version: 66.06
glider: 146
mission: 6
dive: 593
start: 7 27 111 19 10 4
data:
$ID,146
$MISSION,6
$DIVE,593
$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,-282317.53
$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,11
$R_STBD_OVSHOOT,56
$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
$GPS1,190127,2229.705,-15800.845,72,99.0,91,10.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.2
$GPS2,190914,2229.740,-15800.932,16,1.7,16,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,-0.172
$KALMAN_X,-586161.9,-112.2,2.6,579208.6,-2156.4
$KALMAN_Y,249621.4,-332.2,32.5,-275547.8,653.8
$MHEAD_RNG_PITCHd_Wd,132.5,55309,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-68.22,0.000,2,0.000,0.000,475,2162,3192,0,0,0,0,0,0
$GC,91,-1.47,-97.3,3.8,-7.9,11,119,12.68,2.80,-4.12,0.000,4,0.159,0.053,2850,500,3409,0,0,0,0,0,0
$GC,201,-1.36,-97.3,29.5,-20.3,30,209,0.10,2.50,0.00,0.000,6,0.109,0.017,2874,2100,3411,0,0,0,0,0,0
$GC,591,-1.36,-97.3,89.6,-12.4,67,596,0.00,2.47,0.00,0.000,4,0.000,0.029,2874,3662,3412,0,0,0,0,0,0
$GC,609,-1.36,-97.3,92.0,-11.7,68,613,0.00,2.50,0.00,0.000,6,0.000,0.022,2874,2079,3413,0,0,0,0,0,0
$GC,998,-1.41,-97.3,129.5,-9.7,104,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2079,3414,0,0,0,0,0,0
$GC,1380,-1.49,-97.3,167.4,-9.4,140,1382,0.10,0.00,0.00,0.000,6,0.083,0.000,2834,2079,3415,0,0,0,0,0,0
$GC,1790,-1.49,-97.3,208.5,-10.3,173,1795,0.00,2.53,0.00,0.000,4,0.000,0.029,2834,3658,3415,0,0,0,0,0,0
$GC,1820,-1.53,-97.3,211.4,-10.4,173,1824,0.00,2.42,0.00,0.000,6,0.000,0.028,2834,2107,3415,0,0,0,0,0,0
$GC,2191,-1.53,-97.3,249.5,-9.9,182,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2107,3416,0,0,0,0,0,0
$GC,2557,-1.59,-97.3,284.3,-9.7,191,2562,0.00,2.50,0.00,0.000,4,0.000,0.035,2834,3662,3416,0,0,0,0,0,0
$GC,2644,-1.67,-97.3,293.9,-10.7,193,2649,0.10,2.45,0.00,0.000,6,0.081,0.030,2788,2122,3416,0,0,0,0,0,0
$GC,3049,-1.67,-97.3,337.5,-9.0,203,3051,0.10,0.00,0.00,0.000,6,0.120,0.000,2809,2122,3416,0,0,0,0,0,0
$GC,3417,-1.72,-97.3,371.0,-10.0,212,3421,0.00,2.53,0.00,0.000,4,0.000,0.048,2809,3652,3415,0,0,0,0,0,0
$GC,3472,-1.78,-97.3,377.1,-10.3,213,3476,0.00,2.53,0.00,0.000,6,0.000,0.040,2809,2119,3415,0,0,0,0,0,0
$GC,3861,-1.82,-97.3,414.1,-9.5,223,3866,0.12,2.95,0.00,0.000,4,0.074,0.103,2768,517,3412,0,0,0,0,0,0
$GC,3884,-1.82,-97.3,416.8,-11.1,223,3888,0.00,2.55,0.00,0.000,6,0.000,0.042,2768,2075,3411,0,0,0,0,0,0
$GC,4261,-1.82,-97.3,458.3,-11.3,233,4265,0.00,2.75,0.00,0.000,4,0.000,0.070,2768,3689,3409,0,0,0,0,0,0
$GC,4321,-1.82,-97.3,465.6,-12.2,234,4326,0.00,2.67,0.00,0.000,6,0.000,0.056,2768,2116,3409,0,0,0,0,0,0
$GC,4706,-1.82,-97.3,511.8,-11.9,244,4710,0.00,2.70,0.00,0.000,4,0.000,0.069,2768,3687,3406,0,0,0,0,0,0
$GC,4745,-1.82,-97.3,516.6,-11.7,245,4749,0.00,2.67,0.00,0.000,6,0.000,0.060,2768,2120,3405,0,0,0,0,0,0
$GC,5151,-1.82,-97.3,558.7,-10.5,255,5156,0.00,2.75,0.00,0.000,4,0.000,0.076,2768,3685,3402,0,0,0,0,0,0
$GC,5172,-1.82,-97.3,561.5,-11.5,255,5177,0.00,2.70,0.00,0.000,6,0.000,0.064,2768,2122,3402,0,0,0,0,0,0
$GC,5549,-1.82,-97.3,603.5,-11.1,265,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2122,3400,0,0,0,0,0,0
$GC,5914,-1.82,-97.3,642.1,-10.3,274,5920,0.00,3.28,0.00,0.000,4,0.000,0.153,2768,514,3397,0,0,0,0,0,0
$GC,5933,-1.82,-97.3,643.9,-10.6,274,5938,0.00,2.83,0.00,0.000,6,0.000,0.073,2768,2110,3397,0,0,0,0,0,0
$GC,6316,-1.82,-97.3,682.9,-9.9,284,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2110,3394,0,0,0,0,0,0
$GC,6683,-1.82,-97.3,722.7,-11.5,293,6688,0.00,3.20,0.00,0.000,4,0.000,0.149,2768,3688,3393,0,0,0,0,0,0
$GC,6717,-1.82,-97.3,727.0,-12.5,293,6723,0.00,2.75,0.00,0.000,6,0.000,0.070,2768,2118,3392,0,0,0,0,0,0
$GC,7089,-1.82,-97.3,770.3,-11.3,303,7094,0.00,3.15,0.00,0.000,4,0.000,0.130,2768,505,3390,0,0,0,0,0,0
$GC,7104,-1.82,-97.3,772.1,-10.9,303,7109,0.00,2.78,0.00,0.000,6,0.000,0.054,2768,2130,3389,0,0,0,0,0,0
$GC,7489,-1.82,-97.3,809.0,-9.2,313,7494,0.00,3.00,0.00,0.000,4,0.000,0.100,2768,504,3388,0,0,0,0,0,0
$GC,7510,-1.82,-97.3,811.4,-10.0,313,7515,0.00,2.75,0.00,0.000,6,0.000,0.052,2768,2122,3388,0,0,0,0,0,0
$GC,7888,-1.82,-97.3,843.0,-8.3,323,7893,0.00,2.97,0.00,0.000,4,0.000,0.095,2768,505,3386,0,0,0,0,0,0
$GC,7905,-1.82,-97.3,844.5,-8.3,323,7910,0.00,2.70,0.00,0.000,6,0.000,0.054,2768,2115,3386,0,0,0,0,0,0
$GC,8288,-1.82,-97.3,877.6,-8.8,333,8293,0.00,2.95,0.00,0.000,4,0.000,0.094,2768,505,3384,0,0,0,0,0,0
$GC,8309,-1.82,-97.3,879.6,-9.1,333,8314,0.00,2.72,0.00,0.000,6,0.000,0.053,2768,2115,3384,0,0,0,0,0,0
$STATE,8562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8562,begin apogee
$GC,8569,-0.31,0.0,903.0,9.3,340,8656,1.52,0.00,83.45,1.245,6,0.088,0.000,3104,1893,3010,0,0,0,0,0,0
$STATE,8657,end apogee,CONTROL_FINISHED_OK
$STATE,8657,begin climb
$GC,8659,1.47,97.3,905.0,0.0,342,8759,1.67,2.95,91.32,1.225,4,0.037,0.075,3505,3497,2612,0,0,0,0,0,0
$GC,8772,1.37,174.1,904.4,4.8,345,8856,0.15,2.80,72.12,1.211,6,0.140,0.062,3476,1903,2299,0,0,0,0,0,0
$GC,9262,1.27,174.1,849.2,11.9,357,9267,0.12,2.70,0.00,0.000,4,0.138,0.050,3453,3492,2286,0,0,0,0,0,0
$GC,9319,1.23,174.1,842.6,11.3,358,9324,0.00,2.75,0.00,0.000,6,0.000,0.056,3453,1900,2285,0,0,0,0,0,0
$GC,9708,1.18,174.1,801.0,10.7,368,9713,0.10,2.72,0.00,0.000,4,0.146,0.051,3434,3494,2283,0,0,0,0,0,0
$GC,9742,1.18,174.1,797.3,10.8,368,9748,0.00,2.75,0.00,0.000,6,0.000,0.053,3434,1902,2283,0,0,0,0,0,0
$GC,10116,1.18,174.1,759.0,10.4,378,10120,0.00,2.67,0.00,0.000,4,0.000,0.049,3434,3490,2282,0,0,0,0,0,0
$GC,10138,1.18,174.1,756.5,10.3,378,10143,0.00,2.72,0.00,0.000,6,0.000,0.059,3434,1912,2281,0,0,0,0,0,0
$GC,10515,1.18,176.7,718.7,9.8,388,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1911,2281,0,0,0,0,0,0
$GC,10883,1.19,188.0,684.1,9.2,397,10899,0.00,2.72,10.85,0.997,4,0.000,0.052,3434,3489,2242,0,0,0,0,0,0
$GC,10932,1.20,193.2,679.1,9.6,398,10946,0.00,2.75,6.57,0.881,6,0.000,0.059,3434,1910,2222,0,0,0,0,0,0
$GC,11332,1.22,205.4,641.6,9.2,408,11351,0.00,2.78,13.10,0.996,4,0.000,0.054,3433,3489,2171,0,0,0,0,0,0
$GC,11368,1.23,218.4,637.8,9.1,408,11387,0.00,2.75,13.98,0.992,6,0.000,0.057,3434,1914,2119,0,0,0,0,0,0
$GC,11786,1.23,218.4,592.4,11.1,419,11791,0.00,3.15,0.00,0.000,4,0.000,0.125,3433,309,2114,0,0,0,0,0,0
$GC,11819,1.19,218.4,588.0,12.8,419,11824,0.00,2.67,0.00,0.000,6,0.000,0.037,3433,1923,2113,0,0,0,0,0,0
$GC,12190,1.19,218.4,548.0,10.5,429,12195,0.00,2.95,0.00,0.000,4,0.000,0.090,3433,305,2113,0,0,0,0,0,0
$GC,12265,1.19,218.4,539.7,12.1,430,12270,0.00,2.65,0.00,0.000,6,0.000,0.032,3433,1906,2112,0,0,0,0,0,0
$GC,12638,1.24,230.7,504.5,9.2,439,12657,0.00,2.80,11.60,0.912,4,0.000,0.062,3433,3486,2069,0,0,0,0,0,0
$GC,12668,1.26,240.8,501.3,9.3,439,12687,0.00,2.75,11.38,0.887,6,0.000,0.053,3433,1890,2027,0,0,0,0,0,0
$GC,13092,1.31,247.7,461.0,9.5,450,13107,0.10,3.08,7.55,0.815,4,0.094,0.116,3461,316,2000,0,0,0,0,0,0
$GC,13129,1.26,247.7,456.1,12.2,450,13135,0.00,2.60,0.00,0.000,6,0.000,0.030,3461,1898,1999,0,0,0,0,0,0
$GC,13502,1.26,247.7,412.2,12.0,460,13504,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1898,1998,0,0,0,0,0,0
$GC,13866,1.26,247.7,372.4,10.2,469,13871,0.00,2.80,0.00,0.000,4,0.000,0.074,3461,311,1997,0,0,0,0,0,0
$GC,13910,1.26,247.7,367.6,10.7,470,13914,0.00,2.58,0.00,0.000,6,0.000,0.025,3461,1901,1996,0,0,0,0,0,0
$GC,14311,1.28,261.2,331.4,9.1,480,14330,0.00,2.85,13.82,0.801,4,0.000,0.064,3461,308,1945,0,0,0,0,0,0
$GC,14348,1.28,261.2,327.5,10.6,480,14354,0.00,2.58,0.00,0.000,6,0.000,0.028,3461,1893,1943,0,0,0,0,0,0
$GC,14720,1.32,261.2,291.0,10.2,490,14725,0.00,2.75,0.00,0.000,4,0.000,0.069,3461,304,1942,0,0,0,0,0,0
$GC,14822,1.32,261.2,279.8,10.5,492,14826,0.00,2.55,0.00,0.000,6,0.000,0.023,3461,1894,1941,0,0,0,0,0,0
$GC,15212,1.42,291.7,246.0,7.9,502,15244,0.10,0.00,29.15,0.750,6,0.090,0.000,3489,1895,1820,0,0,0,0,0,0
$GC,15577,1.46,291.7,207.2,11.7,511,15582,0.00,2.75,0.00,0.000,4,0.000,0.058,3490,302,1816,0,0,0,0,0,0
$GC,15593,1.46,291.7,204.5,12.4,511,15598,0.00,2.50,0.00,0.000,6,0.000,0.021,3489,1890,1815,0,0,0,0,0,0
$GC,15981,1.52,295.4,164.1,9.7,544,15992,0.00,2.75,4.10,0.462,4,0.000,0.063,3490,308,1804,0,0,0,0,0,0
$GC,16031,1.52,295.4,158.7,10.3,548,16037,0.00,2.47,0.00,0.000,6,0.000,0.024,3489,1881,1804,0,0,0,0,0,0
$GC,16422,1.61,295.4,118.4,11.2,585,16428,0.15,2.70,0.00,0.000,4,0.069,0.056,3532,307,1804,0,0,0,0,0,0
$GC,16444,1.61,295.4,115.3,12.1,586,16452,0.00,2.50,0.00,0.000,6,0.000,0.026,3532,1885,1804,0,0,0,0,0,0
$GC,16836,1.67,311.4,76.4,8.9,623,16854,0.00,0.00,15.95,0.564,6,0.000,0.000,3532,1887,1740,0,0,0,0,0,0
$GC,17241,1.67,316.8,39.1,9.6,661,17254,0.00,2.67,6.43,0.459,4,0.000,0.054,3532,308,1717,0,0,0,0,0,0
$GC,17279,1.67,316.8,34.7,10.8,664,17283,0.00,2.47,0.00,0.000,6,0.000,0.018,3532,1896,1716,0,0,0,0,0,0
$STATE,17561,end climb,SURFACE_DEPTH_REACHED
$STATE,17561,begin surface coast
$FINISH,0.8,0.972030
$STATE,17603,end surface coast,CONTROL_FINISHED_OK
$STATE,17603,begin surface
$SM_CCo,17625,52.75,0.515,0,0,1460,380.21
$SM_GC,1.38,0.00,0.00,52.75,0.000,0.000,0.515,473,2135,1460,-12.43,0.99,380.21
$IRIDIUM_FIX,2225.34,-15759.78,201000,141419
$TT8_MAMPS,0.026078
$HUMID,64.01
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.90
$XPDR_PINGS,140
$24V_AH,22.9,75.289
$10V_AH,9.9,69.403
$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,29.550,175.350,391.375,52.750,0.000,29.693,42.696,237.700,35.000,0.000,17.905,1397.438,13622.057,561.845,1882.869,671.585,33.383,1443.828,0.000,1871.110,0.000,0.533,0.000
$DEVICE_MAMPS,158.769,152.633,1244.841,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.747,342.781,458.323,710.762,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,54158,720
$CAP_FILE_SIZE,139007,0
$CFSIZE,260165632,149549056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,000601,2228.553,-15800.590,36,1.6,36,10.0