version: 66.06
glider: 146
mission: 7
dive: 104
start: 6 10 112 1 3 45
data:
$ID,146
$MISSION,7
$DIVE,104
$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,-289868.75
$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,2150
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,40
$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
$GPS1,005554,2305.021,-15734.532,63,1.4,63,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-67.3
$GPS2,010250,2305.084,-15734.469,13,1.8,13,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,DHOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.201,0.038
$KALMAN_X,-60400.6,124.0,65.8,110187.6,1201.8
$KALMAN_Y,5225.7,-38.0,485.3,39694.1,107.5
$MHEAD_RNG_PITCHd_Wd,270.7,1739,-23.0,-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,-1.54,-87.8,0.0,0.0,0,107,0.00,0.00,-81.05,0.000,6,0.000,0.000,467,2227,3507,0,0,0,0,0,0
$GC,112,-1.58,-114.6,2.9,-8.0,11,138,12.85,2.45,-2.08,0.000,4,0.173,0.047,2793,3720,3621,0,0,0,0,0,0
$GC,350,-1.47,-114.6,51.9,-16.3,37,355,0.12,2.47,0.00,0.000,6,0.142,0.023,2817,2140,3622,0,0,0,0,0,0
$GC,618,-1.43,-114.6,91.2,-13.5,61,623,0.00,2.55,0.00,0.000,4,0.000,0.036,2818,3729,3623,0,0,0,0,0,0
$GC,643,-1.38,-114.6,95.9,-14.5,62,653,0.08,2.50,0.00,0.000,6,0.110,0.021,2837,2152,3623,0,0,0,0,0,0
$GC,911,-1.38,-114.6,126.3,-10.6,87,915,0.00,2.60,0.00,0.000,4,0.000,0.049,2837,576,3624,0,0,0,0,0,0
$GC,943,-1.38,-114.6,130.1,-11.5,89,948,0.00,2.42,0.00,0.000,6,0.000,0.020,2837,2169,3623,0,0,0,0,0,0
$GC,1207,-1.38,-114.6,159.7,-11.1,113,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2170,3624,0,0,0,0,0,0
$GC,1469,-1.43,-114.6,189.0,-10.7,138,1473,0.00,2.42,0.00,0.000,4,0.000,0.031,2837,3715,3624,0,0,0,0,0,0
$GC,1489,-1.49,-114.6,190.9,-10.4,139,1493,0.00,2.42,0.00,0.000,6,0.000,0.026,2837,2150,3624,0,0,0,0,0,0
$GC,1775,-1.55,-120.7,220.0,-9.5,151,1780,0.12,2.50,0.00,0.000,4,0.069,0.039,2788,3713,3624,0,0,0,0,0,0
$GC,1829,-1.55,-120.7,226.0,-10.8,152,1834,0.00,2.42,0.00,0.000,6,0.000,0.024,2788,2167,3624,0,0,0,0,0,0
$GC,2104,-1.55,-120.7,253.9,-10.3,159,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2167,3624,0,0,0,0,0,0
$GC,2346,-1.55,-120.7,281.1,-11.3,165,2350,0.00,2.67,0.00,0.000,4,0.000,0.066,2788,577,3624,0,0,0,0,0,0
$GC,2367,-1.55,-120.7,283.8,-11.6,165,2371,0.00,2.45,0.00,0.000,6,0.000,0.022,2788,2148,3624,0,0,0,0,0,0
$GC,2622,-1.55,-120.7,312.0,-10.7,172,2626,0.00,2.55,0.00,0.000,4,0.000,0.039,2788,3726,3623,0,0,0,0,0,0
$GC,2644,-1.55,-120.7,314.4,-10.8,172,2649,0.00,2.47,0.00,0.000,6,0.000,0.026,2788,2165,3623,0,0,0,0,0,0
$GC,2899,-1.56,-123.0,340.2,-9.8,179,2904,0.00,2.55,0.00,0.000,4,0.000,0.042,2787,3727,3622,0,0,0,0,0,0
$GC,2916,-1.56,-129.5,341.9,-9.5,179,2920,0.00,2.50,0.00,0.000,6,0.000,0.037,2788,2168,3622,0,0,0,0,0,0
$GC,3178,-1.56,-129.5,368.5,-10.4,186,3182,0.00,2.83,0.00,0.000,4,0.000,0.081,2787,568,3621,0,0,0,0,0,0
$GC,3227,-1.56,-129.5,374.1,-11.0,187,3231,0.00,2.53,0.00,0.000,6,0.000,0.029,2788,2156,3621,0,0,0,0,0,0
$GC,3500,-1.56,-129.5,402.9,-10.5,194,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2156,3620,0,0,0,0,0,0
$GC,3745,-1.56,-129.5,428.6,-10.6,200,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2157,3618,0,0,0,0,0,0
$GC,3987,-1.57,-133.2,452.8,-9.7,206,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2157,3616,0,0,0,0,0,0
$GC,4231,-1.57,-136.3,475.9,-9.5,212,4235,0.00,2.88,0.00,0.000,4,0.000,0.091,2788,573,3615,0,0,0,0,0,0
$GC,4285,-1.57,-136.3,481.5,-10.3,213,4290,0.00,2.62,0.00,0.000,6,0.000,0.041,2787,2158,3614,0,0,0,0,0,0
$GC,4554,-1.57,-136.3,504.0,-8.4,220,4558,0.00,2.75,0.00,0.000,4,0.000,0.077,2787,3746,3613,0,0,0,0,0,0
$GC,4593,-1.57,-136.3,507.8,-9.6,221,4598,0.00,2.65,0.00,0.000,6,0.000,0.057,2788,2175,3612,0,0,0,0,0,0
$GC,4878,-1.57,-136.3,532.0,-8.5,228,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2176,3610,0,0,0,0,0,0
$GC,5120,-1.57,-136.3,551.5,-7.9,234,5124,0.00,2.72,0.00,0.000,4,0.000,0.074,2788,3740,3609,0,0,0,0,0,0
$GC,5141,-1.57,-136.3,553.4,-8.2,234,5146,0.00,2.70,0.00,0.000,6,0.000,0.064,2788,2168,3609,0,0,0,0,0,0
$GC,5399,-1.61,-136.3,572.8,-7.5,241,5404,0.00,2.72,0.00,0.000,4,0.000,0.076,2788,3734,3608,0,0,0,0,0,0
$GC,5439,-1.61,-136.3,576.4,-8.5,242,5444,0.00,2.70,0.00,0.000,6,0.000,0.067,2788,2181,3608,0,0,0,0,0,0
$GC,5723,-1.65,-136.3,599.0,-8.0,249,5728,0.00,3.10,0.00,0.000,4,0.000,0.122,2788,558,3606,0,0,0,0,0,0
$GC,5780,-1.65,-136.3,604.5,-9.8,250,5785,0.00,2.78,0.00,0.000,6,0.000,0.062,2788,2182,3605,0,0,0,0,0,0
$GC,6047,-1.69,-136.3,627.4,-8.4,257,6052,0.00,2.85,0.00,0.000,4,0.000,0.099,2788,3744,3603,0,0,0,0,0,0
$GC,6086,-1.69,-136.3,630.8,-8.8,258,6091,0.00,2.80,0.00,0.000,6,0.000,0.084,2787,2184,3602,0,0,0,0,0,0
$GC,6372,-1.75,-136.3,655.3,-8.8,265,6377,0.10,2.85,0.00,0.000,4,0.083,0.098,2752,3738,3601,0,0,0,0,0,0
$GC,6388,-1.75,-136.3,657.1,-8.8,265,6393,0.00,2.85,0.00,0.000,6,0.000,0.094,2751,2183,3601,0,0,0,0,0,0
$GC,6651,-1.75,-136.3,682.5,-9.5,272,6656,0.00,2.92,0.00,0.000,4,0.000,0.114,2751,3739,3599,0,0,0,0,0,0
$GC,6701,-1.71,-136.3,687.7,-10.2,273,6706,0.00,2.90,0.00,0.000,6,0.000,0.109,2751,2204,3599,0,0,0,0,0,0
$STATE,6848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6848,begin apogee
$GC,6854,-0.31,0.0,701.4,9.1,277,6952,1.48,0.00,93.60,1.100,6,0.092,0.000,3074,2172,3150,0,0,0,0,0,0
$STATE,6953,end apogee,CONTROL_FINISHED_OK
$STATE,6953,begin climb
$GC,6957,1.60,136.3,703.1,0.0,279,7087,1.80,3.40,118.12,1.069,4,0.048,0.148,3500,577,2592,0,0,0,0,0,0
$GC,7095,1.44,136.3,690.4,14.8,283,7101,0.20,2.97,0.00,0.000,6,0.122,0.091,3462,2170,2590,0,0,0,0,0,0
$GC,7381,1.37,136.3,650.4,14.0,290,7386,0.00,2.95,0.00,0.000,4,0.000,0.098,3462,3762,2584,0,0,0,0,0,0
$GC,7522,1.30,136.3,629.8,13.9,293,7528,0.17,2.88,0.00,0.000,6,0.137,0.086,3429,2178,2582,0,0,0,0,0,0
$GC,7796,1.30,136.3,596.3,11.9,300,7801,0.00,2.80,0.00,0.000,4,0.000,0.077,3430,3760,2580,0,0,0,0,0,0
$GC,7817,1.30,136.3,593.3,12.4,300,7822,0.00,2.75,0.00,0.000,6,0.000,0.064,3429,2182,2580,0,0,0,0,0,0
$GC,8079,1.30,136.3,561.0,12.3,307,8083,0.00,2.75,0.00,0.000,4,0.000,0.064,3429,3766,2579,0,0,0,0,0,0
$GC,8119,1.30,136.3,556.2,12.6,308,8124,0.00,2.67,0.00,0.000,6,0.000,0.059,3429,2196,2579,0,0,0,0,0,0
$GC,8403,1.30,136.3,521.7,11.8,315,8407,0.00,2.67,0.00,0.000,4,0.000,0.057,3429,3771,2578,0,0,0,0,0,0
$GC,8474,1.30,136.3,512.8,12.2,316,8479,0.00,2.65,0.00,0.000,6,0.000,0.047,3429,2197,2577,0,0,0,0,0,0
$GC,8724,1.30,136.3,485.1,10.9,322,8729,0.00,2.65,0.00,0.000,4,0.000,0.051,3430,3773,2576,0,0,0,0,0,0
$GC,8745,1.30,136.3,482.7,11.3,322,8750,0.00,2.62,0.00,0.000,6,0.000,0.044,3429,2207,2576,0,0,0,0,0,0
$GC,9001,1.30,136.3,456.5,10.2,329,9005,0.00,2.60,0.00,0.000,4,0.000,0.049,3430,3768,2575,0,0,0,0,0,0
$GC,9046,1.30,136.3,451.7,11.0,330,9051,0.00,2.60,0.00,0.000,6,0.000,0.044,3429,2218,2575,0,0,0,0,0,0
$GC,9323,1.30,136.3,423.1,10.4,337,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2218,2575,0,0,0,0,0,0
$GC,9567,1.30,136.3,397.4,10.3,343,9571,0.00,2.58,0.00,0.000,4,0.000,0.048,3429,3770,2574,0,0,0,0,0,0
$GC,9582,1.30,137.6,395.7,9.9,343,9587,0.00,2.55,0.00,0.000,6,0.000,0.038,3429,2216,2574,0,0,0,0,0,0
$GC,9845,1.31,142.6,370.1,9.6,350,9850,0.00,2.83,0.00,0.000,4,0.000,0.071,3429,579,2574,0,0,0,0,0,0
$GC,9862,1.31,147.9,368.2,9.6,350,9876,0.00,2.70,7.78,0.771,6,0.000,0.029,3429,2269,2546,0,0,0,0,0,0
$GC,10128,1.35,147.9,340.3,10.7,357,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2269,2545,0,0,0,0,0,0
$GC,10372,1.40,147.9,313.0,11.4,363,10376,0.00,2.88,0.00,0.000,4,0.000,0.056,3429,576,2545,0,0,0,0,0,0
$GC,10398,1.40,147.9,309.8,11.7,363,10403,0.00,2.70,0.00,0.000,6,0.000,0.024,3429,2266,2544,0,0,0,0,0,0
$GC,10649,1.46,152.1,284.6,9.7,369,10660,0.15,2.50,5.10,0.621,4,0.092,0.041,3469,3776,2529,0,0,0,0,0,0
$GC,10678,1.46,152.1,281.5,10.6,369,10682,0.00,2.53,0.00,0.000,6,0.000,0.029,3469,2224,2529,0,0,0,0,0,0
$GC,10928,1.46,152.1,252.5,12.1,375,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2224,2529,0,0,0,0,0,0
$GC,11171,1.46,152.1,223.6,11.9,381,11175,0.00,2.55,0.00,0.000,4,0.000,0.044,3469,3776,2529,0,0,0,0,0,0
$GC,11295,1.46,152.1,208.2,12.1,383,11301,0.00,2.53,0.00,0.000,6,0.000,0.028,3469,2214,2528,0,0,0,0,0,0
$GC,11552,1.46,152.1,181.8,10.3,402,11556,0.00,2.55,0.00,0.000,4,0.000,0.043,3469,3772,2528,0,0,0,0,0,0
$GC,11587,1.46,152.1,178.4,10.2,404,11592,0.00,2.47,0.00,0.000,6,0.000,0.028,3468,2235,2528,0,0,0,0,0,0
$GC,11850,1.47,158.3,153.8,9.5,429,11864,0.00,2.55,7.28,0.589,4,0.000,0.038,3469,3764,2503,0,0,0,0,0,0
$GC,11936,1.47,158.3,144.7,10.9,436,11941,0.00,2.45,0.00,0.000,6,0.000,0.028,3469,2244,2502,0,0,0,0,0,0
$GC,12199,1.47,158.3,118.9,10.0,460,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2243,2502,0,0,0,0,0,0
$GC,12454,1.52,158.3,91.8,10.5,484,12455,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2243,2502,0,0,0,0,0,0
$GC,12713,1.60,171.4,69.1,9.0,508,12735,0.10,0.00,13.00,0.557,6,0.094,0.000,3499,2243,2450,0,0,0,0,0,0
$GC,12990,1.60,173.1,42.3,9.9,534,12995,0.00,2.50,0.00,0.000,4,0.000,0.038,3499,3778,2449,0,0,0,0,0,0
$GC,13011,1.60,173.1,40.0,10.4,535,13015,0.00,2.45,0.00,0.000,6,0.000,0.027,3499,2243,2449,0,0,0,0,0,0
$GC,13327,1.66,189.1,6.4,8.8,575,13354,0.00,2.80,16.50,0.507,4,0.000,0.048,3499,587,2377,0,0,0,0,0,0
$STATE,13363,end climb,SURFACE_DEPTH_REACHED
$STATE,13363,begin surface coast
$FINISH,-0.7,1.022410
$STATE,13405,end surface coast,CONTROL_FINISHED_OK
$STATE,13405,begin surface
$SM_CCo,13430,153.32,0.515,0,0,1600,380.21
$SM_GC,-0.00,0.00,0.00,153.32,0.000,0.000,0.515,473,2193,1600,-12.29,1.22,380.21
$IRIDIUM_FIX,2253.38,-15732.35,030901,202045
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.00
$XPDR_PINGS,64
$24V_AH,23.3,15.398
$10V_AH,10.3,14.361
$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,29.475,175.825,261.375,153.325,0.000,30.452,31.814,195.997,16.000,0.000,15.058,1233.169,9476.789,543.760,2126.430,617.310,33.359,1377.676,0.000,2124.379,0.000,0.534,0.000
$DEVICE_MAMPS,173.342,199.420,1099.878,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.562,299.982,402.055,733.912,1111.556,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,44757,585
$CAP_FILE_SIZE,132444,0
$CFSIZE,260165632,140333056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100612,045137,2305.422,-15734.924,44,1.1,44,10.1