version: 66.06
glider: 146
mission: 6
dive: 607
start: 7 30 111 20 22 32
data:
$ID,146
$MISSION,6
$DIVE,607
$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,-282644.34
$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,48
$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
$GPS1,195836,2209.216,-15800.710,27,1.1,27,10.0
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.3
$GPS2,202140,2209.308,-15801.057,12,2.3,31,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,-0.162
$KALMAN_X,-619212.9,-281.8,-133.8,612356.9,-1942.4
$KALMAN_Y,254786.2,-272.1,-54.5,-318531.9,779.1
$MHEAD_RNG_PITCHd_Wd,128.4,18019,-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,-69.57,0.000,2,0.000,0.000,474,2157,3258,0,0,0,0,0,0
$GC,91,-1.47,-97.3,4.1,-8.3,11,112,12.75,0.00,-2.83,0.000,6,0.160,0.000,2849,2157,3407,0,0,0,0,0,0
$GC,501,-1.39,-97.3,74.8,-15.2,60,508,0.10,0.00,0.00,0.000,6,0.143,0.000,2868,2156,3409,0,0,0,0,0,0
$GC,893,-1.43,-97.3,123.5,-12.2,97,898,0.00,2.75,0.00,0.000,4,0.000,0.048,2869,512,3410,0,0,0,0,0,0
$GC,917,-1.43,-97.3,127.0,-12.6,98,925,0.00,2.47,0.00,0.000,6,0.000,0.015,2869,2124,3411,0,0,0,0,0,0
$GC,1308,-1.51,-97.3,172.0,-10.7,135,1312,0.00,2.70,0.00,0.000,4,0.000,0.055,2869,511,3411,0,0,0,0,0,0
$GC,1336,-1.56,-97.3,175.4,-11.4,137,1341,0.15,2.40,0.00,0.000,6,0.064,0.014,2818,2102,3412,0,0,0,0,0,0
$GC,1717,-1.56,-97.3,217.1,-10.5,161,1721,0.00,2.47,0.00,0.000,4,0.000,0.030,2818,3652,3411,0,0,0,0,0,0
$GC,1745,-1.56,-97.3,220.2,-10.8,161,1750,0.00,2.47,0.00,0.000,6,0.000,0.022,2818,2086,3411,0,0,0,0,0,0
$GC,2117,-1.56,-97.3,261.4,-10.9,170,2121,0.00,2.65,0.00,0.000,4,0.000,0.063,2818,523,3412,0,0,0,0,0,0
$GC,2132,-1.56,-97.3,263.3,-11.2,170,2136,0.00,2.42,0.00,0.000,6,0.000,0.021,2818,2086,3411,0,0,0,0,0,0
$GC,2523,-1.56,-97.3,302.0,-9.3,180,2527,0.00,2.55,0.00,0.000,4,0.000,0.042,2818,3668,3411,0,0,0,0,0,0
$GC,2589,-1.63,-97.3,308.8,-9.2,181,2594,0.00,2.53,0.00,0.000,6,0.000,0.031,2818,2108,3411,0,0,0,0,0,0
$GC,2968,-1.67,-97.3,342.6,-9.1,191,2973,0.00,2.55,0.00,0.000,4,0.000,0.041,2818,3669,3409,0,0,0,0,0,0
$GC,3008,-1.75,-97.3,346.6,-10.0,192,3014,0.10,2.55,0.00,0.000,6,0.083,0.034,2778,2103,3409,0,0,0,0,0,0
$GC,3414,-1.75,-97.3,392.1,-11.7,202,3418,0.00,2.60,0.00,0.000,4,0.000,0.046,2778,3663,3406,0,0,0,0,0,0
$GC,3447,-1.75,-97.3,396.3,-13.0,202,3453,0.00,2.60,0.00,0.000,6,0.000,0.048,2778,2097,3406,0,0,0,0,0,0
$GC,3819,-1.75,-97.3,441.7,-11.9,212,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2098,3403,0,0,0,0,0,0
$GC,4185,-1.75,-97.3,482.6,-11.0,221,4189,0.00,2.67,0.00,0.000,4,0.000,0.062,2778,3654,3400,0,0,0,0,0,0
$GC,4264,-1.75,-97.3,491.0,-10.7,222,4269,0.00,2.62,0.00,0.000,6,0.000,0.056,2778,2114,3400,0,0,0,0,0,0
$GC,4635,-1.75,-97.3,527.7,-9.6,232,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2114,3397,0,0,0,0,0,0
$GC,5001,-1.75,-97.3,559.9,-8.3,241,5005,0.00,2.72,0.00,0.000,4,0.000,0.081,2777,3656,3394,0,0,0,0,0,0
$GC,5035,-1.75,-97.3,562.8,-8.9,241,5041,0.00,2.65,0.00,0.000,6,0.000,0.067,2778,2114,3394,0,0,0,0,0,0
$GC,5407,-1.75,-97.3,594.7,-8.6,251,5412,0.00,2.72,0.00,0.000,4,0.000,0.083,2778,3655,3391,0,0,0,0,0,0
$GC,5434,-1.75,-97.3,597.4,-9.8,251,5439,0.00,2.70,0.00,0.000,6,0.000,0.074,2778,2118,3390,0,0,0,0,0,0
$GC,5807,-1.75,-97.3,633.7,-10.0,260,5812,0.00,2.78,0.00,0.000,4,0.000,0.090,2778,3652,3388,0,0,0,0,0,0
$GC,5840,-1.75,-97.3,637.4,-10.8,260,5846,0.00,2.75,0.00,0.000,6,0.000,0.089,2778,2126,3388,0,0,0,0,0,0
$GC,6212,-1.75,-97.3,675.8,-10.2,270,6216,0.00,2.85,0.00,0.000,4,0.000,0.108,2778,3659,3386,0,0,0,0,0,0
$GC,6255,-1.75,-97.3,680.3,-10.3,271,6260,0.00,2.85,0.00,0.000,6,0.000,0.100,2778,2127,3385,0,0,0,0,0,0
$GC,6657,-1.75,-97.3,715.3,-8.5,281,6662,0.00,2.92,0.00,0.000,4,0.000,0.117,2778,3660,3382,0,0,0,0,0,0
$GC,6679,-1.75,-97.3,717.4,-8.6,281,6683,0.00,2.70,0.00,0.000,6,0.000,0.072,2778,2122,3382,0,0,0,0,0,0
$GC,7057,-1.75,-97.3,751.2,-9.0,291,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2121,3382,0,0,0,0,0,0
$GC,7421,-1.75,-97.3,783.7,-8.8,300,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2120,3380,0,0,0,0,0,0
$GC,7787,-1.75,-97.3,818.0,-9.7,309,7791,0.00,2.70,0.00,0.000,4,0.000,0.075,2777,3661,3378,0,0,0,0,0,0
$GC,7850,-1.80,-97.3,824.1,-9.4,310,7854,0.00,2.67,0.00,0.000,6,0.000,0.068,2778,2124,3377,0,0,0,0,0,0
$GC,8232,-1.80,-97.3,858.5,-8.8,320,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2124,3376,0,0,0,0,0,0
$GC,8598,-1.80,-97.3,888.9,-8.2,329,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2123,3374,0,0,0,0,0,0
$STATE,8757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8757,begin apogee
$GC,8765,-0.31,0.0,902.9,8.6,333,8851,1.48,0.00,81.35,1.239,6,0.090,0.000,3102,1823,3010,0,0,0,0,0,0
$STATE,8851,end apogee,CONTROL_FINISHED_OK
$STATE,8852,begin climb
$GC,8854,1.47,97.3,904.6,0.0,335,8950,1.67,0.00,91.40,1.222,6,0.038,0.000,3505,1822,2613,0,0,0,0,0,0
$GC,9286,1.31,121.1,876.2,8.4,346,9316,0.22,2.78,21.98,1.144,4,0.118,0.059,3462,3381,2515,0,0,0,0,0,0
$GC,9370,1.23,126.9,868.8,9.6,347,9384,0.00,2.72,6.70,0.936,6,0.000,0.059,3462,1831,2492,0,0,0,0,0,0
$GC,9787,1.15,141.1,831.4,9.0,358,9807,0.17,2.70,14.25,1.095,4,0.125,0.054,3428,3391,2434,0,0,0,0,0,0
$GC,9826,1.17,152.2,827.8,9.2,358,9845,0.00,2.72,12.12,1.064,6,0.000,0.061,3427,1832,2389,0,0,0,0,0,0
$GC,10242,1.18,161.2,788.8,9.4,369,10253,0.00,0.00,9.55,1.024,6,0.000,0.000,3428,1832,2352,0,0,0,0,0,0
$GC,10609,1.18,163.5,752.6,9.8,378,10613,0.00,2.60,0.00,0.000,4,0.000,0.053,3427,3382,2348,0,0,0,0,0,0
$GC,10652,1.18,163.5,747.9,10.3,379,10656,0.00,2.65,0.00,0.000,6,0.000,0.054,3427,1839,2347,0,0,0,0,0,0
$GC,11052,1.19,171.6,709.4,9.4,389,11065,0.00,0.00,10.73,1.014,6,0.000,0.000,3427,1839,2310,0,0,0,0,0,0
$GC,11420,1.20,181.3,674.5,9.3,398,11436,0.00,2.65,10.77,0.995,4,0.000,0.048,3427,3384,2270,0,0,0,0,0,0
$GC,11463,1.21,183.0,669.9,9.9,399,11468,0.00,2.70,0.00,0.000,6,0.000,0.063,3427,1840,2269,0,0,0,0,0,0
$GC,11865,1.23,199.7,633.6,8.9,409,11889,0.00,2.70,18.62,1.023,4,0.000,0.050,3427,3380,2194,0,0,0,0,0,0
$GC,11954,1.25,215.8,625.4,8.9,411,11977,0.00,2.67,16.45,0.996,6,0.000,0.058,3428,1846,2130,0,0,0,0,0,0
$GC,12366,1.26,228.7,586.9,9.1,421,12382,0.10,0.00,13.38,0.958,6,0.186,0.000,3452,1846,2076,0,0,0,0,0,0
$GC,12727,1.26,228.7,550.1,10.1,430,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1846,2072,0,0,0,0,0,0
$GC,13093,1.26,228.7,509.6,11.6,439,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1846,2071,0,0,0,0,0,0
$GC,13460,1.26,228.7,469.4,10.4,448,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1846,2071,0,0,0,0,0,0
$GC,13824,1.27,236.9,434.2,9.4,457,13838,0.00,2.62,7.85,0.811,4,0.000,0.047,3453,3386,2043,0,0,0,0,0,0
$GC,13868,1.27,236.9,429.6,10.6,458,13873,0.00,2.62,0.00,0.000,6,0.000,0.049,3452,1840,2043,0,0,0,0,0,0
$GC,14275,1.27,236.9,385.6,11.6,468,14276,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1840,2041,0,0,0,0,0,0
$GC,14638,1.27,236.9,345.6,10.1,477,14643,0.00,2.88,0.00,0.000,4,0.000,0.086,3452,238,2041,0,0,0,0,0,0
$GC,14672,1.27,236.9,342.1,10.4,477,14678,0.00,2.58,0.00,0.000,6,0.000,0.021,3453,1845,2040,0,0,0,0,0,0
$GC,15046,1.32,236.9,305.6,10.6,487,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1845,2040,0,0,0,0,0,0
$GC,15410,1.43,270.3,272.0,7.7,496,15445,0.15,0.00,32.00,0.785,6,0.074,0.000,3493,1846,1908,0,0,0,0,0,0
$GC,15776,1.43,270.3,238.9,10.1,505,15781,0.00,2.80,0.00,0.000,4,0.000,0.067,3493,235,1904,0,0,0,0,0,0
$GC,15788,1.43,270.3,237.5,11.1,505,15792,0.00,2.58,0.00,0.000,6,0.000,0.021,3493,1858,1902,0,0,0,0,0,0
$GC,16167,1.43,270.3,192.3,10.7,517,16168,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1859,1902,0,0,0,0,0,0
$GC,16550,1.47,271.2,153.9,9.9,553,16551,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1859,1902,0,0,0,0,0,0
$GC,16934,1.56,293.1,120.8,8.5,589,16961,0.00,2.85,20.75,0.617,4,0.000,0.060,3493,233,1813,0,0,0,0,0,0
$GC,17033,1.56,293.1,110.3,11.4,597,17037,0.00,2.58,0.00,0.000,6,0.000,0.019,3493,1864,1812,0,0,0,0,0,0
$GC,17427,1.69,314.6,70.9,8.5,633,17455,0.22,2.53,20.02,0.565,4,0.079,0.033,3551,3385,1727,0,0,0,0,0,0
$GC,17519,1.69,314.6,61.1,10.4,641,17523,0.00,2.55,0.00,0.000,6,0.000,0.033,3551,1830,1726,0,0,0,0,0,0
$GC,17909,1.70,320.5,19.4,9.6,686,17923,0.00,2.75,6.85,0.456,4,0.000,0.058,3551,245,1702,0,0,0,0,0,0
$GC,18000,1.64,320.5,8.4,13.5,702,18007,0.00,2.53,0.00,0.000,6,0.000,0.019,3551,1844,1702,0,0,0,0,0,0
$STATE,18041,end climb,SURFACE_DEPTH_REACHED
$STATE,18041,begin surface coast
$FINISH,0.7,0.977858
$STATE,18079,end surface coast,CONTROL_FINISHED_OK
$STATE,18079,begin surface
$SM_CCo,18104,49.40,0.516,0,0,1459,380.21
$SM_GC,1.48,0.00,0.00,49.40,0.000,0.000,0.516,478,2173,1459,-12.41,2.06,380.21
$IRIDIUM_FIX,2159.71,-15801.11,231000,202054
$TT8_MAMPS,0.026078
$HUMID,65.00
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.80
$XPDR_PINGS,141
$24V_AH,22.9,77.493
$10V_AH,9.8,70.704
$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,29.725,133.750,394.775,49.400,0.000,81.667,112.050,867.365,35.250,0.000,33.675,1368.345,14358.194,549.870,1809.916,1445.073,33.383,1378.381,0.000,1785.786,0.000,0.536,0.000
$DEVICE_MAMPS,186.381,117.351,1238.705,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.306,336.093,441.784,693.328,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356240
$DATA_FILE_SIZE,54282,716
$CAP_FILE_SIZE,142869,0
$CFSIZE,260165632,148615168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310711,012630,2208.156,-15800.459,36,1.2,42,10.0