version: 66.06
glider: 146
mission: 6
dive: 594
start: 7 28 111 0 17 20
data:
$ID,146
$MISSION,6
$DIVE,594
$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,-282334.22
$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,96
$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
$GPS1,000601,2228.553,-15800.590,36,1.6,36,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.1
$GPS2,001630,2228.628,-15800.678,14,1.6,14,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.179
$KALMAN_X,-588130.2,-175.2,86.0,581588.8,-1960.0
$KALMAN_Y,250095.1,197.8,55.9,-278639.2,443.3
$MHEAD_RNG_PITCHd_Wd,135.7,53219,-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,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-69.25,0.000,2,0.000,0.000,473,2136,3215,0,0,0,0,0,0
$GC,90,-1.47,-97.3,3.8,-7.2,11,112,12.62,2.72,-3.70,0.000,4,0.155,0.051,2850,492,3407,0,0,0,0,0,0
$GC,152,-1.38,-97.3,20.4,-16.2,21,161,0.08,2.45,0.00,0.000,6,0.114,0.020,2868,2063,3409,0,0,0,0,0,0
$GC,548,-1.33,-97.3,78.4,-14.6,63,553,0.00,2.53,0.00,0.000,4,0.000,0.031,2868,3655,3410,0,0,0,0,0,0
$GC,588,-1.33,-97.3,84.6,-13.7,66,592,0.00,2.50,0.00,0.000,6,0.000,0.023,2868,2080,3410,0,0,0,0,0,0
$GC,976,-1.38,-97.3,130.0,-11.9,102,980,0.00,2.50,0.00,0.000,4,0.000,0.031,2868,3652,3411,0,0,0,0,0,0
$GC,1010,-1.44,-97.3,134.1,-12.6,104,1017,0.00,2.47,0.00,0.000,6,0.000,0.022,2868,2100,3411,0,0,0,0,0,0
$GC,1401,-1.51,-97.3,173.9,-9.0,141,1405,0.00,2.50,0.00,0.000,4,0.000,0.030,2868,3657,3412,0,0,0,0,0,0
$GC,1446,-1.63,-97.3,178.4,-9.7,144,1453,0.20,2.45,0.00,0.000,6,0.046,0.021,2796,2101,3412,0,0,0,0,0,0
$GC,1838,-1.58,-97.3,225.0,-12.2,167,1843,0.15,2.50,0.00,0.000,4,0.102,0.031,2829,3660,3412,0,0,0,0,0,0
$GC,1867,-1.58,-97.3,228.6,-11.7,167,1871,0.00,2.42,0.00,0.000,6,0.000,0.021,2829,2116,3412,0,0,0,0,0,0
$GC,2239,-1.58,-97.3,267.8,-10.5,176,2243,0.00,2.45,0.00,0.000,4,0.000,0.038,2829,3650,3412,0,0,0,0,0,0
$GC,2278,-1.66,-97.3,272.0,-10.5,177,2282,0.00,2.40,0.00,0.000,6,0.000,0.022,2829,2117,3413,0,0,0,0,0,0
$GC,2685,-1.71,-97.3,313.6,-9.8,187,2690,0.12,2.53,0.00,0.000,4,0.071,0.041,2787,3649,3413,0,0,0,0,0,0
$GC,2752,-1.71,-97.3,320.9,-10.4,188,2756,0.00,2.42,0.00,0.000,6,0.000,0.032,2787,2139,3412,0,0,0,0,0,0
$GC,3136,-1.71,-97.3,355.2,-8.7,198,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2139,3412,0,0,0,0,0,0
$GC,3500,-1.71,-97.3,392.7,-11.2,207,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2139,3410,0,0,0,0,0,0
$GC,3865,-1.71,-97.3,435.9,-11.9,216,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2139,3407,0,0,0,0,0,0
$GC,4233,-1.71,-97.3,475.3,-9.8,225,4237,0.00,2.60,0.00,0.000,4,0.000,0.070,2787,3642,3405,0,0,0,0,0,0
$GC,4260,-1.71,-97.3,478.3,-9.7,225,4264,0.00,2.50,0.00,0.000,6,0.000,0.050,2787,2149,3405,0,0,0,0,0,0
$GC,4631,-1.71,-97.3,516.8,-10.6,234,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3402,0,0,0,0,0,0
$GC,4999,-1.71,-97.3,552.8,-9.6,243,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3400,0,0,0,0,0,0
$GC,5363,-1.71,-97.3,586.0,-8.9,252,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3397,0,0,0,0,0,0
$GC,5728,-1.71,-97.3,617.1,-8.5,261,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3394,0,0,0,0,0,0
$GC,6094,-1.71,-97.3,649.9,-9.1,270,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3392,0,0,0,0,0,0
$GC,6462,-1.74,-97.3,684.6,-9.6,279,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2148,3389,0,0,0,0,0,0
$GC,6825,-1.78,-97.3,721.5,-10.2,288,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3387,0,0,0,0,0,0
$GC,7191,-1.83,-97.3,760.8,-10.9,297,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3385,0,0,0,0,0,0
$GC,7558,-1.88,-97.3,799.5,-10.4,306,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2148,3383,0,0,0,0,0,0
$GC,7922,-1.93,-97.3,834.3,-9.2,315,7931,0.15,4.30,0.00,0.000,4,0.070,0.255,2742,517,3381,0,0,0,0,0,0
$GC,7948,-1.88,-97.3,837.0,-10.6,315,7955,0.10,3.50,0.00,0.000,6,0.127,0.188,2761,2088,3381,0,0,0,0,0,0
$GC,8329,-1.88,-97.3,872.8,-9.1,325,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2087,3380,0,0,0,0,0,0
$STATE,8649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8649,begin apogee
$GC,8655,-0.31,0.0,900.3,8.5,333,8742,1.55,0.00,82.70,1.233,6,0.089,0.000,3103,1888,3010,0,0,0,0,0,0
$STATE,8743,end apogee,CONTROL_FINISHED_OK
$STATE,8743,begin climb
$GC,8746,1.47,97.3,901.0,0.0,335,8850,1.65,3.12,91.00,1.210,4,0.039,0.111,3499,322,2612,0,0,0,0,0,0
$GC,8862,1.28,130.4,897.5,7.8,337,8902,0.22,2.67,31.83,1.165,6,0.127,0.033,3456,1915,2477,0,0,0,0,0,0
$GC,9281,1.20,130.4,853.3,10.7,348,9286,0.00,2.75,0.00,0.000,4,0.000,0.073,3457,3485,2466,0,0,0,0,0,0
$GC,9303,1.12,130.4,850.7,10.7,348,9308,0.17,2.70,0.00,0.000,6,0.133,0.050,3422,1911,2465,0,0,0,0,0,0
$GC,9682,1.14,145.3,816.6,9.0,358,9701,0.00,2.75,12.75,1.071,4,0.000,0.054,3423,3479,2416,0,0,0,0,0,0
$GC,9730,1.15,152.5,812.1,9.5,359,9745,0.00,2.72,8.77,0.996,6,0.000,0.058,3422,1906,2387,0,0,0,0,0,0
$GC,10135,1.18,181.1,777.9,8.1,369,10165,0.00,0.00,28.35,1.115,6,0.000,0.000,3423,1906,2271,0,0,0,0,0,0
$GC,10502,1.22,209.6,748.9,8.1,378,10532,0.00,0.00,27.90,1.098,6,0.000,0.000,3422,1906,2155,0,0,0,0,0,0
$GC,10866,1.23,222.8,716.1,9.1,387,10885,0.00,3.17,13.27,1.023,4,0.000,0.122,3422,318,2100,0,0,0,0,0,0
$GC,10910,1.23,222.8,711.7,10.5,388,10915,0.00,2.67,0.00,0.000,6,0.000,0.034,3422,1916,2098,0,0,0,0,0,0
$GC,11316,1.23,222.8,669.0,10.8,398,11321,0.00,2.75,0.00,0.000,4,0.000,0.068,3422,3486,2097,0,0,0,0,0,0
$GC,11337,1.23,222.8,666.6,10.3,398,11342,0.00,2.72,0.00,0.000,6,0.000,0.054,3422,1910,2096,0,0,0,0,0,0
$GC,11716,1.23,222.8,625.4,11.3,408,11721,0.00,3.08,0.00,0.000,4,0.000,0.120,3422,308,2095,0,0,0,0,0,0
$GC,11743,1.23,222.8,621.7,12.0,408,11747,0.00,2.67,0.00,0.000,6,0.000,0.039,3422,1918,2094,0,0,0,0,0,0
$GC,12115,1.27,222.8,579.6,11.2,417,12121,0.12,2.92,0.00,0.000,4,0.090,0.085,3453,311,2094,0,0,0,0,0,0
$GC,12184,1.20,222.8,570.5,14.5,418,12188,0.00,2.65,0.00,0.000,6,0.000,0.033,3453,1913,2093,0,0,0,0,0,0
$GC,12561,1.20,222.8,526.8,11.3,428,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1915,2093,0,0,0,0,0,0
$GC,12926,1.20,222.8,485.3,11.5,437,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1915,2093,0,0,0,0,0,0
$GC,13293,1.20,222.8,443.0,11.4,446,13298,0.00,2.65,0.00,0.000,4,0.000,0.058,3453,3487,2092,0,0,0,0,0,0
$GC,13320,1.20,222.8,439.8,11.0,446,13325,0.00,2.67,0.00,0.000,6,0.000,0.054,3453,1913,2092,0,0,0,0,0,0
$GC,13692,1.21,233.2,403.6,9.3,455,13703,0.00,0.00,9.40,0.818,6,0.000,0.000,3454,1912,2059,0,0,0,0,0,0
$GC,14058,1.21,233.2,366.7,10.3,464,14059,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1911,2057,0,0,0,0,0,0
$GC,14424,1.22,235.9,329.6,9.8,473,14428,0.00,2.85,0.00,0.000,4,0.000,0.081,3454,313,2056,0,0,0,0,0,0
$GC,14490,1.22,235.9,322.1,11.1,474,14494,0.00,2.58,0.00,0.000,6,0.000,0.028,3454,1931,2056,0,0,0,0,0,0
$GC,14874,1.27,235.9,282.6,10.0,484,14875,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1933,2056,0,0,0,0,0,0
$GC,15238,1.38,271.1,252.5,7.6,493,15281,0.00,2.92,36.08,0.766,4,0.000,0.063,3454,311,1903,0,0,0,0,0,0
$GC,15298,1.43,279.6,247.1,9.4,494,15314,0.15,2.60,9.18,0.673,6,0.072,0.022,3493,1918,1870,0,0,0,0,0,0
$GC,15682,1.43,279.6,199.5,13.0,503,15683,0.00,0.00,0.00,0.000,6,0.000,0.000,3494,1919,1866,0,0,0,0,0,0
$GC,16064,1.51,302.8,162.7,8.4,539,16095,0.00,2.83,21.40,0.662,4,0.000,0.062,3494,307,1773,0,0,0,0,0,0
$GC,16169,1.51,302.8,150.7,12.1,548,16175,0.00,2.58,0.00,0.000,6,0.000,0.021,3494,1921,1771,0,0,0,0,0,0
$GC,16560,1.58,306.4,106.2,9.8,585,16572,0.10,2.78,4.18,0.434,4,0.097,0.058,3523,307,1760,0,0,0,0,0,0
$GC,16684,1.60,327.4,93.7,8.6,596,16710,0.00,2.53,20.23,0.593,6,0.000,0.021,3523,1905,1675,0,0,0,0,0,0
$GC,17102,1.66,327.4,53.8,10.8,635,17103,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,1906,1672,0,0,0,0,0,0
$GC,17486,1.71,327.4,11.8,10.0,686,17494,0.10,2.75,0.00,0.000,4,0.094,0.055,3552,312,1672,0,0,0,0,0,0
$STATE,17547,end climb,SURFACE_DEPTH_REACHED
$STATE,17547,begin surface coast
$FINISH,2.3,0.980036
$STATE,17559,end surface coast,CONTROL_FINISHED_OK
$STATE,17559,begin surface
$SM_CCo,17587,43.78,0.516,0,0,1460,380.21
$SM_GC,1.76,0.00,0.00,43.78,0.000,0.000,0.516,476,2119,1460,-12.41,0.54,380.21
$IRIDIUM_FIX,2218.34,-15758.50,211000,000019
$TT8_MAMPS,0.026078
$HUMID,64.56
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.10
$XPDR_PINGS,138
$24V_AH,22.9,75.440
$10V_AH,9.9,69.489
$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,30.200,120.125,397.025,43.775,0.000,60.277,78.094,267.730,34.500,0.000,16.071,1312.808,13966.664,525.258,1710.032,734.237,33.382,1306.778,0.000,1698.636,0.000,0.533,0.000
$DEVICE_MAMPS,154.934,255.411,1232.569,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.869,316.761,435.550,671.126,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,51015,699
$CAP_FILE_SIZE,125222,0
$CFSIZE,260165632,149508096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280711,051231,2227.316,-15800.583,39,1.1,39,10.0