version: 66.06
glider: 146
mission: 7
dive: 146
start: 6 17 112 12 16 37
data:
$ID,146
$MISSION,7
$DIVE,146
$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,-290671.72
$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,37
$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
$GPS1,120755,2304.505,-15803.966,67,1.1,67,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-70.0
$GPS2,121543,2304.505,-15803.985,17,1.1,28,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.100,-0.102
$KALMAN_X,-25156.7,144.0,-107.7,24663.7,1.0
$KALMAN_Y,38622.7,-55.4,-220.9,5947.2,723.2
$MHEAD_RNG_PITCHd_Wd,214.2,945,-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,-75.47,0.000,6,0.000,0.000,468,2129,3332,0,0,0,0,0,0
$GC,108,-2.14,-86.0,1.5,-3.8,10,135,12.10,2.60,-3.70,0.000,4,0.171,0.058,2670,571,3504,0,0,0,0,0,0
$GC,422,-2.08,-86.0,73.5,-21.0,42,427,0.10,2.50,0.00,0.000,6,0.168,0.015,2687,2211,3505,0,0,0,0,0,0
$GC,685,-2.08,-86.0,121.8,-17.3,66,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2212,3506,0,0,0,0,0,0
$GC,940,-2.08,-86.0,162.1,-16.8,90,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2212,3506,0,0,0,0,0,0
$GC,1193,-2.13,-86.0,197.3,-13.0,114,1198,0.00,2.45,0.00,0.000,4,0.000,0.039,2687,3762,3507,0,0,0,0,0,0
$GC,1217,-2.17,-86.0,200.7,-14.0,115,1222,0.00,2.53,0.00,0.000,6,0.000,0.021,2687,2150,3507,0,0,0,0,0,0
$GC,1468,-2.24,-86.0,236.1,-13.7,122,1473,0.12,2.58,0.00,0.000,4,0.072,0.040,2642,3756,3507,0,0,0,0,0,0
$GC,1592,-2.24,-86.0,255.7,-14.4,124,1598,0.00,2.50,0.00,0.000,6,0.000,0.024,2642,2165,3507,0,0,0,0,0,0
$GC,1844,-2.24,-86.0,291.5,-14.6,131,1848,0.00,2.58,0.00,0.000,4,0.000,0.037,2642,3756,3507,0,0,0,0,0,0
$GC,1921,-2.24,-86.0,303.0,-14.2,132,1927,0.00,2.53,0.00,0.000,6,0.000,0.029,2642,2174,3507,0,0,0,0,0,0
$GC,2171,-2.24,-86.0,337.7,-14.5,139,2176,0.00,2.58,0.00,0.000,4,0.000,0.038,2642,3757,3506,0,0,0,0,0,0
$GC,2257,-2.24,-86.0,350.5,-14.7,141,2262,0.00,2.58,0.00,0.000,6,0.000,0.035,2642,2180,3506,0,0,0,0,0,0
$GC,2540,-2.24,-86.0,389.3,-13.2,148,2545,0.00,2.60,0.00,0.000,4,0.000,0.044,2642,3755,3505,0,0,0,0,0,0
$GC,2562,-2.24,-86.0,392.3,-13.1,148,2566,0.00,2.60,0.00,0.000,6,0.000,0.048,2642,2187,3505,0,0,0,0,0,0
$GC,2820,-2.24,-86.0,425.1,-13.1,155,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2187,3503,0,0,0,0,0,0
$GC,3060,-2.24,-86.0,456.5,-12.7,161,3065,0.00,2.65,0.00,0.000,4,0.000,0.056,2642,3751,3502,0,0,0,0,0,0
$GC,3166,-2.24,-86.0,471.3,-13.9,163,3170,0.00,2.67,0.00,0.000,6,0.000,0.059,2642,2179,3501,0,0,0,0,0,0
$GC,3428,-2.24,-86.0,501.9,-11.4,170,3433,0.00,2.65,0.00,0.000,4,0.000,0.059,2643,3746,3499,0,0,0,0,0,0
$GC,3539,-2.24,-86.0,515.5,-11.7,172,3543,0.00,2.67,0.00,0.000,6,0.000,0.054,2642,2171,3498,0,0,0,0,0,0
$GC,3795,-2.28,-86.0,542.9,-10.6,179,3800,0.00,3.05,0.00,0.000,4,0.000,0.116,2642,558,3497,0,0,0,0,0,0
$GC,3812,-2.28,-86.0,544.7,-10.4,179,3817,0.00,2.72,0.00,0.000,6,0.000,0.052,2642,2175,3497,0,0,0,0,0,0
$GC,4072,-2.28,-86.0,573.5,-11.3,186,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2176,3495,0,0,0,0,0,0
$GC,4317,-2.31,-86.0,603.1,-12.3,192,4321,0.00,2.85,0.00,0.000,4,0.000,0.104,2642,3745,3493,0,0,0,0,0,0
$GC,4485,-2.31,-86.0,623.4,-11.6,195,4491,0.00,2.72,0.00,0.000,6,0.000,0.083,2642,2189,3492,0,0,0,0,0,0
$GC,4735,-2.36,-86.0,649.9,-10.8,202,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2189,3490,0,0,0,0,0,0
$GC,4979,-2.41,-86.0,674.5,-10.0,208,4983,0.00,2.90,0.00,0.000,4,0.000,0.110,2642,3740,3488,0,0,0,0,0,0
$GC,5080,-2.41,-86.0,685.6,-11.5,210,5085,0.00,2.90,0.00,0.000,6,0.000,0.111,2632,2201,3487,0,0,0,0,0,0
$STATE,5222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5222,begin apogee
$GC,5228,-0.31,0.0,700.2,10.1,214,5304,2.05,0.00,70.47,1.086,6,0.115,0.000,3071,2183,3150,0,0,0,0,0,0
$STATE,5305,end apogee,CONTROL_FINISHED_OK
$STATE,5305,begin climb
$GC,5309,2.14,86.0,701.8,0.0,216,5396,2.25,3.40,74.05,1.060,4,0.042,0.148,3618,590,2797,0,0,0,0,0,0
$GC,5447,2.02,86.0,685.3,17.7,219,5453,0.28,2.95,0.00,0.000,6,0.137,0.097,3577,2173,2793,0,0,0,0,0,0
$GC,5721,2.02,86.0,646.6,13.9,226,5726,0.00,2.92,0.00,0.000,4,0.000,0.100,3567,3769,2790,0,0,0,0,0,0
$GC,5827,2.02,86.0,630.6,15.2,228,5831,0.00,2.88,0.00,0.000,6,0.000,0.081,3565,2183,2789,0,0,0,0,0,0
$GC,6087,2.02,86.0,594.2,13.8,235,6092,0.00,2.80,0.00,0.000,4,0.000,0.075,3567,3769,2787,0,0,0,0,0,0
$GC,6121,2.02,86.0,589.5,14.4,235,6127,0.00,2.78,0.00,0.000,6,0.000,0.062,3566,2183,2786,0,0,0,0,0,0
$GC,6372,2.02,86.0,555.1,13.9,242,6377,0.00,2.75,0.00,0.000,4,0.000,0.064,3566,3778,2786,0,0,0,0,0,0
$GC,6468,2.02,86.0,541.4,15.0,244,6473,0.00,2.72,0.00,0.000,6,0.000,0.060,3566,2187,2785,0,0,0,0,0,0
$GC,6740,2.02,86.0,506.2,12.4,251,6744,0.00,2.67,0.00,0.000,4,0.000,0.053,3560,3776,2784,0,0,0,0,0,0
$GC,6993,2.02,86.0,473.2,14.0,256,6997,0.00,2.65,0.00,0.000,6,0.000,0.044,3566,2199,2783,0,0,0,0,0,0
$GC,7243,2.06,86.0,442.1,12.4,262,7245,0.10,0.00,0.00,0.000,6,0.104,0.000,3590,2199,2782,0,0,0,0,0,0
$GC,7486,2.06,86.0,410.3,12.9,268,7490,0.00,2.60,0.00,0.000,4,0.000,0.041,3584,3786,2781,0,0,0,0,0,0
$GC,7548,2.06,86.0,402.1,13.5,269,7553,0.00,2.62,0.00,0.000,6,0.000,0.041,3590,2193,2781,0,0,0,0,0,0
$GC,7808,2.06,86.0,369.3,12.7,276,7813,0.00,2.62,0.00,0.000,4,0.000,0.043,3584,3783,2781,0,0,0,0,0,0
$GC,8018,2.06,86.0,343.2,12.3,280,8022,0.00,2.58,0.00,0.000,6,0.000,0.033,3590,2208,2781,0,0,0,0,0,0
$GC,8268,2.06,89.8,318.4,9.4,286,8272,0.00,2.58,0.00,0.000,4,0.000,0.041,3591,3783,2780,0,0,0,0,0,0
$GC,8379,2.06,89.8,305.1,12.3,288,8383,0.00,2.55,0.00,0.000,6,0.000,0.031,3590,2214,2780,0,0,0,0,0,0
$GC,8636,2.07,93.4,280.3,9.5,295,8645,0.00,2.62,3.90,0.525,4,0.000,0.040,3591,3777,2769,0,0,0,0,0,0
$GC,8902,2.07,94.3,252.6,9.9,300,8907,0.00,2.53,0.00,0.000,6,0.000,0.030,3590,2221,2768,0,0,0,0,0,0
$GC,9152,2.12,96.1,228.5,9.7,307,9162,0.00,2.60,4.07,0.514,4,0.000,0.040,3590,3774,2757,0,0,0,0,0,0
$GC,9200,2.12,96.1,223.1,11.2,308,9205,0.00,2.53,0.00,0.000,6,0.000,0.030,3590,2220,2757,0,0,0,0,0,0
$GC,9481,2.19,106.7,199.7,8.4,315,9494,0.12,0.00,10.20,0.664,6,0.084,0.000,3622,2220,2715,0,0,0,0,0,0
$GC,9750,2.19,106.7,170.9,11.1,340,9754,0.00,2.55,0.00,0.000,4,0.000,0.039,3622,3789,2714,0,0,0,0,0,0
$GC,10017,2.19,106.7,139.0,10.1,362,10027,0.00,2.50,0.00,0.000,6,0.000,0.027,3622,2248,2714,0,0,0,0,0,0
$GC,10284,2.19,109.3,115.5,9.6,387,10295,0.00,2.53,4.15,0.442,4,0.000,0.037,3622,3791,2704,0,0,0,0,0,0
$GC,10456,2.20,116.9,99.6,8.9,401,10470,0.00,2.47,8.25,0.548,6,0.000,0.027,3622,2243,2672,0,0,0,0,0,0
$GC,10736,2.24,116.9,68.6,11.2,427,10740,0.00,2.47,0.00,0.000,4,0.000,0.038,3622,3783,2672,0,0,0,0,0,0
$GC,10771,2.24,116.9,64.5,12.5,429,10799,15.60,2.47,0.00,0.000,6,0.506,0.028,3588,2238,2672,56,1,0,0,0,0
$STATE,10808,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10823,432.58,0.535,0,0,477,655.69
$SM_GC,0.06,13.62,0.00,0.00,0.020,0.000,0.000,470,2193,472,-12.18,0.37,656.67
$IRIDIUM_FIX,2255.72,-15807.13,110901,080803
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,19.80
$XPDR_PINGS,34
$24V_AH,23.4,20.844
$10V_AH,10.3,19.520
$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,46.350,127.900,175.100,432.575,0.000,29.406,36.775,238.097,8.500,0.000,30.373,994.369,7705.991,731.982,1795.761,608.588,33.367,1505.951,0.000,1763.826,0.000,0.534,0.000
$DEVICE_MAMPS,506.220,228.566,1086.072,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.478,201.298,278.320,429.361,649.959,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,35240,432
$CAP_FILE_SIZE,110476,8
$CFSIZE,260165632,137613312
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,56,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,170612,152716,2303.681,-15804.637,10,3.3,29,10.1