version: 66.06
glider: 146
mission: 7
dive: 106
start: 6 10 112 9 24 57
data:
$ID,146
$MISSION,7
$DIVE,106
$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,-289896.16
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,091645,2304.650,-15736.097,45,2.1,64,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-70.2
$GPS2,092402,2304.702,-15736.031,9,1.8,9,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,AHOESW
$TGT_LATLONG,2240.754,-15805.858
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,-0.174
$KALMAN_X,-57069.4,49.0,-214.4,104549.7,1321.0
$KALMAN_Y,6610.1,209.8,-359.8,38196.2,1377.7
$MHEAD_RNG_PITCHd_Wd,216.1,67564,-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,-136.3,0.0,0.0,0,115,0.00,0.00,-87.70,0.000,6,0.000,0.000,475,2134,3706,0,0,0,0,0,0
$GC,119,-1.31,-136.3,4.0,-11.0,12,137,13.20,2.62,0.00,0.000,4,0.174,0.038,2853,568,3707,0,0,0,0,0,0
$GC,316,-1.16,-136.3,46.8,-15.6,34,321,0.17,2.47,0.00,0.000,6,0.121,0.018,2889,2159,3708,0,0,0,0,0,0
$GC,585,-1.11,-136.3,80.8,-10.8,58,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2159,3708,0,0,0,0,0,0
$GC,849,-1.11,-136.3,108.6,-11.1,83,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2159,3709,0,0,0,0,0,0
$GC,1112,-1.11,-136.3,135.8,-9.7,108,1117,0.00,2.50,0.00,0.000,4,0.000,0.033,2888,3722,3710,0,0,0,0,0,0
$GC,1133,-1.11,-136.3,137.5,-9.4,109,1138,0.00,2.47,0.00,0.000,6,0.000,0.025,2889,2150,3710,0,0,0,0,0,0
$GC,1401,-1.11,-136.3,162.9,-10.3,133,1406,0.00,2.62,0.00,0.000,4,0.000,0.050,2888,579,3710,0,0,0,0,0,0
$GC,1424,-1.11,-136.3,166.1,-10.5,134,1430,0.00,2.42,0.00,0.000,6,0.000,0.022,2888,2150,3710,0,0,0,0,0,0
$GC,1687,-1.11,-136.3,190.0,-8.2,159,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2150,3710,0,0,0,0,0,0
$GC,1967,-1.11,-136.3,214.6,-8.5,174,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2151,3710,0,0,0,0,0,0
$GC,2208,-1.11,-136.3,235.6,-8.5,180,2213,0.00,2.65,0.00,0.000,4,0.000,0.058,2888,576,3710,0,0,0,0,0,0
$GC,2258,-1.11,-136.3,239.9,-8.9,181,2262,0.00,2.45,0.00,0.000,6,0.000,0.021,2888,2146,3711,0,0,0,0,0,0
$GC,2532,-1.15,-136.3,260.6,-7.5,188,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2146,3710,0,0,0,0,0,0
$GC,2774,-1.19,-136.3,280.5,-8.3,194,2778,0.00,2.53,0.00,0.000,4,0.000,0.044,2888,3722,3710,0,0,0,0,0,0
$GC,2790,-1.24,-136.3,282.0,-8.5,194,2795,0.00,2.47,0.00,0.000,6,0.000,0.028,2888,2163,3709,0,0,0,0,0,0
$GC,3054,-1.30,-136.3,302.4,-7.7,201,3059,0.12,2.75,0.00,0.000,4,0.071,0.072,2843,570,3708,0,0,0,0,0,0
$GC,3104,-1.26,-136.3,307.6,-10.7,202,3109,0.12,2.50,0.00,0.000,6,0.116,0.028,2868,2143,3709,0,0,0,0,0,0
$GC,3378,-1.26,-136.3,331.5,-8.7,209,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2143,3707,0,0,0,0,0,0
$GC,3620,-1.26,-136.3,351.4,-7.9,215,3624,0.00,2.60,0.00,0.000,4,0.000,0.048,2868,3732,3707,0,0,0,0,0,0
$GC,3641,-1.26,-136.3,353.2,-7.8,215,3646,0.00,2.55,0.00,0.000,6,0.000,0.035,2869,2158,3707,0,0,0,0,0,0
$GC,3899,-1.26,-136.3,373.8,-8.1,222,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2158,3704,0,0,0,0,0,0
$GC,4140,-1.26,-136.3,392.5,-7.7,228,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2158,3704,0,0,0,0,0,0
$GC,4384,-1.26,-136.3,412.9,-8.5,234,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2158,3702,0,0,0,0,0,0
$GC,4628,-1.26,-136.3,431.9,-7.6,240,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2158,3700,0,0,0,0,0,0
$GC,4874,-1.30,-136.3,449.9,-7.2,246,4878,0.00,2.65,0.00,0.000,4,0.000,0.059,2869,3735,3699,0,0,0,0,0,0
$GC,4914,-1.36,-136.3,453.0,-7.6,247,4918,0.00,2.62,0.00,0.000,6,0.000,0.046,2869,2159,3699,0,0,0,0,0,0
$GC,5197,-1.40,-136.3,474.1,-7.3,254,5199,0.12,0.00,0.00,0.000,6,0.073,0.000,2827,2159,3697,0,0,0,0,0,0
$GC,5442,-1.40,-136.3,495.9,-9.1,260,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2159,3696,0,0,0,0,0,0
$GC,5684,-1.40,-136.3,517.2,-8.7,266,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2159,3695,0,0,0,0,0,0
$GC,5928,-1.40,-136.3,536.6,-7.8,272,5932,0.00,2.75,0.00,0.000,4,0.000,0.073,2827,3727,3693,0,0,0,0,0,0
$GC,5945,-1.40,-136.3,538.0,-7.8,272,5950,0.00,2.70,0.00,0.000,6,0.000,0.057,2827,2150,3693,0,0,0,0,0,0
$GC,6206,-1.40,-136.3,559.4,-8.3,279,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2150,3691,0,0,0,0,0,0
$GC,6449,-1.40,-136.3,581.0,-9.0,285,6454,0.00,2.80,0.00,0.000,4,0.000,0.080,2827,3725,3690,0,0,0,0,0,0
$GC,6506,-1.40,-136.3,586.4,-10.1,286,6511,0.00,2.75,0.00,0.000,6,0.000,0.071,2827,2157,3690,0,0,0,0,0,0
$GC,6772,-1.40,-136.3,611.1,-9.2,293,6777,0.00,2.78,0.00,0.000,4,0.000,0.086,2827,3717,3688,0,0,0,0,0,0
$GC,6806,-1.40,-136.3,614.3,-10.2,293,6811,0.00,2.80,0.00,0.000,6,0.000,0.087,2827,2153,3687,0,0,0,0,0,0
$GC,7058,-1.40,-136.3,636.4,-8.6,300,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2153,3687,0,0,0,0,0,0
$GC,7300,-1.40,-136.3,655.6,-7.7,306,7305,0.00,3.20,0.00,0.000,4,0.000,0.147,2827,556,3685,0,0,0,0,0,0
$GC,7322,-1.37,-136.3,657.5,-8.6,306,7326,0.00,2.83,0.00,0.000,6,0.000,0.079,2826,2139,3685,0,0,0,0,0,0
$GC,7577,-1.37,-136.3,676.4,-7.3,313,7581,0.00,3.00,0.00,0.000,4,0.000,0.120,2826,3746,3684,0,0,0,0,0,0
$GC,7656,-1.37,-136.3,682.9,-8.8,314,7662,0.00,2.97,0.00,0.000,6,0.000,0.111,2826,2170,3684,0,0,0,0,0,0
$STATE,7903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7904,begin apogee
$GC,7909,-0.31,0.0,703.0,8.0,321,8026,1.10,0.00,111.10,1.104,6,0.088,0.000,3074,2170,3149,0,0,0,0,0,0
$STATE,8028,end apogee,CONTROL_FINISHED_OK
$STATE,8028,begin climb
$GC,8031,1.31,136.3,705.1,0.0,324,8158,1.50,3.38,116.90,1.071,4,0.048,0.151,3427,579,2593,0,0,0,0,0,0
$GC,8186,1.12,136.3,692.7,12.4,327,8192,0.17,2.97,0.00,0.000,6,0.125,0.093,3391,2167,2589,0,0,0,0,0,0
$GC,8438,1.05,136.3,666.9,10.2,333,8443,0.00,2.97,0.00,0.000,4,0.000,0.110,3391,3762,2585,0,0,0,0,0,0
$GC,8477,0.97,136.3,662.5,10.8,334,8483,0.17,2.97,0.00,0.000,6,0.121,0.097,3357,2169,2584,0,0,0,0,0,0
$GC,8763,0.98,143.9,635.0,9.6,341,8777,0.00,3.10,6.45,0.833,4,0.000,0.120,3357,573,2562,0,0,0,0,0,0
$GC,8799,0.98,143.9,630.8,10.5,341,8806,0.00,2.80,0.00,0.000,6,0.000,0.066,3357,2172,2561,0,0,0,0,0,0
$GC,9050,0.98,149.5,606.5,9.7,348,9058,0.00,0.00,6.40,0.826,6,0.000,0.000,3357,2172,2540,0,0,0,0,0,0
$GC,9295,1.00,163.6,583.6,9.3,354,9315,0.00,2.90,13.77,0.950,4,0.000,0.081,3357,3758,2482,0,0,0,0,0,0
$GC,9349,1.00,163.6,578.0,10.0,355,9354,0.00,2.80,0.00,0.000,6,0.000,0.064,3357,2157,2481,0,0,0,0,0,0
$GC,9622,1.01,171.6,551.7,9.6,362,9632,0.00,0.00,8.27,0.874,6,0.000,0.000,3357,2157,2450,0,0,0,0,0,0
$GC,9867,1.03,185.1,528.8,9.3,368,9883,0.00,0.00,13.57,0.932,6,0.000,0.000,3356,2157,2395,0,0,0,0,0,0
$GC,10150,1.05,205.4,503.1,9.0,375,10175,0.00,2.78,19.45,0.941,4,0.000,0.054,3357,3763,2311,0,0,0,0,0,0
$GC,10221,1.12,205.4,496.2,10.5,376,10227,0.12,2.72,0.00,0.000,6,0.084,0.052,3389,2155,2309,0,0,0,0,0,0
$GC,10471,1.12,205.4,468.2,11.4,382,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2156,2306,0,0,0,0,0,0
$GC,10715,1.12,205.4,439.7,11.7,388,10719,0.00,2.70,0.00,0.000,4,0.000,0.049,3390,3771,2306,0,0,0,0,0,0
$GC,10764,1.12,205.4,433.8,11.8,389,10768,0.00,2.67,0.00,0.000,6,0.000,0.044,3389,2164,2305,0,0,0,0,0,0
$GC,11037,1.12,205.4,404.0,10.7,396,11042,0.00,2.65,0.00,0.000,4,0.000,0.041,3390,3770,2305,0,0,0,0,0,0
$GC,11070,1.12,205.4,400.2,11.2,396,11076,0.00,2.65,0.00,0.000,6,0.000,0.035,3389,2161,2305,0,0,0,0,0,0
$GC,11320,1.12,205.4,374.2,10.5,403,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2161,2305,0,0,0,0,0,0
$GC,11565,1.12,205.4,348.9,10.4,409,11569,0.00,2.65,0.00,0.000,4,0.000,0.045,3389,3766,2304,0,0,0,0,0,0
$GC,11614,1.12,205.4,343.0,11.1,410,11619,0.00,2.58,0.00,0.000,6,0.000,0.031,3390,2175,2304,0,0,0,0,0,0
$GC,11892,1.12,205.4,313.5,10.7,417,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2176,2304,0,0,0,0,0,0
$GC,12138,1.13,219.3,290.2,9.3,423,12153,0.00,0.00,12.80,0.758,6,0.000,0.000,3389,2176,2255,0,0,0,0,0,0
$GC,12380,1.13,219.3,264.2,10.9,429,12384,0.00,2.62,0.00,0.000,4,0.000,0.044,3390,3775,2252,0,0,0,0,0,0
$GC,12424,1.18,219.3,258.8,11.9,430,12428,0.00,2.60,0.00,0.000,6,0.000,0.029,3389,2177,2252,0,0,0,0,0,0
$GC,12703,1.21,219.3,228.4,10.7,437,12704,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2176,2252,0,0,0,0,0,0
$GC,12945,1.30,253.0,207.0,8.3,443,12982,0.15,2.67,30.40,0.716,4,0.071,0.044,3431,3770,2117,0,0,0,0,0,0
$GC,13046,1.30,253.0,196.6,11.2,445,13050,0.00,2.58,0.00,0.000,6,0.000,0.030,3430,2190,2115,0,0,0,0,0,0
$GC,13312,1.30,253.0,165.6,12.2,469,13316,0.00,2.60,0.00,0.000,4,0.000,0.043,3430,3769,2114,0,0,0,0,0,0
$GC,13363,1.30,253.0,158.2,13.4,473,13367,0.00,2.55,0.00,0.000,6,0.000,0.028,3430,2198,2113,0,0,0,0,0,0
$GC,13631,1.30,253.0,126.6,11.9,497,13636,0.00,2.70,0.00,0.000,4,0.000,0.051,3430,580,2113,0,0,0,0,0,0
$GC,13648,1.30,253.0,123.6,12.5,498,13652,0.00,2.58,0.00,0.000,6,0.000,0.021,3430,2233,2112,0,0,0,0,0,0
$GC,13912,1.30,253.0,90.5,11.6,522,13916,0.00,2.47,0.00,0.000,4,0.000,0.036,3430,3770,2112,0,0,0,0,0,0
$GC,13957,1.30,253.0,84.5,12.5,525,13963,0.00,2.53,0.00,0.000,6,0.000,0.028,3431,2197,2112,0,0,0,0,0,0
$GC,14226,1.30,253.0,56.6,10.8,550,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2113,0,0,0,0,0,0
$GC,14498,1.34,253.0,27.2,10.1,577,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2197,2114,0,0,0,0,0,0
$STATE,14730,end climb,SURFACE_DEPTH_REACHED
$STATE,14730,begin surface coast
$FINISH,-0.7,1.003187
$STATE,14779,end surface coast,CONTROL_FINISHED_OK
$STATE,14779,begin surface
$SM_CCo,14801,103.75,0.517,0,0,1600,380.21
$SM_GC,0.06,0.00,0.00,103.75,0.000,0.000,0.517,467,2115,1600,-12.32,-0.99,380.21
$IRIDIUM_FIX,2255.72,-15736.68,040901,050544
$TT8_MAMPS,0.026078
$HUMID,58.34
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,22.00
$XPDR_PINGS,51
$24V_AH,23.3,15.658
$10V_AH,10.3,14.612
$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,28.900,140.750,339.125,103.750,0.000,29.495,35.414,216.433,12.750,0.000,12.694,1252.471,10772.907,549.297,2116.957,648.102,33.364,1369.548,0.000,2120.723,0.000,0.534,0.000
$DEVICE_MAMPS,174.109,151.099,1103.713,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.302,294.936,407.340,734.948,1111.467,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,47837,617
$CAP_FILE_SIZE,130849,0
$CFSIZE,260165632,140201984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100612,133437,2303.917,-15736.646,32,2.0,32,10.1