version: 66.06
glider: 146
mission: 7
dive: 158
start: 6 19 112 11 7 22
data:
$ID,146
$MISSION,7
$DIVE,158
$D_SURF,4
$D_FLARE,3
$D_TGT,540
$D_ABORT,650
$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,180
$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,-291432.25
$T_RSLEEP,3
$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,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,43
$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,3190
$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
$GPS1,105536,2248.593,-15801.342,40,1.2,40,10.1
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-67.8
$GPS2,110626,2248.534,-15801.332,32,2.0,32,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,PICKUP
$TGT_LATLONG,2242.500,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.091,-0.235
$KALMAN_X,-12763.2,-99.0,213.4,16730.1,262.2
$KALMAN_Y,41853.7,84.1,48.8,-27276.0,-286.1
$MHEAD_RNG_PITCHd_Wd,191.1,11532,-18.2,-10.000
$D_GRID,540
$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,-1.30,-136.3,0.0,0.0,0,112,0.00,0.00,-88.95,0.000,6,0.000,0.000,470,2203,3745,0,0,0,0,0,0
$GC,115,-1.30,-136.3,2.5,-5.9,11,133,13.18,2.50,0.00,0.000,4,0.173,0.028,2850,3762,3746,0,0,0,0,0,0
$GC,258,-1.16,-136.3,36.0,-18.7,29,268,0.12,2.55,0.00,0.000,6,0.103,0.026,2882,2172,3747,0,0,0,0,0,0
$GC,524,-1.06,-136.3,72.9,-14.0,54,529,0.15,2.58,0.00,0.000,4,0.114,0.045,2906,604,3747,0,0,0,0,0,0
$GC,549,-0.96,-136.3,76.5,-14.7,55,553,0.00,2.42,0.00,0.000,6,0.000,0.019,2913,2190,3747,0,0,0,0,0,0
$GC,815,-0.96,-136.3,105.9,-11.2,79,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2191,3747,0,0,0,0,0,0
$GC,1076,-0.96,-136.3,132.8,-10.0,104,1080,0.00,2.60,0.00,0.000,4,0.000,0.044,2913,595,3748,0,0,0,0,0,0
$GC,1098,-0.96,-136.3,134.6,-10.5,105,1102,0.00,2.42,0.00,0.000,6,0.000,0.018,2913,2182,3748,0,0,0,0,0,0
$GC,1360,-0.96,-136.3,160.4,-8.9,129,1365,0.00,2.47,0.00,0.000,4,0.000,0.036,2906,3747,3748,0,0,0,0,0,0
$GC,1386,-1.00,-136.3,162.8,-9.4,130,1391,0.00,2.45,0.00,0.000,6,0.000,0.025,2913,2168,3748,0,0,0,0,0,0
$GC,1651,-1.00,-136.3,185.7,-8.0,155,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2168,3748,0,0,0,0,0,0
$GC,1942,-1.05,-136.3,211.1,-8.6,174,1946,0.00,2.58,0.00,0.000,4,0.000,0.051,2913,599,3749,0,0,0,0,0,0
$GC,1969,-1.11,-136.3,213.7,-8.2,174,1974,0.00,2.42,0.00,0.000,6,0.000,0.021,2913,2186,3749,0,0,0,0,0,0
$GC,2220,-1.17,-136.3,232.3,-7.5,180,2222,0.10,0.00,0.00,0.000,6,0.079,0.000,2869,2186,3749,0,0,0,0,0,0
$GC,2464,-1.17,-136.3,256.5,-10.0,186,2469,0.00,2.60,0.00,0.000,4,0.000,0.049,2868,608,3749,0,0,0,0,0,0
$GC,2497,-1.17,-136.3,260.4,-11.4,186,2502,0.00,2.42,0.00,0.000,6,0.000,0.020,2869,2168,3749,0,0,0,0,0,0
$GC,2747,-1.17,-136.3,283.1,-8.6,193,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2169,3749,0,0,0,0,0,0
$GC,2991,-1.17,-136.3,302.2,-7.8,199,2995,0.00,2.55,0.00,0.000,4,0.000,0.042,2862,3751,3748,0,0,0,0,0,0
$GC,3025,-1.17,-136.3,305.0,-8.9,199,3031,0.00,2.50,0.00,0.000,6,0.000,0.027,2869,2180,3748,0,0,0,0,0,0
$GC,3275,-1.17,-136.3,325.0,-8.0,206,3279,0.00,2.75,0.00,0.000,4,0.000,0.075,2869,602,3748,0,0,0,0,0,0
$GC,3296,-1.17,-136.3,326.8,-8.4,206,3301,0.00,2.45,0.00,0.000,6,0.000,0.024,2869,2164,3748,0,0,0,0,0,0
$GC,3553,-1.17,-136.3,348.7,-8.9,213,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2165,3746,0,0,0,0,0,0
$GC,3795,-1.17,-136.3,371.4,-9.4,219,3799,0.00,2.60,0.00,0.000,4,0.000,0.046,2864,3761,3745,0,0,0,0,0,0
$GC,3816,-1.17,-136.3,373.6,-9.5,219,3821,0.00,2.58,0.00,0.000,6,0.000,0.041,2869,2181,3745,0,0,0,0,0,0
$GC,4074,-1.17,-136.3,396.6,-9.0,226,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2181,3744,0,0,0,0,0,0
$GC,4316,-1.21,-136.3,416.6,-8.0,232,4321,0.00,2.83,0.00,0.000,4,0.000,0.097,2869,595,3742,0,0,0,0,0,0
$GC,4332,-1.21,-136.3,418.0,-7.7,232,4336,0.00,2.53,0.00,0.000,6,0.000,0.031,2869,2167,3742,0,0,0,0,0,0
$GC,4598,-1.25,-136.3,436.4,-6.9,239,4603,0.00,2.67,0.00,0.000,4,0.000,0.054,2862,3765,3740,0,0,0,0,0,0
$GC,4638,-1.31,-136.3,439.6,-7.3,240,4643,0.00,2.62,0.00,0.000,6,0.000,0.044,2869,2170,3740,0,0,0,0,0,0
$GC,4922,-1.36,-136.3,460.8,-7.6,247,4926,0.00,2.88,0.00,0.000,4,0.000,0.104,2867,593,3738,0,0,0,0,0,0
$GC,4945,-1.36,-136.3,462.7,-8.7,247,4950,0.00,2.58,0.00,0.000,6,0.000,0.043,2869,2177,3738,0,0,0,0,0,0
$GC,5201,-1.41,-136.3,485.2,-8.9,254,5203,0.12,0.00,0.00,0.000,6,0.070,0.000,2823,2178,3736,0,0,0,0,0,0
$GC,5445,-1.37,-136.3,512.5,-11.3,260,5446,0.10,0.00,0.00,0.000,6,0.122,0.000,2843,2178,3734,0,0,0,0,0,0
$GC,5690,-1.37,-136.3,535.3,-8.9,266,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2178,3733,0,0,0,0,0,0
$STATE,5767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5767,begin apogee
$GC,5772,-0.31,0.0,542.0,8.5,268,5889,1.02,0.00,110.45,0.955,6,0.076,0.000,3077,2178,3190,0,0,0,0,0,0
$STATE,5890,end apogee,CONTROL_FINISHED_OK
$STATE,5890,begin climb
$GC,5893,1.30,136.3,543.7,0.0,271,6011,1.50,0.00,114.40,0.925,6,0.044,0.000,3431,2177,2634,0,0,0,0,0,0
$GC,6255,1.16,136.3,506.7,11.9,280,6261,0.17,2.72,0.00,0.000,4,0.119,0.067,3397,3759,2625,0,0,0,0,0,0
$GC,6289,1.08,136.3,502.7,10.9,280,6297,0.00,2.67,0.00,0.000,6,0.000,0.048,3397,2186,2625,0,0,0,0,0,0
$GC,6539,1.02,136.3,476.9,10.2,287,6541,0.15,0.00,0.00,0.000,6,0.117,0.000,3367,2187,2623,0,0,0,0,0,0
$GC,6784,1.05,155.3,454.8,9.1,293,6808,0.00,2.97,16.30,0.842,4,0.000,0.098,3367,589,2554,0,0,0,0,0,0
$GC,6853,1.05,155.3,447.9,10.1,294,6857,0.00,2.62,0.00,0.000,6,0.000,0.031,3366,2178,2552,0,0,0,0,0,0
$GC,7109,1.11,203.8,427.7,7.6,301,7159,0.00,2.75,42.47,0.870,4,0.000,0.054,3367,3765,2358,0,0,0,0,0,0
$GC,7191,1.17,226.4,421.6,8.9,302,7220,0.15,2.70,21.20,0.828,6,0.071,0.044,3409,2159,2265,0,0,0,0,0,0
$GC,7487,1.12,226.4,387.0,12.3,310,7489,0.12,0.00,0.00,0.000,6,0.127,0.000,3387,2159,2260,0,0,0,0,0,0
$GC,7727,1.12,226.4,360.2,10.9,316,7732,0.00,2.65,0.00,0.000,4,0.000,0.040,3388,3769,2258,0,0,0,0,0,0
$GC,7784,1.12,226.4,354.3,10.6,317,7788,0.00,2.62,0.00,0.000,6,0.000,0.036,3388,2180,2257,0,0,0,0,0,0
$GC,8049,1.12,226.4,326.7,10.6,324,8054,0.00,2.72,0.00,0.000,4,0.000,0.071,3387,594,2257,0,0,0,0,0,0
$GC,8082,1.12,226.4,323.0,10.8,324,8088,0.00,2.58,0.00,0.000,6,0.000,0.028,3388,2201,2255,0,0,0,0,0,0
$GC,8332,1.13,230.9,298.5,9.8,331,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2201,2255,0,0,0,0,0,0
$GC,8576,1.19,253.4,276.5,8.9,337,8605,0.00,2.62,22.70,0.752,4,0.000,0.041,3324,3753,2156,0,0,0,0,0,0
$GC,8682,1.26,253.4,266.1,10.4,339,8687,0.20,2.58,0.00,0.000,6,0.061,0.030,3439,2171,2154,0,0,0,0,0,0
$GC,8949,1.21,253.4,233.1,12.5,346,8951,0.15,0.00,0.00,0.000,6,0.117,0.000,3410,2171,2152,0,0,0,0,0,0
$GC,9194,1.21,253.4,207.6,10.1,352,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2171,2152,0,0,0,0,0,0
$GC,9448,1.23,272.6,184.0,9.1,370,9468,0.00,0.00,17.52,0.657,6,0.000,0.000,3410,2171,2077,0,0,0,0,0,0
$GC,9724,1.28,272.6,154.0,11.1,396,9725,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2171,2075,0,0,0,0,0,0
$GC,9979,1.32,272.6,127.1,10.5,420,9983,0.00,2.55,0.00,0.000,4,0.000,0.036,3409,3758,2075,0,0,0,0,0,0
$GC,10008,1.37,272.6,123.9,11.0,422,10013,0.15,2.53,0.00,0.000,6,0.069,0.028,3453,2177,2074,0,0,0,0,0,0
$GC,10269,1.37,272.6,90.4,11.6,446,10270,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2177,2074,0,0,0,0,0,0
$GC,10529,1.37,272.6,60.3,12.0,470,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2177,2074,0,0,0,0,0,0
$GC,10794,1.37,272.6,29.2,12.6,495,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2177,2074,0,0,0,0,0,0
$STATE,11004,end climb,SURFACE_DEPTH_REACHED
$STATE,11004,begin surface coast
$FINISH,-0.5,1.014847
$STATE,11060,end surface coast,CONTROL_FINISHED_OK
$STATE,11060,begin surface
$SM_CCo,11083,86.78,0.510,0,0,1640,380.21
$SM_GC,0.07,0.00,0.00,86.78,0.000,0.000,0.510,467,2173,1640,-12.32,-0.20,380.21
$IRIDIUM_FIX,2241.69,-15801.49,130901,060626
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.30
$XPDR_PINGS,43
$24V_AH,23.4,22.539
$10V_AH,10.3,20.996
$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,29.300,98.850,345.050,86.775,0.000,63.018,72.619,274.087,10.750,0.000,33.690,1040.600,7660.275,534.566,1853.547,727.698,33.362,1188.797,0.000,1843.429,0.000,0.535,0.000
$DEVICE_MAMPS,172.575,103.545,954.915,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.213,281.225,394.816,725.746,1099.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,41581,533
$CAP_FILE_SIZE,105068,0
$CFSIZE,260165632,136900608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,190612,141530,2247.038,-15801.687,77,1.2,77,10.1