version: 66.06
glider: 146
mission: 7
dive: 143
start: 6 17 112 2 34 39
data:
$ID,146
$MISSION,7
$DIVE,143
$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,-290607.94
$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,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,46
$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
$GPS1,022237,2304.193,-15804.646,39,1.5,39,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-71.0
$GPS2,023344,2304.303,-15804.582,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.123,-0.073
$KALMAN_X,-25382.2,-134.4,-283.5,24328.7,593.5
$KALMAN_Y,38002.1,126.4,-93.1,5887.5,447.7
$MHEAD_RNG_PITCHd_Wd,229.2,183,-32.6,-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,-2.09,-44.6,0.0,0.0,0,103,0.00,0.00,-75.12,0.000,6,0.000,0.000,468,2046,3331,0,0,0,0,0,0
$GC,106,-2.14,-85.8,1.7,-3.8,10,133,12.07,2.45,-3.78,0.000,4,0.171,0.051,2670,568,3503,0,0,0,0,0,0
$GC,385,-2.05,-85.8,63.2,-21.0,40,390,0.12,2.45,0.00,0.000,6,0.157,0.015,2693,2161,3503,0,0,0,0,0,0
$GC,649,-2.05,-85.8,109.3,-16.3,64,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2163,3503,0,0,0,0,0,0
$GC,910,-2.05,-85.8,152.2,-17.4,89,914,0.00,2.45,0.00,0.000,4,0.000,0.035,2693,3712,3504,0,0,0,0,0,0
$GC,931,-2.05,-85.8,156.2,-17.9,90,941,0.00,2.50,0.00,0.000,6,0.000,0.028,2692,2132,3504,0,0,0,0,0,0
$GC,1200,-2.10,-85.8,196.7,-14.6,115,1204,0.00,2.50,0.00,0.000,4,0.000,0.031,2692,3713,3505,0,0,0,0,0,0
$GC,1322,-2.15,-85.8,216.3,-13.8,118,1328,0.00,2.45,0.00,0.000,6,0.000,0.027,2693,2142,3505,0,0,0,0,0,0
$GC,1574,-2.21,-85.8,247.6,-12.7,125,1579,0.12,2.53,0.00,0.000,4,0.072,0.033,2647,3708,3505,0,0,0,0,0,0
$GC,1590,-2.21,-85.8,250.2,-12.9,125,1594,0.00,2.45,0.00,0.000,6,0.000,0.023,2647,2144,3505,0,0,0,0,0,0
$GC,1851,-2.21,-85.8,286.9,-13.3,132,1856,0.00,2.53,0.00,0.000,4,0.000,0.038,2646,3711,3505,0,0,0,0,0,0
$GC,1965,-2.21,-85.8,303.0,-14.6,134,1969,0.00,2.47,0.00,0.000,6,0.000,0.030,2646,2162,3505,0,0,0,0,0,0
$GC,2219,-2.21,-85.8,339.1,-14.3,141,2224,0.00,2.50,0.00,0.000,4,0.000,0.037,2646,3706,3504,0,0,0,0,0,0
$GC,2329,-2.21,-85.8,354.1,-13.6,143,2333,0.00,2.50,0.00,0.000,6,0.000,0.043,2646,2179,3504,0,0,0,0,0,0
$GC,2589,-2.21,-85.8,388.7,-13.5,150,2593,0.00,2.50,0.00,0.000,4,0.000,0.043,2646,3703,3503,0,0,0,0,0,0
$GC,2722,-2.21,-85.8,407.1,-13.8,153,2727,0.00,2.50,0.00,0.000,6,0.000,0.046,2647,2187,3502,0,0,0,0,0,0
$GC,3002,-2.21,-85.8,442.6,-12.9,160,3007,0.00,2.53,0.00,0.000,4,0.000,0.048,2641,3702,3500,0,0,0,0,0,0
$GC,3063,-2.21,-85.8,450.4,-11.9,161,3069,0.52,2.53,0.00,0.000,6,0.104,0.051,2681,2201,3500,1,0,0,0,0,0
$GC,3327,-2.47,-98.5,472.5,-8.1,168,3332,0.62,2.50,0.00,0.000,4,0.033,0.054,2590,3697,3498,0,0,0,0,0,0
$GC,3389,-2.39,-98.5,480.1,-12.4,169,3394,0.15,2.53,0.00,0.000,6,0.131,0.053,2620,2211,3498,0,0,0,0,0,0
$GC,3649,-2.39,-98.5,507.9,-10.5,176,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2211,3496,0,0,0,0,0,0
$GC,3895,-2.39,-98.5,534.7,-11.1,182,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2211,3494,0,0,0,0,0,0
$GC,4137,-2.39,-98.5,564.3,-12.3,188,4141,0.00,2.62,0.00,0.000,4,0.000,0.082,2620,3697,3493,0,0,0,0,0,0
$GC,4242,-2.39,-98.5,578.1,-13.1,190,4246,0.00,2.58,0.00,0.000,6,0.000,0.073,2620,2211,3492,0,0,0,0,0,0
$GC,4511,-2.39,-98.5,608.7,-11.3,197,4515,0.00,2.62,0.00,0.000,4,0.000,0.085,2620,3693,3490,0,0,0,0,0,0
$GC,4622,-2.39,-98.5,622.2,-11.9,199,4626,0.00,2.65,0.00,0.000,6,0.000,0.086,2610,2215,3489,0,0,0,0,0,0
$GC,4878,-2.39,-98.5,648.7,-10.4,206,4882,0.00,2.72,0.00,0.000,4,0.000,0.098,2620,3700,3487,0,0,0,0,0,0
$GC,4957,-2.39,-98.5,657.3,-10.7,207,4962,0.00,2.72,0.00,0.000,6,0.000,0.099,2620,2230,3487,0,0,0,0,0,0
$GC,5206,-2.40,-102.6,680.9,-9.4,214,5211,0.00,2.75,0.00,0.000,4,0.000,0.114,2620,3692,3485,0,0,0,0,0,0
$GC,5308,-2.40,-102.6,691.5,-10.6,216,5313,0.00,2.78,0.00,0.000,6,0.000,0.116,2620,2238,3484,0,0,0,0,0,0
$STATE,5409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5409,begin apogee
$GC,5415,-0.31,0.0,701.9,10.1,219,5491,2.12,0.00,69.95,1.085,6,0.108,0.000,3071,2184,3150,0,0,0,0,0,0
$STATE,5492,end apogee,CONTROL_FINISHED_OK
$STATE,5492,begin climb
$GC,5495,2.16,102.6,703.4,0.0,221,5598,2.28,3.35,88.25,1.056,4,0.047,0.150,3622,590,2728,0,0,0,0,0,0
$GC,5621,2.04,102.6,688.2,18.2,224,5627,0.20,2.90,0.00,0.000,6,0.140,0.099,3586,2136,2725,0,0,0,0,0,0
$GC,5905,2.04,102.6,639.3,16.9,231,5910,0.00,3.00,0.00,0.000,4,0.000,0.095,3587,3769,2720,0,0,0,0,0,0
$GC,6162,2.04,102.6,594.2,17.3,236,6168,0.00,2.80,0.00,0.000,6,0.000,0.069,3586,2183,2718,0,0,0,0,0,0
$GC,6412,2.04,102.6,553.1,16.1,243,6417,0.00,2.72,0.00,0.000,4,0.000,0.064,3587,3776,2716,0,0,0,0,0,0
$GC,6590,2.04,102.6,523.9,15.5,247,6595,0.00,2.70,0.00,0.000,6,0.000,0.057,3586,2195,2715,0,0,0,0,0,0
$GC,6868,2.04,102.6,484.4,14.1,254,6873,0.00,2.65,0.00,0.000,4,0.000,0.048,3587,3788,2713,0,0,0,0,0,0
$GC,6892,2.04,102.6,481.0,14.9,254,6896,0.00,2.67,0.00,0.000,6,0.000,0.047,3586,2205,2713,0,0,0,0,0,0
$GC,7146,2.04,102.6,445.3,13.7,261,7151,0.00,2.62,0.00,0.000,4,0.000,0.044,3586,3787,2712,0,0,0,0,0,0
$GC,7313,2.04,102.6,420.3,14.6,264,7319,0.00,2.60,0.00,0.000,6,0.000,0.042,3586,2203,2711,0,0,0,0,0,0
$GC,7563,2.04,102.6,385.4,13.9,271,7568,0.00,2.60,0.00,0.000,4,0.000,0.044,3587,3784,2711,0,0,0,0,0,0
$GC,7652,2.04,102.6,372.8,13.9,273,7657,0.00,2.55,0.00,0.000,6,0.000,0.041,3587,2224,2710,0,0,0,0,0,0
$GC,7933,2.04,102.6,336.0,12.7,280,7937,0.00,2.58,0.00,0.000,4,0.000,0.043,3587,3789,2710,0,0,0,0,0,0
$GC,8066,2.04,102.6,318.4,12.4,283,8071,0.00,2.55,0.00,0.000,6,0.000,0.038,3587,2224,2709,0,0,0,0,0,0
$GC,8347,2.08,102.6,284.4,12.8,290,8351,0.00,2.53,0.00,0.000,4,0.000,0.044,3587,3780,2709,0,0,0,0,0,0
$GC,8525,2.08,102.6,260.6,12.7,294,8529,0.00,2.50,0.00,0.000,6,0.000,0.031,3587,2239,2709,0,0,0,0,0,0
$GC,8806,2.14,105.5,232.4,9.6,301,8811,0.10,2.50,0.00,0.000,4,0.099,0.039,3606,3782,2709,0,0,0,0,0,0
$GC,9041,2.14,105.5,204.0,12.4,306,9045,0.00,2.45,0.00,0.000,6,0.000,0.028,3612,2260,2709,0,0,0,0,0,0
$GC,9303,2.14,105.5,175.1,11.0,326,9307,0.00,2.47,0.00,0.000,4,0.000,0.038,3612,3781,2709,0,0,0,0,0,0
$GC,9347,2.14,105.5,169.3,12.7,329,9354,0.68,2.45,0.00,0.000,6,0.057,0.030,3693,2260,2709,2,0,0,0,0,0
$GC,9610,1.97,105.5,133.5,14.0,354,9616,1.02,2.47,0.00,0.000,4,0.122,0.038,3576,3786,2709,0,0,0,0,0,0
$GC,9729,2.05,115.2,122.1,8.6,363,9743,0.00,2.45,8.18,0.570,6,0.000,0.035,3576,2256,2678,0,0,0,0,0,0
$GC,10009,2.16,117.5,95.9,9.7,389,10014,0.15,2.50,0.00,0.000,4,0.076,0.038,3605,3783,2679,0,0,0,0,0,0
$GC,10159,2.16,117.5,78.6,10.6,401,10174,0.00,2.45,3.90,0.400,6,0.000,0.028,3615,2253,2670,0,0,0,0,0,0
$GC,10430,2.24,133.2,55.9,7.6,426,10450,0.00,2.55,14.77,0.548,4,0.000,0.041,3615,3791,2605,0,0,0,0,0,0
$GC,10551,2.29,134.9,45.7,9.8,435,10556,0.12,2.45,0.00,0.000,6,0.083,0.027,3648,2260,2604,0,0,0,0,0,0
$GC,10855,2.29,134.9,8.8,11.3,471,10864,0.00,2.50,0.00,0.000,4,0.000,0.037,3641,3786,2605,0,0,0,0,0,0
$STATE,10892,end climb,SURFACE_DEPTH_REACHED
$STATE,10892,begin surface coast
$FINISH,-0.4,1.023552
$STATE,10928,end surface coast,CONTROL_FINISHED_OK
$STATE,10928,begin surface
$SM_CCo,10954,197.10,0.518,0,0,1599,380.21
$SM_GC,0.24,0.00,0.00,197.10,0.000,0.000,0.518,468,2114,1599,-12.31,-1.02,380.21
$IRIDIUM_FIX,2255.72,-15801.91,110901,020250
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.70
$XPDR_PINGS,45
$24V_AH,23.4,20.512
$10V_AH,10.3,19.215
$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,33.275,139.675,185.050,197.100,0.000,53.152,78.132,297.871,11.250,0.000,13.832,1082.264,7306.243,501.125,2153.429,775.207,33.365,1343.145,0.000,2137.151,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,181.012,1085.305,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.973,247.153,334.477,633.813,959.224,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,38349,481
$CAP_FILE_SIZE,118574,0
$CFSIZE,260165632,137768960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,170612,054137,2303.927,-15805.117,25,1.3,25,10.1