version: 66.06
glider: 146
mission: 6
dive: 600
start: 7 29 111 7 33 45
data:
$ID,146
$MISSION,6
$DIVE,600
$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,-282427.09
$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,14
$R_STBD_OVSHOOT,51
$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
$GPS1,072227,2219.312,-15801.027,37,2.3,56,10.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.3
$GPS2,073255,2219.313,-15801.173,9,1.4,14,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,-0.182
$KALMAN_X,-601535.8,-177.6,-140.2,594383.5,-1587.6
$KALMAN_Y,252185.2,376.0,60.8,-298161.8,-275.3
$MHEAD_RNG_PITCHd_Wd,137.0,36181,-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,16,begin dive
$GC,18,-1.47,-97.3,0.0,0.0,0,89,0.00,0.00,-68.15,0.000,2,0.000,0.000,479,2172,3198,0,0,0,0,0,0
$GC,92,-1.47,-97.3,3.9,-7.4,11,120,12.68,2.83,-4.03,0.000,4,0.159,0.054,2848,507,3408,0,0,0,0,0,0
$GC,221,-1.36,-97.3,33.4,-16.7,32,229,0.10,2.50,0.00,0.000,6,0.107,0.017,2873,2104,3410,0,0,0,0,0,0
$GC,613,-1.36,-97.3,90.1,-12.7,69,617,0.00,2.50,0.00,0.000,4,0.000,0.035,2873,3663,3412,0,0,0,0,0,0
$GC,631,-1.36,-97.3,92.7,-12.4,70,635,0.00,2.50,0.00,0.000,6,0.000,0.021,2873,2081,3412,0,0,0,0,0,0
$GC,1021,-1.42,-97.3,133.6,-10.8,106,1025,0.00,2.55,0.00,0.000,4,0.000,0.036,2873,3667,3412,0,0,0,0,0,0
$GC,1040,-1.49,-97.3,135.8,-11.3,107,1045,0.10,2.47,0.00,0.000,6,0.081,0.021,2831,2102,3412,0,0,0,0,0,0
$GC,1430,-1.49,-97.3,184.1,-12.1,143,1434,0.00,2.50,0.00,0.000,4,0.000,0.030,2831,3660,3413,0,0,0,0,0,0
$GC,1451,-1.49,-97.3,187.0,-12.2,144,1457,0.00,2.45,0.00,0.000,6,0.000,0.026,2830,2102,3413,0,0,0,0,0,0
$GC,1861,-1.49,-97.3,228.2,-9.5,163,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2102,3414,0,0,0,0,0,0
$GC,2226,-1.53,-97.3,265.6,-10.8,172,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2102,3414,0,0,0,0,0,0
$GC,2590,-1.59,-97.3,300.6,-8.7,181,2595,0.00,2.55,0.00,0.000,4,0.000,0.043,2831,3660,3414,0,0,0,0,0,0
$GC,2613,-1.66,-97.3,302.5,-8.3,181,2617,0.00,2.47,0.00,0.000,6,0.000,0.033,2831,2123,3414,0,0,0,0,0,0
$GC,2992,-1.74,-97.3,333.2,-8.5,191,2993,0.15,0.00,0.00,0.000,6,0.064,0.000,2779,2123,3413,0,0,0,0,0,0
$GC,3355,-1.74,-97.3,372.8,-10.6,200,3359,0.00,2.55,0.00,0.000,4,0.000,0.051,2779,3653,3412,0,0,0,0,0,0
$GC,3387,-1.74,-97.3,376.6,-11.7,200,3393,0.00,2.53,0.00,0.000,6,0.000,0.038,2779,2114,3412,0,0,0,0,0,0
$GC,3761,-1.74,-97.3,416.8,-10.8,210,3765,0.00,2.60,0.00,0.000,4,0.000,0.052,2779,3660,3409,0,0,0,0,0,0
$GC,3776,-1.74,-97.3,418.7,-10.4,210,3780,0.00,2.55,0.00,0.000,6,0.000,0.045,2779,2120,3409,0,0,0,0,0,0
$GC,4165,-1.74,-97.3,459.2,-10.5,220,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2120,3406,0,0,0,0,0,0
$GC,4532,-1.74,-97.3,502.0,-12.1,229,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2120,3404,0,0,0,0,0,0
$GC,4896,-1.74,-97.3,543.6,-10.6,238,4900,0.00,2.72,0.00,0.000,4,0.000,0.086,2779,3646,3401,0,0,0,0,0,0
$GC,4930,-1.74,-97.3,547.1,-10.4,238,4935,0.00,2.65,0.00,0.000,6,0.000,0.061,2779,2114,3401,0,0,0,0,0,0
$GC,5302,-1.74,-97.3,583.2,-9.6,248,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2114,3398,0,0,0,0,0,0
$GC,5669,-1.74,-97.3,616.5,-9.4,257,5674,0.00,2.78,0.00,0.000,4,0.000,0.094,2779,3644,3396,0,0,0,0,0,0
$GC,5685,-1.74,-97.3,618.2,-9.2,257,5690,0.00,2.72,0.00,0.000,6,0.000,0.077,2778,2115,3396,0,0,0,0,0,0
$GC,6068,-1.74,-97.3,655.7,-9.5,267,6072,0.00,2.83,0.00,0.000,4,0.000,0.100,2779,3650,3393,0,0,0,0,0,0
$GC,6102,-1.74,-97.3,658.9,-10.1,267,6107,0.00,2.80,0.00,0.000,6,0.000,0.094,2779,2117,3393,0,0,0,0,0,0
$GC,6474,-1.74,-97.3,693.5,-9.1,277,6478,0.00,2.90,0.00,0.000,4,0.000,0.114,2779,3643,3390,0,0,0,0,0,0
$GC,6501,-1.74,-97.3,696.0,-9.1,277,6505,0.00,2.88,0.00,0.000,6,0.000,0.115,2779,2127,3390,0,0,0,0,0,0
$GC,6874,-1.74,-97.3,730.6,-9.8,286,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2127,3388,0,0,0,0,0,0
$GC,7238,-1.74,-97.3,769.0,-10.6,295,7243,0.00,3.58,0.00,0.000,4,0.000,0.187,2778,508,3386,0,0,0,0,0,0
$GC,7259,-1.74,-97.3,771.4,-11.0,295,7264,0.00,2.67,0.00,0.000,6,0.000,0.054,2779,2081,3386,0,0,0,0,0,0
$GC,7638,-1.74,-97.3,810.8,-10.2,305,7643,0.00,2.90,0.00,0.000,4,0.000,0.099,2779,501,3384,0,0,0,0,0,0
$GC,7654,-1.74,-97.3,812.8,-10.2,305,7658,0.00,2.78,0.00,0.000,6,0.000,0.056,2779,2129,3384,0,0,0,0,0,0
$GC,8037,-1.78,-97.3,850.5,-9.8,315,8042,0.00,2.97,0.00,0.000,4,0.000,0.095,2779,510,3382,0,0,0,0,0,0
$GC,8055,-1.78,-97.3,852.1,-9.5,315,8059,0.00,2.72,0.00,0.000,6,0.000,0.053,2778,2120,3382,0,0,0,0,0,0
$GC,8438,-1.81,-97.3,887.5,-9.2,325,8439,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2120,3381,0,0,0,0,0,0
$STATE,8597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8597,begin apogee
$GC,8603,-0.31,0.0,902.1,9.0,329,8690,1.48,0.00,83.15,1.236,6,0.087,0.000,3104,1842,3010,0,0,0,0,0,0
$STATE,8691,end apogee,CONTROL_FINISHED_OK
$STATE,8691,begin climb
$GC,8695,1.47,97.3,903.8,0.0,331,8791,1.65,0.00,91.75,1.213,6,0.035,0.000,3504,1842,2613,0,0,0,0,0,0
$GC,9126,1.31,113.8,875.1,8.9,342,9148,0.22,2.90,15.55,1.114,4,0.120,0.079,3460,3438,2545,0,0,0,0,0,0
$GC,9219,1.23,129.4,867.4,8.9,344,9240,0.00,2.75,15.65,1.103,6,0.000,0.055,3461,1862,2482,0,0,0,0,0,0
$GC,9620,1.15,133.6,828.6,9.7,354,9627,0.17,0.00,4.28,0.761,6,0.126,0.000,3427,1862,2465,0,0,0,0,0,0
$GC,9985,1.18,157.0,797.1,8.4,363,10014,0.00,2.78,23.62,1.125,4,0.000,0.049,3426,3436,2369,0,0,0,0,0,0
$GC,10044,1.18,162.7,791.7,9.6,364,10058,0.00,2.75,7.15,0.940,6,0.000,0.057,3427,1856,2346,0,0,0,0,0,0
$GC,10437,1.21,185.5,757.2,8.4,374,10462,0.00,0.00,23.08,1.101,6,0.000,0.000,3427,1855,2252,0,0,0,0,0,0
$GC,10803,1.21,185.5,721.1,10.3,383,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1856,2247,0,0,0,0,0,0
$GC,11169,1.21,186.3,683.9,9.9,392,11173,0.00,2.70,0.00,0.000,4,0.000,0.051,3426,3447,2245,0,0,0,0,0,0
$GC,11201,1.21,186.3,680.4,10.2,392,11207,0.00,2.72,0.00,0.000,6,0.000,0.059,3426,1865,2244,0,0,0,0,0,0
$GC,11575,1.21,188.0,643.7,9.9,402,11579,0.00,2.67,0.00,0.000,4,0.000,0.053,3426,3443,2243,0,0,0,0,0,0
$GC,11607,1.22,194.5,640.2,9.6,402,11621,0.00,2.72,8.02,0.920,6,0.000,0.058,3426,1868,2217,0,0,0,0,0,0
$GC,12026,1.25,220.3,603.0,8.2,413,12055,0.00,0.00,26.48,1.016,6,0.000,0.000,3426,1868,2110,0,0,0,0,0,0
$GC,12434,1.28,241.3,567.6,8.6,423,12457,0.12,0.00,20.33,0.977,6,0.144,0.000,3460,1868,2026,0,0,0,0,0,0
$GC,12800,1.28,241.3,527.3,11.6,432,12801,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1868,2022,0,0,0,0,0,0
$GC,13167,1.28,241.3,483.8,11.8,441,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1868,2021,0,0,0,0,0,0
$GC,13531,1.28,241.3,443.0,11.1,450,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1868,2020,0,0,0,0,0,0
$GC,13897,1.28,242.4,405.8,9.9,459,13898,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1867,2019,0,0,0,0,0,0
$GC,14264,1.29,251.9,371.0,9.4,468,14278,0.00,0.00,10.38,0.806,6,0.000,0.000,3460,1868,1982,0,0,0,0,0,0
$GC,14674,1.29,251.9,329.5,10.4,478,14679,0.00,2.90,0.00,0.000,4,0.000,0.087,3460,255,1979,0,0,0,0,0,0
$GC,14717,1.29,251.9,324.0,13.2,479,14722,0.00,2.62,0.00,0.000,6,0.000,0.023,3459,1888,1978,0,0,0,0,0,0
$GC,15119,1.34,256.7,283.3,9.7,489,15127,0.00,0.00,5.68,0.639,6,0.000,0.000,3460,1889,1963,0,0,0,0,0,0
$GC,15483,1.40,256.7,246.2,10.1,498,15487,0.00,2.83,0.00,0.000,4,0.000,0.062,3460,254,1962,0,0,0,0,0,0
$GC,15528,1.40,256.7,241.3,11.1,499,15532,0.00,2.58,0.00,0.000,6,0.000,0.021,3459,1871,1961,0,0,0,0,0,0
$GC,15928,1.50,278.9,206.3,8.5,509,15958,0.17,2.90,21.65,0.706,4,0.071,0.064,3506,257,1872,0,0,0,0,0,0
$GC,16024,1.45,278.9,195.5,13.5,511,16030,0.00,2.55,0.00,0.000,6,0.000,0.021,3506,1854,1870,0,0,0,0,0,0
$GC,16413,1.45,278.9,154.6,10.5,548,16414,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1856,1870,0,0,0,0,0,0
$GC,16796,1.50,292.8,114.4,9.1,584,16818,0.00,2.83,13.48,0.594,4,0.000,0.061,3506,255,1814,0,0,0,0,0,0
$GC,16900,1.51,296.1,104.2,9.8,593,16912,0.00,2.53,4.20,0.430,6,0.000,0.020,3506,1854,1802,0,0,0,0,0,0
$GC,17298,1.62,317.3,69.3,8.6,630,17326,0.10,0.00,20.70,0.568,6,0.092,0.000,3535,1856,1714,0,0,0,0,0,0
$GC,17709,1.67,317.3,31.0,10.3,669,17714,0.00,2.70,0.00,0.000,4,0.000,0.054,3535,258,1712,0,0,0,0,0,0
$GC,17743,1.67,317.3,27.3,12.1,673,17751,0.00,2.55,0.00,0.000,6,0.000,0.019,3535,1865,1713,0,0,0,0,0,0
$STATE,17961,end climb,SURFACE_DEPTH_REACHED
$STATE,17961,begin surface coast
$FINISH,0.7,0.975377
$STATE,18004,end surface coast,CONTROL_FINISHED_OK
$STATE,18004,begin surface
$SM_CCo,18027,52.92,0.515,0,0,1459,380.21
$SM_GC,1.47,0.00,0.00,52.92,0.000,0.000,0.515,477,2164,1459,-12.41,1.81,380.21
$IRIDIUM_FIX,2211.35,-15759.37,221000,020208
$TT8_MAMPS,0.026078
$HUMID,63.78
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.60
$XPDR_PINGS,158
$24V_AH,22.9,76.357
$10V_AH,9.7,70.045
$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,29.450,125.250,395.125,52.925,0.000,25.553,43.955,402.632,39.500,0.000,15.839,1349.587,14225.604,555.150,1756.571,814.440,33.383,1346.742,0.000,1747.908,0.000,0.533,0.000
$DEVICE_MAMPS,158.769,187.148,1235.637,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.368,329.655,447.857,718.912,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356108
$DATA_FILE_SIZE,54226,722
$CAP_FILE_SIZE,127717,0
$CFSIZE,260165632,149094400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,123631,2217.619,-15801.115,41,1.4,41,10.0