version: 66.06
glider: 146
mission: 7
dive: 169
start: 6 21 112 4 10 6
data:
$ID,146
$MISSION,7
$DIVE,169
$D_SURF,4
$D_FLARE,3
$D_TGT,550
$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,400
$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,-292810
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,040456,2240.766,-15804.135,11,1.3,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-63.5
$GPS2,040914,2240.807,-15804.122,14,1.8,14,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,STNKAENA
$TGT_LATLONG,2150.800,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.040,-0.250
$KALMAN_X,-1821.5,154.4,267.0,714.7,49.6
$KALMAN_Y,54542.8,149.8,150.3,-54451.9,1537.3
$MHEAD_RNG_PITCHd_Wd,179.0,97470,-18.5,-10.185
$D_GRID,550
$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,-1.32,-136.3,0.0,0.0,0,160,0.00,0.00,-133.32,0.000,6,0.000,0.000,481,2174,3746,0,0,0,0,0,0
$GC,165,-1.32,-136.3,3.9,-10.2,17,183,12.98,2.60,0.00,0.000,4,0.171,0.043,2763,576,3747,0,0,0,0,0,0
$GC,267,-1.18,-136.3,29.6,-14.7,31,275,0.15,2.55,0.00,0.000,6,0.104,0.018,2884,2205,3748,0,0,0,0,0,0
$GC,536,-1.09,-136.3,66.4,-13.3,56,541,0.10,2.65,0.00,0.000,4,0.131,0.050,2871,585,3748,0,0,0,0,0,0
$GC,559,-1.00,-136.3,70.2,-13.4,57,564,0.00,2.45,0.00,0.000,6,0.000,0.016,2905,2196,3747,0,0,0,0,0,0
$GC,826,-1.00,-136.3,100.0,-10.6,81,831,0.10,2.47,0.00,0.000,4,0.122,0.031,2924,3750,3747,0,0,0,0,0,0
$GC,842,-1.00,-136.3,102.2,-10.4,82,847,0.00,2.47,0.00,0.000,6,0.000,0.021,2926,2150,3746,0,0,0,0,0,0
$GC,1105,-1.05,-136.3,125.7,-8.7,106,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2150,3746,0,0,0,0,0,0
$GC,1362,-1.11,-136.3,148.3,-9.0,130,1372,0.10,0.00,0.00,0.000,6,0.086,0.000,2883,2152,3746,0,0,0,0,0,0
$GC,1623,-1.11,-136.3,177.5,-11.1,155,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2150,3746,0,0,0,0,0,0
$GC,1878,-1.11,-136.3,205.1,-10.9,176,1882,0.00,2.55,0.00,0.000,4,0.000,0.035,2872,3750,3745,0,0,0,0,0,0
$GC,1921,-1.11,-136.3,210.1,-10.5,177,1930,1.80,2.45,0.00,0.000,6,0.064,0.028,2971,2179,3745,6,0,0,0,0,0
$GC,2206,-1.91,-136.3,223.2,-4.7,184,2215,2.42,2.62,0.00,0.000,4,0.038,0.047,2615,605,3744,0,0,0,0,0,0
$GC,2412,-1.56,-136.3,258.0,-16.2,188,2418,0.47,2.40,0.00,0.000,6,0.097,0.026,2802,2160,3744,0,0,0,0,0,0
$GC,2670,-1.44,-136.3,288.5,-11.8,195,2672,0.12,0.00,0.00,0.000,6,0.117,0.000,2829,2160,3744,0,0,0,0,0,0
$GC,2913,-1.39,-136.3,313.1,-9.7,201,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2160,3743,0,0,0,0,0,0
$GC,3156,-1.35,-136.3,336.4,-9.4,207,3161,0.10,2.60,0.00,0.000,4,0.127,0.046,2840,3747,3742,0,0,0,0,0,0
$GC,3198,-1.35,-136.3,340.0,-9.1,208,3202,0.00,2.53,0.00,0.000,6,0.000,0.034,2849,2172,3742,0,0,0,0,0,0
$GC,3481,-1.35,-136.3,366.0,-9.3,215,3485,0.00,2.75,0.00,0.000,4,0.000,0.081,2850,597,3740,0,0,0,0,0,0
$GC,3508,-1.35,-136.3,368.8,-10.1,215,3512,0.00,2.47,0.00,0.000,6,0.000,0.037,2850,2138,3740,0,0,0,0,0,0
$GC,3760,-1.35,-136.3,392.5,-9.3,221,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2137,3738,0,0,0,0,0,0
$GC,4001,-1.35,-136.3,413.3,-8.5,227,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2137,3737,0,0,0,0,0,0
$GC,4245,-1.35,-136.3,433.7,-8.4,233,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2138,3734,0,0,0,0,0,0
$GC,4489,-1.35,-136.3,455.2,-8.9,239,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2138,3732,0,0,0,0,0,0
$GC,4733,-1.35,-136.3,476.6,-8.8,245,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2138,3731,0,0,0,0,0,0
$GC,4976,-1.35,-136.3,497.6,-8.6,251,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2138,3729,0,0,0,0,0,0
$GC,5220,-1.35,-136.3,517.8,-8.2,257,5225,0.00,2.83,0.00,0.000,4,0.000,0.077,2844,3757,3727,0,0,0,0,0,0
$GC,5262,-1.39,-136.3,521.2,-8.7,258,5266,0.00,2.70,0.00,0.000,6,0.000,0.055,2850,2162,3727,0,0,0,0,0,0
$GC,5545,-1.43,-136.3,544.0,-7.8,265,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2162,3724,0,0,0,0,0,0
$STATE,5623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5624,begin apogee
$GC,5629,-0.31,0.0,550.4,7.8,267,5741,0.98,0.00,108.22,0.956,6,0.073,0.000,3074,2162,3190,0,0,0,0,0,0
$STATE,5741,end apogee,CONTROL_FINISHED_OK
$STATE,5742,begin climb
$GC,5746,1.32,136.3,552.0,0.0,269,5870,1.50,2.80,114.30,0.926,4,0.042,0.060,3418,3754,2633,0,0,0,0,0,0
$GC,5889,1.17,136.3,543.1,10.6,272,5894,0.17,2.72,0.00,0.000,6,0.133,0.060,3401,2181,2630,0,0,0,0,0,0
$GC,6156,1.11,146.6,516.7,9.7,279,6167,0.00,0.00,9.05,0.792,6,0.000,0.000,3401,2181,2592,0,0,0,0,0,0
$GC,6399,1.06,146.6,491.8,10.4,285,6405,0.12,2.70,0.00,0.000,4,0.132,0.054,3366,3766,2588,0,0,0,0,0,0
$GC,6462,1.07,155.0,485.6,9.8,286,6477,0.00,2.70,8.70,0.785,6,0.000,0.052,3376,2173,2556,0,0,0,0,0,0
$GC,6727,1.12,195.6,463.3,8.1,293,6769,0.00,2.70,35.95,0.883,4,0.000,0.047,3376,3770,2391,0,0,0,0,0,0
$GC,6787,1.15,219.9,458.2,9.0,294,6829,11.57,2.72,22.40,0.854,6,0.472,0.047,3486,2169,2293,42,0,0,0,0,0
$GC,7096,0.54,219.9,370.7,29.8,302,7105,2.80,2.65,0.00,0.000,4,0.126,0.036,3212,3759,2285,0,0,0,0,0,0
$GC,7170,0.91,290.7,362.4,6.6,303,7239,0.30,2.58,61.42,0.825,6,0.044,0.036,3350,2178,2004,0,0,0,0,0,0
$GC,7514,1.02,290.7,327.3,10.3,312,7519,0.00,2.72,0.00,0.000,4,0.000,0.063,3349,595,1996,0,0,0,0,0,0
$GC,7571,1.15,290.7,321.0,11.2,313,7576,0.20,2.55,0.00,0.000,6,0.058,0.022,3404,2200,1994,0,0,0,0,0,0
$GC,7840,1.15,290.7,286.9,13.1,320,7844,0.00,2.55,0.00,0.000,4,0.000,0.047,3404,3758,1992,0,0,0,0,0,0
$GC,7866,1.15,290.7,283.2,12.6,320,7871,0.00,2.58,0.00,0.000,6,0.000,0.034,3404,2170,1992,0,0,0,0,0,0
$GC,8118,1.15,290.7,251.3,12.8,326,8123,0.00,2.60,0.00,0.000,4,0.000,0.039,3396,3761,1991,0,0,0,0,0,0
$GC,8146,1.20,290.7,247.2,13.5,326,8150,0.00,2.55,0.00,0.000,6,0.000,0.035,3403,2187,1990,0,0,0,0,0,0
$GC,8396,1.24,290.7,217.5,11.3,332,8400,0.00,2.55,0.00,0.000,4,0.000,0.038,3404,3761,1990,0,0,0,0,0,0
$GC,8439,1.32,290.7,212.8,11.6,333,8444,0.12,2.50,0.00,0.000,6,0.084,0.030,3439,2200,1989,0,0,0,0,0,0
$GC,8703,1.32,290.7,178.2,13.3,349,8708,0.00,2.67,0.00,0.000,4,0.000,0.054,3439,596,1989,0,0,0,0,0,0
$GC,8782,1.32,290.7,167.4,13.1,355,8787,0.00,2.53,0.00,0.000,6,0.000,0.027,3439,2200,1988,0,0,0,0,0,0
$GC,9049,1.32,290.7,135.3,12.0,379,9053,0.00,2.50,0.00,0.000,4,0.000,0.042,3421,3760,1989,0,0,0,0,0,0
$GC,9080,1.32,290.7,131.1,13.1,381,9084,0.00,2.53,0.00,0.000,6,0.000,0.028,3439,2185,1988,0,0,0,0,0,0
$GC,9348,1.32,290.7,99.2,11.8,405,9352,0.00,2.60,0.00,0.000,4,0.000,0.057,3337,595,1988,0,0,0,0,0,0
$GC,9381,1.32,290.7,95.0,11.9,407,9385,0.00,2.47,0.00,0.000,6,0.000,0.020,3439,2194,1988,0,0,0,0,0,0
$GC,9649,1.32,290.7,64.3,11.1,431,9653,0.00,2.47,0.00,0.000,4,0.000,0.035,3439,3759,1989,0,0,0,0,0,0
$GC,9682,1.36,290.7,60.1,12.2,433,9696,3.60,2.47,0.00,0.000,6,0.352,0.027,3471,2186,1989,13,0,0,0,0,0
$STATE,9889,end climb,SURFACE_DEPTH_REACHED
$STATE,9889,begin surface coast
$FINISH,-0.5,1.023726
$STATE,9906,end surface coast,CONTROL_FINISHED_OK
$STATE,9906,begin surface
$SM_CCo,9929,69.05,0.522,0,0,1639,380.21
$SM_GC,0.26,0.00,0.00,69.05,0.000,0.000,0.522,468,2183,1639,-12.31,0.08,380.21
$IRIDIUM_FIX,2232.34,-15806.28,150901,040458
$TT8_MAMPS,0.026078
$HUMID,64.41
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.00
$XPDR_PINGS,38
$24V_AH,23.5,24.349
$10V_AH,10.3,22.227
$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,53.275,103.525,360.050,69.050,0.000,0.000,0.000,0.000,9.500,0.000,15.915,945.397,6684.841,522.196,1697.832,222.036,33.373,1219.742,0.000,1696.772,0.000,0.536,0.000
$DEVICE_MAMPS,472.472,81.302,956.449,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.909,256.484,338.691,607.525,919.549,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,35156,459
$CAP_FILE_SIZE,174949,0
$CFSIZE,260165632,136245248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,61,0,0,0
$GPS,210612,065823,2240.475,-15803.851,37,2.7,56,10.0