version: 66.06
glider: 146
mission: 7
dive: 144
start: 6 17 112 5 48 45
data:
$ID,146
$MISSION,7
$DIVE,144
$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,-290627.09
$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,45
$R_STBD_OVSHOOT,9
$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
$GPS1,054137,2303.927,-15805.117,25,1.3,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-67.2
$GPS2,054750,2303.929,-15805.033,17,1.4,17,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,0.142
$KALMAN_X,-25051.1,141.9,44.6,22618.2,685.2
$KALMAN_Y,37962.6,60.0,344.7,4862.8,-537.0
$MHEAD_RNG_PITCHd_Wd,357.6,1212,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.09,-44.6,0.0,0.0,0,104,0.00,0.00,-74.75,0.000,6,0.000,0.000,467,2114,3331,0,0,0,0,0,0
$GC,107,-2.13,-77.9,2.1,-5.0,10,134,12.00,2.67,-2.92,0.000,4,0.168,0.047,2672,3758,3471,0,0,0,0,0,0
$GC,239,-2.09,-77.9,32.8,-22.7,27,244,0.00,2.53,0.00,0.000,6,0.000,0.023,2672,2149,3471,0,0,0,0,0,0
$GC,507,-2.09,-77.9,85.7,-17.7,51,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2149,3472,0,0,0,0,0,0
$GC,770,-2.09,-77.9,131.3,-16.4,76,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2149,3472,0,0,0,0,0,0
$GC,1027,-2.09,-77.9,173.1,-15.5,100,1031,0.00,2.58,0.00,0.000,4,0.000,0.035,2655,3765,3474,0,0,0,0,0,0
$GC,1073,-2.09,-77.9,181.3,-17.1,103,1079,0.00,2.53,0.00,0.000,6,0.000,0.024,2672,2134,3474,0,0,0,0,0,0
$GC,1358,-2.09,-77.9,222.8,-14.1,119,1363,0.00,2.58,0.00,0.000,4,0.000,0.037,2655,3757,3474,0,0,0,0,0,0
$GC,1398,-2.09,-77.9,228.6,-14.5,120,1402,0.00,2.47,0.00,0.000,6,0.000,0.021,2672,2155,3474,0,0,0,0,0,0
$GC,1682,-2.09,-77.9,264.5,-12.2,127,1687,0.00,2.55,0.00,0.000,4,0.000,0.036,2654,3754,3475,0,0,0,0,0,0
$GC,1704,-2.09,-77.9,267.8,-13.8,127,1708,0.00,2.53,0.00,0.000,6,0.000,0.028,2672,2150,3474,0,0,0,0,0,0
$GC,1960,-2.13,-77.9,294.5,-10.3,134,1964,0.00,2.60,0.00,0.000,4,0.000,0.043,2661,3754,3474,0,0,0,0,0,0
$GC,2005,-2.13,-77.9,299.9,-12.3,135,2010,0.00,2.50,0.00,0.000,6,0.000,0.030,2672,2174,3474,0,0,0,0,0,0
$GC,2283,-2.19,-77.9,333.5,-12.2,142,2288,0.00,2.58,0.00,0.000,4,0.000,0.041,2657,3760,3473,0,0,0,0,0,0
$GC,2385,-2.19,-77.9,346.3,-12.3,144,2389,0.00,2.53,0.00,0.000,6,0.000,0.039,2672,2189,3474,0,0,0,0,0,0
$GC,2651,-2.25,-77.9,377.1,-11.7,151,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2188,3473,0,0,0,0,0,0
$GC,2895,-2.32,-77.9,404.9,-11.4,157,2900,0.15,2.60,0.00,0.000,4,0.068,0.053,2610,3755,3471,0,0,0,0,0,0
$GC,3130,-2.27,-77.9,434.5,-12.3,162,3135,0.12,2.62,0.00,0.000,6,0.126,0.054,2648,2191,3470,0,0,0,0,0,0
$GC,3397,-2.28,-79.7,461.0,-9.7,169,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2191,3469,0,0,0,0,0,0
$GC,3642,-2.31,-79.7,485.6,-10.0,175,3647,0.00,2.97,0.00,0.000,4,0.000,0.107,2649,566,3467,0,0,0,0,0,0
$GC,3720,-2.31,-79.7,495.1,-12.6,176,3725,0.00,2.75,0.00,0.000,6,0.000,0.041,2648,2227,3466,0,0,0,0,0,0
$GC,3970,-2.35,-79.7,522.4,-10.9,183,3975,0.00,2.65,0.00,0.000,4,0.000,0.081,2649,3747,3465,0,0,0,0,0,0
$GC,3998,-2.35,-79.7,525.6,-11.5,183,4003,0.00,2.60,0.00,0.000,6,0.000,0.053,2646,2209,3465,0,0,0,0,0,0
$GC,4249,-2.40,-84.0,550.1,-9.4,189,4254,0.12,2.67,0.00,0.000,4,0.076,0.074,2610,3747,3463,0,0,0,0,0,0
$GC,4482,-2.35,-84.0,574.6,-10.2,194,4488,0.38,2.62,0.00,0.000,6,0.117,0.071,2655,2235,3461,1,0,0,0,0,0
$GC,4755,-2.49,-98.6,596.4,-7.8,201,4757,0.38,0.00,0.00,0.000,6,0.044,0.000,2593,2234,3459,0,0,0,0,0,0
$GC,5000,-2.44,-98.6,621.5,-10.7,207,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2234,3458,0,0,0,0,0,0
$GC,5242,-2.40,-98.6,647.6,-10.7,213,5247,0.12,2.78,0.00,0.000,4,0.143,0.104,2612,3742,3456,0,0,0,0,0,0
$GC,5275,-2.40,-98.6,651.2,-10.5,213,5282,1.75,2.72,0.00,0.000,6,0.122,0.093,2621,2244,3456,6,0,0,0,0,0
$GC,5528,-3.23,-136.3,657.9,-2.6,220,5537,2.20,3.33,0.00,0.000,4,0.028,0.133,2425,568,3454,0,0,0,0,0,0
$GC,5689,-2.88,-136.3,679.8,-15.4,223,5695,0.45,2.97,0.00,0.000,6,0.124,0.092,2514,2210,3453,0,0,0,0,0,0
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5869,-0.31,0.0,701.8,12.6,228,5938,2.75,0.00,63.53,1.088,6,0.130,0.000,3073,2188,3150,0,0,0,0,0,0
$STATE,5939,end apogee,CONTROL_FINISHED_OK
$STATE,5939,begin climb
$GC,5941,2.20,136.3,703.6,0.0,229,6069,2.33,3.12,116.88,1.059,4,0.044,0.120,3614,3771,2593,0,0,0,0,0,0
$GC,6088,2.11,136.3,684.4,21.2,232,6094,0.17,3.08,0.00,0.000,6,0.159,0.108,3603,2181,2590,0,0,0,0,0,0
$GC,6344,2.11,136.3,630.4,21.1,239,6348,0.00,2.90,0.00,0.000,4,0.000,0.086,3588,3772,2584,0,0,0,0,0,0
$GC,6498,2.06,136.3,598.5,21.3,242,6503,0.00,2.78,0.00,0.000,6,0.000,0.074,3604,2196,2582,0,0,0,0,0,0
$GC,6758,2.06,136.3,545.2,20.0,249,6763,0.00,2.72,0.00,0.000,4,0.000,0.063,3605,3775,2581,0,0,0,0,0,0
$GC,6953,2.06,136.3,507.6,18.3,253,6958,0.00,2.65,0.00,0.000,6,0.000,0.048,3604,2219,2579,0,0,0,0,0,0
$GC,7215,2.06,136.3,460.7,18.1,260,7219,0.00,2.62,0.00,0.000,4,0.000,0.050,3595,3787,2578,0,0,0,0,0,0
$GC,7258,2.06,136.3,452.0,19.4,261,7263,0.00,2.62,0.00,0.000,6,0.000,0.049,3604,2216,2577,0,0,0,0,0,0
$GC,7538,2.06,136.3,400.9,18.0,268,7542,0.00,2.58,0.00,0.000,4,0.000,0.042,3598,3782,2576,0,0,0,0,0,0
$GC,7795,2.06,136.3,355.1,16.9,273,7801,0.00,2.55,0.00,0.000,6,0.000,0.037,3604,2226,2576,0,0,0,0,0,0
$GC,8047,2.06,136.3,313.8,16.5,280,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2226,2575,0,0,0,0,0,0
$GC,8289,2.06,136.3,277.9,14.8,286,8293,0.00,2.55,0.00,0.000,4,0.000,0.045,3603,3788,2575,0,0,0,0,0,0
$GC,8446,2.06,136.3,253.9,14.3,289,8450,0.00,2.53,0.00,0.000,6,0.000,0.038,3604,2240,2574,0,0,0,0,0,0
$GC,8703,2.11,136.3,215.2,15.0,296,8707,0.00,2.53,0.00,0.000,4,0.000,0.042,3604,3792,2573,0,0,0,0,0,0
$GC,8872,2.11,136.3,186.5,16.1,302,8878,0.00,2.47,0.00,0.000,6,0.000,0.032,3604,2257,2573,0,0,0,0,0,0
$GC,9138,2.17,136.3,149.5,15.0,327,9142,0.00,2.47,0.00,0.000,4,0.000,0.040,3604,3784,2573,0,0,0,0,0,0
$GC,9202,2.17,136.3,140.8,12.5,332,9206,0.00,2.42,0.00,0.000,6,0.000,0.036,3604,2278,2573,0,0,0,0,0,0
$GC,9466,2.24,136.3,107.7,13.0,356,9471,0.12,2.45,0.00,0.000,4,0.089,0.035,3637,3791,2573,0,0,0,0,0,0
$GC,9487,2.28,136.3,104.7,13.8,357,9491,0.00,2.42,0.00,0.000,6,0.000,0.028,3636,2278,2574,0,0,0,0,0,0
$GC,9755,2.28,136.3,67.0,14.0,381,9759,0.00,2.42,0.00,0.000,4,0.000,0.035,3637,3784,2575,0,0,0,0,0,0
$GC,9909,2.28,136.3,45.5,12.1,393,9913,0.00,2.40,0.00,0.000,6,0.000,0.027,3636,2280,2575,0,0,0,0,0,0
$GC,10209,2.32,136.3,11.9,10.6,429,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,2280,2576,0,0,0,0,0,0
$STATE,10280,end climb,SURFACE_DEPTH_REACHED
$STATE,10280,begin surface coast
$FINISH,-0.3,1.023645
$STATE,10322,end surface coast,CONTROL_FINISHED_OK
$STATE,10322,begin surface
$SM_CCo,10347,192.57,0.525,0,0,1600,380.21
$SM_GC,0.31,0.00,0.00,192.57,0.000,0.000,0.525,475,2102,1600,-12.28,-1.36,380.21
$IRIDIUM_FIX,2255.72,-15807.13,110901,020224
$TT8_MAMPS,0.026078
$HUMID,58.26
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.10
$XPDR_PINGS,49
$24V_AH,23.4,20.610
$10V_AH,10.3,19.314
$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,35.850,116.525,180.400,192.575,0.000,30.389,35.226,158.867,12.250,0.000,18.524,987.222,7025.365,481.356,1897.552,520.731,33.361,1217.410,0.000,1885.077,0.000,0.534,0.000
$DEVICE_MAMPS,167.973,171.808,1087.606,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,302.739,228.062,304.877,582.639,881.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,35154,445
$CAP_FILE_SIZE,104395,0
$CFSIZE,260165632,137728000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,0,0
$GPS,170612,084556,2304.903,-15805.074,30,2.5,49,10.1