version: 66.06
glider: 146
mission: 6
dive: 581
start: 7 25 111 5 27 41
data:
$ID,146
$MISSION,6
$DIVE,581
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$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,-282086.91
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,63
$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
$GPS1,051507,2247.826,-15758.457,32,1.0,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.5
$GPS2,052650,2247.836,-15758.558,17,1.0,17,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,-0.205
$KALMAN_X,-558342.1,-234.5,-159.7,555732.8,-905.5
$KALMAN_Y,243387.7,402.1,-52.4,-236448.2,221.7
$MHEAD_RNG_PITCHd_Wd,151.8,88597,-21.8,-10.014
$D_GRID,700
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,473,2165,3240,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.5,-5.3,9,119,12.30,2.75,-3.17,0.000,4,0.146,0.051,2845,513,3409,0,0,0,0,0,0
$GC,235,-1.40,-97.3,32.7,-16.4,28,240,0.12,2.42,0.00,0.000,6,0.133,0.015,2869,2102,3411,0,0,0,0,0,0
$GC,623,-1.40,-97.3,89.7,-14.9,64,627,0.00,2.47,0.00,0.000,4,0.000,0.030,2869,3652,3411,0,0,0,0,0,0
$GC,692,-1.47,-97.3,97.8,-11.0,69,696,0.00,2.45,0.00,0.000,6,0.000,0.022,2869,2096,3412,0,0,0,0,0,0
$GC,1085,-1.52,-97.3,142.9,-12.0,105,1090,0.10,2.50,0.00,0.000,4,0.082,0.034,2827,3653,3412,0,0,0,0,0,0
$GC,1153,-1.52,-97.3,152.3,-12.6,110,1159,0.00,2.38,0.00,0.000,6,0.000,0.028,2828,2132,3412,0,0,0,0,0,0
$GC,1541,-1.52,-97.3,191.4,-10.9,147,1546,0.00,2.40,0.00,0.000,4,0.000,0.030,2827,3654,3413,0,0,0,0,0,0
$GC,1564,-1.52,-97.3,194.1,-11.3,148,1570,0.00,2.38,0.00,0.000,6,0.000,0.019,2827,2129,3413,0,0,0,0,0,0
$GC,1953,-1.52,-97.3,239.9,-11.5,185,1957,0.00,2.65,0.00,0.000,4,0.000,0.057,2827,533,3414,0,0,0,0,0,0
$GC,1996,-1.52,-97.3,245.4,-12.4,188,2001,0.00,2.45,0.00,0.000,6,0.000,0.024,2827,2130,3414,0,0,0,0,0,0
$GC,2386,-1.57,-97.3,286.1,-10.4,225,2390,0.00,2.45,0.00,0.000,4,0.000,0.042,2827,3667,3414,0,0,0,0,0,0
$GC,2418,-1.64,-97.3,289.7,-10.5,227,2424,0.00,2.40,0.00,0.000,6,0.000,0.029,2827,2150,3414,0,0,0,0,0,0
$GC,2807,-1.70,-97.3,325.7,-8.6,264,2812,0.10,2.47,0.00,0.000,4,0.085,0.040,2789,3656,3414,0,0,0,0,0,0
$GC,2894,-1.70,-97.3,334.5,-10.8,271,2898,0.00,2.42,0.00,0.000,6,0.000,0.038,2789,2154,3414,0,0,0,0,0,0
$GC,3289,-1.70,-97.3,380.9,-11.5,308,3293,0.00,2.50,0.00,0.000,4,0.000,0.052,2789,3653,3412,0,0,0,0,0,0
$GC,3321,-1.70,-97.3,384.4,-12.0,310,3325,0.00,2.45,0.00,0.000,6,0.000,0.045,2789,2163,3411,0,0,0,0,0,0
$GC,3712,-1.70,-97.3,427.0,-9.9,346,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2163,3409,0,0,0,0,0,0
$GC,4093,-1.70,-97.3,460.0,-8.8,382,4097,0.00,2.55,0.00,0.000,4,0.000,0.066,2789,3657,3406,0,0,0,0,0,0
$GC,4205,-1.74,-97.3,471.5,-9.5,391,4211,0.00,2.47,0.00,0.000,6,0.000,0.054,2789,2170,3406,0,0,0,0,0,0
$GC,4620,-1.74,-97.3,512.5,-9.5,422,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2170,3402,0,0,0,0,0,0
$GC,4986,-1.74,-97.3,548.6,-9.8,431,4991,0.00,3.15,0.00,0.000,4,0.000,0.126,2789,527,3399,0,0,0,0,0,0
$GC,5027,-1.74,-97.3,552.7,-10.5,432,5031,0.00,2.65,0.00,0.000,6,0.000,0.046,2789,2122,3399,0,0,0,0,0,0
$GC,5432,-1.78,-97.3,592.1,-9.5,442,5437,0.00,2.88,0.00,0.000,4,0.000,0.104,2789,3688,3396,0,0,0,0,0,0
$GC,5482,-1.83,-97.3,597.2,-9.8,443,5486,0.00,2.65,0.00,0.000,6,0.000,0.070,2789,2168,3396,0,0,0,0,0,0
$GC,5878,-1.88,-97.3,633.6,-9.0,453,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2168,3393,0,0,0,0,0,0
$GC,6242,-1.92,-97.3,667.6,-9.4,462,6247,0.15,2.83,0.00,0.000,4,0.071,0.107,2747,3684,3390,0,0,0,0,0,0
$GC,6271,-1.92,-97.3,670.8,-11.3,462,6276,0.00,2.78,0.00,0.000,6,0.000,0.098,2747,2179,3390,0,0,0,0,0,0
$STATE,6559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6559,begin apogee
$GC,6565,-0.31,0.0,703.3,11.0,469,6651,1.62,0.00,81.90,1.085,6,0.092,0.000,3102,1918,3010,0,0,0,0,0,0
$STATE,6652,end apogee,CONTROL_FINISHED_OK
$STATE,6652,begin climb
$GC,6655,1.48,97.3,705.9,0.0,471,6751,1.65,3.45,87.75,1.060,4,0.040,0.157,3501,313,2612,0,0,0,0,0,0
$GC,6766,1.40,191.9,706.3,3.5,473,6862,0.00,2.95,85.90,1.048,6,0.000,0.091,3501,1893,2227,0,0,0,0,0,0
$GC,7269,1.29,191.9,642.4,13.6,486,7275,0.22,3.05,0.00,0.000,4,0.119,0.118,3456,312,2215,0,0,0,0,0,0
$GC,7531,1.21,191.9,608.6,12.4,491,7537,0.00,2.70,0.00,0.000,6,0.000,0.053,3456,1892,2211,0,0,0,0,0,0
$GC,7903,1.21,191.9,570.2,10.2,501,7908,0.00,2.88,0.00,0.000,4,0.000,0.087,3457,308,2210,0,0,0,0,0,0
$GC,8162,1.14,191.9,540.6,11.7,506,8168,0.15,2.55,0.00,0.000,6,0.130,0.035,3427,1842,2208,0,0,0,0,0,0
$GC,8534,1.24,221.5,509.5,8.0,516,8565,0.00,2.95,24.90,0.941,4,0.000,0.072,3426,3492,2106,0,0,0,0,0,0
$GC,8584,1.33,241.3,505.4,8.6,517,8610,0.17,2.90,19.80,0.913,6,0.074,0.049,3470,1804,2026,0,0,0,0,0,0
$GC,8992,1.33,241.3,463.8,10.9,550,8997,0.00,2.85,0.00,0.000,4,0.000,0.044,3470,3494,2019,0,0,0,0,0,0
$GC,9022,1.33,241.3,460.5,11.6,552,9026,0.00,2.97,0.00,0.000,6,0.000,0.051,3470,1760,2018,0,0,0,0,0,0
$GC,9410,1.33,241.3,418.7,10.4,588,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1760,2017,0,0,0,0,0,0
$GC,9792,1.33,242.5,381.3,9.9,624,9797,0.00,2.90,0.00,0.000,4,0.000,0.039,3470,3504,2016,0,0,0,0,0,0
$GC,9820,1.33,242.5,378.4,11.0,626,9824,0.00,3.00,0.00,0.000,6,0.000,0.044,3470,1708,2016,0,0,0,0,0,0
$GC,10208,1.37,242.5,335.9,10.8,662,10213,0.00,2.95,0.00,0.000,4,0.000,0.041,3470,3494,2015,0,0,0,0,0,0
$GC,10254,1.41,242.5,331.0,10.5,665,10259,0.00,3.05,0.00,0.000,6,0.000,0.041,3470,1662,2014,0,0,0,0,0,0
$GC,10643,1.52,290.1,301.5,6.7,702,10697,0.15,3.17,43.78,0.807,4,0.072,0.041,3510,3502,1826,0,0,0,0,0,0
$GC,10727,1.52,290.1,294.2,11.1,709,10732,0.00,3.17,0.00,0.000,6,0.000,0.037,3510,1615,1824,0,0,0,0,0,0
$GC,11117,1.52,290.1,248.6,11.7,745,11121,0.00,2.25,0.00,0.000,4,0.000,0.064,3510,305,1821,0,0,0,0,0,0
$GC,11373,1.52,290.1,216.2,12.4,768,11377,0.00,2.05,0.00,0.000,6,0.000,0.022,3510,1626,1819,0,0,0,0,0,0
$GC,11771,1.52,290.1,174.9,10.7,805,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1628,1818,0,0,0,0,0,0
$GC,12160,1.62,317.5,138.5,8.1,842,12197,0.00,3.12,24.27,0.638,4,0.000,0.038,3510,3495,1714,0,0,0,0,0,0
$GC,12216,1.72,331.7,133.8,9.0,846,12238,0.12,3.30,13.82,0.604,6,0.050,0.038,3549,1533,1656,0,0,0,0,0,0
$GC,12632,1.72,331.7,85.9,10.6,885,12637,0.00,3.22,0.00,0.000,4,0.000,0.038,3549,3497,1653,0,0,0,0,0,0
$GC,12654,1.72,331.7,83.1,10.3,886,12663,0.00,3.28,0.00,0.000,6,0.000,0.037,3549,1526,1652,0,0,0,0,0,0
$GC,13048,1.81,368.6,50.7,7.5,923,13089,0.00,3.30,32.33,0.555,4,0.000,0.035,3549,3494,1506,0,0,0,0,0,0
$GC,13119,1.89,368.6,44.0,10.7,928,13125,0.17,3.22,0.00,0.000,6,0.074,0.029,3593,1532,1504,0,0,0,0,0,0
$STATE,13475,end climb,SURFACE_DEPTH_REACHED
$STATE,13476,begin surface coast
$FINISH,0.8,0.980034
$STATE,13520,end surface coast,CONTROL_FINISHED_OK
$STATE,13520,begin surface
$SM_CCo,13544,9.02,0.463,0,0,1460,380.21
$SM_GC,1.32,0.00,0.00,9.02,0.000,0.000,0.463,475,2190,1460,-12.42,2.54,380.21
$IRIDIUM_FIX,2237.01,-15758.03,181000,050538
$TT8_MAMPS,0.025311
$HUMID,65.79
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,19.90
$XPDR_PINGS,122
$24V_AH,23.1,73.366
$10V_AH,9.8,67.729
$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,29.725,134.225,414.450,9.025,0.000,47.541,80.128,330.527,30.500,0.000,19.154,1715.563,8178.151,475.497,3011.874,862.296,33.375,1508.829,0.000,3017.539,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,157.235,1085.305,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,670.643,676.830,921.657,1310.651,1130.767,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,79445,979
$CAP_FILE_SIZE,135141,0
$CFSIZE,260165632,150454272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,091545,2247.055,-15759.229,70,99.0,89,10.1