version: 66.06
glider: 146
mission: 6
dive: 613
start: 8 1 111 4 1 45
data:
$ID,146
$MISSION,6
$DIVE,613
$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,-282779.62
$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,24
$R_STBD_OVSHOOT,65
$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
$GPS1,035406,2202.383,-15759.354,43,1.3,48,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.2
$GPS2,040055,2202.365,-15759.409,10,1.4,10,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.101
$KALMAN_X,-634430.9,258.3,46.1,629666.3,-2523.9
$KALMAN_Y,256620.5,207.5,10.5,-333764.7,106.1
$MHEAD_RNG_PITCHd_Wd,107.7,5005,-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,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-68.97,0.000,2,0.000,0.000,474,2122,3216,0,0,0,0,0,0
$GC,92,-1.47,-97.3,4.0,-7.7,11,113,12.88,2.65,-3.53,0.000,4,0.163,0.047,2851,511,3407,0,0,0,0,0,0
$GC,129,-0.70,-97.3,17.1,-33.0,16,136,0.73,2.47,0.00,0.000,6,0.087,0.017,3021,2090,3409,0,0,0,0,0,0
$GC,526,-0.98,-97.3,49.5,-7.0,66,531,0.25,2.62,0.00,0.000,4,0.046,0.044,2943,507,3411,0,0,0,0,0,0
$GC,558,-1.11,-97.3,52.6,-10.0,68,563,0.00,2.47,0.00,0.000,6,0.000,0.016,2943,2107,3411,0,0,0,0,0,0
$GC,947,-1.26,-97.3,88.7,-7.7,104,953,0.17,2.67,0.00,0.000,4,0.058,0.050,2887,509,3411,0,0,0,0,0,0
$GC,976,-1.31,-97.3,91.4,-10.6,106,980,0.00,2.45,0.00,0.000,6,0.000,0.022,2886,2102,3411,0,0,0,0,0,0
$GC,1364,-1.39,-97.3,129.4,-10.4,142,1369,0.00,2.62,0.00,0.000,4,0.000,0.045,2887,507,3413,0,0,0,0,0,0
$GC,1384,-1.46,-97.3,131.3,-10.5,143,1389,0.12,2.40,0.00,0.000,6,0.067,0.017,2840,2088,3413,0,0,0,0,0,0
$GC,1774,-1.46,-97.3,176.2,-11.3,179,1778,0.00,2.50,0.00,0.000,4,0.000,0.036,2840,3660,3414,0,0,0,0,0,0
$GC,1829,-1.52,-97.3,182.5,-10.5,183,1834,0.00,2.47,0.00,0.000,6,0.000,0.026,2840,2072,3414,0,0,0,0,0,0
$GC,2212,-1.56,-97.3,220.8,-9.8,205,2216,0.00,2.53,0.00,0.000,4,0.000,0.035,2840,3649,3415,0,0,0,0,0,0
$GC,2228,-1.60,-97.3,222.9,-9.5,205,2233,0.00,2.45,0.00,0.000,6,0.000,0.021,2840,2088,3415,0,0,0,0,0,0
$GC,2613,-1.67,-97.3,256.6,-9.2,215,2618,0.12,2.55,0.00,0.000,4,0.065,0.033,2788,3656,3415,0,0,0,0,0,0
$GC,2630,-1.70,-97.3,258.6,-9.0,215,2635,0.00,2.50,0.00,0.000,6,0.000,0.030,2788,2082,3415,0,0,0,0,0,0
$GC,3013,-1.70,-97.3,300.5,-10.7,225,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2081,3414,0,0,0,0,0,0
$GC,3380,-1.70,-97.3,339.9,-11.0,234,3385,0.00,2.60,0.00,0.000,4,0.000,0.044,2788,3652,3414,0,0,0,0,0,0
$GC,3419,-1.70,-97.3,344.2,-10.8,235,3424,0.00,2.53,0.00,0.000,6,0.000,0.035,2788,2097,3414,0,0,0,0,0,0
$GC,3824,-1.70,-97.3,384.5,-10.1,245,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2096,3412,0,0,0,0,0,0
$GC,4191,-1.70,-97.3,424.0,-11.0,254,4196,0.00,2.62,0.00,0.000,4,0.000,0.054,2788,3644,3409,0,0,0,0,0,0
$GC,4276,-1.70,-97.3,433.8,-10.8,256,4280,0.00,2.58,0.00,0.000,6,0.000,0.046,2788,2097,3409,0,0,0,0,0,0
$GC,4682,-1.70,-97.3,476.6,-10.6,266,4687,0.00,2.62,0.00,0.000,4,0.000,0.059,2788,3643,3406,0,0,0,0,0,0
$GC,4732,-1.75,-97.3,482.0,-10.0,267,4737,0.00,2.62,0.00,0.000,6,0.000,0.054,2788,2097,3405,0,0,0,0,0,0
$GC,5127,-1.75,-97.3,520.1,-9.9,277,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2097,3402,0,0,0,0,0,0
$GC,5494,-1.75,-97.3,555.5,-9.7,286,5498,0.00,2.72,0.00,0.000,4,0.000,0.078,2788,3634,3400,0,0,0,0,0,0
$GC,5527,-1.79,-97.3,559.0,-10.7,286,5532,0.00,2.65,0.00,0.000,6,0.000,0.061,2788,2099,3399,0,0,0,0,0,0
$GC,5898,-1.79,-97.3,597.6,-10.8,296,5903,0.00,2.72,0.00,0.000,4,0.000,0.085,2788,3633,3398,0,0,0,0,0,0
$GC,5989,-1.83,-97.3,607.7,-11.6,298,5993,0.00,2.70,0.00,0.000,6,0.000,0.073,2788,2109,3397,0,0,0,0,0,0
$GC,6388,-1.83,-97.3,648.5,-10.0,308,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2108,3394,0,0,0,0,0,0
$GC,6754,-1.87,-97.3,683.7,-9.6,317,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2109,3392,0,0,0,0,0,0
$GC,7121,-1.92,-97.3,717.8,-9.3,326,7127,0.12,3.45,0.00,0.000,4,0.081,0.173,2751,508,3389,0,0,0,0,0,0
$GC,7144,-1.92,-97.3,720.5,-10.5,326,7149,0.00,2.90,0.00,0.000,6,0.000,0.108,2750,2058,3389,0,0,0,0,0,0
$GC,7521,-1.92,-97.3,759.3,-9.9,336,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2058,3387,0,0,0,0,0,0
$GC,7887,-1.92,-97.3,793.8,-9.3,345,7892,0.00,3.58,0.00,0.000,4,0.000,0.186,2750,3697,3385,0,0,0,0,0,0
$GC,7926,-1.92,-97.3,797.8,-10.6,346,7931,0.00,2.75,0.00,0.000,6,0.000,0.061,2751,2107,3385,0,0,0,0,0,0
$GC,8333,-1.92,-97.3,835.7,-9.2,356,8338,0.00,2.75,0.00,0.000,4,0.000,0.067,2750,3693,3383,0,0,0,0,0,0
$GC,8400,-1.92,-97.3,842.1,-9.3,357,8405,0.00,2.72,0.00,0.000,6,0.000,0.059,2751,2114,3383,0,0,0,0,0,0
$GC,8778,-1.92,-97.3,875.2,-8.9,367,8783,0.00,3.15,0.00,0.000,4,0.000,0.131,2751,507,3382,0,0,0,0,0,0
$GC,8802,-1.87,-97.3,877.5,-9.7,367,8807,0.00,2.75,0.00,0.000,6,0.000,0.054,2751,2118,3382,0,0,0,0,0,0
$STATE,9054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9054,begin apogee
$GC,9061,-0.31,0.0,901.4,9.4,374,9148,1.60,0.00,83.00,1.245,6,0.089,0.000,3102,1816,3010,0,0,0,0,0,0
$STATE,9149,end apogee,CONTROL_FINISHED_OK
$STATE,9149,begin climb
$GC,9151,1.47,97.3,903.0,0.0,376,9247,1.67,0.00,91.70,1.222,6,0.038,0.000,3504,1816,2613,0,0,0,0,0,0
$GC,9585,1.31,119.2,874.9,8.5,387,9608,0.22,0.00,20.48,1.136,6,0.120,0.000,3461,1816,2524,0,0,0,0,0,0
$GC,9949,1.25,147.2,845.0,8.1,396,9978,0.00,0.00,27.35,1.150,6,0.000,0.000,3461,1816,2409,0,0,0,0,0,0
$GC,10316,1.19,160.9,812.0,9.1,405,10336,0.12,2.88,13.38,1.081,4,0.134,0.064,3436,3407,2354,0,0,0,0,0,0
$GC,10381,1.19,162.9,806.0,9.9,406,10385,0.00,2.75,0.00,0.000,6,0.000,0.059,3436,1830,2352,0,0,0,0,0,0
$GC,10765,1.19,162.9,768.3,10.0,416,10769,0.00,2.70,0.00,0.000,4,0.000,0.054,3437,3418,2349,0,0,0,0,0,0
$GC,10870,1.19,162.9,756.8,10.7,418,10875,0.00,2.75,0.00,0.000,6,0.000,0.060,3436,1836,2347,0,0,0,0,0,0
$GC,11253,1.19,162.9,716.7,10.5,428,11258,0.00,3.15,0.00,0.000,4,0.000,0.127,3436,236,2347,0,0,0,0,0,0
$GC,11315,1.10,162.9,709.4,11.9,429,11321,0.10,2.65,0.00,0.000,6,0.144,0.033,3417,1834,2346,0,0,0,0,0,0
$GC,11699,1.11,170.7,672.3,9.5,439,11710,0.00,0.00,9.57,0.979,6,0.000,0.000,3417,1834,2314,0,0,0,0,0,0
$GC,12066,1.12,181.8,638.2,9.2,448,12085,0.00,2.88,12.38,0.996,4,0.000,0.071,3417,3412,2268,0,0,0,0,0,0
$GC,12119,1.13,188.4,632.9,9.5,449,12134,0.00,2.75,8.12,0.911,6,0.000,0.057,3417,1824,2240,0,0,0,0,0,0
$GC,12518,1.15,200.7,595.9,9.2,459,12537,0.00,2.78,12.43,0.966,4,0.000,0.050,3417,3403,2190,0,0,0,0,0,0
$GC,12550,1.16,215.7,592.9,9.0,459,12571,0.00,2.78,15.93,0.975,6,0.000,0.058,3417,1830,2129,0,0,0,0,0,0
$GC,12968,1.21,215.7,551.4,10.1,470,12973,0.10,2.67,0.00,0.000,4,0.130,0.048,3443,3413,2125,0,0,0,0,0,0
$GC,13049,1.21,215.7,542.6,11.2,471,13055,0.00,2.75,0.00,0.000,6,0.000,0.064,3443,1843,2124,0,0,0,0,0,0
$GC,13421,1.21,215.7,503.3,10.2,481,13422,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1843,2124,0,0,0,0,0,0
$GC,13786,1.21,215.7,465.4,10.3,490,13787,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1843,2122,0,0,0,0,0,0
$GC,14154,1.21,215.7,427.0,10.5,499,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1843,2122,0,0,0,0,0,0
$GC,14518,1.22,218.7,389.4,9.8,508,14522,0.00,2.97,0.00,0.000,4,0.000,0.100,3443,229,2122,0,0,0,0,0,0
$GC,14544,1.22,218.7,386.4,10.5,508,14549,0.00,2.65,0.00,0.000,6,0.000,0.030,3444,1859,2120,0,0,0,0,0,0
$GC,14919,1.26,225.0,349.4,9.6,517,14933,0.00,2.95,8.52,0.772,4,0.000,0.070,3444,233,2092,0,0,0,0,0,0
$GC,14978,1.27,229.8,343.2,9.7,518,14989,0.00,2.62,6.05,0.696,6,0.000,0.026,3444,1850,2073,0,0,0,0,0,0
$GC,15371,1.35,252.3,308.8,8.5,528,15401,0.10,2.67,22.25,0.808,4,0.088,0.043,3472,3407,1980,0,0,0,0,0,0
$GC,15513,1.35,252.3,294.5,10.2,531,15518,0.00,2.60,0.00,0.000,6,0.000,0.038,3472,1847,1978,0,0,0,0,0,0
$GC,15915,1.37,262.0,257.5,9.3,541,15931,0.00,2.88,9.98,0.716,4,0.000,0.071,3472,243,1941,0,0,0,0,0,0
$GC,16001,1.37,262.0,248.9,10.1,543,16005,0.00,2.60,0.00,0.000,6,0.000,0.022,3472,1858,1939,0,0,0,0,0,0
$GC,16408,1.41,263.9,210.2,9.9,553,16409,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,1860,1938,0,0,0,0,0,0
$GC,16785,1.49,271.9,170.8,9.5,580,16801,0.10,2.85,10.35,0.645,4,0.090,0.064,3503,235,1899,0,0,0,0,0,0
$GC,16889,1.44,271.9,157.9,12.1,588,16895,0.00,2.55,0.00,0.000,6,0.000,0.021,3503,1850,1898,0,0,0,0,0,0
$GC,17279,1.46,290.0,123.2,8.8,625,17302,0.00,2.80,17.23,0.625,4,0.000,0.058,3503,242,1827,0,0,0,0,0,0
$GC,17316,1.48,307.9,119.7,8.8,628,17339,0.00,2.55,17.30,0.613,6,0.000,0.021,3503,1847,1754,0,0,0,0,0,0
$GC,17725,1.56,320.7,78.5,9.1,666,17749,0.00,2.53,12.73,0.563,4,0.000,0.038,3503,3392,1700,0,0,0,0,0,0
$GC,17765,1.64,327.2,74.1,9.6,669,17779,0.08,2.60,7.60,0.511,6,0.054,0.035,3532,1837,1674,0,0,0,0,0,0
$GC,18163,1.68,327.2,34.7,10.4,706,18167,0.00,2.72,0.00,0.000,4,0.000,0.058,3532,244,1671,0,0,0,0,0,0
$GC,18292,1.68,327.2,19.2,12.8,725,18300,0.00,2.53,0.00,0.000,6,0.000,0.018,3532,1834,1671,0,0,0,0,0,0
$STATE,18433,end climb,SURFACE_DEPTH_REACHED
$STATE,18433,begin surface coast
$FINISH,0.8,0.979992
$STATE,18466,end surface coast,CONTROL_FINISHED_OK
$STATE,18466,begin surface
$SM_CCo,18489,43.72,0.518,0,0,1460,380.21
$SM_GC,1.47,0.00,0.00,43.72,0.000,0.000,0.518,474,2198,1460,-12.42,2.77,380.21
$IRIDIUM_FIX,2157.39,-15801.98,241000,222248
$TT8_MAMPS,0.026078
$HUMID,65.47
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,19.70
$XPDR_PINGS,202
$24V_AH,22.9,78.449
$10V_AH,9.8,71.275
$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,30.950,163.300,406.325,43.725,0.000,25.426,35.044,199.168,50.500,0.000,12.008,1474.233,14238.870,562.860,2030.584,629.793,33.379,1473.208,0.000,2023.193,0.000,0.532,0.000
$DEVICE_MAMPS,162.604,185.614,1244.841,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,516.649,359.444,485.390,806.512,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,57211,757
$CAP_FILE_SIZE,143907,0
$CFSIZE,260165632,148213760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,091201,2201.410,-15758.821,39,1.4,39,9.9