version: 66.06
glider: 146
mission: 6
dive: 608
start: 7 31 111 1 38 55
data:
$ID,146
$MISSION,6
$DIVE,608
$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,-282665.56
$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,24
$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
$GPS1,012630,2208.156,-15800.459,36,1.2,42,10.0
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.3
$GPS2,013805,2208.191,-15800.547,19,1.6,19,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.150
$KALMAN_X,-621402.7,-165.1,211.5,614949.4,-2223.8
$KALMAN_Y,255237.8,13.3,61.2,-321451.0,599.1
$MHEAD_RNG_PITCHd_Wd,123.6,15787,-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,-63.67,0.000,2,0.000,0.000,478,2173,3076,0,0,0,0,0,0
$GC,87,-1.47,-97.3,3.7,-8.2,10,114,12.85,2.78,-6.38,0.000,4,0.163,0.051,2854,516,3410,0,0,0,0,0,0
$GC,222,-1.38,-97.3,31.6,-16.5,34,227,0.00,2.47,0.00,0.000,6,0.000,0.015,2854,2116,3412,0,0,0,0,0,0
$GC,611,-1.38,-97.3,89.3,-12.3,70,615,0.00,2.45,0.00,0.000,4,0.000,0.030,2854,3663,3413,0,0,0,0,0,0
$GC,675,-1.42,-97.3,96.9,-12.3,75,679,0.00,2.47,0.00,0.000,6,0.000,0.022,2854,2099,3413,0,0,0,0,0,0
$GC,1065,-1.42,-97.3,146.9,-12.4,111,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2099,3414,0,0,0,0,0,0
$GC,1448,-1.48,-97.3,189.0,-9.3,147,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2099,3415,0,0,0,0,0,0
$GC,1817,-1.55,-97.3,223.1,-8.8,165,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2099,3415,0,0,0,0,0,0
$GC,2183,-1.62,-97.3,253.0,-7.9,174,2184,0.15,0.00,0.00,0.000,6,0.064,0.000,2805,2099,3415,0,0,0,0,0,0
$GC,2549,-1.62,-97.3,291.8,-11.4,183,2553,0.00,2.53,0.00,0.000,4,0.000,0.038,2805,3656,3415,0,0,0,0,0,0
$GC,2576,-1.62,-97.3,295.5,-12.9,183,2580,0.00,2.45,0.00,0.000,6,0.000,0.032,2805,2111,3415,0,0,0,0,0,0
$GC,2953,-1.62,-97.3,338.5,-11.0,193,2957,0.00,2.53,0.00,0.000,4,0.000,0.040,2805,3654,3415,0,0,0,0,0,0
$GC,2987,-1.67,-97.3,342.2,-10.9,193,2993,0.00,2.50,0.00,0.000,6,0.000,0.039,2805,2119,3415,0,0,0,0,0,0
$GC,3359,-1.67,-97.3,378.9,-9.6,203,3363,0.00,2.55,0.00,0.000,4,0.000,0.049,2805,3656,3413,0,0,0,0,0,0
$GC,3380,-1.67,-97.3,381.0,-9.3,203,3385,0.00,2.53,0.00,0.000,6,0.000,0.038,2805,2122,3413,0,0,0,0,0,0
$GC,3759,-1.67,-97.3,419.5,-10.7,213,3763,0.00,2.58,0.00,0.000,4,0.000,0.051,2805,3658,3410,0,0,0,0,0,0
$GC,3780,-1.71,-97.3,422.2,-11.4,213,3785,0.00,2.55,0.00,0.000,6,0.000,0.045,2805,2123,3410,0,0,0,0,0,0
$GC,4157,-1.71,-97.3,463.0,-10.4,223,4161,0.00,2.60,0.00,0.000,4,0.000,0.061,2805,3656,3408,0,0,0,0,0,0
$GC,4202,-1.77,-97.3,467.7,-10.3,224,4207,0.00,2.60,0.00,0.000,6,0.000,0.054,2805,2119,3407,0,0,0,0,0,0
$GC,4603,-1.82,-97.3,505.8,-9.4,234,4608,0.12,2.65,0.00,0.000,4,0.069,0.067,2759,3651,3404,0,0,0,0,0,0
$GC,4665,-1.82,-97.3,512.9,-12.1,235,4670,0.00,2.60,0.00,0.000,6,0.000,0.061,2759,2128,3404,0,0,0,0,0,0
$GC,5048,-1.78,-97.3,556.0,-11.0,245,5053,0.12,2.67,0.00,0.000,4,0.114,0.077,2785,3650,3401,0,0,0,0,0,0
$GC,5064,-1.78,-97.3,557.9,-10.8,245,5069,0.00,2.62,0.00,0.000,6,0.000,0.062,2785,2125,3401,0,0,0,0,0,0
$GC,5449,-1.78,-97.3,594.1,-9.1,255,5454,0.00,2.67,0.00,0.000,4,0.000,0.076,2785,3645,3399,0,0,0,0,0,0
$GC,5505,-1.83,-97.3,599.6,-9.5,256,5510,0.00,2.65,0.00,0.000,6,0.000,0.072,2785,2139,3398,0,0,0,0,0,0
$GC,5893,-1.83,-97.3,636.9,-9.9,266,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2139,3395,0,0,0,0,0,0
$GC,6260,-1.83,-97.3,675.7,-10.8,275,6265,0.00,2.83,0.00,0.000,4,0.000,0.115,2785,3649,3393,0,0,0,0,0,0
$GC,6338,-1.87,-97.3,684.6,-10.9,276,6343,0.00,2.83,0.00,0.000,6,0.000,0.104,2785,2144,3392,0,0,0,0,0,0
$GC,6712,-1.91,-97.3,721.7,-9.7,286,6717,0.12,2.95,0.00,0.000,4,0.073,0.131,2746,3642,3390,0,0,0,0,0,0
$GC,6752,-1.91,-97.3,726.2,-11.2,287,6756,0.00,2.62,0.00,0.000,6,0.000,0.071,2745,2132,3389,0,0,0,0,0,0
$GC,7156,-1.91,-97.3,768.2,-10.3,297,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2131,3387,0,0,0,0,0,0
$GC,7524,-1.91,-97.3,806.1,-10.5,306,7528,0.00,3.15,0.00,0.000,4,0.000,0.127,2745,505,3386,0,0,0,0,0,0
$GC,7540,-1.86,-97.3,808.0,-10.5,306,7545,0.12,2.72,0.00,0.000,6,0.120,0.052,2770,2100,3386,0,0,0,0,0,0
$GC,7923,-1.86,-97.3,846.6,-10.3,316,7928,0.00,2.85,0.00,0.000,4,0.000,0.093,2769,3691,3384,0,0,0,0,0,0
$GC,7946,-1.86,-97.3,849.1,-10.9,316,7950,0.00,2.67,0.00,0.000,6,0.000,0.064,2770,2137,3384,0,0,0,0,0,0
$GC,8322,-1.86,-97.3,890.6,-11.0,326,8327,0.00,2.70,0.00,0.000,4,0.000,0.069,2770,3689,3382,0,0,0,0,0,0
$GC,8344,-1.86,-97.3,893.2,-11.5,326,8348,0.00,2.67,0.00,0.000,6,0.000,0.061,2770,2141,3382,0,0,0,0,0,0
$STATE,8435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8435,begin apogee
$GC,8443,-0.31,0.0,903.3,10.9,329,8530,1.52,0.00,83.32,1.242,6,0.088,0.000,3106,1824,3010,0,0,0,0,0,0
$STATE,8531,end apogee,CONTROL_FINISHED_OK
$STATE,8531,begin climb
$GC,8533,1.47,97.3,906.5,0.0,331,8635,1.65,3.17,91.30,1.217,4,0.036,0.120,3504,238,2612,0,0,0,0,0,0
$GC,8676,1.24,132.5,904.8,7.6,333,8716,0.30,2.72,33.47,1.174,6,0.123,0.044,3446,1835,2469,0,0,0,0,0,0
$GC,9089,1.20,150.4,869.8,8.8,344,9113,0.00,2.92,16.50,1.111,4,0.000,0.076,3446,3421,2396,0,0,0,0,0,0
$GC,9160,1.15,150.4,863.0,10.1,345,9165,0.10,2.78,0.00,0.000,6,0.146,0.060,3429,1829,2393,0,0,0,0,0,0
$GC,9537,1.15,153.9,826.4,9.8,355,9542,0.00,2.70,0.00,0.000,4,0.000,0.052,3429,3423,2390,0,0,0,0,0,0
$GC,9589,1.16,160.0,821.2,9.6,356,9604,0.00,2.75,9.75,1.028,6,0.000,0.058,3428,1833,2356,0,0,0,0,0,0
$GC,9983,1.17,167.3,783.2,9.5,366,9993,0.00,0.00,8.25,0.989,6,0.000,0.000,3428,1833,2327,0,0,0,0,0,0
$GC,10347,1.17,167.3,746.8,10.1,375,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1833,2324,0,0,0,0,0,0
$GC,10714,1.17,167.3,709.5,10.1,384,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1833,2323,0,0,0,0,0,0
$GC,11078,1.19,185.2,675.7,8.8,393,11103,0.00,2.78,17.77,1.049,4,0.000,0.048,3428,3413,2254,0,0,0,0,0,0
$GC,11143,1.20,191.0,669.7,9.6,394,11157,0.00,2.75,7.05,0.897,6,0.000,0.061,3428,1831,2231,0,0,0,0,0,0
$GC,11531,1.22,211.9,636.3,8.6,404,11560,0.00,2.72,21.15,1.031,4,0.000,0.050,3428,3416,2145,0,0,0,0,0,0
$GC,11572,1.24,223.4,632.3,9.2,405,11592,0.00,2.78,12.50,0.969,6,0.000,0.059,3429,1830,2098,0,0,0,0,0,0
$GC,11983,1.24,223.4,590.3,10.5,415,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1830,2094,0,0,0,0,0,0
$GC,12347,1.24,223.4,550.3,11.0,424,12352,0.00,2.67,0.00,0.000,4,0.000,0.051,3429,3417,2092,0,0,0,0,0,0
$GC,12374,1.27,223.4,547.1,11.6,424,12379,0.10,2.75,0.00,0.000,6,0.101,0.058,3454,1833,2090,0,0,0,0,0,0
$GC,12747,1.27,223.4,501.9,12.2,433,12752,0.00,2.65,0.00,0.000,4,0.000,0.045,3454,3424,2091,0,0,0,0,0,0
$GC,12780,1.27,223.4,497.5,12.7,433,12785,0.00,2.75,0.00,0.000,6,0.000,0.060,3454,1830,2090,0,0,0,0,0,0
$GC,13151,1.27,223.4,455.1,10.9,443,13153,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1831,2090,0,0,0,0,0,0
$GC,13517,1.27,223.4,418.3,10.0,452,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1830,2090,0,0,0,0,0,0
$GC,13885,1.27,223.4,382.3,10.3,461,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1830,2090,0,0,0,0,0,0
$GC,14248,1.27,223.4,342.2,10.4,470,14253,0.00,2.62,0.00,0.000,4,0.000,0.038,3453,3424,2089,0,0,0,0,0,0
$GC,14281,1.31,223.4,338.7,10.6,470,14287,0.00,2.67,0.00,0.000,6,0.000,0.041,3454,1829,2089,0,0,0,0,0,0
$GC,14655,1.40,260.1,308.8,7.5,480,14693,0.10,0.00,33.83,0.823,6,0.091,0.000,3482,1829,1948,0,0,0,0,0,0
$GC,15058,1.40,260.1,265.5,10.9,490,15063,0.00,2.80,0.00,0.000,4,0.000,0.077,3482,233,1942,0,0,0,0,0,0
$GC,15107,1.40,260.1,259.7,12.1,491,15112,0.00,2.62,0.00,0.000,6,0.000,0.021,3482,1874,1942,0,0,0,0,0,0
$GC,15503,1.42,279.5,224.6,8.7,501,15528,0.00,2.92,17.98,0.727,4,0.000,0.065,3482,247,1869,0,0,0,0,0,0
$GC,15548,1.42,279.8,220.3,10.0,502,15552,0.00,2.55,0.00,0.000,6,0.000,0.025,3482,1839,1867,0,0,0,0,0,0
$GC,15930,1.47,279.8,181.1,10.8,524,15935,0.00,2.78,0.00,0.000,4,0.000,0.061,3482,236,1866,0,0,0,0,0,0
$GC,15981,1.47,279.8,175.4,12.6,528,15985,0.00,2.53,0.00,0.000,6,0.000,0.026,3482,1834,1865,0,0,0,0,0,0
$GC,16369,1.56,295.1,134.1,9.0,564,16393,0.12,2.83,14.88,0.634,4,0.079,0.060,3516,240,1805,0,0,0,0,0,0
$GC,16454,1.52,295.1,125.1,11.6,571,16459,0.00,2.53,0.00,0.000,6,0.000,0.025,3516,1835,1803,0,0,0,0,0,0
$GC,16845,1.54,309.5,87.0,9.0,607,16868,0.00,2.83,13.75,0.581,4,0.000,0.057,3516,236,1747,0,0,0,0,0,0
$GC,16882,1.56,326.8,83.5,8.8,610,16905,0.00,2.53,16.92,0.578,6,0.000,0.026,3516,1830,1677,0,0,0,0,0,0
$GC,17289,1.67,351.0,47.7,8.4,648,17317,0.00,2.78,21.62,0.551,4,0.000,0.055,3516,237,1578,0,0,0,0,0,0
$GC,17392,1.67,351.0,36.9,11.1,657,17396,0.00,2.50,0.00,0.000,6,0.000,0.019,3516,1828,1576,0,0,0,0,0,0
$STATE,17675,end climb,SURFACE_DEPTH_REACHED
$STATE,17676,begin surface coast
$FINISH,0.8,0.977200
$STATE,17713,end surface coast,CONTROL_FINISHED_OK
$STATE,17717,begin surface
$SM_CCo,17739,24.20,0.511,0,0,1459,380.21
$SM_GC,1.62,0.00,0.00,24.20,0.000,0.000,0.511,476,2152,1459,-12.42,1.47,380.21
$IRIDIUM_FIX,2159.71,-15801.11,231000,202054
$TT8_MAMPS,0.026078
$HUMID,66.57
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,20.40
$XPDR_PINGS,168
$24V_AH,22.9,77.655
$10V_AH,9.9,70.796
$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,29.850,156.800,420.050,24.200,0.000,30.518,39.013,464.704,42.000,0.000,20.591,1366.619,13814.034,524.729,1847.996,895.281,33.380,1393.860,0.000,1836.632,0.000,0.534,0.000
$DEVICE_MAMPS,162.604,131.157,1241.773,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.202,329.309,444.496,696.477,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356132
$DATA_FILE_SIZE,54226,711
$CAP_FILE_SIZE,138821,0
$CFSIZE,260165632,148553728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310711,063635,2206.774,-15800.511,45,1.6,54,10.0