0,0,0,0,0
$STATE,17936,end climb,SURFACE_DEPTH_REACHED
$STATE,17936,begin surface coast
$FINISH,0.9,0.980007
$STATE,17980,end surface coast,CONTROL_FINISHED_OK
$STATE,17980,begin surface
$SM_CCo,18002,32.30,0.515,0,0,1459,380.21
$SM_GC,1.51,0.00,0.00,32.30,0.000,0.000,0.515,480,2171,1459,-12.40,2.01,380.21
$IRIDIUM_FIX,2213.68,-15759.37,221000,020244
$TT8_MAMPS,0.026078
$HUMID,65.39
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,20.50
$XPDR_PINGS,139
$24V_AH,22.9,76.199
$10V_AH,9.8,69.955
$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,30.075,151.350,417.150,32.300,0.000,84.169,107.173,395.907,34.750,0.000,16.236,1400.607,14109.919,543.402,1898.188,959.911,33.383,1420.366,0.000,1883.900,0.000,0.533,0.000
$DEVICE_MAMPS,158.769,123.487,1241.773,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,495.965,342.654,456.280,728.459,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,54134,727
$CAP_FILE_SIZE,143562,0
$CFSIZE,260165632,149147648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,072227,2219.312,-15801.027,37,2.3,56,10.0