version: 66.06
glider: 146
mission: 7
dive: 166
start: 6 20 112 14 55 19
data:
$ID,146
$MISSION,7
$DIVE,166
$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,-292253.06
$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,12
$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,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
$GPS1,145014,2241.617,-15802.334,9,1.5,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-65.6
$GPS2,145426,2241.635,-15802.320,10,1.1,10,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,STNKAENA
$TGT_LATLONG,2150.800,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.134,-0.214
$KALMAN_X,-4386.2,-299.9,89.4,6982.9,1296.3
$KALMAN_Y,47548.7,322.1,7.9,-45952.5,1372.7
$MHEAD_RNG_PITCHd_Wd,202.0,99924,-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,-136.3,0.0,0.0,0,157,0.00,0.00,-132.40,0.000,6,0.000,0.000,481,2176,3745,0,0,0,0,0,0
$GC,162,-1.31,-136.3,3.9,-10.2,16,180,13.05,2.62,0.00,0.000,4,0.173,0.042,2797,579,3747,0,0,0,0,0,0
$GC,326,-1.16,-136.3,40.8,-14.8,35,336,0.15,2.58,0.00,0.000,6,0.104,0.019,2886,2220,3746,0,0,0,0,0,0
$GC,594,-1.09,-136.3,74.9,-13.1,60,599,0.10,2.70,0.00,0.000,4,0.127,0.044,2907,580,3747,0,0,0,0,0,0
$GC,619,-1.02,-136.3,78.9,-12.1,61,628,0.00,2.50,0.00,0.000,6,0.000,0.017,2907,2183,3746,0,0,0,0,0,0
$GC,881,-1.02,-136.3,108.1,-11.2,86,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2183,3746,0,0,0,0,0,0
$GC,1134,-1.02,-136.3,135.8,-10.4,110,1138,0.00,2.47,0.00,0.000,4,0.000,0.032,2907,3753,3746,0,0,0,0,0,0
$GC,1179,-1.06,-136.3,140.1,-10.8,113,1184,0.00,2.53,0.00,0.000,6,0.000,0.029,2907,2139,3746,0,0,0,0,0,0
$GC,1444,-1.06,-136.3,168.7,-10.0,137,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2139,3746,0,0,0,0,0,0
$GC,1705,-1.06,-136.3,193.6,-9.0,162,1709,0.00,2.50,0.00,0.000,4,0.000,0.053,2898,604,3747,0,0,0,0,0,0
$GC,1729,-1.06,-136.3,195.2,-9.1,163,1733,0.00,2.42,0.00,0.000,6,0.000,0.024,2907,2174,3747,0,0,0,0,0,0
$GC,1981,-1.06,-136.3,216.4,-8.0,172,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2174,3746,0,0,0,0,0,0
$GC,2225,-1.12,-136.3,237.3,-8.8,178,2229,0.00,2.60,0.00,0.000,4,0.000,0.054,2907,598,3746,0,0,0,0,0,0
$GC,2254,-1.18,-136.3,240.0,-9.6,178,2258,0.00,2.42,0.00,0.000,6,0.000,0.018,2907,2161,3746,0,0,0,0,0,0
$GC,2504,-1.26,-136.3,260.9,-7.9,184,2509,0.15,2.55,0.00,0.000,4,0.063,0.041,2845,3751,3746,0,0,0,0,0,0
$GC,2549,-1.26,-136.3,265.4,-9.8,185,2553,0.00,2.50,0.00,0.000,6,0.000,0.029,2852,2164,3746,0,0,0,0,0,0
$GC,2828,-1.26,-136.3,290.0,-8.5,192,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2164,3745,0,0,0,0,0,0
$GC,3070,-1.26,-136.3,311.2,-8.8,198,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2164,3745,0,0,0,0,0,0
$GC,3314,-1.26,-136.3,334.3,-9.4,204,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2164,3744,0,0,0,0,0,0
$GC,3559,-1.26,-136.3,356.5,-9.0,210,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2164,3743,0,0,0,0,0,0
$GC,3801,-1.26,-136.3,378.0,-8.7,216,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2164,3741,0,0,0,0,0,0
$GC,4045,-1.26,-136.3,400.3,-9.4,222,4049,0.00,2.72,0.00,0.000,4,0.000,0.085,2851,613,3740,0,0,0,0,0,0
$GC,4060,-1.26,-136.3,401.8,-9.0,222,4065,0.00,2.47,0.00,0.000,6,0.000,0.033,2852,2143,3739,0,0,0,0,0,0
$GC,4323,-1.26,-136.3,425.5,-9.1,229,4328,0.00,2.72,0.00,0.000,4,0.000,0.061,2843,3767,3738,0,0,0,0,0,0
$GC,4356,-1.26,-136.3,428.8,-9.5,229,4361,0.00,2.60,0.00,0.000,6,0.000,0.048,2852,2192,3738,0,0,0,0,0,0
$GC,4606,-1.26,-136.3,449.9,-8.5,236,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2191,3735,0,0,0,0,0,0
$GC,4851,-1.26,-136.3,469.0,-7.7,242,4856,0.00,2.65,0.00,0.000,4,0.000,0.060,2846,3763,3734,0,0,0,0,0,0
$GC,4878,-1.26,-136.3,471.3,-7.9,242,4883,0.00,2.65,0.00,0.000,6,0.000,0.051,2852,2178,3733,0,0,0,0,0,0
$GC,5128,-1.26,-136.3,490.9,-8.0,248,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2178,3732,0,0,0,0,0,0
$GC,5374,-1.26,-136.3,511.4,-8.5,254,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2178,3730,0,0,0,0,0,0
$GC,5616,-1.26,-136.3,533.7,-9.0,260,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2177,3728,0,0,0,0,0,0
$GC,5859,-1.26,-136.3,555.5,-8.8,266,5864,0.00,2.80,0.00,0.000,4,0.000,0.080,2846,3764,3727,0,0,0,0,0,0
$GC,5886,-1.26,-136.3,557.8,-8.7,266,5897,2.30,2.70,0.00,0.000,6,0.071,0.058,2956,2182,3727,8,0,0,0,0,0
$GC,6144,-2.28,-136.3,574.4,-7.6,273,6153,3.60,2.80,0.00,0.000,4,0.118,0.072,2650,3757,3725,0,0,0,0,0,0
$GC,6408,-1.93,-136.3,611.0,-15.6,278,6414,0.35,2.95,0.00,0.000,6,0.106,0.080,2721,2103,3722,0,0,0,0,0,0
$GC,6658,-1.72,-136.3,642.1,-12.4,285,6664,0.22,3.03,0.00,0.000,4,0.124,0.092,2765,3762,3721,0,0,0,0,0,0
$GC,6720,-1.60,-136.3,649.4,-11.5,286,6726,0.15,3.03,0.00,0.000,6,0.134,0.100,2793,2111,3720,0,0,0,0,0,0
$GC,6984,-1.53,-136.3,674.7,-9.7,293,6989,0.00,3.10,0.00,0.000,4,0.000,0.113,2788,3754,3719,0,0,0,0,0,0
$GC,7005,-1.45,-136.3,677.4,-10.8,293,7014,1.45,3.08,0.00,0.000,6,0.088,0.107,2974,2113,3719,5,0,0,0,0,0
$GC,7268,-2.13,-136.3,694.4,-7.5,300,7277,1.90,3.17,0.00,0.000,4,0.062,0.154,2671,591,3717,0,0,0,0,0,0
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7315,begin apogee
$GC,7324,-0.31,0.0,700.1,13.4,301,7440,1.85,0.00,109.53,1.091,6,0.104,0.000,3068,2171,3189,0,0,0,0,0,0
$STATE,7441,end apogee,CONTROL_FINISHED_OK
$STATE,7441,begin climb
$GC,7445,1.31,136.3,705.0,0.0,304,7573,1.52,3.17,117.25,1.056,4,0.046,0.123,3418,3768,2633,0,0,0,0,0,0
$GC,7789,1.14,136.3,672.9,11.7,312,7795,0.20,3.00,0.00,0.000,6,0.132,0.103,3394,2184,2625,0,0,0,0,0,0
$GC,8074,1.06,136.3,643.7,10.3,319,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2184,2622,0,0,0,0,0,0
$GC,8321,0.98,136.3,617.4,10.9,325,8326,0.17,2.85,0.00,0.000,4,0.122,0.085,3361,3772,2620,0,0,0,0,0,0
$GC,8350,0.98,136.3,613.8,11.6,325,8355,0.00,2.83,0.00,0.000,6,0.000,0.071,3342,2182,2620,0,0,0,0,0,0
$GC,8600,1.00,147.4,589.8,9.5,331,8614,0.00,2.88,8.50,0.884,4,0.000,0.075,3361,3769,2589,0,0,0,0,0,0
$GC,8678,1.01,155.8,582.2,9.6,332,8693,0.00,2.72,9.57,0.894,6,0.000,0.060,3360,2193,2554,0,0,0,0,0,0
$GC,8971,1.02,170.2,554.5,9.3,340,8987,0.00,0.00,13.80,0.931,6,0.000,0.000,3360,2193,2496,0,0,0,0,0,0
$GC,9215,1.06,200.8,533.7,8.5,346,9249,0.00,2.80,28.30,0.960,4,0.000,0.059,3361,3769,2370,0,0,0,0,0,0
$GC,9285,1.13,218.5,527.6,9.1,347,9310,1.12,2.70,17.45,0.918,6,0.041,0.053,3552,2210,2298,4,0,0,0,0,0
$GC,9590,0.64,218.5,455.1,25.1,355,9599,1.80,2.67,0.00,0.000,4,0.130,0.043,3194,3781,2292,0,0,0,0,0,0
$GC,9682,0.91,270.3,445.8,7.4,357,9736,0.22,2.60,46.08,0.911,6,0.054,0.038,3350,2224,2086,0,0,0,0,0,0
$GC,10009,1.01,272.5,413.5,9.9,365,10014,0.00,2.90,0.00,0.000,4,0.000,0.078,3349,588,2079,0,0,0,0,0,0
$GC,10070,1.10,272.5,407.1,10.5,366,10075,0.15,2.67,0.00,0.000,6,0.069,0.032,3389,2241,2077,0,0,0,0,0,0
$GC,10331,1.10,272.5,376.5,11.9,373,10335,0.00,2.55,0.00,0.000,4,0.000,0.042,3374,3785,2077,0,0,0,0,0,0
$GC,10348,1.10,272.5,374.2,12.4,373,10353,0.00,2.60,0.00,0.000,6,0.000,0.033,3372,2206,2076,0,0,0,0,0,0
$GC,10608,1.10,272.5,340.4,13.0,380,10613,0.00,2.78,0.00,0.000,4,0.000,0.065,3389,593,2075,0,0,0,0,0,0
$GC,10641,1.10,272.5,335.9,14.4,380,10647,0.00,2.65,0.00,0.000,6,0.000,0.029,3389,2245,2075,0,0,0,0,0,0
$GC,10893,1.14,272.5,305.7,12.1,387,10897,0.00,2.53,0.00,0.000,4,0.000,0.042,3375,3784,2074,0,0,0,0,0,0
$GC,10914,1.18,272.5,302.7,12.3,387,10924,1.95,2.58,0.00,0.000,6,0.094,0.033,3447,2203,2074,7,0,0,0,0,0
$GC,11174,0.62,272.5,225.0,30.6,394,11184,2.62,2.65,0.00,0.000,4,0.127,0.038,3204,3787,2074,0,0,0,0,0,0
$GC,11226,1.06,343.5,218.7,6.5,395,11299,2.17,2.53,62.22,0.739,6,0.051,0.031,3745,2214,1789,7,0,0,0,0,0
$GC,11557,0.52,343.5,113.9,32.0,417,11567,2.67,2.60,0.00,0.000,4,0.120,0.037,3262,3783,1780,0,0,0,0,0,0
$GC,11607,1.09,445.9,106.0,4.9,421,11705,0.50,2.50,85.45,0.637,6,0.038,0.028,3393,2226,1371,0,0,0,0,0,0
$GC,11960,1.22,445.9,67.4,11.2,453,11965,0.00,2.72,0.00,0.000,4,0.000,0.051,3360,596,1366,0,0,0,0,0,0
$GC,12068,1.39,447.2,55.8,10.0,461,12073,0.22,2.58,0.00,0.000,6,0.052,0.020,3457,2243,1365,0,0,0,0,0,0
$GC,12356,1.39,447.2,13.1,13.3,493,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2246,1364,0,0,0,0,0,0
$STATE,12420,end climb,SURFACE_DEPTH_REACHED
$STATE,12420,begin surface coast
$FINISH,-0.4,1.023739
$STATE,12449,end surface coast,CONTROL_FINISHED_OK
$STATE,12449,begin surface
$SM_CCo,12533,0.00,0.000,0,0,1360,448.90
$SM_GC,0.24,12.05,0.00,0.00,0.024,0.000,0.000,473,2137,1360,-12.18,-1.22,448.90
$IRIDIUM_FIX,2234.68,-15801.07,140901,141413
$TT8_MAMPS,0.026078
$HUMID,65.04
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.60
$XPDR_PINGS,52
$24V_AH,23.4,23.747
$10V_AH,10.3,21.891
$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,52.675,141.000,498.150,0.000,0.000,0.000,0.000,0.000,13.000,0.000,12.287,1071.320,8768.767,568.296,1936.715,255.508,33.359,1439.065,0.000,1929.386,0.000,0.533,0.000
$DEVICE_MAMPS,173.342,154.167,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.321,242.558,329.168,612.026,926.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,38379,506
$CAP_FILE_SIZE,141152,0
$CFSIZE,260165632,136445952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,31,0,0,0
$GPS,200612,182531,2241.179,-15803.061,39,1.2,40,10.0