version: 66.06
glider: 146
mission: 6
dive: 614
start: 8 1 111 9 19 52
data:
$ID,146
$MISSION,6
$DIVE,614
$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,-282797.41
$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,2120
$C_ROLL_CLIMB,1805
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,45
$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
$GPS1,091201,2201.410,-15758.821,39,1.4,39,9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.8
$GPS2,091902,2201.400,-15758.942,14,1.2,14,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,-0.122
$KALMAN_X,-636691.3,76.3,-172.9,633123.2,-2019.8
$KALMAN_Y,256875.1,92.3,-106.9,-335574.8,265.3
$MHEAD_RNG_PITCHd_Wd,114.5,3057,-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,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-69.03,0.000,2,0.000,0.000,474,2198,3186,0,0,0,0,0,0
$GC,92,-1.47,-97.3,3.7,-7.4,11,120,12.85,2.80,-4.18,0.000,4,0.163,0.053,2848,536,3409,0,0,0,0,0,0
$GC,149,-1.33,-97.3,20.3,-18.4,20,158,0.12,2.50,0.00,0.000,6,0.107,0.016,2878,2134,3410,0,0,0,0,0,0
$GC,542,-1.33,-97.3,75.4,-12.5,62,547,0.00,2.65,0.00,0.000,4,0.000,0.045,2878,529,3412,0,0,0,0,0,0
$GC,583,-1.33,-97.3,80.3,-11.8,65,588,0.00,2.45,0.00,0.000,6,0.000,0.016,2878,2116,3412,0,0,0,0,0,0
$GC,974,-1.40,-97.3,123.2,-10.2,101,979,0.00,2.50,0.00,0.000,4,0.000,0.032,2878,3684,3413,0,0,0,0,0,0
$GC,1005,-1.48,-97.3,126.8,-11.8,103,1011,0.10,2.50,0.00,0.000,6,0.077,0.021,2831,2093,3413,0,0,0,0,0,0
$GC,1394,-1.48,-97.3,172.1,-10.6,139,1399,0.10,2.55,0.00,0.000,4,0.116,0.050,2853,541,3414,0,0,0,0,0,0
$GC,1438,-1.48,-97.3,176.8,-9.8,142,1444,0.00,2.42,0.00,0.000,6,0.000,0.015,2853,2123,3415,0,0,0,0,0,0
$GC,1826,-1.55,-97.3,212.8,-9.9,170,1831,0.00,2.62,0.00,0.000,4,0.000,0.056,2853,543,3415,0,0,0,0,0,0
$GC,1882,-1.62,-97.3,219.3,-10.4,171,1887,0.12,2.40,0.00,0.000,6,0.076,0.022,2810,2107,3416,0,0,0,0,0,0
$GC,2271,-1.62,-97.3,262.2,-10.6,181,2276,0.00,2.50,0.00,0.000,4,0.000,0.037,2810,3674,3416,0,0,0,0,0,0
$GC,2288,-1.62,-97.3,264.1,-9.9,181,2292,0.00,2.47,0.00,0.000,6,0.000,0.028,2810,2101,3416,0,0,0,0,0,0
$GC,2671,-1.62,-97.3,301.1,-10.0,191,2675,0.00,2.70,0.00,0.000,4,0.000,0.070,2810,546,3416,0,0,0,0,0,0
$GC,2695,-1.62,-97.3,303.4,-10.5,191,2699,0.00,2.40,0.00,0.000,6,0.000,0.028,2810,2065,3415,0,0,0,0,0,0
$GC,3072,-1.62,-97.3,341.7,-9.8,201,3076,0.00,2.65,0.00,0.000,4,0.000,0.045,2810,3673,3415,0,0,0,0,0,0
$GC,3184,-1.67,-97.3,351.0,-7.8,203,3188,0.00,2.55,0.00,0.000,6,0.000,0.040,2810,2114,3415,0,0,0,0,0,0
$GC,3563,-1.70,-97.3,380.9,-8.4,213,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2114,3413,0,0,0,0,0,0
$GC,3926,-1.74,-97.3,417.5,-10.5,222,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2114,3411,0,0,0,0,0,0
$GC,4292,-1.79,-97.3,456.2,-10.5,231,4294,0.10,0.00,0.00,0.000,6,0.087,0.000,2776,2114,3408,0,0,0,0,0,0
$GC,4659,-1.79,-97.3,498.6,-11.4,240,4663,0.00,2.70,0.00,0.000,4,0.000,0.067,2776,3665,3406,0,0,0,0,0,0
$GC,4691,-1.79,-97.3,502.7,-11.6,240,4697,0.00,2.65,0.00,0.000,6,0.000,0.058,2776,2109,3406,0,0,0,0,0,0
$GC,5063,-1.79,-97.3,541.9,-10.6,250,5067,0.00,2.72,0.00,0.000,4,0.000,0.076,2776,3665,3403,0,0,0,0,0,0
$GC,5085,-1.79,-97.3,544.3,-10.3,250,5090,0.00,2.67,0.00,0.000,6,0.000,0.063,2776,2105,3403,0,0,0,0,0,0
$GC,5462,-1.79,-97.3,581.8,-9.8,260,5467,0.00,2.78,0.00,0.000,4,0.000,0.077,2775,3660,3400,0,0,0,0,0,0
$GC,5540,-1.79,-97.3,590.1,-10.0,261,5545,0.00,2.67,0.00,0.000,6,0.000,0.073,2775,2116,3400,0,0,0,0,0,0
$GC,5913,-1.79,-97.3,630.2,-11.1,271,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2116,3397,0,0,0,0,0,0
$GC,6277,-1.79,-97.3,670.6,-11.1,280,6282,0.00,2.90,0.00,0.000,4,0.000,0.108,2775,3659,3395,0,0,0,0,0,0
$GC,6304,-1.79,-97.3,673.7,-11.6,280,6308,0.00,2.85,0.00,0.000,6,0.000,0.104,2775,2118,3395,0,0,0,0,0,0
$GC,6677,-1.79,-97.3,711.1,-9.6,289,6682,0.00,3.00,0.00,0.000,4,0.000,0.127,2775,3653,3393,0,0,0,0,0,0
$GC,6699,-1.79,-97.3,713.4,-9.5,289,6703,0.00,2.75,0.00,0.000,6,0.000,0.079,2775,2114,3393,0,0,0,0,0,0
$GC,7076,-1.79,-97.3,748.5,-9.1,299,7081,0.00,3.12,0.00,0.000,4,0.000,0.138,2775,529,3390,0,0,0,0,0,0
$GC,7099,-1.79,-97.3,750.6,-9.4,299,7103,0.00,2.65,0.00,0.000,6,0.000,0.059,2775,2065,3390,0,0,0,0,0,0
$GC,7476,-1.79,-97.3,785.2,-9.1,309,7481,0.00,2.92,0.00,0.000,4,0.000,0.103,2775,3658,3388,0,0,0,0,0,0
$GC,7515,-1.79,-97.3,788.9,-9.3,310,7520,0.00,2.65,0.00,0.000,6,0.000,0.067,2775,2118,3388,0,0,0,0,0,0
$GC,7922,-1.79,-97.3,826.4,-9.2,320,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2117,3387,0,0,0,0,0,0
$GC,8286,-1.79,-97.3,861.3,-9.6,329,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2117,3385,0,0,0,0,0,0
$GC,8652,-1.79,-97.3,894.9,-9.0,338,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2116,3384,0,0,0,0,0,0
$STATE,8730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8730,begin apogee
$GC,8738,-0.31,0.0,902.2,8.9,340,8826,1.50,0.00,84.07,1.244,6,0.089,0.000,3106,1800,3010,0,0,0,0,0,0
$STATE,8827,end apogee,CONTROL_FINISHED_OK
$STATE,8827,begin climb
$GC,8829,1.47,97.3,904.0,0.0,342,8935,1.65,3.15,91.62,1.226,4,0.038,0.120,3502,219,2610,0,0,0,0,0,0
$GC,8954,1.27,149.1,902.4,6.5,345,9009,0.25,2.62,48.92,1.192,6,0.124,0.045,3454,1760,2402,0,0,0,0,0,0
$GC,9382,1.21,156.4,861.5,9.5,356,9396,0.00,3.00,6.57,0.923,4,0.000,0.080,3454,3393,2370,0,0,0,0,0,0
$GC,9468,1.16,164.8,853.4,9.4,357,9483,0.12,2.78,9.30,1.016,6,0.137,0.057,3431,1804,2338,0,0,0,0,0,0
$GC,9881,1.19,185.2,817.5,8.6,368,9909,0.00,2.75,21.10,1.120,4,0.000,0.049,3431,3394,2253,0,0,0,0,0,0
$GC,9934,1.20,198.3,812.4,9.1,369,9954,0.00,2.80,14.07,1.075,6,0.000,0.058,3431,1804,2200,0,0,0,0,0,0
$GC,10332,1.20,198.3,772.7,10.3,379,10336,0.00,2.70,0.00,0.000,4,0.000,0.055,3431,3392,2194,0,0,0,0,0,0
$GC,10366,1.20,198.3,769.2,10.9,379,10371,0.00,2.78,0.00,0.000,6,0.000,0.060,3431,1810,2193,0,0,0,0,0,0
$GC,10737,1.20,198.3,727.3,11.4,389,10742,0.00,2.70,0.00,0.000,4,0.000,0.056,3431,3393,2192,0,0,0,0,0,0
$GC,10770,1.20,198.3,723.3,11.9,389,10776,0.00,2.78,0.00,0.000,6,0.000,0.062,3431,1806,2192,0,0,0,0,0,0
$GC,11144,1.20,198.3,680.1,11.5,399,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1805,2191,0,0,0,0,0,0
$GC,11508,1.20,198.3,638.8,11.0,408,11512,0.00,2.70,0.00,0.000,4,0.000,0.054,3431,3398,2190,0,0,0,0,0,0
$GC,11568,1.20,198.3,631.8,11.3,409,11572,0.00,2.75,0.00,0.000,6,0.000,0.059,3431,1814,2189,0,0,0,0,0,0
$GC,11953,1.20,198.3,589.4,10.9,419,11957,0.00,2.67,0.00,0.000,4,0.000,0.049,3431,3394,2189,0,0,0,0,0,0
$GC,11987,1.20,198.3,585.6,11.1,419,11992,0.00,2.75,0.00,0.000,6,0.000,0.064,3431,1818,2188,0,0,0,0,0,0
$GC,12359,1.21,207.1,548.6,9.4,429,12368,0.00,0.00,7.72,0.877,6,0.000,0.000,3431,1818,2165,0,0,0,0,0,0
$GC,12726,1.24,224.9,516.3,8.8,438,12746,0.00,0.00,18.48,0.954,6,0.000,0.000,3431,1818,2093,0,0,0,0,0,0
$GC,13090,1.30,245.8,483.9,8.6,447,13119,0.12,2.72,21.05,0.937,4,0.087,0.051,3462,3403,2006,0,0,0,0,0,0
$GC,13164,1.30,245.8,476.4,11.0,448,13168,0.00,2.78,0.00,0.000,6,0.000,0.055,3462,1814,2003,0,0,0,0,0,0
$GC,13537,1.30,245.8,436.0,11.6,457,13542,0.00,2.62,0.00,0.000,4,0.000,0.043,3462,3400,2001,0,0,0,0,0,0
$GC,13558,1.30,245.8,433.1,12.6,457,13563,0.00,2.70,0.00,0.000,6,0.000,0.054,3462,1820,2000,0,0,0,0,0,0
$GC,13936,1.30,245.8,386.6,12.1,467,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1819,2000,0,0,0,0,0,0
$GC,14303,1.30,245.8,349.0,10.1,476,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1820,2000,0,0,0,0,0,0
$GC,14667,1.30,247.1,312.4,9.9,485,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1819,1999,0,0,0,0,0,0
$GC,15033,1.36,252.4,276.8,9.6,494,15041,0.00,0.00,6.00,0.651,6,0.000,0.000,3462,1820,1981,0,0,0,0,0,0
$GC,15400,1.43,258.3,241.8,9.6,503,15415,0.10,2.65,7.32,0.657,4,0.091,0.038,3490,3409,1957,0,0,0,0,0,0
$GC,15460,1.43,258.4,235.4,10.0,504,15465,0.00,2.65,0.00,0.000,6,0.000,0.038,3490,1813,1956,0,0,0,0,0,0
$GC,15841,1.43,258.4,195.6,10.1,516,15845,0.00,2.75,0.00,0.000,4,0.000,0.071,3490,226,1955,0,0,0,0,0,0
$GC,15874,1.39,258.4,191.8,11.1,518,15879,0.00,2.58,0.00,0.000,6,0.000,0.021,3490,1872,1955,0,0,0,0,0,0
$GC,16263,1.47,289.0,158.1,7.9,555,16297,0.00,2.90,29.12,0.664,4,0.000,0.061,3489,226,1830,0,0,0,0,0,0
$GC,16362,1.48,297.9,149.0,9.4,564,16378,0.00,2.58,8.95,0.590,6,0.000,0.019,3490,1867,1795,0,0,0,0,0,0
$GC,16767,1.57,306.3,109.4,9.4,602,16783,0.10,2.55,9.00,0.559,4,0.087,0.033,3520,3405,1760,0,0,0,0,0,0
$GC,16814,1.60,306.3,104.7,10.2,606,16818,0.00,2.60,0.00,0.000,6,0.000,0.033,3520,1826,1760,0,0,0,0,0,0
$GC,17205,1.68,324.0,66.9,8.8,642,17229,0.00,2.80,17.15,0.559,4,0.000,0.060,3520,223,1688,0,0,0,0,0,0
$GC,17332,1.68,324.0,54.6,11.4,653,17337,0.00,2.55,0.00,0.000,6,0.000,0.018,3520,1851,1686,0,0,0,0,0,0
$GC,17723,1.74,324.0,17.7,11.1,700,17731,0.15,2.83,0.00,0.000,4,0.071,0.054,3562,223,1686,0,0,0,0,0,0
$GC,17744,1.74,324.0,14.3,12.5,703,17752,0.00,2.50,0.00,0.000,6,0.000,0.018,3562,1817,1686,0,0,0,0,0,0
$STATE,17817,end climb,SURFACE_DEPTH_REACHED
$STATE,17817,begin surface coast
$FINISH,0.9,0.974272
$STATE,17846,end surface coast,CONTROL_FINISHED_OK
$STATE,17846,begin surface
$SM_CCo,17870,46.53,0.515,0,0,1460,380.21
$SM_GC,1.38,0.00,0.00,46.53,0.000,0.000,0.515,474,2156,1460,-12.42,1.02,380.21
$IRIDIUM_FIX,2155.06,-15757.67,251000,040413
$TT8_MAMPS,0.026078
$HUMID,64.25
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.50
$XPDR_PINGS,224
$24V_AH,22.9,78.597
$10V_AH,9.9,71.362
$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,29.975,162.425,400.475,46.525,0.000,25.927,35.951,203.232,56.000,0.000,17.165,1383.034,13916.736,541.900,1863.523,621.648,33.379,1425.973,0.000,1850.260,0.000,0.533,0.000
$DEVICE_MAMPS,162.604,138.060,1244.074,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.639,325.944,283.542,693.289,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,54130,721
$CAP_FILE_SIZE,136876,0
$CFSIZE,260165632,148152320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,141937,2200.754,-15757.992,25,1.8,25,9.9