version: 66.06
glider: 146
mission: 7
dive: 125
start: 6 13 112 20 53 55
data:
$ID,146
$MISSION,7
$DIVE,125
$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,-290327.19
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,204509,2252.198,-15752.370,39,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-70.3
$GPS2,205301,2252.225,-15752.320,28,1.4,33,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,AHOESW
$TGT_LATLONG,2240.754,-15805.858
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.162,-0.193
$KALMAN_X,-32862.1,32.3,153.7,52158.9,305.7
$KALMAN_Y,23307.7,54.3,-153.1,-1661.8,906.5
$MHEAD_RNG_PITCHd_Wd,209.8,31409,-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,18,-1.31,-136.3,0.0,0.0,0,114,0.00,0.00,-88.07,0.000,6,0.000,0.000,467,2185,3705,0,0,0,0,0,0
$GC,119,-1.31,-136.3,3.7,-10.0,12,144,13.18,2.72,0.00,0.000,4,0.173,0.039,2853,561,3707,0,0,0,0,0,0
$GC,245,-1.16,-136.3,35.3,-14.2,28,250,0.17,2.50,0.00,0.000,6,0.123,0.024,2888,2177,3707,0,0,0,0,0,0
$GC,513,-1.07,-136.3,68.8,-12.2,52,523,0.10,0.00,0.00,0.000,6,0.128,0.000,2909,2177,3708,0,0,0,0,0,0
$GC,779,-1.07,-136.3,98.8,-10.6,77,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2177,3709,0,0,0,0,0,0
$GC,1042,-1.07,-136.3,125.3,-10.3,102,1046,0.00,2.47,0.00,0.000,4,0.000,0.037,2908,3725,3709,0,0,0,0,0,0
$GC,1075,-1.07,-136.3,129.0,-10.6,104,1084,0.00,2.50,0.00,0.000,6,0.000,0.030,2909,2157,3709,0,0,0,0,0,0
$GC,1339,-1.07,-136.3,153.3,-9.0,129,1343,0.00,2.47,0.00,0.000,4,0.000,0.035,2909,3714,3709,0,0,0,0,0,0
$GC,1368,-1.07,-136.3,156.3,-9.6,131,1372,0.00,2.42,0.00,0.000,6,0.000,0.027,2908,2167,3709,0,0,0,0,0,0
$GC,1633,-1.07,-136.3,179.6,-9.0,155,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2167,3709,0,0,0,0,0,0
$GC,1914,-1.11,-136.3,203.8,-7.8,179,1918,0.00,2.60,0.00,0.000,4,0.000,0.055,2879,579,3710,0,0,0,0,0,0
$GC,1941,-1.16,-136.3,206.0,-8.8,179,1945,0.00,2.45,0.00,0.000,6,0.000,0.025,2909,2163,3710,0,0,0,0,0,0
$GC,2194,-1.21,-136.3,226.8,-8.5,185,2195,0.12,0.00,0.00,0.000,6,0.070,0.000,2860,2163,3710,0,0,0,0,0,0
$GC,2435,-1.21,-136.3,249.7,-9.4,191,2439,0.00,2.50,0.00,0.000,4,0.000,0.044,2860,3724,3710,0,0,0,0,0,0
$GC,2474,-1.21,-136.3,253.0,-8.3,192,2479,0.00,2.42,0.00,0.000,6,0.000,0.025,2860,2165,3710,0,0,0,0,0,0
$GC,2759,-1.21,-136.3,276.5,-8.5,199,2764,0.00,2.65,0.00,0.000,4,0.000,0.058,2859,576,3710,0,0,0,0,0,0
$GC,2798,-1.21,-136.3,280.7,-10.6,200,2802,0.00,2.47,0.00,0.000,6,0.000,0.022,2860,2149,3710,0,0,0,0,0,0
$GC,3081,-1.21,-136.3,306.5,-8.8,207,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2149,3709,0,0,0,0,0,0
$GC,3327,-1.21,-136.3,328.5,-9.0,213,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2149,3708,0,0,0,0,0,0
$GC,3569,-1.21,-136.3,349.6,-8.5,219,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2149,3707,0,0,0,0,0,0
$GC,3812,-1.21,-136.3,370.8,-8.7,225,3817,0.00,2.60,0.00,0.000,4,0.000,0.052,2860,3725,3706,0,0,0,0,0,0
$GC,3854,-1.21,-136.3,374.4,-9.4,226,3863,2.00,2.55,0.00,0.000,6,0.068,0.037,2959,2158,3706,7,0,0,0,0,0
$GC,4142,-1.96,-136.3,390.0,-6.0,233,4152,2.75,2.85,0.00,0.000,4,0.071,0.080,2674,567,3705,0,0,0,0,0,0
$GC,4404,-1.68,-136.3,425.2,-14.2,238,4410,0.28,2.53,0.00,0.000,6,0.107,0.033,2774,2133,3702,0,0,0,0,0,0
$GC,4654,-1.54,-136.3,454.0,-11.2,245,4656,0.15,0.00,0.00,0.000,6,0.117,0.000,2806,2133,3700,0,0,0,0,0,0
$GC,4900,-1.47,-136.3,478.7,-10.0,251,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2133,3699,0,0,0,0,0,0
$GC,5142,-1.39,-136.3,502.1,-9.4,257,5147,0.15,2.80,0.00,0.000,4,0.112,0.079,2838,3734,3697,0,0,0,0,0,0
$GC,5214,-1.39,-136.3,508.6,-8.7,258,5219,0.00,2.67,0.00,0.000,6,0.000,0.055,2838,2154,3697,0,0,0,0,0,0
$GC,5466,-1.39,-136.3,528.4,-7.9,264,5471,0.00,2.95,0.00,0.000,4,0.000,0.110,2838,564,3695,0,0,0,0,0,0
$GC,5499,-1.39,-136.3,531.5,-8.9,264,5505,0.00,2.62,0.00,0.000,6,0.000,0.044,2837,2144,3695,0,0,0,0,0,0
$GC,5749,-1.39,-136.3,553.0,-8.5,271,5754,0.00,2.85,0.00,0.000,4,0.000,0.091,2838,566,3693,0,0,0,0,0,0
$GC,5778,-1.39,-136.3,555.4,-8.6,271,5782,0.00,2.65,0.00,0.000,6,0.000,0.047,2838,2141,3693,0,0,0,0,0,0
$GC,6028,-1.39,-136.3,575.1,-7.6,277,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2141,3691,0,0,0,0,0,0
$GC,6271,-1.39,-136.3,593.2,-7.4,283,6276,0.00,2.90,0.00,0.000,4,0.000,0.099,2838,3737,3690,0,0,0,0,0,0
$GC,6322,-1.39,-136.3,597.4,-8.2,284,6327,0.00,2.80,0.00,0.000,6,0.000,0.073,2838,2139,3690,0,0,0,0,0,0
$GC,6594,-1.39,-136.3,619.0,-7.9,291,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2139,3688,0,0,0,0,0,0
$GC,6838,-1.39,-136.3,637.8,-7.7,297,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2139,3687,0,0,0,0,0,0
$GC,7084,-1.39,-136.3,655.9,-7.4,303,7088,0.00,3.10,0.00,0.000,4,0.000,0.137,2838,564,3686,0,0,0,0,0,0
$GC,7105,-1.39,-136.3,657.9,-8.1,303,7110,0.00,2.83,0.00,0.000,6,0.000,0.082,2838,2146,3685,0,0,0,0,0,0
$GC,7360,-1.39,-136.3,676.5,-7.0,310,7365,0.00,3.00,0.00,0.000,4,0.000,0.115,2838,3746,3684,0,0,0,0,0,0
$GC,7393,-1.39,-136.3,679.0,-7.6,310,7399,0.00,2.97,0.00,0.000,6,0.000,0.103,2837,2149,3684,0,0,0,0,0,0
$GC,7645,-1.39,-136.3,697.2,-7.3,317,7650,0.00,3.03,0.00,0.000,4,0.000,0.122,2838,3740,3683,0,0,0,0,0,0
$STATE,7675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7675,begin apogee
$GC,7684,-0.31,0.0,700.0,8.5,317,7798,1.02,0.00,111.05,1.095,6,0.081,0.000,3073,2170,3150,0,0,0,0,0,0
$STATE,7801,end apogee,CONTROL_FINISHED_OK
$STATE,7801,begin climb
$GC,7803,1.31,136.3,702.1,0.0,320,7926,1.52,0.00,117.95,1.062,6,0.053,0.000,3433,2170,2594,0,0,0,0,0,0
$GC,8170,1.14,136.3,664.9,12.3,329,8176,0.20,2.97,0.00,0.000,4,0.123,0.097,3394,3762,2585,0,0,0,0,0,0
$GC,8245,1.06,136.3,656.6,10.9,330,8250,0.00,2.95,0.00,0.000,6,0.000,0.091,3394,2162,2584,0,0,0,0,0,0
$GC,8495,0.98,136.3,630.5,10.2,336,8501,0.17,3.03,0.00,0.000,4,0.117,0.117,3360,580,2582,0,0,0,0,0,0
$GC,8535,0.98,136.3,626.2,10.2,337,8540,0.00,2.75,0.00,0.000,6,0.000,0.067,3360,2163,2581,0,0,0,0,0,0
$GC,8820,1.01,158.0,600.8,8.9,344,8844,0.00,2.97,18.27,0.976,4,0.000,0.090,3360,3755,2504,0,0,0,0,0,0
$GC,8889,1.01,158.0,593.7,10.3,345,8893,0.00,2.80,0.00,0.000,6,0.000,0.064,3360,2158,2502,0,0,0,0,0,0
$GC,9144,1.01,158.0,567.3,10.6,352,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2157,2500,0,0,0,0,0,0
$GC,9390,1.01,158.0,542.6,10.0,358,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2157,2499,0,0,0,0,0,0
$GC,9634,1.06,195.7,522.1,8.1,364,9675,0.00,3.00,33.85,0.966,4,0.000,0.104,3360,580,2351,0,0,0,0,0,0
$GC,9703,1.06,203.4,515.9,9.6,365,9719,0.00,2.65,8.18,0.828,6,0.000,0.042,3360,2165,2321,0,0,0,0,0,0
$GC,9965,1.07,204.3,490.7,10.0,372,9969,0.00,2.67,0.00,0.000,4,0.000,0.061,3360,3757,2318,0,0,0,0,0,0
$GC,10031,1.12,204.3,482.6,11.7,373,10037,0.12,2.70,0.00,0.000,6,0.083,0.049,3395,2154,2317,0,0,0,0,0,0
$GC,10288,1.12,204.3,450.3,12.6,380,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2154,2316,0,0,0,0,0,0
$GC,10530,1.12,204.3,422.1,11.5,386,10535,0.00,2.65,0.00,0.000,4,0.000,0.044,3395,3761,2315,0,0,0,0,0,0
$GC,10590,1.12,204.3,414.5,12.2,387,10595,0.00,2.62,0.00,0.000,6,0.000,0.035,3395,2162,2314,0,0,0,0,0,0
$GC,10859,1.12,204.3,385.6,10.7,394,10863,0.00,2.62,0.00,0.000,4,0.000,0.042,3395,3765,2314,0,0,0,0,0,0
$GC,10924,1.12,204.3,378.2,10.4,395,10929,0.00,2.58,0.00,0.000,6,0.000,0.035,3395,2182,2314,0,0,0,0,0,0
$GC,11186,1.12,204.3,351.7,10.1,402,11191,0.00,2.75,0.00,0.000,4,0.000,0.066,3395,583,2313,0,0,0,0,0,0
$GC,11231,1.12,204.3,347.0,10.4,403,11236,0.00,2.58,0.00,0.000,6,0.000,0.030,3395,2191,2312,0,0,0,0,0,0
$GC,11509,1.13,213.5,320.4,9.6,410,11524,0.00,2.60,9.55,0.750,4,0.000,0.043,3395,3754,2278,0,0,0,0,0,0
$GC,11587,1.13,217.9,312.5,9.8,411,11599,0.00,2.60,5.65,0.647,6,0.000,0.031,3395,2158,2261,0,0,0,0,0,0
$GC,11844,1.14,222.2,287.5,9.8,418,11851,0.00,0.00,5.22,0.614,6,0.000,0.000,3395,2158,2244,0,0,0,0,0,0
$GC,12085,1.14,222.2,262.6,10.3,424,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2158,2243,0,0,0,0,0,0
$GC,12330,1.16,235.9,239.1,9.3,430,12349,0.00,2.67,13.65,0.709,4,0.000,0.041,3390,3744,2187,0,0,0,0,0,0
$GC,12420,1.22,235.9,230.1,10.5,432,12424,0.00,2.55,0.00,0.000,6,0.000,0.035,3394,2171,2187,0,0,0,0,0,0
$GC,12703,1.26,235.9,200.9,10.3,439,12708,0.10,2.58,0.00,0.000,4,0.090,0.045,3425,3748,2186,0,0,0,0,0,0
$GC,12732,1.26,235.9,197.6,11.8,439,12736,0.00,2.53,0.00,0.000,6,0.000,0.031,3425,2185,2186,0,0,0,0,0,0
$GC,12998,1.26,235.9,167.4,11.4,463,13003,0.00,2.67,0.00,0.000,4,0.000,0.054,3425,581,2186,0,0,0,0,0,0
$GC,13027,1.26,235.9,163.3,12.3,465,13031,0.00,2.53,0.00,0.000,6,0.000,0.026,3424,2201,2184,0,0,0,0,0,0
$GC,13295,1.26,235.9,133.4,11.0,489,13299,0.00,2.47,0.00,0.000,4,0.000,0.036,3425,3746,2184,0,0,0,0,0,0
$GC,13382,1.26,235.9,122.5,11.1,496,13386,0.00,2.47,0.00,0.000,6,0.000,0.027,3424,2192,2184,0,0,0,0,0,0
$GC,13646,1.27,246.4,94.4,9.5,520,13664,0.00,2.72,10.80,0.557,4,0.000,0.050,3424,585,2144,0,0,0,0,0,0
$GC,13710,1.27,246.4,88.0,10.5,525,13714,0.00,2.53,0.00,0.000,6,0.000,0.019,3425,2192,2143,0,0,0,0,0,0
$GC,13978,1.28,249.4,61.7,9.9,549,13987,0.00,0.00,4.10,0.394,6,0.000,0.000,3425,2193,2134,0,0,0,0,0,0
$GC,14245,1.28,249.4,32.9,11.0,574,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2192,2133,0,0,0,0,0,0
$STATE,14544,end climb,SURFACE_DEPTH_REACHED
$STATE,14544,begin surface coast
$FINISH,-0.6,1.020854
$STATE,14600,end surface coast,CONTROL_FINISHED_OK
$STATE,14600,begin surface
$SM_CCo,14624,106.45,0.512,0,0,1600,380.21
$SM_GC,0.01,0.00,0.00,106.45,0.000,0.000,0.512,465,2115,1600,-12.32,-0.99,380.21
$IRIDIUM_FIX,2244.02,-15748.90,070901,161640
$TT8_MAMPS,0.026078
$HUMID,58.03
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,22.30
$XPDR_PINGS,57
$24V_AH,23.3,18.173
$10V_AH,10.3,16.989
$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,33.825,156.225,338.275,106.450,0.000,24.434,34.041,235.653,14.250,0.000,34.627,1287.865,10390.158,566.859,2285.908,666.412,33.371,1449.496,0.000,2264.836,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,137.293,1094.509,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,424.402,312.813,424.525,776.436,1174.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,47864,624
$CAP_FILE_SIZE,136753,0
$CFSIZE,260165632,138944512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,0,0
$GPS,140612,010037,2251.588,-15753.105,29,1.8,29,10.1