version: 66.06
glider: 146
mission: 7
dive: 87
start: 6 6 112 21 36 9
data:
$ID,146
$MISSION,7
$DIVE,87
$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,-289520.34
$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,3144
$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,2210
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,48
$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,3150
$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
$GPS1,212406,2245.704,-15738.679,32,1.3,32,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-68.0
$GPS2,213514,2245.785,-15738.641,15,1.8,15,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,CHOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.073,-0.241
$KALMAN_X,-82873.6,-248.1,92.3,125880.1,1402.0
$KALMAN_Y,-13592.8,-10.3,714.0,22514.1,-176.9
$MHEAD_RNG_PITCHd_Wd,186.8,13402,-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,-136.1,0.0,0.0,0,115,0.00,0.00,-87.28,0.000,6,0.000,0.000,469,2230,3706,0,0,0,0,0,0
$GC,119,-1.31,-136.1,4.1,-11.0,12,137,13.18,2.70,0.00,0.000,4,0.173,0.038,2851,621,3707,0,0,0,0,0,0
$GC,283,-1.14,-136.1,40.4,-15.3,31,288,0.20,2.45,0.00,0.000,6,0.118,0.018,2892,2210,3708,0,0,0,0,0,0
$GC,551,-1.09,-136.1,73.1,-11.8,55,555,0.00,2.60,0.00,0.000,4,0.000,0.042,2892,628,3708,0,0,0,0,0,0
$GC,585,-1.03,-136.1,77.6,-12.1,57,590,0.12,2.42,0.00,0.000,6,0.120,0.018,2918,2203,3709,0,0,0,0,0,0
$GC,853,-1.03,-136.1,105.9,-10.5,81,857,0.00,2.53,0.00,0.000,4,0.000,0.034,2918,3775,3709,0,0,0,0,0,0
$GC,909,-1.10,-136.3,111.8,-9.6,85,913,0.00,2.47,0.00,0.000,6,0.000,0.022,2918,2199,3710,0,0,0,0,0,0
$GC,1177,-1.13,-136.3,134.4,-7.6,109,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2198,3709,0,0,0,0,0,0
$GC,1440,-1.18,-136.3,155.1,-8.5,134,1442,0.12,0.00,0.00,0.000,6,0.071,0.000,2869,2197,3709,0,0,0,0,0,0
$GC,1696,-1.13,-136.3,181.5,-10.8,158,1701,0.12,2.62,0.00,0.000,4,0.104,0.056,2897,626,3711,0,0,0,0,0,0
$GC,1752,-1.13,-136.3,188.0,-11.0,162,1762,0.00,2.47,0.00,0.000,6,0.000,0.023,2897,2209,3711,0,0,0,0,0,0
$GC,2010,-1.13,-136.3,212.4,-9.7,178,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2209,3711,0,0,0,0,0,0
$GC,2252,-1.17,-136.3,233.2,-8.2,184,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2209,3711,0,0,0,0,0,0
$GC,2496,-1.22,-136.3,253.8,-8.3,190,2500,0.00,2.55,0.00,0.000,4,0.000,0.041,2897,3779,3711,0,0,0,0,0,0
$GC,2524,-1.28,-136.3,256.2,-8.8,190,2530,0.12,2.47,0.00,0.000,6,0.071,0.028,2846,2203,3711,0,0,0,0,0,0
$GC,2777,-1.23,-136.3,279.4,-8.9,196,2779,0.12,0.00,0.00,0.000,6,0.116,0.000,2873,2204,3711,0,0,0,0,0,0
$GC,3018,-1.23,-136.3,296.9,-7.0,202,3023,0.00,2.65,0.00,0.000,4,0.000,0.064,2873,634,3710,0,0,0,0,0,0
$GC,3092,-1.23,-136.3,303.1,-8.9,203,3096,0.00,2.47,0.00,0.000,6,0.000,0.032,2873,2199,3710,0,0,0,0,0,0
$GC,3342,-1.23,-136.3,322.8,-7.6,209,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2200,3709,0,0,0,0,0,0
$GC,3586,-1.27,-136.3,342.8,-8.3,215,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2199,3708,0,0,0,0,0,0
$GC,3829,-1.32,-136.3,363.1,-8.4,221,3834,0.00,2.65,0.00,0.000,4,0.000,0.048,2873,3793,3707,0,0,0,0,0,0
$GC,3859,-1.35,-136.3,365.8,-9.3,221,3864,0.10,2.55,0.00,0.000,6,0.084,0.035,2834,2216,3707,0,0,0,0,0,0
$GC,4109,-1.35,-136.3,390.3,-9.6,227,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2216,3705,0,0,0,0,0,0
$GC,4352,-1.35,-136.3,412.6,-9.0,233,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2216,3704,0,0,0,0,0,0
$GC,4598,-1.35,-136.3,433.6,-8.6,239,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2216,3702,0,0,0,0,0,0
$GC,4840,-1.35,-136.3,454.6,-8.7,245,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2216,3701,0,0,0,0,0,0
$GC,5084,-1.35,-136.3,475.9,-8.9,251,5088,0.00,2.95,0.00,0.000,4,0.000,0.109,2834,625,3698,0,0,0,0,0,0
$GC,5146,-1.35,-136.3,481.8,-9.6,252,5151,0.00,2.60,0.00,0.000,6,0.000,0.048,2834,2195,3698,0,0,0,0,0,0
$GC,5407,-1.35,-136.3,504.2,-8.5,259,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2195,3697,0,0,0,0,0,0
$GC,5651,-1.35,-136.3,525.6,-8.8,265,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2194,3695,0,0,0,0,0,0
$GC,5894,-1.35,-136.3,546.9,-8.7,271,5899,0.00,2.83,0.00,0.000,4,0.000,0.087,2834,3794,3694,0,0,0,0,0,0
$GC,5929,-1.35,-136.3,549.9,-9.6,271,5934,0.00,2.72,0.00,0.000,6,0.000,0.060,2834,2198,3693,0,0,0,0,0,0
$GC,6179,-1.35,-136.3,569.4,-7.5,278,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2198,3691,0,0,0,0,0,0
$GC,6422,-1.35,-136.3,587.3,-7.4,284,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2198,3690,0,0,0,0,0,0
$GC,6668,-1.35,-136.3,607.0,-8.3,290,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2198,3689,0,0,0,0,0,0
$GC,6910,-1.35,-136.3,626.9,-8.0,296,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2198,3688,0,0,0,0,0,0
$GC,7154,-1.35,-136.3,646.7,-8.0,302,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2198,3686,0,0,0,0,0,0
$GC,7397,-1.35,-136.3,664.4,-7.1,308,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2198,3685,0,0,0,0,0,0
$GC,7643,-1.35,-136.3,681.6,-7.2,314,7648,0.00,3.00,0.00,0.000,4,0.000,0.117,2835,3789,3684,0,0,0,0,0,0
$GC,7687,-1.35,-136.3,685.3,-8.1,315,7692,0.00,2.95,0.00,0.000,6,0.000,0.111,2834,2211,3684,0,0,0,0,0,0
$STATE,7921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7921,begin apogee
$GC,7927,-0.31,0.0,702.4,7.1,321,8046,1.05,0.00,110.60,1.098,6,0.094,0.000,3073,2210,3151,0,0,0,0,0,0
$STATE,8047,end apogee,CONTROL_FINISHED_OK
$STATE,8047,begin climb
$GC,8049,1.31,136.3,704.0,0.0,324,8171,1.52,0.00,118.10,1.065,6,0.054,0.000,3431,2210,2594,0,0,0,0,0,0
$GC,8408,1.15,136.3,664.5,12.9,333,8413,0.17,2.92,0.00,0.000,4,0.168,0.098,3398,3786,2585,0,0,0,0,0,0
$GC,8473,1.06,136.3,656.2,12.7,334,8479,0.12,2.92,0.00,0.000,6,0.131,0.099,3374,2205,2584,0,0,0,0,0,0
$GC,8735,1.02,136.3,628.1,10.6,341,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2205,2582,0,0,0,0,0,0
$GC,8978,1.02,136.3,601.5,10.8,347,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2205,2580,0,0,0,0,0,0
$GC,9221,1.02,136.3,575.5,10.6,353,9226,0.00,2.75,0.00,0.000,4,0.000,0.064,3375,3783,2579,0,0,0,0,0,0
$GC,9256,0.98,136.3,572.0,11.2,353,9262,0.00,2.72,0.00,0.000,6,0.000,0.055,3374,2203,2579,0,0,0,0,0,0
$GC,9505,0.98,136.3,545.6,10.5,360,9510,0.00,2.72,0.00,0.000,4,0.000,0.061,3374,3788,2578,0,0,0,0,0,0
$GC,9538,0.94,136.3,542.0,11.4,360,9544,0.12,2.67,0.00,0.000,6,0.140,0.050,3352,2208,2578,0,0,0,0,0,0
$GC,9788,0.94,141.1,517.0,9.8,367,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2208,2578,0,0,0,0,0,0
$GC,10032,0.97,160.1,494.2,9.1,373,10056,0.00,3.08,18.92,0.933,4,0.000,0.105,3352,609,2497,0,0,0,0,0,0
$GC,10084,0.98,165.9,489.3,9.7,374,10098,0.00,2.62,6.80,0.787,6,0.000,0.039,3352,2200,2472,0,0,0,0,0,0
$GC,10357,1.04,187.5,465.3,8.9,381,10382,0.00,2.72,20.35,0.914,4,0.000,0.059,3351,3786,2384,0,0,0,0,0,0
$GC,10405,1.09,190.7,460.7,9.9,382,10415,0.12,2.67,4.32,0.631,6,0.081,0.040,3385,2195,2372,0,0,0,0,0,0
$GC,10678,1.09,190.7,430.6,11.3,389,10683,0.00,2.85,0.00,0.000,4,0.000,0.087,3385,609,2368,0,0,0,0,0,0
$GC,10705,1.05,190.7,427.1,11.7,389,10710,0.00,2.62,0.00,0.000,6,0.000,0.028,3385,2219,2367,0,0,0,0,0,0
$GC,10957,1.05,190.7,398.6,11.3,395,10961,0.00,2.58,0.00,0.000,4,0.000,0.044,3385,3786,2367,0,0,0,0,0,0
$GC,10983,1.05,190.7,395.2,12.1,395,10988,0.00,2.58,0.00,0.000,6,0.000,0.038,3385,2210,2366,0,0,0,0,0,0
$GC,11233,1.05,190.7,367.5,11.0,401,11238,0.00,2.78,0.00,0.000,4,0.000,0.071,3385,615,2366,0,0,0,0,0,0
$GC,11254,1.05,190.7,365.0,11.7,401,11259,0.00,2.58,0.00,0.000,6,0.000,0.029,3385,2217,2366,0,0,0,0,0,0
$GC,11517,1.05,190.7,337.2,10.4,408,11522,0.00,2.58,0.00,0.000,4,0.000,0.042,3385,3779,2365,0,0,0,0,0,0
$GC,11544,1.05,190.7,334.1,10.7,408,11549,0.00,2.55,0.00,0.000,6,0.000,0.035,3385,2210,2365,0,0,0,0,0,0
$GC,11794,1.05,190.7,306.8,11.3,414,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2210,2365,0,0,0,0,0,0
$GC,12040,1.05,193.3,281.7,9.9,420,12044,0.00,2.58,0.00,0.000,4,0.000,0.041,3385,3778,2365,0,0,0,0,0,0
$GC,12061,1.06,201.0,279.4,9.6,420,12078,0.00,2.55,9.68,0.732,6,0.000,0.028,3385,2201,2330,0,0,0,0,0,0
$GC,12322,1.10,205.6,253.8,9.8,427,12333,0.00,2.67,5.82,0.632,4,0.000,0.061,3385,620,2310,0,0,0,0,0,0
$GC,12351,1.11,210.5,251.0,9.8,427,12363,0.00,2.55,5.90,0.627,6,0.000,0.028,3385,2226,2291,0,0,0,0,0,0
$GC,12607,1.18,231.7,227.6,9.0,434,12632,0.00,2.60,19.73,0.732,4,0.000,0.041,3385,3770,2205,0,0,0,0,0,0
$GC,12678,1.25,231.7,220.5,10.5,435,12683,0.12,2.53,0.00,0.000,6,0.079,0.031,3418,2219,2203,0,0,0,0,0,0
$GC,12930,1.25,231.7,191.5,10.8,444,12931,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2219,2202,0,0,0,0,0,0
$GC,13184,1.25,231.7,163.8,10.8,468,13186,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2219,2202,0,0,0,0,0,0
$GC,13442,1.26,239.6,137.6,9.6,492,13456,0.00,2.55,8.20,0.579,4,0.000,0.037,3418,3775,2173,0,0,0,0,0,0
$GC,13579,1.26,239.6,123.7,10.0,503,13584,0.00,2.50,0.00,0.000,6,0.000,0.028,3418,2209,2171,0,0,0,0,0,0
$GC,13848,1.29,266.3,99.0,8.7,527,13877,0.00,0.00,24.25,0.597,6,0.000,0.000,3418,2209,2063,0,0,0,0,0,0
$GC,14137,1.34,266.3,68.4,10.6,554,14141,0.00,2.65,0.00,0.000,4,0.000,0.050,3418,616,2061,0,0,0,0,0,0
$GC,14182,1.39,266.3,63.2,11.8,557,14187,0.12,2.53,0.00,0.000,6,0.075,0.020,3458,2240,2060,0,0,0,0,0,0
$GC,14447,1.39,266.3,29.4,13.1,581,14457,0.00,2.47,0.00,0.000,4,0.000,0.035,3458,3765,2060,0,0,0,0,0,0
$GC,14487,1.39,266.3,24.0,13.4,586,14496,0.00,2.50,0.00,0.000,6,0.000,0.028,3459,2222,2060,0,0,0,0,0,0
$STATE,14635,end climb,SURFACE_DEPTH_REACHED
$STATE,14636,begin surface coast
$FINISH,-0.7,1.012348
$STATE,14673,end surface coast,CONTROL_FINISHED_OK
$STATE,14673,begin surface
$SM_CCo,14696,91.43,0.517,0,0,1599,380.21
$SM_GC,0.09,0.00,0.00,91.43,0.000,0.000,0.517,471,2218,1599,-12.30,0.23,380.21
$IRIDIUM_FIX,2237.01,-15737.19,310801,212116
$TT8_MAMPS,0.026078
$HUMID,58.50
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.3,13.085
$10V_AH,10.3,12.191
$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,29.450,132.275,352.675,91.425,0.000,56.753,69.726,316.626,11.000,0.000,18.803,1233.418,10865.283,565.814,1983.718,805.394,33.364,1331.672,0.000,1984.484,0.000,0.533,0.000
$DEVICE_MAMPS,173.342,116.584,1097.577,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,416.411,304.385,409.061,712.547,1077.728,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,47917,612
$CAP_FILE_SIZE,132851,0
$CFSIZE,260165632,141455360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070612,014401,2244.076,-15738.539,36,1.4,41,10.1