version: 66.06
glider: 146
mission: 6
dive: 606
start: 7 30 111 14 59 33
data:
$ID,146
$MISSION,6
$DIVE,606
$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,-282610.03
$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,18
$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
$GPS1,145106,2210.552,-15800.903,32,1.7,32,10.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.8
$GPS2,145845,2210.534,-15801.035,10,3.4,29,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,-0.136
$KALMAN_X,-616457.1,2.0,-104.9,609325.8,-2343.9
$KALMAN_Y,254227.4,-74.3,129.8,-316084.4,-163.1
$MHEAD_RNG_PITCHd_Wd,118.9,20193,-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,-63.60,0.000,2,0.000,0.000,476,2175,3031,0,0,0,0,0,0
$GC,86,-1.47,-97.3,3.1,-5.6,10,114,12.73,2.78,-7.85,0.000,4,0.160,0.052,2848,508,3408,0,0,0,0,0,0
$GC,150,-1.34,-97.3,17.4,-18.3,20,158,0.12,2.50,0.00,0.000,6,0.101,0.018,2879,2096,3410,0,0,0,0,0,0
$GC,542,-1.34,-97.3,75.1,-11.6,63,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2098,3411,0,0,0,0,0,0
$GC,931,-1.40,-97.3,118.5,-10.4,100,935,0.00,2.65,0.00,0.000,4,0.000,0.048,2879,508,3413,0,0,0,0,0,0
$GC,960,-1.40,-97.3,121.8,-11.5,102,964,0.00,2.47,0.00,0.000,6,0.000,0.018,2879,2118,3413,0,0,0,0,0,0
$GC,1349,-1.49,-97.3,159.3,-9.5,138,1354,0.12,2.67,0.00,0.000,4,0.074,0.051,2834,509,3414,0,0,0,0,0,0
$GC,1372,-1.49,-97.3,162.1,-11.9,139,1378,0.00,2.42,0.00,0.000,6,0.000,0.021,2834,2094,3414,0,0,0,0,0,0
$GC,1759,-1.49,-97.3,204.3,-10.7,173,1763,0.00,2.47,0.00,0.000,4,0.000,0.030,2834,3650,3415,0,0,0,0,0,0
$GC,1787,-1.53,-97.3,207.4,-11.0,173,1792,0.00,2.50,0.00,0.000,6,0.000,0.027,2834,2065,3415,0,0,0,0,0,0
$GC,2159,-1.53,-97.3,246.0,-10.5,182,2163,0.00,2.55,0.00,0.000,4,0.000,0.031,2834,3650,3415,0,0,0,0,0,0
$GC,2192,-1.59,-97.3,249.6,-10.5,182,2197,0.00,2.47,0.00,0.000,6,0.000,0.022,2834,2088,3415,0,0,0,0,0,0
$GC,2566,-1.64,-97.3,285.7,-9.4,192,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2088,3415,0,0,0,0,0,0
$GC,2929,-1.70,-97.3,321.1,-10.1,201,2934,0.12,2.58,0.00,0.000,4,0.071,0.046,2787,3648,3415,0,0,0,0,0,0
$GC,2984,-1.70,-97.3,327.6,-12.1,202,2989,0.00,2.50,0.00,0.000,6,0.000,0.031,2786,2106,3415,0,0,0,0,0,0
$GC,3375,-1.70,-97.3,367.0,-9.0,212,3380,0.00,2.55,0.00,0.000,4,0.000,0.050,2786,3646,3414,0,0,0,0,0,0
$GC,3437,-1.70,-97.3,372.9,-8.8,213,3441,0.00,2.58,0.00,0.000,6,0.000,0.042,2786,2090,3413,0,0,0,0,0,0
$GC,3820,-1.70,-97.3,409.0,-10.0,223,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2090,3411,0,0,0,0,0,0
$GC,4184,-1.70,-97.3,448.9,-11.3,232,4189,0.00,2.65,0.00,0.000,4,0.000,0.059,2787,3643,3409,0,0,0,0,0,0
$GC,4223,-1.70,-97.3,453.7,-12.3,233,4228,0.00,2.60,0.00,0.000,6,0.000,0.050,2786,2108,3409,0,0,0,0,0,0
$GC,4630,-1.70,-97.3,499.1,-10.6,243,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2108,3405,0,0,0,0,0,0
$GC,4995,-1.70,-97.3,534.3,-8.9,252,4999,0.00,2.70,0.00,0.000,4,0.000,0.079,2786,3646,3403,0,0,0,0,0,0
$GC,5021,-1.70,-97.3,536.7,-9.3,252,5026,0.00,2.62,0.00,0.000,6,0.000,0.058,2786,2103,3403,0,0,0,0,0,0
$GC,5395,-1.70,-97.3,569.9,-9.0,261,5400,0.00,3.12,0.00,0.000,4,0.000,0.133,2786,508,3400,0,0,0,0,0,0
$GC,5413,-1.70,-97.3,571.7,-9.1,261,5417,0.00,2.60,0.00,0.000,6,0.000,0.048,2786,2054,3400,0,0,0,0,0,0
$GC,5795,-1.70,-97.3,607.0,-9.3,271,5800,0.00,2.97,0.00,0.000,4,0.000,0.098,2785,3686,3397,0,0,0,0,0,0
$GC,5825,-1.74,-97.3,609.8,-9.5,271,5829,0.00,2.80,0.00,0.000,6,0.000,0.072,2786,2095,3396,0,0,0,0,0,0
$GC,6197,-1.74,-97.3,643.0,-8.8,280,6201,0.00,2.88,0.00,0.000,4,0.000,0.094,2786,3681,3394,0,0,0,0,0,0
$GC,6230,-1.78,-97.3,646.2,-9.8,280,6235,0.00,2.85,0.00,0.000,6,0.000,0.086,2786,2107,3394,0,0,0,0,0,0
$GC,6603,-1.78,-97.3,681.7,-9.7,290,6608,0.00,2.95,0.00,0.000,4,0.000,0.110,2786,3682,3392,0,0,0,0,0,0
$GC,6625,-1.82,-97.3,684.2,-10.1,290,6629,0.00,2.80,0.00,0.000,6,0.000,0.074,2786,2097,3392,0,0,0,0,0,0
$GC,7002,-1.82,-97.3,720.8,-9.7,300,7006,0.00,2.85,0.00,0.000,4,0.000,0.085,2786,3685,3389,0,0,0,0,0,0
$GC,7058,-1.88,-97.3,726.7,-10.4,301,7063,0.00,2.75,0.00,0.000,6,0.000,0.067,2786,2108,3389,0,0,0,0,0,0
$GC,7447,-1.92,-97.3,767.7,-10.7,311,7452,0.12,2.80,0.00,0.000,4,0.075,0.078,2747,3682,3387,0,0,0,0,0,0
$GC,7480,-1.92,-97.3,772.0,-13.3,311,7486,0.00,2.72,0.00,0.000,6,0.000,0.069,2747,2114,3387,0,0,0,0,0,0
$GC,7853,-1.92,-97.3,820.2,-12.8,321,7858,0.00,2.78,0.00,0.000,4,0.000,0.077,2747,3688,3386,0,0,0,0,0,0
$GC,7902,-1.92,-97.3,826.8,-12.9,322,7907,0.00,2.72,0.00,0.000,6,0.000,0.067,2748,2120,3385,0,0,0,0,0,0
$GC,8298,-1.92,-97.3,870.9,-10.6,332,8303,0.00,3.10,0.00,0.000,4,0.000,0.127,2747,507,3384,0,0,0,0,0,0
$GC,8316,-1.88,-97.3,872.9,-10.5,332,8320,0.00,2.75,0.00,0.000,6,0.000,0.057,2747,2118,3383,0,0,0,0,0,0
$STATE,8614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8614,begin apogee
$GC,8621,-0.31,0.0,903.5,10.2,340,8708,1.62,0.00,83.40,1.239,6,0.093,0.000,3103,1816,3010,0,0,0,0,0,0
$STATE,8709,end apogee,CONTROL_FINISHED_OK
$STATE,8709,begin climb
$GC,8713,1.47,97.3,904.9,0.0,342,8815,1.65,3.08,90.70,1.220,4,0.041,0.102,3498,243,2612,0,0,0,0,0,0
$GC,8821,1.33,155.1,903.1,6.1,344,8883,0.17,2.72,54.75,1.194,6,0.129,0.044,3466,1829,2377,0,0,0,0,0,0
$GC,9283,1.24,155.1,850.2,12.1,356,9288,0.00,2.80,0.00,0.000,4,0.000,0.071,3466,3420,2365,0,0,0,0,0,0
$GC,9301,1.15,155.1,847.9,12.2,356,9306,0.20,2.75,0.00,0.000,6,0.127,0.054,3427,1833,2364,0,0,0,0,0,0
$GC,9686,1.15,155.1,808.5,10.1,366,9690,0.00,2.67,0.00,0.000,4,0.000,0.048,3427,3424,2362,0,0,0,0,0,0
$GC,9712,1.15,155.1,805.5,10.6,366,9717,0.00,2.75,0.00,0.000,6,0.000,0.053,3427,1825,2361,0,0,0,0,0,0
$GC,10084,1.17,165.5,770.3,9.3,375,10099,0.00,2.78,7.95,0.973,4,0.000,0.050,3427,3417,2334,0,0,0,0,0,0
$GC,10157,1.17,165.5,763.2,10.0,376,10161,0.00,2.75,0.00,0.000,6,0.000,0.055,3427,1830,2334,0,0,0,0,0,0
$GC,10533,1.17,165.5,725.9,10.1,386,10538,0.00,2.67,0.00,0.000,4,0.000,0.049,3427,3422,2332,0,0,0,0,0,0
$GC,10555,1.17,165.5,723.5,10.5,386,10559,0.00,2.70,0.00,0.000,6,0.000,0.058,3427,1841,2332,0,0,0,0,0,0
$GC,10934,1.17,165.5,684.8,10.3,396,10939,0.00,2.67,0.00,0.000,4,0.000,0.055,3427,3420,2331,0,0,0,0,0,0
$GC,10966,1.17,165.5,681.0,10.9,396,10972,0.00,2.72,0.00,0.000,6,0.000,0.055,3427,1842,2330,0,0,0,0,0,0
$GC,11340,1.17,170.5,643.3,9.7,406,11351,0.00,2.70,6.12,0.854,4,0.000,0.052,3427,3420,2313,0,0,0,0,0,0
$GC,11373,1.17,170.5,639.5,10.2,406,11379,0.00,2.75,0.00,0.000,6,0.000,0.056,3427,1840,2312,0,0,0,0,0,0
$GC,11746,1.19,181.3,604.9,9.3,416,11765,0.00,2.78,11.88,0.963,4,0.000,0.054,3427,3417,2269,0,0,0,0,0,0
$GC,11806,1.20,190.4,599.3,9.4,417,11821,0.00,2.75,10.15,0.931,6,0.000,0.058,3427,1843,2233,0,0,0,0,0,0
$GC,12194,1.21,202.0,562.8,9.2,427,12208,0.00,0.00,12.15,0.940,6,0.000,0.000,3427,1843,2186,0,0,0,0,0,0
$GC,12559,1.23,217.0,529.7,9.0,436,12576,0.00,0.00,15.43,0.941,6,0.000,0.000,3427,1843,2125,0,0,0,0,0,0
$GC,12927,1.25,234.3,496.9,8.8,445,12946,0.00,0.00,17.52,0.932,6,0.000,0.000,3427,1843,2053,0,0,0,0,0,0
$GC,13330,1.32,247.1,460.0,9.1,455,13346,0.15,0.00,12.80,0.886,6,0.075,0.000,3466,1843,2002,0,0,0,0,0,0
$GC,13695,1.32,247.1,420.2,10.6,464,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1843,1999,0,0,0,0,0,0
$GC,14061,1.32,247.1,379.6,11.6,473,14065,0.00,2.95,0.00,0.000,4,0.000,0.095,3466,235,1998,0,0,0,0,0,0
$GC,14116,1.26,247.1,372.3,14.0,474,14120,0.00,2.65,0.00,0.000,6,0.000,0.025,3466,1872,1997,0,0,0,0,0,0
$GC,14505,1.26,247.1,329.8,10.3,484,14510,0.00,2.88,0.00,0.000,4,0.000,0.068,3466,234,1996,0,0,0,0,0,0
$GC,14526,1.26,247.1,327.3,10.9,484,14531,0.00,2.60,0.00,0.000,6,0.000,0.029,3466,1853,1996,0,0,0,0,0,0
$GC,14909,1.26,247.1,289.4,10.0,494,14910,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1853,1996,0,0,0,0,0,0
$GC,15281,1.31,249.1,252.4,9.9,503,15282,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1854,1996,0,0,0,0,0,0
$GC,15641,1.38,268.3,218.7,8.7,512,15666,0.00,2.88,19.95,0.726,4,0.000,0.067,3466,230,1915,0,0,0,0,0,0
$GC,15735,1.38,268.3,208.6,11.5,514,15740,0.00,2.58,0.00,0.000,6,0.000,0.025,3466,1857,1913,0,0,0,0,0,0
$GC,16121,1.50,296.7,171.5,8.1,543,16151,0.15,0.00,26.50,0.683,6,0.075,0.000,3506,1858,1799,0,0,0,0,0,0
$GC,16535,1.50,296.7,130.3,10.4,582,16539,0.00,2.80,0.00,0.000,4,0.000,0.059,3506,231,1796,0,0,0,0,0,0
$GC,16584,1.50,296.7,124.4,13.1,586,16589,0.00,2.55,0.00,0.000,6,0.000,0.025,3506,1851,1795,0,0,0,0,0,0
$GC,16977,1.61,333.3,87.9,7.5,622,17015,0.00,2.83,32.90,0.597,4,0.000,0.058,3506,226,1649,0,0,0,0,0,0
$GC,17043,1.65,336.3,82.5,9.8,627,17055,0.12,2.53,4.05,0.401,6,0.081,0.019,3541,1833,1638,0,0,0,0,0,0
$GC,17438,1.65,336.3,40.8,10.6,664,17443,0.00,2.50,0.00,0.000,4,0.000,0.030,3541,3393,1636,0,0,0,0,0,0
$GC,17470,1.69,336.3,37.6,11.2,666,17475,0.00,2.58,0.00,0.000,6,0.000,0.034,3542,1823,1635,0,0,0,0,0,0
$STATE,17784,end climb,SURFACE_DEPTH_REACHED
$STATE,17784,begin surface coast
$FINISH,1.2,0.980038
$STATE,17814,end surface coast,CONTROL_FINISHED_OK
$STATE,17815,begin surface
$SM_CCo,17837,36.20,0.516,0,0,1460,380.21
$SM_GC,1.67,0.00,0.00,36.20,0.000,0.000,0.516,474,2157,1460,-12.42,1.61,380.21
$IRIDIUM_FIX,2204.37,-15803.27,231000,101032
$TT8_MAMPS,0.026078
$HUMID,65.35
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,19.70
$XPDR_PINGS,181
$24V_AH,22.9,77.304
$10V_AH,9.8,70.606
$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,29.825,169.050,406.250,36.200,0.000,27.760,46.476,213.588,45.250,0.000,31.823,1397.472,13851.437,534.731,1893.904,645.139,33.380,1415.985,0.000,1862.374,0.000,0.533,0.000
$DEVICE_MAMPS,160.303,132.691,1239.472,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.695,342.675,458.450,722.012,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356056
$DATA_FILE_SIZE,54300,724
$CAP_FILE_SIZE,137950,0
$CFSIZE,260165632,148688896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,195836,2209.216,-15800.710,27,1.1,27,10.0