version: 66.06
glider: 146
mission: 6
dive: 605
start: 7 30 111 9 56 13
data:
$ID,146
$MISSION,6
$DIVE,605
$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,-282577.59
$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,23
$R_STBD_OVSHOOT,100
$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
$GPS1,094130,2211.980,-15800.734,62,1.1,62,10.0
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.6
$GPS2,095525,2211.996,-15800.879,16,1.8,21,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.164
$KALMAN_X,-613800.4,97.6,-45.0,606775.4,-1877.7
$KALMAN_Y,253740.9,320.2,-7.3,-313145.1,-150.0
$MHEAD_RNG_PITCHd_Wd,129.0,22759,-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,-69.57,0.000,2,0.000,0.000,477,2151,3230,0,0,0,0,0,0
$GC,93,-1.47,-97.3,3.8,-7.2,11,115,12.73,2.72,-3.42,0.000,4,0.160,0.051,2849,514,3408,0,0,0,0,0,0
$GC,151,-1.35,-97.3,19.1,-16.2,20,158,0.10,2.42,0.00,0.000,6,0.107,0.023,2873,2063,3409,0,0,0,0,0,0
$GC,549,-1.35,-97.3,75.7,-13.5,64,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2065,3410,0,0,0,0,0,0
$GC,932,-1.40,-97.3,116.4,-9.9,100,936,0.00,2.53,0.00,0.000,4,0.000,0.031,2873,3657,3412,0,0,0,0,0,0
$GC,982,-1.50,-97.3,121.7,-10.5,104,987,0.12,2.47,0.00,0.000,6,0.066,0.021,2824,2077,3412,0,0,0,0,0,0
$GC,1371,-1.50,-97.3,170.4,-12.4,140,1373,0.10,0.00,0.00,0.000,6,0.117,0.000,2845,2077,3412,0,0,0,0,0,0
$GC,1759,-1.55,-97.3,213.4,-10.5,168,1763,0.00,2.53,0.00,0.000,4,0.000,0.036,2845,3664,3413,0,0,0,0,0,0
$GC,1777,-1.60,-97.3,215.3,-9.9,168,1781,0.00,2.47,0.00,0.000,6,0.000,0.028,2845,2089,3413,0,0,0,0,0,0
$GC,2160,-1.65,-97.3,251.8,-9.5,178,2165,0.12,2.65,0.00,0.000,4,0.071,0.066,2802,524,3413,0,0,0,0,0,0
$GC,2187,-1.65,-97.3,255.2,-12.2,178,2192,0.00,2.42,0.00,0.000,6,0.000,0.022,2802,2095,3413,0,0,0,0,0,0
$GC,2567,-1.65,-97.3,298.2,-11.4,188,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2097,3413,0,0,0,0,0,0
$GC,2930,-1.65,-97.3,338.1,-10.5,197,2935,0.00,2.58,0.00,0.000,4,0.000,0.041,2802,3667,3412,0,0,0,0,0,0
$GC,2971,-1.65,-97.3,342.3,-11.1,198,2976,0.00,2.55,0.00,0.000,6,0.000,0.034,2802,2102,3413,0,0,0,0,0,0
$GC,3378,-1.65,-97.3,381.0,-9.0,208,3383,0.00,2.58,0.00,0.000,4,0.000,0.051,2802,3666,3410,0,0,0,0,0,0
$GC,3473,-1.71,-97.3,390.9,-10.7,210,3478,0.00,2.62,0.00,0.000,6,0.000,0.048,2802,2089,3410,0,0,0,0,0,0
$GC,3867,-1.71,-97.3,432.7,-10.6,220,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2089,3408,0,0,0,0,0,0
$GC,4234,-1.71,-97.3,469.2,-9.6,229,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2089,3405,0,0,0,0,0,0
$GC,4599,-1.75,-97.3,503.0,-9.3,238,4603,0.00,2.72,0.00,0.000,4,0.000,0.074,2802,3650,3402,0,0,0,0,0,0
$GC,4620,-1.79,-97.3,505.4,-10.4,238,4625,0.00,2.65,0.00,0.000,6,0.000,0.054,2802,2099,3401,0,0,0,0,0,0
$GC,4999,-1.83,-97.3,543.9,-10.5,248,5004,0.12,2.72,0.00,0.000,4,0.074,0.073,2762,3656,3399,0,0,0,0,0,0
$GC,5020,-1.83,-97.3,546.8,-11.6,248,5025,0.00,2.67,0.00,0.000,6,0.000,0.059,2762,2098,3399,0,0,0,0,0,0
$GC,5397,-1.83,-97.3,590.2,-11.1,258,5402,0.00,2.75,0.00,0.000,4,0.000,0.081,2762,3649,3396,0,0,0,0,0,0
$GC,5443,-1.83,-97.3,595.2,-11.2,259,5447,0.00,2.72,0.00,0.000,6,0.000,0.077,2762,2100,3395,0,0,0,0,0,0
$GC,5842,-1.83,-97.3,634.1,-9.4,269,5847,0.00,2.83,0.00,0.000,4,0.000,0.094,2762,3649,3393,0,0,0,0,0,0
$GC,5869,-1.83,-97.3,636.9,-10.4,269,5873,0.00,2.80,0.00,0.000,6,0.000,0.087,2762,2100,3393,0,0,0,0,0,0
$GC,6242,-1.83,-97.3,674.8,-10.8,278,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2099,3390,0,0,0,0,0,0
$GC,6606,-1.83,-97.3,718.0,-12.3,287,6611,0.00,3.05,0.00,0.000,4,0.000,0.138,2762,3646,3388,0,0,0,0,0,0
$GC,6650,-1.83,-97.3,723.9,-13.8,288,6654,0.00,2.70,0.00,0.000,6,0.000,0.071,2762,2105,3388,0,0,0,0,0,0
$GC,7051,-1.83,-97.3,773.2,-12.2,298,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2104,3386,0,0,0,0,0,0
$GC,7415,-1.83,-97.3,815.3,-11.1,307,7419,0.00,2.72,0.00,0.000,4,0.000,0.079,2762,3656,3383,0,0,0,0,0,0
$GC,7475,-1.83,-97.3,822.0,-10.6,308,7479,0.00,2.67,0.00,0.000,6,0.000,0.065,2762,2112,3383,0,0,0,0,0,0
$GC,7860,-1.83,-97.3,856.8,-8.8,318,7865,0.00,2.67,0.00,0.000,4,0.000,0.074,2762,3651,3382,0,0,0,0,0,0
$GC,7881,-1.83,-97.3,859.0,-8.7,318,7886,0.00,2.67,0.00,0.000,6,0.000,0.066,2762,2113,3381,0,0,0,0,0,0
$GC,8258,-1.83,-97.3,891.1,-8.5,328,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2112,3380,0,0,0,0,0,0
$STATE,8377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8377,begin apogee
$GC,8385,-0.31,0.0,901.1,8.3,331,8472,1.55,0.00,82.60,1.236,6,0.091,0.000,3103,1826,3010,0,0,0,0,0,0
$STATE,8473,end apogee,CONTROL_FINISHED_OK
$STATE,8473,begin climb
$GC,8475,1.47,97.3,902.1,0.0,333,8571,1.67,0.00,91.85,1.213,6,0.039,0.000,3501,1826,2613,0,0,0,0,0,0
$GC,8908,1.31,112.4,870.4,9.0,344,8925,0.20,0.00,14.12,1.094,6,0.125,0.000,3463,1826,2551,0,0,0,0,0,0
$GC,9272,1.26,152.4,842.1,7.3,353,9316,0.00,2.72,38.33,1.162,4,0.000,0.054,3462,3373,2388,0,0,0,0,0,0
$GC,9329,1.20,175.0,837.3,8.5,354,9359,0.12,2.72,23.10,1.130,6,0.141,0.055,3439,1821,2296,0,0,0,0,0,0
$GC,9765,1.21,186.3,796.6,9.2,365,9781,0.00,2.70,11.05,1.040,4,0.000,0.050,3439,3384,2249,0,0,0,0,0,0
$GC,9866,1.21,186.3,786.5,10.1,367,9871,0.00,2.70,0.00,0.000,6,0.000,0.055,3440,1829,2246,0,0,0,0,0,0
$GC,10254,1.23,197.7,750.3,9.2,377,10273,0.00,2.72,11.55,1.029,4,0.000,0.054,3439,3380,2202,0,0,0,0,0,0
$GC,10314,1.23,197.7,744.2,10.2,378,10318,0.00,2.70,0.00,0.000,6,0.000,0.058,3440,1833,2200,0,0,0,0,0,0
$GC,10704,1.23,197.7,703.9,11.0,388,10708,0.00,2.60,0.00,0.000,4,0.000,0.048,3439,3383,2199,0,0,0,0,0,0
$GC,10753,1.23,197.7,697.8,12.0,389,10757,0.00,2.67,0.00,0.000,6,0.000,0.061,3440,1840,2198,0,0,0,0,0,0
$GC,11148,1.23,197.7,652.0,11.9,399,11153,0.00,2.60,0.00,0.000,4,0.000,0.052,3439,3383,2198,0,0,0,0,0,0
$GC,11169,1.23,197.7,649.0,12.2,399,11174,0.00,2.67,0.00,0.000,6,0.000,0.061,3439,1839,2197,0,0,0,0,0,0
$GC,11547,1.23,197.7,607.7,10.7,409,11551,0.00,2.60,0.00,0.000,4,0.000,0.047,3440,3384,2196,0,0,0,0,0,0
$GC,11579,1.23,197.7,604.2,10.2,409,11585,0.00,2.65,0.00,0.000,6,0.000,0.061,3439,1839,2196,0,0,0,0,0,0
$GC,11953,1.23,197.7,567.3,10.0,419,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1839,2196,0,0,0,0,0,0
$GC,12317,1.23,197.7,529.8,10.5,428,12321,0.00,3.08,0.00,0.000,4,0.000,0.122,3439,237,2196,0,0,0,0,0,0
$GC,12343,1.23,197.7,526.5,11.7,428,12348,0.00,2.58,0.00,0.000,6,0.000,0.034,3439,1811,2194,0,0,0,0,0,0
$GC,12717,1.23,200.5,489.0,9.8,437,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1812,2194,0,0,0,0,0,0
$GC,13081,1.26,224.9,457.2,8.3,446,13112,0.00,2.75,25.55,0.927,4,0.000,0.053,3439,3411,2090,0,0,0,0,0,0
$GC,13172,1.32,230.7,448.9,9.6,448,13186,0.10,2.70,6.25,0.751,6,0.100,0.054,3465,1834,2069,0,0,0,0,0,0
$GC,13577,1.32,230.7,406.4,10.5,458,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1834,2066,0,0,0,0,0,0
$GC,13940,1.32,230.7,369.6,10.1,467,13945,0.00,2.90,0.00,0.000,4,0.000,0.086,3465,234,2065,0,0,0,0,0,0
$GC,13997,1.27,230.7,363.0,11.4,468,14002,0.00,2.60,0.00,0.000,6,0.000,0.023,3465,1854,2064,0,0,0,0,0,0
$GC,14385,1.27,230.7,322.8,10.4,478,14390,0.00,2.53,0.00,0.000,4,0.000,0.041,3465,3402,2064,0,0,0,0,0,0
$GC,14465,1.31,230.7,314.2,10.5,479,14471,0.00,2.60,0.00,0.000,6,0.000,0.039,3464,1840,2063,0,0,0,0,0,0
$GC,14837,1.35,230.7,275.7,10.3,489,14842,0.00,2.80,0.00,0.000,4,0.000,0.076,3465,242,2063,0,0,0,0,0,0
$GC,14915,1.35,230.7,267.0,11.0,490,14921,0.00,2.55,0.00,0.000,6,0.000,0.021,3465,1850,2062,0,0,0,0,0,0
$GC,15289,1.45,268.5,237.2,7.4,500,15331,0.10,2.85,35.12,0.747,4,0.095,0.066,3491,240,1914,0,0,0,0,0,0
$GC,15395,1.41,268.5,226.3,12.4,502,15399,0.00,2.55,0.00,0.000,6,0.000,0.025,3491,1832,1911,0,0,0,0,0,0
$GC,15781,1.44,268.5,184.1,11.1,520,15786,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1833,1910,0,0,0,0,0,0
$GC,16174,1.52,287.6,144.4,8.7,557,16197,0.00,2.78,17.73,0.639,4,0.000,0.058,3491,241,1836,0,0,0,0,0,0
$GC,16214,1.53,297.2,140.2,9.3,560,16231,0.00,2.55,10.00,0.590,6,0.000,0.021,3491,1835,1797,0,0,0,0,0,0
$GC,16618,1.62,305.3,103.5,9.5,598,16629,0.15,0.00,8.52,0.548,6,0.071,0.000,3533,1835,1765,0,0,0,0,0,0
$GC,17011,1.71,347.8,63.9,7.1,635,17058,0.00,2.83,37.95,0.571,4,0.000,0.057,3532,237,1590,0,0,0,0,0,0
$GC,17162,1.71,347.8,48.4,11.9,648,17169,0.00,2.50,0.00,0.000,6,0.000,0.018,3532,1817,1588,0,0,0,0,0,0
$STATE,17532,end climb,SURFACE_DEPTH_REACHED
$STATE,17532,begin surface coast
$FINISH,0.8,0.979416
$STATE,17568,end surface coast,CONTROL_FINISHED_OK
$STATE,17568,begin surface
$SM_CCo,17590,26.30,0.508,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,26.30,0.000,0.000,0.508,477,2175,1460,-12.42,2.12,380.21
$IRIDIUM_FIX,2206.70,-15800.24,231000,090943
$TT8_MAMPS,0.025311
$HUMID,65.83
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.50
$XPDR_PINGS,154
$24V_AH,22.9,77.157
$10V_AH,9.9,70.516
$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,29.675,145.075,413.725,26.300,0.000,88.462,147.768,309.530,38.500,0.000,23.389,1364.944,13750.614,527.023,1892.206,908.645,33.379,1393.809,0.000,1874.551,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,138.060,1235.637,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.510,327.106,447.529,711.103,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,54356,711
$CAP_FILE_SIZE,136022,0
$CFSIZE,260165632,148750336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,145106,2210.552,-15800.903,32,1.7,32,10.0