version: 66.06
glider: 146
mission: 6
dive: 601
start: 7 29 111 12 50 58
data:
$ID,146
$MISSION,6
$DIVE,601
$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,-282464.38
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,50
$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
$GPS1,123631,2217.619,-15801.115,41,1.4,41,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.2
$GPS2,125010,2217.582,-15801.232,15,3.0,34,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,-0.162
$KALMAN_X,-604072.0,24.2,-25.5,596500.7,-2071.5
$KALMAN_Y,252585.4,101.7,-3.9,-301431.7,-134.4
$MHEAD_RNG_PITCHd_Wd,128.4,33031,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.47,-97.3,0.0,0.0,0,88,0.00,0.00,-68.10,0.000,2,0.000,0.000,476,2164,3168,0,0,0,0,0,0
$GC,93,-1.47,-97.3,3.3,-5.6,11,121,12.65,2.83,-4.70,0.000,4,0.158,0.054,2849,496,3409,0,0,0,0,0,0
$GC,208,-1.37,-97.3,27.1,-15.9,31,216,0.10,2.53,0.00,0.000,6,0.106,0.017,2873,2109,3410,0,0,0,0,0,0
$GC,601,-1.37,-97.3,85.2,-14.6,69,605,0.00,2.47,0.00,0.000,4,0.000,0.030,2873,3660,3412,0,0,0,0,0,0
$GC,632,-1.37,-97.3,89.5,-14.4,71,636,0.00,2.47,0.00,0.000,6,0.000,0.022,2873,2081,3412,0,0,0,0,0,0
$GC,1023,-1.43,-97.3,138.3,-10.6,107,1027,0.00,2.60,0.00,0.000,4,0.000,0.050,2873,517,3412,0,0,0,0,0,0
$GC,1062,-1.47,-97.3,142.6,-10.6,110,1066,0.00,2.45,0.00,0.000,6,0.000,0.022,2873,2111,3412,0,0,0,0,0,0
$GC,1451,-1.56,-97.3,178.2,-9.4,146,1456,0.17,2.50,0.00,0.000,4,0.058,0.033,2815,3663,3413,0,0,0,0,0,0
$GC,1468,-1.61,-97.3,180.3,-11.0,147,1472,0.00,2.45,0.00,0.000,6,0.000,0.020,2814,2104,3413,0,0,0,0,0,0
$GC,1879,-1.61,-97.3,231.4,-12.2,168,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2104,3414,0,0,0,0,0,0
$GC,2243,-1.61,-97.3,269.3,-9.7,177,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2104,3414,0,0,0,0,0,0
$GC,2609,-1.61,-97.3,302.2,-9.5,186,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2104,3414,0,0,0,0,0,0
$GC,2975,-1.61,-97.3,343.0,-11.3,195,2980,0.00,2.55,0.00,0.000,4,0.000,0.049,2814,3648,3413,0,0,0,0,0,0
$GC,3031,-1.68,-97.3,348.9,-10.1,196,3035,0.00,2.50,0.00,0.000,6,0.000,0.041,2815,2120,3413,0,0,0,0,0,0
$GC,3419,-1.72,-97.3,383.6,-8.8,206,3424,0.00,2.90,0.00,0.000,4,0.000,0.100,2815,518,3410,0,0,0,0,0,0
$GC,3443,-1.72,-97.3,385.8,-9.3,206,3447,0.00,2.53,0.00,0.000,6,0.000,0.037,2815,2074,3411,0,0,0,0,0,0
$GC,3820,-1.78,-97.3,419.8,-9.2,216,3822,0.12,0.00,0.00,0.000,6,0.075,0.000,2773,2075,3408,0,0,0,0,0,0
$GC,4186,-1.78,-97.3,457.3,-10.6,225,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2075,3406,0,0,0,0,0,0
$GC,4550,-1.78,-97.3,495.2,-10.1,234,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2075,3403,0,0,0,0,0,0
$GC,4916,-1.78,-97.3,532.4,-10.1,243,4920,0.00,2.88,0.00,0.000,4,0.000,0.090,2773,3674,3400,0,0,0,0,0,0
$GC,4965,-1.78,-97.3,537.7,-10.8,244,4970,0.00,2.70,0.00,0.000,6,0.000,0.064,2773,2101,3400,0,0,0,0,0,0
$GC,5361,-1.78,-97.3,578.6,-10.5,254,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2101,3397,0,0,0,0,0,0
$GC,5725,-1.78,-97.3,616.9,-10.3,263,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2101,3395,0,0,0,0,0,0
$GC,6090,-1.78,-97.3,655.2,-10.4,272,6095,0.00,2.92,0.00,0.000,4,0.000,0.105,2772,3673,3392,0,0,0,0,0,0
$GC,6124,-1.78,-97.3,658.9,-11.3,272,6130,0.00,2.90,0.00,0.000,6,0.000,0.100,2773,2097,3392,0,0,0,0,0,0
$GC,6496,-1.78,-97.3,696.8,-9.8,282,6501,0.00,3.30,0.00,0.000,4,0.000,0.160,2772,507,3389,0,0,0,0,0,0
$GC,6540,-1.78,-97.3,701.5,-10.0,283,6545,0.00,2.90,0.00,0.000,6,0.000,0.097,2773,2083,3388,0,0,0,0,0,0
$GC,6940,-1.78,-97.3,739.1,-9.2,293,6945,0.00,3.28,0.00,0.000,4,0.000,0.157,2772,3685,3386,0,0,0,0,0,0
$GC,6967,-1.78,-97.3,741.7,-9.4,293,6972,0.00,2.75,0.00,0.000,6,0.000,0.061,2773,2092,3386,0,0,0,0,0,0
$GC,7339,-1.78,-97.3,776.7,-9.6,302,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2092,3385,0,0,0,0,0,0
$GC,7707,-1.78,-97.3,811.5,-9.4,311,7711,0.00,2.83,0.00,0.000,4,0.000,0.082,2773,3697,3382,0,0,0,0,0,0
$GC,7746,-1.82,-97.3,815.6,-10.3,312,7751,0.00,2.78,0.00,0.000,6,0.000,0.066,2772,2102,3381,0,0,0,0,0,0
$GC,8151,-1.82,-97.3,852.5,-9.0,322,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2103,3381,0,0,0,0,0,0
$GC,8518,-1.82,-97.3,883.7,-8.6,331,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2102,3380,0,0,0,0,0,0
$STATE,8721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8721,begin apogee
$GC,8727,-0.31,0.0,900.6,8.3,336,8813,1.50,0.00,82.40,1.243,6,0.090,0.000,3103,1851,3010,0,0,0,0,0,0
$STATE,8814,end apogee,CONTROL_FINISHED_OK
$STATE,8814,begin climb
$GC,8816,1.47,97.3,902.1,0.0,338,8912,1.67,0.00,91.38,1.221,6,0.039,0.000,3499,1851,2613,0,0,0,0,0,0
$GC,9248,1.31,111.7,872.1,9.0,349,9267,0.17,2.83,13.15,1.090,4,0.128,0.054,3464,3440,2553,0,0,0,0,0,0
$GC,9307,1.23,134.2,866.5,8.5,350,9336,0.00,2.78,22.65,1.136,6,0.000,0.057,3464,1853,2461,0,0,0,0,0,0
$GC,9746,1.14,134.2,822.3,10.3,361,9752,0.20,2.72,0.00,0.000,4,0.123,0.053,3425,3448,2453,0,0,0,0,0,0
$GC,9871,1.14,139.0,809.9,9.7,363,9877,0.00,2.75,0.00,0.000,6,0.000,0.052,3425,1858,2452,0,0,0,0,0,0
$GC,10245,1.17,159.5,777.0,8.6,373,10274,0.00,2.80,23.33,1.117,4,0.000,0.051,3425,3442,2358,0,0,0,0,0,0
$GC,10338,1.17,159.7,768.0,10.0,375,10342,0.00,2.75,0.00,0.000,6,0.000,0.054,3425,1863,2356,0,0,0,0,0,0
$GC,10739,1.18,173.3,731.3,9.1,385,10758,0.00,2.75,13.93,1.048,4,0.000,0.050,3425,3443,2302,0,0,0,0,0,0
$GC,10810,1.18,173.3,724.1,10.1,386,10814,0.00,2.72,0.00,0.000,6,0.000,0.054,3425,1866,2300,0,0,0,0,0,0
$GC,11190,1.20,189.3,689.4,8.9,396,11213,0.00,2.75,16.30,1.042,4,0.000,0.052,3425,3445,2237,0,0,0,0,0,0
$GC,11224,1.23,207.8,685.8,8.7,396,11249,0.00,2.75,19.33,1.042,6,0.000,0.059,3425,1871,2162,0,0,0,0,0,0
$GC,11642,1.23,214.5,645.0,9.5,407,11650,0.00,0.00,6.62,0.872,6,0.000,0.000,3425,1871,2135,0,0,0,0,0,0
$GC,12004,1.24,222.3,610.5,9.5,416,12017,0.00,0.00,9.02,0.927,6,0.000,0.000,3425,1871,2103,0,0,0,0,0,0
$GC,12413,1.24,222.3,570.2,10.2,426,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1871,2100,0,0,0,0,0,0
$GC,12780,1.24,222.3,530.3,11.1,435,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1871,2099,0,0,0,0,0,0
$GC,13144,1.29,222.3,490.4,10.9,444,13146,0.12,0.00,0.00,0.000,6,0.084,0.000,3459,1871,2098,0,0,0,0,0,0
$GC,13510,1.29,222.3,451.7,10.0,453,13511,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1871,2098,0,0,0,0,0,0
$GC,13878,1.30,229.4,417.0,9.5,462,13892,0.00,2.72,7.35,0.792,4,0.000,0.041,3459,3457,2073,0,0,0,0,0,0
$GC,13926,1.30,230.1,411.9,9.9,463,13930,0.00,2.72,0.00,0.000,6,0.000,0.046,3459,1863,2072,0,0,0,0,0,0
$GC,14325,1.30,230.1,368.8,11.0,473,14330,0.00,2.90,0.00,0.000,4,0.000,0.087,3459,263,2071,0,0,0,0,0,0
$GC,14432,1.26,230.1,356.6,11.2,475,14437,0.00,2.60,0.00,0.000,6,0.000,0.025,3459,1880,2070,0,0,0,0,0,0
$GC,14815,1.27,235.0,320.7,9.7,485,14828,0.00,2.88,6.32,0.703,4,0.000,0.066,3459,257,2052,0,0,0,0,0,0
$GC,14894,1.27,235.0,311.8,11.3,486,14899,0.00,2.58,0.00,0.000,6,0.000,0.024,3459,1853,2051,0,0,0,0,0,0
$GC,15267,1.33,245.8,275.9,9.3,495,15285,0.00,2.67,11.85,0.751,4,0.000,0.043,3459,3427,2006,0,0,0,0,0,0
$GC,15322,1.42,256.3,270.7,9.3,496,15341,0.10,2.65,11.20,0.732,6,0.097,0.038,3487,1849,1964,0,0,0,0,0,0
$GC,15722,1.45,275.1,233.5,8.7,506,15747,0.00,2.88,18.38,0.733,4,0.000,0.071,3487,268,1887,0,0,0,0,0,0
$GC,15781,1.45,275.1,227.2,10.5,507,15785,0.00,2.58,0.00,0.000,6,0.000,0.020,3487,1874,1886,0,0,0,0,0,0
$GC,16165,1.45,277.9,189.5,9.8,522,16166,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1875,1885,0,0,0,0,0,0
$GC,16547,1.52,297.7,152.6,8.7,558,16577,0.00,2.83,21.08,0.657,4,0.000,0.061,3487,262,1794,0,0,0,0,0,0
$GC,16604,1.52,297.7,146.5,12.0,563,16610,0.00,2.55,0.00,0.000,6,0.000,0.026,3487,1864,1793,0,0,0,0,0,0
$GC,16994,1.60,303.8,109.0,9.6,600,17006,0.15,2.78,6.57,0.527,4,0.074,0.057,3526,263,1770,0,0,0,0,0,0
$GC,17099,1.57,303.8,96.6,12.7,609,17103,0.00,2.50,0.00,0.000,6,0.000,0.026,3526,1847,1769,0,0,0,0,0,0
$GC,17492,1.61,308.4,58.0,9.7,645,17505,0.00,2.75,5.55,0.458,4,0.000,0.056,3526,269,1752,0,0,0,0,0,0
$GC,17553,1.61,308.8,51.9,10.0,650,17557,0.00,2.47,0.00,0.000,6,0.000,0.019,3526,1847,1752,0,0,0,0,0,0
$GC,17943,1.66,321.6,16.3,9.1,699,17964,0.00,2.75,13.38,0.505,4,0.000,0.058,3527,263,1698,0,0,0,0,0,0
$GC,17985,1.66,321.6,11.9,10.5,705,17992,0.00,2.50,0.00,0.000,6,0.000,0.019,3526,1839,1697,0,0,0,0,0,0
$STATE,18061,end climb,SURFACE_DEPTH_REACHED
$STATE,18061,begin surface coast
$FINISH,0.9,0.975383
$STATE,18102,end surface coast,CONTROL_FINISHED_OK
$STATE,18102,begin surface
$SM_CCo,18125,48.80,0.516,0,0,1459,380.21
$SM_GC,1.44,0.00,0.00,48.80,0.000,0.000,0.516,473,2146,1459,-12.43,1.30,380.21
$IRIDIUM_FIX,2211.35,-15802.40,221000,121236
$TT8_MAMPS,0.026078
$HUMID,64.01
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.30
$XPDR_PINGS,158
$24V_AH,22.9,76.519
$10V_AH,9.9,70.139
$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,29.375,136.750,399.775,48.800,0.000,54.873,73.945,448.877,39.500,0.000,36.651,1387.280,14214.442,538.524,1906.080,939.469,33.381,1403.114,0.000,1875.036,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,160.303,1242.540,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,495.131,334.633,454.941,719.754,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356080
$DATA_FILE_SIZE,54086,726
$CAP_FILE_SIZE,136332,0
$CFSIZE,260165632,149020672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,175507,2215.912,-15801.155,31,1.6,31,10.0