version: 66.06
glider: 146
mission: 6
dive: 602
start: 7 29 111 18 15 4
data:
$ID,146
$MISSION,6
$DIVE,602
$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,-282495.66
$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,18
$R_STBD_OVSHOOT,90
$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
$GPS1,175507,2215.912,-15801.155,31,1.6,31,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.8
$GPS2,181416,2215.874,-15801.445,9,3.3,28,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,-0.168
$KALMAN_X,-606783.5,-14.1,-217.5,599079.8,-1936.7
$KALMAN_Y,252790.4,-312.4,-32.7,-304353.7,394.4
$MHEAD_RNG_PITCHd_Wd,130.9,29988,-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,17,-1.47,-97.3,0.0,0.0,0,88,0.00,0.00,-68.20,0.000,2,0.000,0.000,472,2146,3185,0,0,0,0,0,0
$GC,91,-1.47,-97.3,3.5,-6.6,11,119,12.75,2.78,-4.32,0.000,4,0.160,0.054,2849,507,3408,0,0,0,0,0,0
$GC,221,-1.36,-97.3,31.7,-16.0,33,228,0.08,2.42,0.00,0.000,6,0.113,0.016,2868,2061,3409,0,0,0,0,0,0
$GC,609,-1.36,-97.3,82.4,-12.3,70,613,0.00,2.55,0.00,0.000,4,0.000,0.033,2868,3667,3410,0,0,0,0,0,0
$GC,631,-1.36,-97.3,84.5,-11.6,71,635,0.00,2.53,0.00,0.000,6,0.000,0.022,2868,2076,3410,0,0,0,0,0,0
$GC,1021,-1.40,-97.3,129.8,-11.3,107,1026,0.00,2.55,0.00,0.000,4,0.000,0.051,2868,524,3411,0,0,0,0,0,0
$GC,1067,-1.44,-97.3,135.3,-11.6,110,1074,0.00,2.45,0.00,0.000,6,0.000,0.017,2868,2102,3411,0,0,0,0,0,0
$GC,1456,-1.51,-97.3,173.7,-9.1,147,1461,0.00,2.60,0.00,0.000,4,0.000,0.052,2868,525,3411,0,0,0,0,0,0
$GC,1476,-1.57,-97.3,175.5,-9.7,148,1481,0.15,2.38,0.00,0.000,6,0.064,0.015,2820,2093,3411,0,0,0,0,0,0
$GC,1867,-1.57,-97.3,218.5,-11.1,173,1872,0.00,2.47,0.00,0.000,4,0.000,0.030,2820,3657,3411,0,0,0,0,0,0
$GC,1924,-1.57,-97.3,224.5,-10.2,174,1929,0.00,2.47,0.00,0.000,6,0.000,0.028,2820,2091,3411,0,0,0,0,0,0
$GC,2313,-1.57,-97.3,263.1,-10.1,184,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2091,3411,0,0,0,0,0,0
$GC,2679,-1.61,-97.3,300.3,-9.9,193,2683,0.00,2.53,0.00,0.000,4,0.000,0.044,2820,3642,3411,0,0,0,0,0,0
$GC,2775,-1.68,-97.3,309.9,-9.4,195,2780,0.00,2.50,0.00,0.000,6,0.000,0.035,2820,2095,3411,0,0,0,0,0,0
$GC,3170,-1.73,-97.3,344.6,-8.8,205,3172,0.10,0.00,0.00,0.000,6,0.087,0.000,2785,2095,3410,0,0,0,0,0,0
$GC,3536,-1.73,-97.3,381.9,-10.2,214,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2095,3407,0,0,0,0,0,0
$GC,3900,-1.73,-97.3,423.4,-11.3,223,3905,0.00,2.60,0.00,0.000,4,0.000,0.058,2786,3637,3405,0,0,0,0,0,0
$GC,3967,-1.73,-97.3,431.3,-11.3,224,3971,0.00,2.60,0.00,0.000,6,0.000,0.050,2786,2097,3404,0,0,0,0,0,0
$GC,4345,-1.73,-97.3,471.7,-10.5,234,4350,0.00,2.62,0.00,0.000,4,0.000,0.061,2785,3633,3401,0,0,0,0,0,0
$GC,4378,-1.73,-97.3,475.5,-10.6,234,4384,0.00,2.62,0.00,0.000,6,0.000,0.054,2786,2096,3401,0,0,0,0,0,0
$GC,4750,-1.73,-97.3,513.3,-10.0,244,4755,0.00,2.65,0.00,0.000,4,0.000,0.068,2786,3631,3398,0,0,0,0,0,0
$GC,4801,-1.73,-97.3,518.2,-9.3,245,4806,0.00,2.62,0.00,0.000,6,0.000,0.062,2786,2102,3398,0,0,0,0,0,0
$GC,5195,-1.73,-97.3,552.7,-8.8,255,5200,0.00,2.65,0.00,0.000,4,0.000,0.067,2785,3634,3395,0,0,0,0,0,0
$GC,5245,-1.73,-97.3,557.3,-9.3,256,5249,0.00,2.65,0.00,0.000,6,0.000,0.066,2786,2099,3395,0,0,0,0,0,0
$GC,5640,-1.73,-97.3,595.0,-10.0,266,5645,0.00,2.72,0.00,0.000,4,0.000,0.077,2786,3636,3392,0,0,0,0,0,0
$GC,5655,-1.73,-97.3,596.8,-10.2,266,5660,0.00,2.67,0.00,0.000,6,0.000,0.074,2785,2108,3391,0,0,0,0,0,0
$GC,6038,-1.73,-97.3,633.4,-9.6,276,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2109,3388,0,0,0,0,0,0
$GC,6405,-1.73,-97.3,671.0,-10.5,285,6410,0.00,2.85,0.00,0.000,4,0.000,0.108,2785,3637,3386,0,0,0,0,0,0
$GC,6460,-1.79,-97.3,677.2,-10.8,286,6465,0.00,2.85,0.00,0.000,6,0.000,0.107,2785,2111,3386,0,0,0,0,0,0
$GC,6849,-1.83,-97.3,716.8,-10.1,296,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2111,3383,0,0,0,0,0,0
$GC,7216,-1.87,-97.3,755.7,-10.7,305,7221,0.00,3.12,0.00,0.000,4,0.000,0.156,2785,3631,3382,0,0,0,0,0,0
$GC,7238,-1.91,-97.3,758.3,-10.4,305,7243,0.12,2.65,0.00,0.000,6,0.071,0.064,2745,2105,3382,0,0,0,0,0,0
$GC,7615,-1.91,-97.3,799.7,-10.4,315,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2105,3380,0,0,0,0,0,0
$GC,7982,-1.91,-97.3,833.4,-8.9,324,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2105,3379,0,0,0,0,0,0
$GC,8346,-1.91,-97.3,866.5,-9.1,333,8351,0.00,2.67,0.00,0.000,4,0.000,0.078,2745,3633,3376,0,0,0,0,0,0
$GC,8379,-1.91,-97.3,869.7,-9.8,333,8384,0.00,2.65,0.00,0.000,6,0.000,0.070,2745,2113,3376,0,0,0,0,0,0
$STATE,8707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8707,begin apogee
$GC,8715,-0.31,0.0,901.5,9.9,342,8801,1.65,0.00,81.85,1.240,6,0.092,0.000,3105,1851,3010,0,0,0,0,0,0
$STATE,8802,end apogee,CONTROL_FINISHED_OK
$STATE,8802,begin climb
$GC,8805,1.47,97.3,903.6,0.0,344,8908,1.65,3.25,90.80,1.216,4,0.039,0.127,3501,261,2612,0,0,0,0,0,0
$GC,8937,1.23,128.4,900.9,7.9,347,8974,0.28,2.62,29.95,1.166,6,0.124,0.048,3447,1800,2486,0,0,0,0,0,0
$GC,9342,1.20,155.7,868.7,8.1,357,9374,0.00,2.97,25.65,1.144,4,0.000,0.071,3447,3442,2374,0,0,0,0,0,0
$GC,9465,1.16,165.3,857.2,9.3,359,9481,0.00,2.78,9.85,1.025,6,0.000,0.054,3447,1848,2336,0,0,0,0,0,0
$GC,9879,1.12,170.2,817.1,9.7,370,9891,0.15,2.70,5.85,0.891,4,0.128,0.051,3418,3436,2315,0,0,0,0,0,0
$GC,9913,1.13,180.7,813.4,9.3,370,9932,0.00,2.75,11.77,1.049,6,0.000,0.054,3418,1854,2273,0,0,0,0,0,0
$GC,10332,1.14,190.3,774.6,9.3,381,10348,0.00,2.72,10.40,1.022,4,0.000,0.051,3418,3436,2232,0,0,0,0,0,0
$GC,10376,1.14,190.3,769.8,10.1,382,10380,0.00,2.75,0.00,0.000,6,0.000,0.054,3418,1858,2231,0,0,0,0,0,0
$GC,10775,1.14,191.0,729.8,10.0,392,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1858,2228,0,0,0,0,0,0
$GC,11143,1.14,191.3,693.0,10.0,401,11147,0.00,2.67,0.00,0.000,4,0.000,0.050,3418,3442,2227,0,0,0,0,0,0
$GC,11186,1.18,191.3,688.3,10.7,402,11191,0.00,2.72,0.00,0.000,6,0.000,0.055,3418,1859,2226,0,0,0,0,0,0
$GC,11586,1.19,200.9,650.1,9.3,412,11602,0.00,2.72,10.57,0.976,4,0.000,0.049,3418,3443,2190,0,0,0,0,0,0
$GC,11637,1.26,220.5,645.4,8.7,413,11664,0.12,2.72,20.30,1.026,6,0.092,0.059,3450,1866,2111,0,0,0,0,0,0
$GC,12031,1.26,220.5,602.2,11.0,422,12036,0.00,3.12,0.00,0.000,4,0.000,0.129,3450,259,2106,0,0,0,0,0,0
$GC,12065,1.18,220.5,597.8,12.1,422,12071,0.00,2.67,0.00,0.000,6,0.000,0.035,3450,1875,2104,0,0,0,0,0,0
$GC,12437,1.18,220.5,553.8,12.0,432,12441,0.00,2.67,0.00,0.000,4,0.000,0.062,3449,3440,2104,0,0,0,0,0,0
$GC,12463,1.18,220.5,550.4,11.9,432,12468,0.00,2.72,0.00,0.000,6,0.000,0.053,3450,1855,2103,0,0,0,0,0,0
$GC,12837,1.18,220.5,506.3,11.6,441,12841,0.00,2.65,0.00,0.000,4,0.000,0.048,3450,3438,2103,0,0,0,0,0,0
$GC,12869,1.18,220.5,502.2,11.5,441,12875,0.00,2.67,0.00,0.000,6,0.000,0.055,3450,1867,2102,0,0,0,0,0,0
$GC,13241,1.19,221.7,463.2,9.9,451,13246,0.00,2.62,0.00,0.000,4,0.000,0.041,3450,3441,2102,0,0,0,0,0,0
$GC,13292,1.20,231.2,458.4,9.4,452,13308,0.00,2.70,10.20,0.864,6,0.000,0.052,3450,1864,2067,0,0,0,0,0,0
$GC,13686,1.21,245.2,421.4,9.0,462,13706,0.00,3.03,14.48,0.871,4,0.000,0.104,3450,264,2010,0,0,0,0,0,0
$GC,13729,1.21,245.2,417.1,10.4,463,13734,0.00,2.65,0.00,0.000,6,0.000,0.029,3450,1883,2008,0,0,0,0,0,0
$GC,14129,1.22,251.3,378.7,9.6,473,14143,0.00,2.97,6.78,0.736,4,0.000,0.078,3450,262,1985,0,0,0,0,0,0
$GC,14177,1.22,251.3,373.2,11.9,474,14181,0.00,2.62,0.00,0.000,6,0.000,0.025,3450,1876,1984,0,0,0,0,0,0
$GC,14578,1.27,251.3,332.5,10.3,484,14583,0.00,2.85,0.00,0.000,4,0.000,0.073,3449,258,1983,0,0,0,0,0,0
$GC,14633,1.27,251.3,325.8,11.5,485,14637,0.00,2.60,0.00,0.000,6,0.000,0.022,3450,1871,1983,0,0,0,0,0,0
$GC,15024,1.33,251.3,285.3,10.2,495,15028,0.00,2.80,0.00,0.000,4,0.000,0.064,3450,257,1982,0,0,0,0,0,0
$GC,15040,1.38,255.9,283.5,9.7,495,15051,0.10,2.58,5.57,0.638,6,0.096,0.028,3478,1865,1966,0,0,0,0,0,0
$GC,15425,1.41,275.6,247.8,8.7,505,15447,0.00,0.00,19.80,0.746,6,0.000,0.000,3478,1865,1886,0,0,0,0,0,0
$GC,15791,1.46,276.2,214.4,10.0,514,15796,0.00,2.80,0.00,0.000,4,0.000,0.064,3478,256,1884,0,0,0,0,0,0
$GC,15846,1.46,276.2,207.5,13.0,515,15850,0.00,2.55,0.00,0.000,6,0.000,0.020,3478,1860,1882,0,0,0,0,0,0
$GC,16237,1.57,300.9,168.0,8.3,545,16266,0.17,0.00,23.42,0.669,6,0.071,0.000,3524,1862,1783,0,0,0,0,0,0
$GC,16651,1.58,307.3,129.0,9.6,584,16663,0.00,2.78,6.90,0.544,4,0.000,0.055,3524,255,1757,0,0,0,0,0,0
$GC,16679,1.58,307.3,125.8,10.7,586,16687,0.00,2.55,0.00,0.000,6,0.000,0.020,3524,1850,1756,0,0,0,0,0,0
$GC,17071,1.62,313.2,89.5,9.6,623,17085,0.00,2.80,7.00,0.512,4,0.000,0.060,3524,254,1733,0,0,0,0,0,0
$GC,17102,1.62,313.2,86.3,10.5,626,17107,0.00,2.53,0.00,0.000,6,0.000,0.019,3524,1858,1733,0,0,0,0,0,0
$GC,17494,1.67,316.1,49.5,9.8,662,17506,0.00,2.78,4.38,0.400,4,0.000,0.055,3524,258,1721,0,0,0,0,0,0
$GC,17520,1.67,316.1,46.5,10.6,664,17525,0.00,2.50,0.00,0.000,6,0.000,0.018,3524,1855,1720,0,0,0,0,0,0
$GC,17909,1.72,316.1,6.7,10.8,721,17917,0.10,2.78,0.00,0.000,4,0.090,0.056,3554,253,1720,0,0,0,0,0,0
$STATE,17934,end climb,SURFACE_DEPTH_REACHED
$STATE,17935,begin surface coast
$FINISH,0.8,0.975276
$STATE,17967,end surface coast,CONTROL_FINISHED_OK
$STATE,17967,begin surface
$SM_CCo,17994,54.15,0.513,0,0,1459,380.21
$SM_GC,1.52,0.00,0.00,54.15,0.000,0.000,0.513,474,2105,1459,-12.42,0.14,380.21
$IRIDIUM_FIX,2206.70,-15800.24,221000,181850
$TT8_MAMPS,0.026078
$HUMID,63.07
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,20.80
$XPDR_PINGS,159
$24V_AH,22.9,76.698
$10V_AH,9.9,70.239
$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,29.975,178.275,395.525,54.150,0.000,77.313,113.177,649.036,39.750,0.000,30.666,1423.744,14001.734,555.278,1981.698,1225.550,33.385,1477.503,0.000,1949.077,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,155.701,1240.239,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.201,340.500,462.227,729.500,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356136
$DATA_FILE_SIZE,54143,731
$CAP_FILE_SIZE,153934,0
$CFSIZE,260165632,148938752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,231707,2214.510,-15801.327,31,1.3,31,10.0