version: 66.06
glider: 146
mission: 6
dive: 604
start: 7 30 111 4 40 16
data:
$ID,146
$MISSION,6
$DIVE,604
$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,-282553.59
$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,1825
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,11
$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
$GPS1,042955,2213.495,-15800.968,62,1.4,62,10.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.1
$GPS2,043928,2213.468,-15801.136,10,1.4,18,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.169
$KALMAN_X,-611553.8,-126.4,-60.7,604328.6,-1883.1
$KALMAN_Y,253499.8,265.7,-27.9,-310104.1,407.8
$MHEAD_RNG_PITCHd_Wd,131.2,25518,-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,-68.15,0.000,2,0.000,0.000,471,2209,3193,0,0,0,0,0,0
$GC,91,-1.47,-97.3,3.8,-7.0,11,119,12.73,2.88,-4.07,0.000,4,0.160,0.053,2850,508,3409,0,0,0,0,0,0
$GC,177,-1.36,-97.3,24.8,-18.4,25,185,0.10,2.58,0.00,0.000,6,0.113,0.017,2874,2151,3410,0,0,0,0,0,0
$GC,570,-1.36,-97.3,79.2,-12.3,64,574,0.00,2.72,0.00,0.000,4,0.000,0.047,2874,503,3411,0,0,0,0,0,0
$GC,605,-1.36,-97.3,84.0,-13.4,66,613,0.00,2.55,0.00,0.000,6,0.000,0.016,2873,2131,3412,0,0,0,0,0,0
$GC,996,-1.42,-97.3,124.2,-9.6,103,1000,0.00,2.67,0.00,0.000,4,0.000,0.052,2873,512,3412,0,0,0,0,0,0
$GC,1027,-1.42,-97.3,127.4,-10.8,105,1031,0.00,2.45,0.00,0.000,6,0.000,0.017,2873,2106,3413,0,0,0,0,0,0
$GC,1418,-1.51,-97.3,162.3,-8.6,141,1423,0.12,2.70,0.00,0.000,4,0.071,0.048,2831,504,3414,0,0,0,0,0,0
$GC,1448,-1.51,-97.3,165.6,-11.2,143,1452,0.00,2.42,0.00,0.000,6,0.000,0.015,2831,2091,3413,0,0,0,0,0,0
$GC,1838,-1.51,-97.3,209.2,-11.1,174,1842,0.00,2.62,0.00,0.000,4,0.000,0.050,2831,514,3414,0,0,0,0,0,0
$GC,1860,-1.51,-97.3,211.8,-11.7,174,1865,0.00,2.38,0.00,0.000,6,0.000,0.015,2831,2080,3414,0,0,0,0,0,0
$GC,2238,-1.54,-97.3,247.4,-8.5,184,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2081,3414,0,0,0,0,0,0
$GC,2604,-1.59,-97.3,283.3,-10.7,193,2608,0.00,2.53,0.00,0.000,4,0.000,0.035,2831,3652,3414,0,0,0,0,0,0
$GC,2683,-1.70,-97.3,292.0,-10.7,194,2689,0.12,2.53,0.00,0.000,6,0.065,0.026,2777,2078,3414,0,0,0,0,0,0
$GC,3054,-1.70,-97.3,331.9,-10.0,204,3056,0.12,0.00,0.00,0.000,6,0.111,0.000,2803,2078,3413,0,0,0,0,0,0
$GC,3420,-1.70,-97.3,364.0,-9.1,213,3425,0.00,2.60,0.00,0.000,4,0.000,0.051,2803,3644,3412,0,0,0,0,0,0
$GC,3484,-1.74,-97.3,369.9,-9.2,214,3488,0.00,2.55,0.00,0.000,6,0.000,0.038,2803,2089,3411,0,0,0,0,0,0
$GC,3866,-1.74,-97.3,403.0,-8.6,224,3871,0.00,2.58,0.00,0.000,4,0.000,0.048,2803,3638,3409,0,0,0,0,0,0
$GC,3919,-1.80,-97.3,407.6,-8.7,225,3923,0.00,2.58,0.00,0.000,6,0.000,0.048,2803,2092,3409,0,0,0,0,0,0
$GC,4313,-1.83,-97.3,443.9,-9.4,235,4318,0.12,2.65,0.00,0.000,4,0.071,0.061,2762,3638,3405,0,0,0,0,0,0
$GC,4340,-1.83,-97.3,447.0,-11.3,235,4344,0.00,2.60,0.00,0.000,6,0.000,0.049,2762,2088,3406,0,0,0,0,0,0
$GC,4720,-1.80,-97.3,491.7,-12.3,245,4725,0.10,2.70,0.00,0.000,4,0.123,0.066,2782,3635,3402,0,0,0,0,0,0
$GC,4770,-1.84,-97.3,498.5,-12.1,246,4774,0.00,2.60,0.00,0.000,6,0.000,0.056,2781,2103,3402,0,0,0,0,0,0
$GC,5165,-1.84,-97.3,542.4,-10.6,256,5169,0.00,2.67,0.00,0.000,4,0.000,0.068,2782,3638,3399,0,0,0,0,0,0
$GC,5199,-1.84,-97.3,546.1,-10.9,256,5204,0.00,2.65,0.00,0.000,6,0.000,0.064,2782,2099,3399,0,0,0,0,0,0
$GC,5571,-1.84,-97.3,579.4,-8.6,266,5575,0.00,2.70,0.00,0.000,4,0.000,0.078,2781,3631,3397,0,0,0,0,0,0
$GC,5622,-1.84,-97.3,583.8,-8.9,267,5626,0.00,2.65,0.00,0.000,6,0.000,0.069,2781,2110,3396,0,0,0,0,0,0
$GC,6016,-1.84,-97.3,620.8,-9.8,277,6020,0.00,2.70,0.00,0.000,4,0.000,0.086,2782,3631,3394,0,0,0,0,0,0
$GC,6037,-1.84,-97.3,623.1,-10.1,277,6041,0.00,2.72,0.00,0.000,6,0.000,0.083,2781,2103,3394,0,0,0,0,0,0
$GC,6416,-1.84,-97.3,660.2,-9.5,287,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2104,3391,0,0,0,0,0,0
$GC,6780,-1.84,-97.3,692.2,-8.6,296,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2104,3389,0,0,0,0,0,0
$GC,7145,-1.84,-97.3,722.5,-8.4,305,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2103,3387,0,0,0,0,0,0
$GC,7512,-1.84,-97.3,754.2,-8.8,314,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2104,3385,0,0,0,0,0,0
$GC,7877,-1.88,-97.3,788.0,-9.5,323,7882,0.00,3.33,0.00,0.000,4,0.000,0.179,2781,3632,3384,0,0,0,0,0,0
$GC,7899,-1.92,-97.3,790.1,-9.4,323,7904,0.10,2.62,0.00,0.000,6,0.088,0.064,2749,2111,3384,0,0,0,0,0,0
$GC,8278,-1.92,-97.3,829.5,-10.5,333,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2111,3381,0,0,0,0,0,0
$GC,8642,-1.92,-97.3,866.9,-10.3,342,8646,0.00,2.65,0.00,0.000,4,0.000,0.077,2749,3634,3381,0,0,0,0,0,0
$GC,8663,-1.92,-97.3,869.2,-11.0,342,8667,0.00,2.65,0.00,0.000,6,0.000,0.067,2749,2107,3381,0,0,0,0,0,0
$STATE,8996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8996,begin apogee
$GC,9004,-0.31,0.0,904.1,10.4,351,9092,1.62,0.00,83.05,1.243,6,0.092,0.000,3105,1818,3010,0,0,0,0,0,0
$STATE,9092,end apogee,CONTROL_FINISHED_OK
$STATE,9092,begin climb
$GC,9095,1.47,97.3,906.3,0.0,353,9197,1.62,3.22,91.18,1.220,4,0.039,0.127,3497,240,2612,0,0,0,0,0,0
$GC,9210,1.32,157.0,905.1,5.9,355,9275,0.17,2.62,56.50,1.201,6,0.127,0.041,3465,1780,2368,0,0,0,0,0,0
$GC,9670,1.23,157.0,857.7,10.7,367,9675,0.10,2.88,0.00,0.000,4,0.147,0.077,3447,3417,2357,0,0,0,0,0,0
$GC,9761,1.19,157.0,847.9,11.6,369,9766,0.00,2.75,0.00,0.000,6,0.000,0.054,3447,1827,2355,0,0,0,0,0,0
$GC,10166,1.14,157.0,803.8,11.2,379,10171,0.12,2.67,0.00,0.000,4,0.133,0.047,3423,3413,2353,0,0,0,0,0,0
$GC,10234,1.14,157.0,795.6,11.3,380,10239,0.00,2.72,0.00,0.000,6,0.000,0.056,3424,1833,2352,0,0,0,0,0,0
$GC,10611,1.14,157.0,755.3,10.2,390,10615,0.00,2.67,0.00,0.000,4,0.000,0.055,3424,3421,2351,0,0,0,0,0,0
$GC,10688,1.14,159.5,747.3,9.8,391,10694,0.00,2.72,0.00,0.000,6,0.000,0.058,3424,1838,2350,0,0,0,0,0,0
$GC,11062,1.17,182.0,714.2,8.5,401,11086,0.00,0.00,22.15,1.078,6,0.000,0.000,3424,1838,2267,0,0,0,0,0,0
$GC,11426,1.20,210.5,684.1,8.1,410,11460,0.00,2.78,27.60,1.074,4,0.000,0.055,3424,3410,2151,0,0,0,0,0,0
$GC,11479,1.23,235.1,679.7,8.3,411,11510,0.00,2.75,24.73,1.055,6,0.000,0.056,3424,1840,2051,0,0,0,0,0,0
$GC,11876,1.24,243.0,642.3,9.5,421,11886,0.00,0.00,7.95,0.908,6,0.000,0.000,3424,1839,2019,0,0,0,0,0,0
$GC,12242,1.29,246.7,607.0,9.7,430,12249,0.12,0.00,4.75,0.742,6,0.090,0.000,3455,1839,2004,0,0,0,0,0,0
$GC,12608,1.29,246.7,563.9,11.9,439,12613,0.00,2.65,0.00,0.000,4,0.000,0.054,3456,3413,2002,0,0,0,0,0,0
$GC,12674,1.29,246.7,555.3,11.8,440,12679,0.00,2.72,0.00,0.000,6,0.000,0.058,3456,1841,2001,0,0,0,0,0,0
$GC,13053,1.29,246.7,508.8,12.3,450,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1842,2001,0,0,0,0,0,0
$GC,13417,1.29,246.7,465.9,11.6,459,13421,0.00,2.65,0.00,0.000,4,0.000,0.043,3456,3426,2000,0,0,0,0,0,0
$GC,13432,1.29,246.7,463.8,12.0,459,13437,0.00,2.72,0.00,0.000,6,0.000,0.057,3456,1841,1999,0,0,0,0,0,0
$GC,13817,1.29,246.7,419.2,11.3,469,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1841,1999,0,0,0,0,0,0
$GC,14181,1.31,263.6,384.6,8.9,478,14200,0.00,0.00,17.10,0.858,6,0.000,0.000,3456,1841,1934,0,0,0,0,0,0
$GC,14546,1.31,267.2,350.7,9.8,487,14552,0.00,0.00,4.43,0.612,6,0.000,0.000,3456,1841,1920,0,0,0,0,0,0
$GC,14914,1.35,267.2,310.0,11.4,496,14918,0.00,2.58,0.00,0.000,4,0.000,0.040,3456,3422,1918,0,0,0,0,0,0
$GC,14980,1.42,267.2,302.0,12.3,497,14985,0.12,2.62,0.00,0.000,6,0.083,0.044,3488,1839,1917,0,0,0,0,0,0
$GC,15358,1.44,279.7,263.2,9.2,507,15377,0.00,2.88,13.10,0.746,4,0.000,0.072,3488,248,1868,0,0,0,0,0,0
$GC,15395,1.44,279.7,259.4,10.6,507,15401,0.00,2.60,0.00,0.000,6,0.000,0.026,3488,1869,1867,0,0,0,0,0,0
$GC,15767,1.44,279.7,218.6,11.2,517,15768,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,1869,1865,0,0,0,0,0,0
$GC,16142,1.44,284.8,179.8,9.7,538,16153,0.00,2.85,5.97,0.578,4,0.000,0.064,3488,234,1847,0,0,0,0,0,0
$GC,16225,1.44,284.8,170.6,11.0,545,16231,0.00,2.58,0.00,0.000,6,0.000,0.021,3489,1853,1846,0,0,0,0,0,0
$GC,16616,1.52,293.7,132.7,9.4,582,16632,0.00,2.83,9.45,0.595,4,0.000,0.064,3488,247,1811,0,0,0,0,0,0
$GC,16674,1.52,293.7,126.6,12.0,587,16678,0.00,2.53,0.00,0.000,6,0.000,0.025,3488,1849,1810,0,0,0,0,0,0
$GC,17067,1.66,346.5,93.1,6.4,623,17121,0.20,2.55,47.17,0.607,4,0.061,0.031,3542,3399,1596,0,0,0,0,0,0
$GC,17137,1.66,346.5,86.4,10.7,629,17141,0.00,2.58,0.00,0.000,6,0.000,0.033,3542,1843,1595,0,0,0,0,0,0
$GC,17527,1.66,346.5,46.0,11.9,665,17532,0.00,2.72,0.00,0.000,4,0.000,0.059,3542,243,1593,0,0,0,0,0,0
$GC,17600,1.66,346.5,37.4,13.7,671,17604,0.00,2.50,0.00,0.000,6,0.000,0.018,3542,1850,1591,0,0,0,0,0,0
$STATE,17883,end climb,SURFACE_DEPTH_REACHED
$STATE,17883,begin surface coast
$FINISH,0.8,0.974948
$STATE,17916,end surface coast,CONTROL_FINISHED_OK
$STATE,17916,begin surface
$SM_CCo,17941,28.27,0.512,0,0,1460,380.21
$SM_GC,1.54,0.00,0.00,28.27,0.000,0.000,0.512,478,2150,1460,-12.41,1.41,380.21
$IRIDIUM_FIX,2204.37,-15817.97,221000,232319
$TT8_MAMPS,0.026078
$HUMID,66.38
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.10
$XPDR_PINGS,155
$24V_AH,22.9,77.000
$10V_AH,9.9,70.423
$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,30.100,150.475,415.125,28.275,0.000,24.101,32.885,357.998,38.750,0.000,19.759,1382.531,13991.215,524.160,1869.804,762.917,33.383,1395.776,0.000,1851.549,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,179.478,1243.307,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.832,331.785,453.061,699.762,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,54332,723
$CAP_FILE_SIZE,136682,0
$CFSIZE,260165632,148815872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300711,094130,2211.980,-15800.734,62,1.1,62,10.0