version: 66.06
glider: 146
mission: 7
dive: 49
start: 5 30 112 2 19 56
data:
$ID,146
$MISSION,7
$DIVE,49
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$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,-288766.78
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3110
$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,2150
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$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,2950
$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,10
$ALTIM_PULSE,8
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,020837,2243.040,-15801.304,35,1.7,35,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-66.4
$GPS2,021901,2243.117,-15801.309,10,1.7,15,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,AHOESW
$TGT_LATLONG,2240.754,-15805.858
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,-0.159
$KALMAN_X,-77870.1,134.8,-153.6,82014.9,-681.1
$KALMAN_Y,-19300.3,291.4,-119.0,23817.3,305.3
$MHEAD_RNG_PITCHd_Wd,220.8,8923,-18.2,-10.014
$D_GRID,700
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,123,0.00,0.00,-101.85,0.000,6,0.000,0.000,473,2170,3506,0,0,0,0,0,0
$GC,126,-1.31,-136.3,1.3,-3.4,13,144,13.02,2.65,0.00,0.000,4,0.174,0.038,2816,558,3507,0,0,0,0,0,0
$GC,379,-1.06,-136.3,45.0,-14.7,44,388,0.25,2.53,0.00,0.000,6,0.105,0.018,2871,2158,3508,0,0,0,0,0,0
$GC,647,-0.98,-136.3,73.0,-10.3,69,652,0.10,2.55,0.00,0.000,4,0.138,0.035,2892,3728,3508,0,0,0,0,0,0
$GC,694,-0.98,-136.3,77.7,-9.5,72,698,0.00,2.53,0.00,0.000,6,0.000,0.022,2892,2132,3508,0,0,0,0,0,0
$GC,958,-0.98,-136.3,102.0,-9.5,96,963,0.00,2.58,0.00,0.000,4,0.000,0.051,2892,570,3508,0,0,0,0,0,0
$GC,982,-0.93,-136.3,104.8,-9.7,97,987,0.00,2.45,0.00,0.000,6,0.000,0.017,2892,2160,3508,0,0,0,0,0,0
$GC,1244,-0.93,-136.3,130.1,-9.0,122,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2160,3509,0,0,0,0,0,0
$GC,1500,-0.93,-136.3,149.7,-6.7,146,1504,0.00,2.60,0.00,0.000,4,0.000,0.048,2892,575,3508,0,0,0,0,0,0
$GC,1551,-0.90,-136.3,153.9,-8.5,150,1556,0.10,2.42,0.00,0.000,6,0.130,0.018,2913,2140,3508,0,0,0,0,0,0
$GC,1812,-0.94,-136.3,173.6,-7.4,174,1817,0.00,2.53,0.00,0.000,4,0.000,0.035,2912,3718,3508,0,0,0,0,0,0
$GC,1868,-0.98,-136.3,177.2,-6.6,178,1873,0.00,2.47,0.00,0.000,6,0.000,0.023,2912,2139,3508,0,0,0,0,0,0
$GC,2137,-1.04,-136.3,190.8,-5.4,202,2142,0.12,0.00,0.00,0.000,6,0.070,0.000,2869,2139,3509,0,0,0,0,0,0
$GC,2422,-1.04,-136.3,212.9,-7.6,218,2427,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,583,3509,0,0,0,0,0,0
$GC,2451,-1.04,-136.3,215.1,-8.1,218,2455,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2144,3509,0,0,0,0,0,0
$GC,2701,-1.04,-136.3,234.5,-7.9,224,2705,0.00,2.55,0.00,0.000,4,0.000,0.041,2868,3719,3509,0,0,0,0,0,0
$GC,2795,-1.04,-136.3,241.7,-7.1,226,2800,0.00,2.47,0.00,0.000,6,0.000,0.029,2868,2147,3509,0,0,0,0,0,0
$GC,3070,-1.04,-136.3,260.8,-7.2,233,3074,0.00,2.65,0.00,0.000,4,0.000,0.063,2868,572,3507,0,0,0,0,0,0
$GC,3097,-1.04,-136.3,263.2,-8.1,233,3101,0.00,2.45,0.00,0.000,6,0.000,0.022,2868,2132,3508,0,0,0,0,0,0
$GC,3349,-1.04,-136.3,281.1,-6.9,239,3353,0.00,2.62,0.00,0.000,4,0.000,0.054,2868,575,3507,0,0,0,0,0,0
$GC,3364,-1.04,-136.3,282.4,-6.9,239,3368,0.00,2.47,0.00,0.000,6,0.000,0.030,2868,2142,3508,0,0,0,0,0,0
$GC,3626,-1.04,-136.3,298.4,-5.9,246,3630,0.00,2.58,0.00,0.000,4,0.000,0.041,2868,3723,3506,0,0,0,0,0,0
$GC,3694,-1.04,-136.3,302.4,-6.3,247,3698,0.00,2.53,0.00,0.000,6,0.000,0.032,2868,2144,3506,0,0,0,0,0,0
$GC,3949,-1.04,-136.3,317.5,-6.0,254,3953,0.00,2.58,0.00,0.000,4,0.000,0.041,2868,3723,3505,0,0,0,0,0,0
$GC,3988,-1.04,-136.3,320.1,-6.8,255,3992,0.00,2.50,0.00,0.000,6,0.000,0.027,2868,2162,3505,0,0,0,0,0,0
$GC,4273,-1.04,-136.3,337.2,-5.9,262,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2162,3503,0,0,0,0,0,0
$GC,4515,-1.04,-136.3,352.2,-6.3,268,4519,0.00,2.58,0.00,0.000,4,0.000,0.044,2868,3724,3502,0,0,0,0,0,0
$GC,4530,-1.04,-136.3,353.4,-6.8,268,4535,0.00,2.53,0.00,0.000,6,0.000,0.029,2868,2160,3502,0,0,0,0,0,0
$GC,4793,-1.04,-136.3,373.5,-7.8,275,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2160,3500,0,0,0,0,0,0
$GC,5035,-1.04,-136.3,387.5,-5.3,281,5039,0.00,2.58,0.00,0.000,4,0.000,0.045,2868,3730,3499,0,0,0,0,0,0
$GC,5129,-1.04,-136.3,392.4,-5.0,283,5134,0.00,2.55,0.00,0.000,6,0.000,0.040,2868,2171,3499,0,0,0,0,0,0
$GC,5403,-1.04,-136.3,405.5,-5.2,290,5408,0.00,2.58,0.00,0.000,4,0.000,0.048,2868,3722,3497,0,0,0,0,0,0
$GC,5436,-1.04,-136.3,407.7,-6.2,290,5442,0.00,2.55,0.00,0.000,6,0.000,0.037,2868,2167,3497,0,0,0,0,0,0
$GC,5686,-1.04,-136.3,423.7,-6.6,297,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2167,3495,0,0,0,0,0,0
$GC,5932,-1.04,-136.3,437.4,-5.4,303,5936,0.00,2.90,0.00,0.000,4,0.000,0.093,2868,564,3494,0,0,0,0,0,0
$GC,5977,-1.04,-136.3,439.6,-5.4,304,5982,0.00,2.62,0.00,0.000,6,0.000,0.038,2868,2160,3493,0,0,0,0,0,0
$GC,6255,-1.04,-136.3,449.9,-3.5,311,6259,0.00,2.67,0.00,0.000,4,0.000,0.062,2868,3735,3493,0,0,0,0,0,0
$GC,6291,-1.04,-136.3,451.2,-4.3,311,6296,0.00,2.60,0.00,0.000,6,0.000,0.049,2868,2178,3492,0,0,0,0,0,0
$GC,6541,-1.04,-136.3,463.4,-5.1,318,6545,0.00,2.62,0.00,0.000,4,0.000,0.056,2868,3735,3490,0,0,0,0,0,0
$GC,6589,-1.04,-136.3,466.6,-7.2,319,6594,0.00,2.60,0.00,0.000,6,0.000,0.053,2868,2182,3490,0,0,0,0,0,0
$GC,6864,-1.08,-136.3,483.6,-6.1,326,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2182,3489,0,0,0,0,0,0
$GC,7105,-1.08,-136.3,498.2,-6.0,332,7110,0.00,2.65,0.00,0.000,4,0.000,0.059,2868,3733,3488,0,0,0,0,0,0
$GC,7161,-1.12,-136.3,501.8,-6.8,333,7166,0.00,2.65,0.00,0.000,6,0.000,0.058,2868,2172,3488,0,0,0,0,0,0
$GC,7430,-1.16,-136.3,516.7,-5.5,340,7435,0.00,3.05,0.00,0.000,4,0.000,0.116,2868,561,3487,0,0,0,0,0,0
$GC,7459,-1.16,-136.3,518.5,-5.8,340,7463,0.00,2.70,0.00,0.000,6,0.000,0.048,2868,2172,3486,0,0,0,0,0,0
$GC,7709,-1.20,-136.3,530.6,-4.8,346,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2172,3486,0,0,0,0,0,0
$GC,7955,-1.25,-136.3,541.8,-4.5,352,7960,0.12,2.95,0.00,0.000,4,0.076,0.098,2828,565,3485,0,0,0,0,0,0
$GC,8029,-1.18,-136.3,546.4,-6.5,353,8035,0.10,2.70,0.00,0.000,6,0.129,0.054,2848,2165,3484,0,0,0,0,0,0
$GC,8281,-1.18,-136.3,559.3,-5.1,359,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2165,3483,0,0,0,0,0,0
$GC,8523,-1.18,-136.3,571.1,-4.8,365,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2166,3482,0,0,0,0,0,0
$GC,8767,-1.18,-136.3,583.1,-4.9,371,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2166,3481,0,0,0,0,0,0
$GC,9010,-1.18,-136.3,596.1,-5.5,377,9015,0.00,2.88,0.00,0.000,4,0.000,0.106,2848,3735,3480,0,0,0,0,0,0
$GC,9085,-1.18,-136.3,600.9,-7.1,378,9090,0.00,2.75,0.00,0.000,6,0.000,0.069,2848,2167,3480,0,0,0,0,0,0
$GC,9335,-1.18,-136.3,616.9,-6.4,384,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2167,3479,0,0,0,0,0,0
$GC,9579,-1.18,-136.3,630.6,-5.3,390,9584,0.00,2.83,0.00,0.000,4,0.000,0.087,2848,3739,3478,0,0,0,0,0,0
$GC,9698,-1.18,-136.3,637.0,-5.7,392,9703,0.00,2.83,0.00,0.000,6,0.000,0.087,2849,2164,3477,0,0,0,0,0,0
$GC,9948,-1.18,-136.3,649.5,-5.2,398,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2164,3477,0,0,0,0,0,0
$GC,10192,-1.18,-136.3,663.0,-5.5,404,10196,0.00,2.90,0.00,0.000,4,0.000,0.101,2849,3735,3476,0,0,0,0,0,0
$GC,10239,-1.18,-136.3,665.7,-6.2,405,10243,0.00,2.88,0.00,0.000,6,0.000,0.095,2848,2172,3476,0,0,0,0,0,0
$GC,10516,-1.18,-136.3,682.1,-5.8,412,10521,0.00,2.92,0.00,0.000,4,0.000,0.114,2848,3735,3474,0,0,0,0,0,0
$GC,10562,-1.18,-136.3,685.0,-6.6,413,10567,0.00,2.92,0.00,0.000,6,0.000,0.104,2848,2174,3474,0,0,0,0,0,0
$STATE,10837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10837,begin apogee
$GC,10843,-0.31,0.0,702.1,6.1,420,10959,0.85,0.00,109.30,1.126,6,0.104,0.000,3039,2118,2950,0,0,0,0,0,0
$STATE,10960,end apogee,CONTROL_FINISHED_OK
$STATE,10960,begin climb
$GC,10962,1.31,136.3,703.6,0.0,423,11092,1.52,3.40,119.93,1.089,4,0.061,0.156,3388,538,2393,0,0,0,0,0,0
$GC,11108,1.22,136.3,691.8,11.2,426,11113,0.00,2.95,0.00,0.000,6,0.000,0.091,3388,2114,2389,0,0,0,0,0,0
$GC,11371,1.17,136.3,661.8,11.4,433,11377,0.12,2.97,0.00,0.000,4,0.135,0.106,3366,3713,2384,0,0,0,0,0,0
$GC,11432,1.17,136.3,654.5,11.1,434,11437,0.00,2.95,0.00,0.000,6,0.000,0.090,3366,2124,2382,0,0,0,0,0,0
$GC,11693,1.17,136.3,627.3,10.3,441,11698,0.00,2.90,0.00,0.000,4,0.000,0.089,3366,3717,2381,0,0,0,0,0,0
$GC,11734,1.17,136.3,623.0,10.8,442,11738,0.00,2.85,0.00,0.000,6,0.000,0.082,3366,2137,2381,0,0,0,0,0,0
$GC,12016,1.17,136.3,592.5,10.9,449,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2137,2379,0,0,0,0,0,0
$GC,12260,1.17,136.3,566.1,10.7,455,12264,0.00,2.75,0.00,0.000,4,0.000,0.067,3366,3712,2379,0,0,0,0,0,0
$GC,12305,1.17,136.3,561.4,10.1,456,12310,0.00,2.75,0.00,0.000,6,0.000,0.064,3366,2137,2377,0,0,0,0,0,0
$GC,12582,1.17,136.3,533.6,10.0,463,12587,0.00,3.12,0.00,0.000,4,0.000,0.122,3366,525,2377,0,0,0,0,0,0
$GC,12615,1.17,136.3,529.9,10.7,463,12621,0.00,2.75,0.00,0.000,6,0.000,0.051,3366,2148,2376,0,0,0,0,0,0
$GC,12867,1.18,145.4,505.7,9.6,470,12880,0.00,2.70,6.45,0.808,4,0.000,0.066,3366,3708,2356,0,0,0,0,0,0
$GC,12920,1.22,146.0,500.2,10.0,471,12925,0.00,2.67,0.00,0.000,6,0.000,0.046,3366,2139,2356,0,0,0,0,0,0
$GC,13192,1.22,146.0,472.7,10.5,478,13196,0.00,2.62,0.00,0.000,4,0.000,0.049,3366,3711,2355,0,0,0,0,0,0
$GC,13265,1.22,146.0,463.7,12.1,479,13269,0.00,2.60,0.00,0.000,6,0.000,0.045,3366,2157,2355,0,0,0,0,0,0
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$STATE,17523,end climb,SURFACE_DEPTH_REACHED
$STATE,17523,begin surface coast
$FINISH,-0.5,1.023663
$STATE,17572,end surface coast,CONTROL_FINISHED_OK
$STATE,17572,begin surface
$SM_CCo,17595,148.20,0.522,0,0,1399,380.21
$SM_GC,0.07,0.00,0.00,148.20,0.000,0.000,0.522,471,2180,1399,-12.14,0.85,380.21
$IRIDIUM_FIX,2232.34,-15803.24,240801,020256
$TT8_MAMPS,0.026078
$HUMID,56.34
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.90
$XPDR_PINGS,68
$24V_AH,23.2,7.566
$10V_AH,10.3,6.798
$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
$DEVICE_SECS,28.525,219.000,286.200,148.200,0.000,53.435,86.155,260.153,17.000,0.000,16.813,1519.491,12868.244,592.602,2554.526,827.777,33.362,1626.822,0.000,2544.367,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.047,341.255,465.397,817.090,1235.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,54182,716
$CAP_FILE_SIZE,170332,0
$CFSIZE,260165632,144134144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300512,071700,2241.545,-15803.486,35,1.3,40,10.0