version: 66.06
glider: 146
mission: 7
dive: 163
start: 6 20 112 3 0 33
data:
$ID,146
$MISSION,7
$DIVE,163
$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,-292098.09
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,025251,2244.348,-15801.569,36,99.0,55,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-70.7
$GPS2,025938,2244.404,-15801.547,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,STNKAENA
$TGT_LATLONG,2150.800,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.074,-0.241
$KALMAN_X,-8466.2,529.3,69.9,11574.9,64.8
$KALMAN_Y,43644.8,315.8,-128.8,-36773.0,566.3
$MHEAD_RNG_PITCHd_Wd,187.1,105202,-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,19,-1.31,-136.3,0.0,0.0,0,111,0.00,0.00,-85.88,0.000,6,0.000,0.000,467,2191,3747,0,0,0,0,0,0
$GC,116,-1.31,-136.3,4.7,-13.2,11,135,13.02,2.60,0.00,0.000,4,0.171,0.035,2814,590,3747,0,0,0,0,0,0
$GC,241,-1.14,-136.3,37.4,-16.2,26,247,0.22,2.50,0.00,0.000,6,0.114,0.018,2893,2198,3749,0,0,0,0,0,0
$GC,510,-1.09,-136.3,73.9,-13.3,50,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2198,3749,0,0,0,0,0,0
$GC,775,-1.05,-136.3,107.2,-11.2,75,780,0.10,0.00,0.00,0.000,6,0.127,0.000,2914,2198,3750,0,0,0,0,0,0
$GC,1038,-1.05,-136.3,133.0,-10.4,100,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2198,3750,0,0,0,0,0,0
$GC,1295,-1.05,-136.3,157.5,-9.2,124,1299,0.00,2.60,0.00,0.000,4,0.000,0.049,2892,602,3751,0,0,0,0,0,0
$GC,1312,-1.05,-136.3,159.4,-8.7,125,1316,0.00,2.42,0.00,0.000,6,0.000,0.017,2914,2196,3751,0,0,0,0,0,0
$GC,1576,-1.05,-136.3,182.6,-9.1,149,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2196,3752,0,0,0,0,0,0
$GC,1845,-1.09,-136.3,206.9,-8.6,169,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2196,3752,0,0,0,0,0,0
$GC,2090,-1.15,-136.3,227.2,-8.2,175,2094,0.00,2.45,0.00,0.000,4,0.000,0.040,2914,3751,3752,0,0,0,0,0,0
$GC,2112,-1.22,-136.3,229.4,-8.9,175,2118,0.15,2.45,0.00,0.000,6,0.061,0.025,2854,2172,3752,0,0,0,0,0,0
$GC,2368,-1.18,-136.3,255.8,-10.5,182,2370,0.15,0.00,0.00,0.000,6,0.106,0.000,2888,2172,3752,0,0,0,0,0,0
$GC,2614,-1.22,-136.3,277.9,-9.1,188,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2172,3753,0,0,0,0,0,0
$GC,2856,-1.26,-136.3,298.5,-8.2,194,2860,0.00,2.53,0.00,0.000,4,0.000,0.041,2888,3738,3753,0,0,0,0,0,0
$GC,2877,-1.30,-136.3,300.2,-8.0,194,2883,0.12,2.42,0.00,0.000,6,0.069,0.025,2839,2190,3752,0,0,0,0,0,0
$GC,3135,-1.26,-136.3,324.9,-10.0,201,3137,0.12,0.00,0.00,0.000,6,0.114,0.000,2867,2190,3752,0,0,0,0,0,0
$GC,3377,-1.26,-136.3,344.8,-8.1,207,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2190,3751,0,0,0,0,0,0
$GC,3620,-1.26,-136.3,362.9,-7.3,213,3625,0.00,2.53,0.00,0.000,4,0.000,0.048,2866,3734,3750,0,0,0,0,0,0
$GC,3656,-1.30,-136.3,365.6,-8.4,213,3661,0.00,2.47,0.00,0.000,6,0.000,0.041,2867,2199,3750,0,0,0,0,0,0
$GC,3906,-1.30,-136.3,384.8,-7.7,220,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2199,3749,0,0,0,0,0,0
$GC,4150,-1.34,-136.3,404.9,-8.4,226,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2199,3747,0,0,0,0,0,0
$GC,4395,-1.38,-136.3,424.5,-8.0,232,4401,0.10,2.88,0.00,0.000,4,0.084,0.096,2821,592,3746,0,0,0,0,0,0
$GC,4423,-1.34,-136.3,427.2,-8.9,232,4428,0.00,2.53,0.00,0.000,6,0.000,0.038,2832,2158,3746,0,0,0,0,0,0
$GC,4675,-1.34,-136.3,449.1,-8.8,238,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2158,3745,0,0,0,0,0,0
$GC,4919,-1.34,-136.3,469.6,-8.3,244,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2159,3743,0,0,0,0,0,0
$GC,5161,-1.34,-136.3,488.5,-7.8,250,5165,0.00,2.75,0.00,0.000,4,0.000,0.072,2814,3758,3741,0,0,0,0,0,0
$GC,5205,-1.34,-136.3,492.2,-8.0,251,5209,0.00,2.60,0.00,0.000,6,0.000,0.051,2832,2206,3741,0,0,0,0,0,0
$GC,5484,-1.34,-136.3,515.1,-8.5,258,5488,0.00,2.65,0.00,0.000,4,0.000,0.066,2833,3759,3740,0,0,0,0,0,0
$GC,5500,-1.34,-136.3,516.8,-8.7,258,5504,0.00,2.62,0.00,0.000,6,0.000,0.059,2832,2200,3740,0,0,0,0,0,0
$GC,5760,-1.34,-136.3,537.9,-7.9,265,5765,0.00,3.00,0.00,0.000,4,0.000,0.120,2832,593,3737,0,0,0,0,0,0
$GC,5795,-1.34,-136.3,540.8,-9.4,265,5801,0.00,2.67,0.00,0.000,6,0.000,0.052,2832,2195,3737,0,0,0,0,0,0
$GC,6045,-1.34,-136.3,560.6,-7.7,272,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2195,3735,0,0,0,0,0,0
$GC,6289,-1.34,-136.3,580.0,-8.0,278,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2195,3733,0,0,0,0,0,0
$GC,6534,-1.34,-136.3,600.1,-8.3,284,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2195,3732,0,0,0,0,0,0
$GC,6778,-1.34,-136.3,618.9,-7.5,290,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2196,3731,0,0,0,0,0,0
$GC,7020,-1.34,-136.3,639.3,-8.5,296,7024,0.00,2.90,0.00,0.000,4,0.000,0.106,2830,3765,3729,0,0,0,0,0,0
$GC,7059,-1.34,-136.3,642.9,-9.8,297,7064,0.00,2.83,0.00,0.000,6,0.000,0.086,2832,2197,3729,0,0,0,0,0,0
$GC,7344,-1.34,-136.3,668.6,-9.1,304,7349,0.00,2.90,0.00,0.000,4,0.000,0.103,2828,3766,3728,0,0,0,0,0,0
$GC,7376,-1.34,-136.3,672.1,-10.4,304,7382,0.00,2.90,0.00,0.000,6,0.000,0.099,2832,2196,3728,0,0,0,0,0,0
$GC,7627,-1.34,-136.3,694.4,-8.8,311,7632,0.00,3.22,0.00,0.000,4,0.000,0.152,2831,593,3727,0,0,0,0,0,0
$GC,7662,-1.34,-136.3,697.5,-9.6,311,7667,0.00,2.92,0.00,0.000,6,0.000,0.096,2832,2193,3726,0,0,0,0,0,0
$STATE,7706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7706,begin apogee
$GC,7711,-0.31,0.0,701.6,8.9,313,7828,1.08,0.00,111.12,1.095,6,0.076,0.000,3076,2193,3191,0,0,0,0,0,0
$STATE,7831,end apogee,CONTROL_FINISHED_OK
$STATE,7831,begin climb
$GC,7833,1.31,136.3,704.1,0.0,316,7955,1.50,0.00,117.82,1.065,6,0.048,0.000,3430,2193,2634,0,0,0,0,0,0
$GC,8194,1.15,136.3,667.5,12.5,325,8196,0.17,0.00,0.00,0.000,6,0.130,0.000,3398,2193,2625,0,0,0,0,0,0
$GC,8436,1.07,136.3,640.8,10.9,331,8441,0.00,2.85,0.00,0.000,4,0.000,0.091,3399,3769,2623,0,0,0,0,0,0
$GC,8469,0.97,136.3,636.9,11.4,331,8475,0.32,2.88,0.00,0.000,6,0.114,0.084,3316,2178,2623,1,0,0,0,0,0
$GC,8721,1.09,184.0,617.1,7.7,338,8770,0.22,2.90,40.97,1.012,4,0.059,0.075,3387,3775,2439,0,0,0,0,0,0
$GC,8825,1.09,184.0,605.5,12.0,340,8830,0.00,2.80,0.00,0.000,6,0.000,0.066,3386,2190,2436,0,0,0,0,0,0
$GC,9094,1.09,184.0,576.5,10.7,347,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2190,2433,0,0,0,0,0,0
$GC,9335,1.09,184.0,549.2,11.2,353,9340,0.00,2.72,0.00,0.000,4,0.000,0.064,3386,3773,2432,0,0,0,0,0,0
$GC,9374,1.09,184.0,544.6,12.4,354,9379,0.00,2.72,0.00,0.000,6,0.000,0.057,3386,2189,2431,0,0,0,0,0,0
$GC,9660,1.09,184.0,512.0,11.5,361,9665,0.00,3.05,0.00,0.000,4,0.000,0.118,3387,592,2430,0,0,0,0,0,0
$GC,9692,1.04,184.0,507.9,12.4,361,9698,0.00,2.65,0.00,0.000,6,0.000,0.038,3386,2202,2429,0,0,0,0,0,0
$GC,9942,1.04,184.0,481.2,10.5,368,9947,0.00,2.62,0.00,0.000,4,0.000,0.058,3371,3772,2429,0,0,0,0,0,0
$GC,9969,1.04,184.0,478.0,12.4,368,9973,0.00,2.65,0.00,0.000,6,0.000,0.043,3383,2190,2429,0,0,0,0,0,0
$GC,10221,1.04,184.0,452.2,10.2,374,10225,0.00,2.60,0.00,0.000,4,0.000,0.043,3376,3769,2428,0,0,0,0,0,0
$GC,10253,1.04,184.0,448.5,11.0,374,10259,0.00,2.62,0.00,0.000,6,0.000,0.040,3386,2195,2428,0,0,0,0,0,0
$GC,10503,1.04,184.0,422.7,10.5,381,10507,0.00,2.58,0.00,0.000,4,0.000,0.047,3379,3769,2428,0,0,0,0,0,0
$GC,10548,1.04,184.0,417.5,11.7,382,10553,0.00,2.58,0.00,0.000,6,0.000,0.041,3387,2204,2428,0,0,0,0,0,0
$GC,10825,1.04,184.0,387.2,10.7,389,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2204,2428,0,0,0,0,0,0
$GC,11069,1.05,192.0,362.9,9.6,395,11083,0.00,2.60,6.60,0.726,4,0.000,0.044,3303,3771,2407,0,0,0,0,0,0
$GC,11149,1.05,192.0,354.8,10.7,396,11153,0.00,2.55,0.00,0.000,6,0.000,0.038,3386,2208,2406,0,0,0,0,0,0
$GC,11398,1.06,202.3,330.0,9.5,402,11411,0.00,0.00,10.75,0.773,6,0.000,0.000,3386,2207,2365,0,0,0,0,0,0
$GC,11642,1.09,223.6,308.3,9.0,408,11668,0.00,2.83,20.17,0.797,4,0.000,0.067,3387,591,2278,0,0,0,0,0,0
$GC,11686,1.09,227.8,304.3,9.8,409,11697,0.00,2.65,5.20,0.612,6,0.000,0.029,3386,2231,2260,0,0,0,0,0,0
$GC,11964,1.14,228.3,276.9,10.0,416,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2231,2259,0,0,0,0,0,0
$GC,12210,1.22,244.8,254.4,9.2,422,12228,0.10,0.00,16.05,0.737,6,0.091,0.000,3416,2231,2192,0,0,0,0,0,0
$GC,12451,1.22,246.7,229.2,9.9,428,12455,0.00,2.50,0.00,0.000,4,0.000,0.045,3416,3772,2190,0,0,0,0,0,0
$GC,12495,1.22,246.7,223.8,12.6,429,12499,0.00,2.53,0.00,0.000,6,0.000,0.029,3416,2211,2189,0,0,0,0,0,0
$GC,12754,1.22,246.7,195.3,10.3,437,12759,0.00,2.53,0.00,0.000,4,0.000,0.038,3415,3770,2189,0,0,0,0,0,0
$GC,12787,1.22,246.7,192.0,11.3,439,12792,0.00,2.50,0.00,0.000,6,0.000,0.026,3415,2215,2189,0,0,0,0,0,0
$GC,13056,1.22,246.7,162.2,10.9,463,13060,0.00,2.53,0.00,0.000,4,0.000,0.038,3416,3775,2188,0,0,0,0,0,0
$GC,13123,1.27,246.7,153.3,11.6,468,13132,0.00,2.50,0.00,0.000,6,0.000,0.027,3415,2233,2188,0,0,0,0,0,0
$GC,13389,1.28,256.6,126.7,9.5,493,13408,0.00,0.00,11.82,0.591,6,0.000,0.000,3415,2233,2142,0,0,0,0,0,0
$GC,13667,1.33,256.6,96.8,10.4,519,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2233,2142,0,0,0,0,0,0
$GC,13936,1.40,263.5,69.4,9.7,544,13951,0.12,2.72,7.75,0.503,4,0.074,0.048,3454,589,2115,0,0,0,0,0,0
$GC,13956,1.40,263.5,66.3,10.2,545,13966,0.00,2.65,0.00,0.000,6,0.000,0.019,3454,2262,2114,0,0,0,0,0,0
$GC,14223,1.40,263.5,37.6,11.6,570,14227,0.00,2.78,0.00,0.000,4,0.000,0.048,3454,591,2114,0,0,0,0,0,0
$GC,14281,1.40,263.5,31.8,11.0,574,14285,0.00,2.58,0.00,0.000,6,0.000,0.020,3454,2250,2114,0,0,0,0,0,0
$STATE,14492,end climb,SURFACE_DEPTH_REACHED
$STATE,14492,begin surface coast
$FINISH,-0.6,1.023529
$STATE,14528,end surface coast,CONTROL_FINISHED_OK
$STATE,14528,begin surface
$SM_CCo,14552,94.60,0.517,0,0,1640,380.21
$SM_GC,0.03,0.00,0.00,94.60,0.000,0.000,0.517,469,2148,1640,-12.31,-0.90,380.21
$IRIDIUM_FIX,2237.01,-15800.20,130901,232313
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.80
$XPDR_PINGS,43
$24V_AH,23.4,23.217
$10V_AH,10.3,21.584
$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,29.500,139.125,348.275,94.600,0.000,23.925,33.246,198.132,10.750,0.000,16.255,1233.120,10623.604,583.513,1996.481,611.878,33.362,1352.540,0.000,2000.726,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,151.866,1094.509,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,413.733,296.307,403.176,711.270,1077.649,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,47789,609
$CAP_FILE_SIZE,129150,0
$CFSIZE,260165632,136617984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,200612,070607,2243.427,-15801.589,44,1.0,44,10.0