version: 66.06
glider: 146
mission: 6
dive: 611
start: 7 31 111 17 32 49
data:
$ID,146
$MISSION,6
$DIVE,611
$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,-282754.19
$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,9
$R_STBD_OVSHOOT,51
$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
$GPS1,172107,2204.358,-15800.421,51,1.1,51,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.2
$GPS2,173201,2204.352,-15800.624,15,1.0,32,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.184,-0.115
$KALMAN_X,-629928.1,-299.6,-25.0,623716.6,-2314.3
$KALMAN_Y,255796.9,-189.6,-32.3,-328822.5,297.0
$MHEAD_RNG_PITCHd_Wd,112.2,9235,-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,16,-1.47,-97.3,0.0,0.0,0,82,0.00,0.00,-63.50,0.000,2,0.000,0.000,475,2171,3030,0,0,0,0,0,0
$GC,85,-1.47,-97.3,3.0,-4.5,10,113,12.65,2.80,-8.02,0.000,4,0.157,0.054,2849,497,3408,0,0,0,0,0,0
$GC,132,-1.27,-97.3,14.0,-17.9,17,140,0.17,2.53,0.00,0.000,6,0.097,0.016,2890,2109,3410,0,0,0,0,0,0
$GC,531,-1.27,-97.3,70.5,-12.0,63,535,0.00,2.47,0.00,0.000,4,0.000,0.030,2890,3661,3411,0,0,0,0,0,0
$GC,562,-1.34,-97.3,74.1,-10.7,65,566,0.00,2.47,0.00,0.000,6,0.000,0.021,2890,2080,3411,0,0,0,0,0,0
$GC,952,-1.43,-97.3,113.3,-10.2,101,957,0.12,2.58,0.00,0.000,4,0.072,0.048,2842,522,3413,0,0,0,0,0,0
$GC,984,-1.43,-97.3,117.0,-12.7,103,989,0.10,2.42,0.00,0.000,6,0.123,0.016,2862,2113,3412,0,0,0,0,0,0
$GC,1375,-1.49,-97.3,158.3,-9.2,139,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2115,3413,0,0,0,0,0,0
$GC,1755,-1.58,-97.3,191.2,-9.4,175,1757,0.12,0.00,0.00,0.000,6,0.074,0.000,2819,2114,3414,0,0,0,0,0,0
$GC,2126,-1.58,-97.3,230.9,-10.7,190,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2115,3414,0,0,0,0,0,0
$GC,2490,-1.58,-97.3,265.7,-8.8,199,2494,0.00,2.47,0.00,0.000,4,0.000,0.034,2819,3653,3414,0,0,0,0,0,0
$GC,2512,-1.62,-97.3,267.5,-8.5,199,2516,0.00,2.42,0.00,0.000,6,0.000,0.024,2819,2114,3414,0,0,0,0,0,0
$GC,2891,-1.66,-97.3,303.3,-9.8,209,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2114,3414,0,0,0,0,0,0
$GC,3254,-1.71,-97.3,341.3,-10.1,218,3259,0.00,2.53,0.00,0.000,4,0.000,0.041,2819,3647,3413,0,0,0,0,0,0
$GC,3299,-1.79,-97.3,345.8,-9.1,219,3304,0.15,2.50,0.00,0.000,6,0.061,0.041,2768,2117,3412,0,0,0,0,0,0
$GC,3703,-1.75,-97.3,384.8,-9.5,229,3708,0.12,2.55,0.00,0.000,4,0.113,0.054,2794,3649,3410,0,0,0,0,0,0
$GC,3725,-1.75,-97.3,387.2,-8.7,229,3729,0.00,2.53,0.00,0.000,6,0.000,0.041,2794,2117,3410,0,0,0,0,0,0
$GC,4103,-1.75,-97.3,420.9,-9.4,239,4108,0.00,2.58,0.00,0.000,4,0.000,0.050,2794,3650,3407,0,0,0,0,0,0
$GC,4153,-1.75,-97.3,426.5,-10.4,240,4158,0.00,2.53,0.00,0.000,6,0.000,0.050,2794,2124,3407,0,0,0,0,0,0
$GC,4547,-1.75,-97.3,468.7,-10.9,250,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2124,3404,0,0,0,0,0,0
$GC,4915,-1.75,-97.3,506.8,-10.0,259,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2124,3402,0,0,0,0,0,0
$GC,5279,-1.75,-97.3,541.1,-9.2,268,5283,0.00,2.67,0.00,0.000,4,0.000,0.073,2794,3645,3399,0,0,0,0,0,0
$GC,5295,-1.79,-97.3,542.5,-8.5,268,5300,0.00,2.60,0.00,0.000,6,0.000,0.062,2794,2129,3399,0,0,0,0,0,0
$GC,5679,-1.79,-97.3,577.3,-9.3,278,5684,0.00,3.17,0.00,0.000,4,0.000,0.133,2794,513,3396,0,0,0,0,0,0
$GC,5695,-1.79,-97.3,579.3,-9.6,278,5700,0.00,2.65,0.00,0.000,6,0.000,0.051,2794,2079,3396,0,0,0,0,0,0
$GC,6078,-1.83,-97.3,615.9,-9.8,288,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2079,3394,0,0,0,0,0,0
$GC,6445,-1.87,-97.3,653.7,-10.6,297,6447,0.12,0.00,0.00,0.000,6,0.074,0.000,2756,2079,3391,0,0,0,0,0,0
$GC,6809,-1.87,-97.3,695.5,-11.5,306,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2079,3389,0,0,0,0,0,0
$GC,7175,-1.87,-97.3,736.2,-10.9,315,7180,0.00,3.30,0.00,0.000,4,0.000,0.157,2756,3681,3387,0,0,0,0,0,0
$GC,7226,-1.87,-97.3,742.1,-11.7,316,7230,0.00,2.67,0.00,0.000,6,0.000,0.058,2756,2121,3387,0,0,0,0,0,0
$GC,7620,-1.87,-97.3,783.0,-10.0,326,7624,0.00,3.12,0.00,0.000,4,0.000,0.134,2756,505,3385,0,0,0,0,0,0
$GC,7637,-1.83,-97.3,784.7,-10.1,326,7642,0.00,2.75,0.00,0.000,6,0.000,0.056,2756,2126,3385,0,0,0,0,0,0
$GC,8022,-1.83,-97.3,820.5,-9.1,336,8027,0.10,2.83,0.00,0.000,4,0.134,0.097,2774,3685,3383,0,0,0,0,0,0
$GC,8071,-1.83,-97.3,825.1,-9.0,337,8076,0.00,2.67,0.00,0.000,6,0.000,0.065,2775,2126,3383,0,0,0,0,0,0
$GC,8465,-1.83,-97.3,857.5,-8.3,347,8470,0.00,2.72,0.00,0.000,4,0.000,0.071,2775,3688,3382,0,0,0,0,0,0
$GC,8579,-1.88,-97.3,867.1,-8.6,349,8583,0.00,2.70,0.00,0.000,6,0.000,0.068,2775,2133,3381,0,0,0,0,0,0
$GC,8955,-1.88,-97.3,898.1,-8.5,359,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2133,3381,0,0,0,0,0,0
$STATE,8994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8994,begin apogee
$GC,9002,-0.31,0.0,901.7,8.5,360,9089,1.50,0.00,83.12,1.242,6,0.089,0.000,3106,1825,3010,0,0,0,0,0,0
$STATE,9089,end apogee,CONTROL_FINISHED_OK
$STATE,9089,begin climb
$GC,9092,1.47,97.3,903.3,0.0,362,9193,1.65,3.17,91.25,1.223,4,0.037,0.122,3501,237,2613,0,0,0,0,0,0
$GC,9223,1.22,126.5,900.9,8.0,364,9258,0.30,2.70,28.35,1.169,6,0.121,0.049,3443,1827,2494,0,0,0,0,0,0
$GC,9648,1.20,156.2,866.8,8.0,375,9677,0.00,0.00,27.85,1.157,6,0.000,0.000,3443,1827,2373,0,0,0,0,0,0
$GC,10015,1.19,203.5,839.4,6.8,384,10069,0.00,2.88,45.88,1.170,4,0.000,0.074,3443,3415,2178,0,0,0,0,0,0
$GC,10307,1.19,203.5,809.2,11.9,390,10311,0.00,2.72,0.00,0.000,6,0.000,0.058,3443,1850,2172,0,0,0,0,0,0
$GC,10685,1.19,203.5,765.3,11.7,400,10689,0.00,2.65,0.00,0.000,4,0.000,0.053,3443,3417,2169,0,0,0,0,0,0
$GC,10724,1.19,203.5,760.6,12.0,401,10728,0.00,2.70,0.00,0.000,6,0.000,0.057,3443,1863,2168,0,0,0,0,0,0
$GC,11130,1.19,203.5,714.2,11.3,411,11131,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1863,2167,0,0,0,0,0,0
$GC,11494,1.19,203.5,673.8,11.1,420,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1863,2166,0,0,0,0,0,0
$GC,11860,1.19,203.5,633.8,10.6,429,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1863,2166,0,0,0,0,0,0
$GC,12227,1.20,209.6,597.2,9.6,438,12236,0.00,2.65,4.22,0.706,4,0.000,0.048,3443,3417,2155,0,0,0,0,0,0
$GC,12265,1.20,209.6,593.1,10.6,438,12271,0.00,2.70,0.00,0.000,6,0.000,0.062,3443,1865,2154,0,0,0,0,0,0
$GC,12637,1.20,211.3,556.9,9.9,448,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1865,2154,0,0,0,0,0,0
$GC,13004,1.20,211.3,517.8,11.1,457,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1865,2154,0,0,0,0,0,0
$GC,13368,1.20,212.7,479.6,9.9,466,13375,0.00,0.00,4.57,0.695,6,0.000,0.000,3443,1865,2142,0,0,0,0,0,0
$GC,13734,1.23,233.1,446.7,8.6,475,13760,0.00,2.65,20.85,0.915,4,0.000,0.048,3443,3424,2058,0,0,0,0,0,0
$GC,13796,1.29,245.8,441.4,9.1,476,13817,0.00,2.70,13.40,0.873,6,0.000,0.052,3443,1863,2006,0,0,0,0,0,0
$GC,14183,1.32,245.8,402.1,10.6,486,14188,0.00,3.03,0.00,0.000,4,0.000,0.103,3442,238,2001,0,0,0,0,0,0
$GC,14210,1.32,245.8,398.7,12.4,486,14214,0.00,2.67,0.00,0.000,6,0.000,0.028,3442,1885,2000,0,0,0,0,0,0
$GC,14584,1.38,252.5,361.3,9.5,495,14599,0.12,3.00,6.68,0.732,4,0.085,0.071,3477,237,1979,0,0,0,0,0,0
$GC,14644,1.32,252.5,353.8,12.6,496,14648,0.00,2.65,0.00,0.000,6,0.000,0.028,3478,1875,1978,0,0,0,0,0,0
$GC,15033,1.32,252.5,310.5,11.3,506,15038,0.00,2.90,0.00,0.000,4,0.000,0.073,3477,231,1977,0,0,0,0,0,0
$GC,15061,1.27,252.5,306.8,12.8,506,15066,0.12,2.62,0.00,0.000,6,0.128,0.026,3453,1861,1977,0,0,0,0,0,0
$GC,15433,1.35,255.4,269.4,9.8,515,15442,0.00,2.55,4.10,0.546,4,0.000,0.040,3453,3400,1968,0,0,0,0,0,0
$GC,15489,1.42,255.4,263.7,10.5,516,15494,0.12,2.58,0.00,0.000,6,0.081,0.037,3488,1848,1968,0,0,0,0,0,0
$GC,15884,1.44,268.2,224.0,9.1,526,15903,0.00,2.90,13.43,0.715,4,0.000,0.074,3488,242,1915,0,0,0,0,0,0
$GC,15973,1.44,268.2,214.2,11.8,528,15978,0.00,2.58,0.00,0.000,6,0.000,0.023,3488,1857,1914,0,0,0,0,0,0
$GC,16358,1.48,268.2,175.4,10.0,553,16362,0.00,2.80,0.00,0.000,4,0.000,0.065,3488,243,1913,0,0,0,0,0,0
$GC,16466,1.48,268.2,164.1,10.2,562,16471,0.00,2.53,0.00,0.000,6,0.000,0.021,3488,1845,1913,0,0,0,0,0,0
$GC,16857,1.59,301.4,132.6,7.7,598,16895,0.12,2.85,30.48,0.645,4,0.082,0.058,3524,245,1780,0,0,0,0,0,0
$GC,16906,1.59,301.4,127.6,10.6,602,16913,0.00,2.55,0.00,0.000,6,0.000,0.021,3524,1832,1779,0,0,0,0,0,0
$GC,17298,1.64,310.6,86.3,9.4,639,17312,0.00,2.78,9.35,0.548,4,0.000,0.056,3524,235,1743,0,0,0,0,0,0
$GC,17336,1.65,319.5,82.5,9.4,642,17351,0.00,2.53,9.32,0.538,6,0.000,0.019,3524,1840,1707,0,0,0,0,0,0
$GC,17743,1.73,332.1,47.5,9.1,680,17767,0.12,2.53,12.68,0.527,4,0.083,0.030,3560,3398,1655,0,0,0,0,0,0
$GC,17773,1.73,332.1,43.9,11.7,682,17780,0.00,2.60,0.00,0.000,6,0.000,0.033,3560,1835,1654,0,0,0,0,0,0
$STATE,18105,end climb,SURFACE_DEPTH_REACHED
$STATE,18105,begin surface coast
$FINISH,0.9,0.974885
$STATE,18139,end surface coast,CONTROL_FINISHED_OK
$STATE,18139,begin surface
$SM_CCo,18164,39.67,0.514,0,0,1460,380.21
$SM_GC,1.57,0.00,0.00,39.67,0.000,0.000,0.514,476,2174,1460,-12.42,2.09,380.21
$IRIDIUM_FIX,2155.06,-15759.83,241000,171721
$TT8_MAMPS,0.026078
$HUMID,65.04
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.40
$XPDR_PINGS,170
$24V_AH,22.9,78.152
$10V_AH,9.8,71.089
$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,30.350,146.375,405.525,39.675,0.000,55.908,76.038,272.237,42.500,0.000,33.567,1421.580,14152.949,523.706,1973.602,772.476,33.375,1420.834,0.000,1938.955,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,157.235,1241.773,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.018,343.533,471.552,734.047,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,54166,740
$CAP_FILE_SIZE,141038,0
$CFSIZE,260165632,148353024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310711,223801,2203.619,-15759.707,66,0.9,66,9.9