version: 66.06
glider: 146
mission: 6
dive: 603
start: 7 29 111 23 25 33
data:
$ID,146
$MISSION,6
$DIVE,603
$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,-282533.22
$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,1825
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,56
$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
$GPS1,231707,2214.510,-15801.327,31,1.3,31,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.2
$GPS2,232443,2214.548,-15801.372,35,1.4,35,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,-0.152
$KALMAN_X,-609248.9,-182.9,80.5,601537.9,-2317.9
$KALMAN_Y,253115.5,-196.9,93.9,-307379.1,511.3
$MHEAD_RNG_PITCHd_Wd,124.3,27558,-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,13,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,81,0.00,0.00,-62.95,0.000,2,0.000,0.000,473,2105,3021,0,0,0,0,0,0
$GC,85,-1.47,-97.3,3.1,-4.7,10,113,12.62,2.67,-8.00,0.000,4,0.156,0.054,2849,502,3408,0,0,0,0,0,0
$GC,169,-1.35,-97.3,20.1,-16.8,24,177,0.10,2.50,0.00,0.000,6,0.109,0.016,2874,2101,3410,0,0,0,0,0,0
$GC,566,-1.35,-97.3,79.1,-15.6,67,570,0.00,2.50,0.00,0.000,4,0.000,0.029,2874,3661,3411,0,0,0,0,0,0
$GC,588,-1.35,-97.3,82.9,-14.7,68,596,0.00,2.55,0.00,0.000,6,0.000,0.023,2874,2077,3411,0,0,0,0,0,0
$GC,979,-1.38,-97.3,136.9,-12.9,105,983,0.00,2.55,0.00,0.000,4,0.000,0.035,2874,3662,3412,0,0,0,0,0,0
$GC,1019,-1.47,-97.3,141.7,-11.7,108,1024,0.00,2.45,0.00,0.000,6,0.000,0.021,2874,2093,3412,0,0,0,0,0,0
$GC,1408,-1.55,-97.3,177.1,-7.9,144,1413,0.15,2.50,0.00,0.000,4,0.062,0.035,2823,3660,3413,0,0,0,0,0,0
$GC,1426,-1.60,-97.3,178.8,-9.1,145,1430,0.00,2.40,0.00,0.000,6,0.000,0.021,2823,2110,3413,0,0,0,0,0,0
$GC,1830,-1.60,-97.3,222.6,-11.1,168,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2110,3413,0,0,0,0,0,0
$GC,2192,-1.60,-97.3,261.0,-10.3,177,2196,0.00,2.47,0.00,0.000,4,0.000,0.031,2823,3660,3414,0,0,0,0,0,0
$GC,2248,-1.66,-97.3,266.8,-9.7,178,2252,0.00,2.45,0.00,0.000,6,0.000,0.023,2823,2118,3414,0,0,0,0,0,0
$GC,2637,-1.66,-97.3,306.6,-10.4,188,2641,0.00,2.50,0.00,0.000,4,0.000,0.043,2823,3653,3414,0,0,0,0,0,0
$GC,2715,-1.73,-97.3,314.5,-10.0,189,2721,0.12,2.45,0.00,0.000,6,0.065,0.033,2767,2133,3414,0,0,0,0,0,0
$GC,3088,-1.68,-97.3,357.1,-11.5,199,3090,0.17,0.00,0.00,0.000,6,0.106,0.000,2805,2133,3413,0,0,0,0,0,0
$GC,3452,-1.68,-97.3,394.0,-9.9,208,3457,0.00,2.55,0.00,0.000,4,0.000,0.057,2805,3650,3411,0,0,0,0,0,0
$GC,3508,-1.74,-97.3,399.4,-9.5,209,3512,0.00,2.53,0.00,0.000,6,0.000,0.044,2805,2135,3411,0,0,0,0,0,0
$GC,3898,-1.78,-97.3,438.3,-10.1,219,3902,0.00,2.58,0.00,0.000,4,0.000,0.054,2805,3656,3408,0,0,0,0,0,0
$GC,3920,-1.82,-97.3,440.7,-9.6,219,3925,0.12,2.55,0.00,0.000,6,0.067,0.051,2758,2137,3409,0,0,0,0,0,0
$GC,4299,-1.77,-97.3,483.6,-11.3,229,4304,0.15,2.62,0.00,0.000,4,0.110,0.063,2788,3653,3405,0,0,0,0,0,0
$GC,4349,-1.82,-97.3,489.4,-10.6,230,4353,0.00,2.58,0.00,0.000,6,0.000,0.053,2788,2140,3405,0,0,0,0,0,0
$GC,4742,-1.82,-97.3,530.2,-10.3,240,4747,0.00,2.62,0.00,0.000,4,0.000,0.074,2788,3650,3402,0,0,0,0,0,0
$GC,4794,-1.86,-97.3,535.7,-11.3,241,4798,0.00,2.60,0.00,0.000,6,0.000,0.062,2788,2134,3402,0,0,0,0,0,0
$GC,5187,-1.86,-97.3,575.9,-10.0,251,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2135,3399,0,0,0,0,0,0
$GC,5553,-1.86,-97.3,609.9,-8.8,260,5558,0.00,3.20,0.00,0.000,4,0.000,0.142,2788,515,3396,0,0,0,0,0,0
$GC,5576,-1.86,-97.3,611.9,-9.0,260,5581,0.00,2.75,0.00,0.000,6,0.000,0.061,2788,2104,3396,0,0,0,0,0,0
$GC,5953,-1.86,-97.3,643.9,-8.5,270,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2104,3393,0,0,0,0,0,0
$GC,6319,-1.90,-97.3,673.6,-7.7,279,6325,0.12,3.12,0.00,0.000,4,0.086,0.130,2751,515,3391,0,0,0,0,0,0
$GC,6366,-1.84,-97.3,677.8,-9.4,280,6372,0.10,2.92,0.00,0.000,6,0.127,0.084,2771,2137,3391,0,0,0,0,0,0
$GC,6767,-1.84,-97.3,709.5,-7.7,290,6772,0.00,3.33,0.00,0.000,4,0.000,0.152,2771,510,3388,0,0,0,0,0,0
$GC,6818,-1.84,-97.3,713.7,-8.6,291,6823,0.00,3.03,0.00,0.000,6,0.000,0.104,2771,2125,3388,0,0,0,0,0,0
$GC,7212,-1.84,-97.3,744.0,-7.7,301,7217,0.00,3.42,0.00,0.000,4,0.000,0.167,2771,511,3386,0,0,0,0,0,0
$GC,7286,-1.84,-97.3,750.7,-9.6,302,7291,0.00,3.15,0.00,0.000,6,0.000,0.122,2771,2125,3385,0,0,0,0,0,0
$GC,7660,-1.84,-97.3,784.6,-9.3,311,7665,0.00,3.60,0.00,0.000,4,0.000,0.186,2771,501,3384,0,0,0,0,0,0
$GC,7700,-1.84,-97.3,788.9,-11.2,312,7704,0.00,2.80,0.00,0.000,6,0.000,0.062,2771,2129,3383,0,0,0,0,0,0
$GC,8106,-1.84,-97.3,830.9,-10.7,322,8111,0.00,2.97,0.00,0.000,4,0.000,0.100,2771,512,3381,0,0,0,0,0,0
$GC,8133,-1.84,-97.3,834.2,-11.7,322,8137,0.00,2.75,0.00,0.000,6,0.000,0.058,2771,2116,3381,0,0,0,0,0,0
$GC,8505,-1.84,-97.3,872.7,-10.2,331,8509,0.00,2.95,0.00,0.000,4,0.000,0.100,2771,507,3381,0,0,0,0,0,0
$GC,8537,-1.84,-97.3,876.3,-11.4,331,8543,0.00,2.75,0.00,0.000,6,0.000,0.058,2770,2115,3381,0,0,0,0,0,0
$STATE,8784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8785,begin apogee
$GC,8793,-0.31,0.0,900.6,9.6,338,8879,1.52,0.00,82.88,1.237,6,0.092,0.000,3104,1814,3010,0,0,0,0,0,0
$STATE,8880,end apogee,CONTROL_FINISHED_OK
$STATE,8880,begin climb
$GC,8883,1.47,97.3,902.5,0.0,340,8980,1.67,0.00,91.60,1.214,6,0.039,0.000,3505,1814,2612,0,0,0,0,0,0
$GC,9359,1.30,107.6,869.4,9.3,352,9375,0.22,2.95,9.18,1.025,4,0.121,0.081,3461,3415,2571,0,0,0,0,0,0
$GC,9427,1.21,120.4,862.8,9.1,353,9447,0.12,2.78,13.57,1.084,6,0.143,0.056,3438,1828,2519,0,0,0,0,0,0
$GC,9855,1.16,129.1,823.2,9.4,364,9869,0.00,2.75,8.93,1.010,4,0.000,0.052,3438,3427,2483,0,0,0,0,0,0
$GC,9892,1.13,139.6,819.5,9.3,364,9911,0.00,2.78,11.75,1.048,6,0.000,0.058,3438,1829,2439,0,0,0,0,0,0
$GC,10310,1.09,139.6,776.3,10.6,375,10315,0.12,2.72,0.00,0.000,4,0.137,0.048,3415,3420,2434,0,0,0,0,0,0
$GC,10350,1.09,139.6,771.8,10.2,376,10354,0.00,2.75,0.00,0.000,6,0.000,0.059,3415,1833,2434,0,0,0,0,0,0
$GC,10756,1.12,158.7,734.6,8.7,386,10781,0.00,2.80,18.42,1.071,4,0.000,0.051,3415,3418,2363,0,0,0,0,0,0
$GC,10838,1.12,166.5,727.1,9.5,387,10852,0.00,2.75,9.07,0.973,6,0.000,0.054,3415,1838,2331,0,0,0,0,0,0
$GC,11256,1.16,197.7,693.0,7.9,398,11292,0.00,2.75,30.85,1.081,4,0.000,0.054,3415,3421,2203,0,0,0,0,0,0
$GC,11315,1.22,211.0,687.7,9.1,398,11337,0.10,2.78,14.12,1.010,6,0.101,0.057,3441,1842,2149,0,0,0,0,0,0
$GC,11703,1.22,211.0,649.1,10.1,408,11708,0.00,2.67,0.00,0.000,4,0.000,0.054,3441,3425,2142,0,0,0,0,0,0
$GC,11743,1.22,211.0,644.7,10.6,409,11748,0.00,2.78,0.00,0.000,6,0.000,0.063,3441,1836,2142,0,0,0,0,0,0
$GC,12148,1.22,211.0,599.1,11.6,419,12152,0.00,2.67,0.00,0.000,4,0.000,0.052,3441,3425,2141,0,0,0,0,0,0
$GC,12189,1.22,211.0,594.4,12.2,420,12193,0.00,2.75,0.00,0.000,6,0.000,0.058,3440,1845,2140,0,0,0,0,0,0
$GC,12593,1.22,211.0,548.0,11.1,430,12598,0.00,2.67,0.00,0.000,4,0.000,0.054,3440,3426,2139,0,0,0,0,0,0
$GC,12642,1.22,211.0,542.6,10.9,431,12647,0.00,2.72,0.00,0.000,6,0.000,0.056,3441,1850,2139,0,0,0,0,0,0
$GC,13038,1.24,225.9,504.9,9.0,441,13057,0.00,2.72,13.50,0.923,4,0.000,0.048,3441,3421,2089,0,0,0,0,0,0
$GC,13127,1.24,232.6,496.4,9.5,443,13141,0.00,2.70,8.00,0.837,6,0.000,0.057,3441,1859,2061,0,0,0,0,0,0
$GC,13539,1.25,235.5,457.0,9.8,453,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,1859,2057,0,0,0,0,0,0
$GC,13902,1.25,235.5,418.5,10.6,462,13907,0.00,2.60,0.00,0.000,4,0.000,0.039,3440,3425,2056,0,0,0,0,0,0
$GC,13930,1.30,235.5,415.6,10.6,462,13935,0.00,2.67,0.00,0.000,6,0.000,0.051,3441,1854,2056,0,0,0,0,0,0
$GC,14304,1.34,237.7,378.2,9.8,471,14316,0.12,2.62,5.93,0.719,4,0.166,0.035,3472,3428,2038,0,0,0,0,0,0
$GC,14345,1.34,237.7,373.5,10.6,472,14349,0.00,2.65,0.00,0.000,6,0.000,0.047,3472,1862,2038,0,0,0,0,0,0
$GC,14751,1.34,237.7,327.6,11.9,482,14755,0.00,2.58,0.00,0.000,4,0.000,0.036,3473,3427,2037,0,0,0,0,0,0
$GC,14806,1.34,237.7,320.4,12.0,483,14810,0.00,2.60,0.00,0.000,6,0.000,0.039,3472,1862,2037,0,0,0,0,0,0
$GC,15194,1.37,258.2,281.6,8.6,493,15220,0.00,2.90,20.33,0.782,4,0.000,0.077,3472,244,1956,0,0,0,0,0,0
$GC,15302,1.37,262.0,271.6,9.7,495,15312,0.00,2.65,4.70,0.578,6,0.000,0.021,3472,1888,1941,0,0,0,0,0,0
$GC,15684,1.42,262.0,230.9,10.9,505,15689,0.00,2.53,0.00,0.000,4,0.000,0.038,3472,3429,1939,0,0,0,0,0,0
$GC,15753,1.49,262.0,223.9,10.1,506,15758,0.12,2.60,0.00,0.000,6,0.078,0.034,3507,1857,1937,0,0,0,0,0,0
$GC,16139,1.49,262.0,186.1,10.0,525,16144,0.00,2.80,0.00,0.000,4,0.000,0.065,3507,244,1937,0,0,0,0,0,0
$GC,16171,1.44,262.1,182.9,10.0,527,16175,0.00,2.62,0.00,0.000,6,0.000,0.022,3507,1902,1937,0,0,0,0,0,0
$GC,16561,1.44,262.1,145.3,10.2,563,16566,0.00,2.85,0.00,0.000,4,0.000,0.058,3507,244,1937,0,0,0,0,0,0
$GC,16592,1.44,262.1,142.1,11.0,565,16597,0.00,2.60,0.00,0.000,6,0.000,0.022,3507,1903,1937,0,0,0,0,0,0
$GC,16984,1.52,290.2,103.9,8.1,601,17016,0.00,2.92,26.20,0.614,4,0.000,0.063,3507,237,1825,0,0,0,0,0,0
$GC,17063,1.52,290.2,96.6,11.3,608,17067,0.00,2.62,0.00,0.000,6,0.000,0.020,3507,1898,1823,0,0,0,0,0,0
$GC,17455,1.63,311.8,64.0,8.5,644,17482,0.00,2.92,19.83,0.559,4,0.000,0.055,3507,242,1738,0,0,0,0,0,0
$GC,17547,1.66,311.8,55.1,10.1,652,17552,0.12,2.60,0.00,0.000,6,0.075,0.019,3543,1887,1736,0,0,0,0,0,0
$GC,17937,1.66,311.8,14.1,10.9,702,17944,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1889,1736,0,0,0,0,0,0
$STATE,18031,end climb,SURFACE_DEPTH_REACHED
$STATE,18032,begin surface coast
$FINISH,1.0,0.975727
$STATE,18077,end surface coast,CONTROL_FINISHED_OK
$STATE,18077,begin surface
$SM_CCo,18100,57.80,0.515,0,0,1460,380.21
$SM_GC,1.63,0.00,0.00,57.80,0.000,0.000,0.515,472,2208,1460,-12.43,3.05,380.21
$IRIDIUM_FIX,2209.02,-15800.24,221000,181833
$TT8_MAMPS,0.026078
$HUMID,64.45
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.60
$XPDR_PINGS,182
$24V_AH,22.9,76.843
$10V_AH,9.9,70.332
$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,30.300,192.125,388.850,57.800,0.000,29.130,34.325,208.024,45.500,0.000,36.951,1462.541,13867.135,556.127,2067.310,651.000,33.380,1514.922,0.000,2024.915,0.000,0.533,0.000
$DEVICE_MAMPS,165.672,186.381,1237.171,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.704,340.254,458.055,722.071,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,54129,728
$CAP_FILE_SIZE,149795,0
$CFSIZE,260165632,148873216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,042955,2213.495,-15800.968,62,1.4,62,10.0