version: 66.06
glider: 146
mission: 7
dive: 160
start: 6 19 112 17 57 35
data:
$ID,146
$MISSION,7
$DIVE,160
$D_SURF,4
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,300
$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,-291504.38
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,174222,2246.246,-15801.843,29,3.3,48,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-67.3
$GPS2,175643,2246.336,-15801.696,37,3.4,56,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,PICKUP
$TGT_LATLONG,2242.500,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.124,-0.219
$KALMAN_X,-11316.6,39.9,-114.0,14844.7,584.4
$KALMAN_Y,42940.3,-87.5,111.9,-32323.8,586.4
$MHEAD_RNG_PITCHd_Wd,199.5,7445,-18.2,-10.000
$D_GRID,360
$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,-1.30,-136.3,0.0,0.0,0,111,0.00,0.00,-87.03,0.000,6,0.000,0.000,467,2155,3744,0,0,0,0,0,0
$GC,115,-1.30,-136.3,3.4,-8.8,11,133,13.20,2.55,0.00,0.000,4,0.173,0.028,2851,3754,3745,0,0,0,0,0,0
$GC,147,0.07,-136.3,16.1,-36.6,14,156,1.38,2.53,0.00,0.000,6,0.089,0.031,3156,2183,3745,0,0,0,0,0,0
$GC,458,-0.54,-136.3,40.5,-8.0,52,464,0.55,2.53,0.00,0.000,4,0.064,0.032,3003,3761,3746,0,0,0,0,0,0
$GC,556,-0.76,-136.3,47.4,-6.5,59,561,0.17,2.53,0.00,0.000,6,0.054,0.021,2954,2145,3745,0,0,0,0,0,0
$GC,825,-0.82,-136.3,71.3,-8.9,83,829,0.00,2.50,0.00,0.000,4,0.000,0.047,2954,605,3746,0,0,0,0,0,0
$GC,860,-0.88,-136.3,74.9,-10.0,85,864,0.00,2.40,0.00,0.000,6,0.000,0.017,2954,2170,3745,0,0,0,0,0,0
$GC,1127,-0.95,-136.3,99.5,-8.5,109,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2171,3746,0,0,0,0,0,0
$GC,1392,-1.06,-136.3,120.4,-7.3,134,1401,0.17,0.00,0.00,0.000,6,0.056,0.000,2890,2171,3747,0,0,0,0,0,0
$GC,1656,-1.06,-136.3,149.6,-11.4,159,1661,0.10,2.55,0.00,0.000,4,0.116,0.047,2912,612,3747,0,0,0,0,0,0
$GC,1678,-1.06,-136.3,152.0,-11.2,160,1682,0.00,2.38,0.00,0.000,6,0.000,0.018,2912,2164,3747,0,0,0,0,0,0
$GC,1945,-1.09,-136.3,177.8,-10.2,184,1949,0.00,2.50,0.00,0.000,4,0.000,0.038,2912,3748,3747,0,0,0,0,0,0
$GC,1976,-1.15,-136.3,181.1,-10.2,186,1981,0.00,2.45,0.00,0.000,6,0.000,0.024,2879,2161,3748,0,0,0,0,0,0
$GC,2238,-1.20,-136.3,203.5,-8.1,207,2240,0.12,0.00,0.00,0.000,6,0.067,0.000,2863,2161,3747,0,0,0,0,0,0
$GC,2479,-1.20,-136.3,228.8,-10.5,213,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2161,3748,0,0,0,0,0,0
$GC,2725,-1.20,-136.3,253.3,-10.2,219,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2161,3748,0,0,0,0,0,0
$GC,2966,-1.20,-136.3,278.1,-10.2,225,2971,0.00,2.55,0.00,0.000,4,0.000,0.035,2846,3749,3747,0,0,0,0,0,0
$GC,2989,-1.20,-136.3,280.1,-9.1,225,2993,0.00,2.47,0.00,0.000,6,0.000,0.027,2862,2164,3747,0,0,0,0,0,0
$GC,3244,-1.20,-136.3,302.5,-8.7,232,3248,0.00,2.65,0.00,0.000,4,0.000,0.067,2862,600,3747,0,0,0,0,0,0
$GC,3261,-1.20,-136.3,304.1,-8.7,232,3265,0.00,2.42,0.00,0.000,6,0.000,0.031,2862,2135,3747,0,0,0,0,0,0
$GC,3522,-1.20,-136.3,328.1,-9.6,239,3526,0.00,2.62,0.00,0.000,4,0.000,0.046,2851,3756,3747,0,0,0,0,0,0
$GC,3548,-1.20,-136.3,330.9,-10.3,239,3554,0.85,2.55,0.00,0.000,6,0.069,0.035,2893,2156,3746,3,0,0,0,0,0
$GC,3801,-1.80,-136.3,345.2,-6.5,245,3804,1.35,0.00,0.00,0.000,6,0.043,0.000,2744,2156,3745,0,0,0,0,0,0
$STATE,3958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3958,begin apogee
$GC,3964,-0.31,0.0,364.7,12.1,249,4081,1.48,0.00,109.22,0.776,6,0.082,0.000,3074,2156,3190,0,0,0,0,0,0
$STATE,4081,end apogee,CONTROL_FINISHED_OK
$STATE,4081,begin climb
$GC,4084,1.30,136.3,367.7,0.0,252,4202,1.50,2.70,110.47,0.758,4,0.042,0.042,3419,3762,2633,0,0,0,0,0,0
$GC,4241,1.19,136.3,356.1,12.1,255,4247,0.15,2.62,0.00,0.000,6,0.123,0.037,3404,2180,2630,0,0,0,0,0,0
$GC,4491,1.14,136.3,330.5,10.0,262,4496,0.00,2.78,0.00,0.000,4,0.000,0.071,3404,594,2626,0,0,0,0,0,0
$GC,4538,1.08,136.3,325.8,10.9,263,4543,0.12,2.53,0.00,0.000,6,0.120,0.023,3379,2180,2626,0,0,0,0,0,0
$GC,4815,1.13,177.5,303.2,8.0,270,4857,0.00,2.65,34.05,0.727,4,0.000,0.042,3380,3763,2465,0,0,0,0,0,0
$GC,4906,1.19,189.4,295.6,9.4,272,4925,0.10,2.60,11.40,0.661,6,0.084,0.035,3409,2175,2417,0,0,0,0,0,0
$GC,5192,1.19,189.4,266.5,10.1,279,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2176,2413,0,0,0,0,0,0
$GC,5436,1.21,206.4,244.5,9.2,285,5453,0.00,0.00,15.25,0.673,6,0.000,0.000,3408,2175,2348,0,0,0,0,0,0
$GC,5682,1.21,210.1,220.2,9.8,291,5688,0.00,0.00,4.15,0.466,6,0.000,0.000,3408,2175,2333,0,0,0,0,0,0
$GC,5925,1.21,210.1,194.5,10.1,300,5930,0.00,2.58,0.00,0.000,4,0.000,0.035,3408,3760,2331,0,0,0,0,0,0
$GC,6018,1.25,210.1,185.2,10.4,307,6022,0.00,2.55,0.00,0.000,6,0.000,0.028,3408,2175,2330,0,0,0,0,0,0
$GC,6284,1.26,217.9,160.0,9.6,331,6298,0.00,2.62,8.10,0.565,4,0.000,0.041,3355,3755,2301,0,0,0,0,0,0
$GC,6332,1.30,217.9,155.3,10.1,335,6336,0.00,2.53,0.00,0.000,6,0.000,0.028,3408,2187,2299,0,0,0,0,0,0
$GC,6598,1.31,228.9,131.8,9.5,359,6617,0.00,0.00,11.10,0.571,6,0.000,0.000,3408,2187,2255,0,0,0,0,0,0
$GC,6877,1.39,247.5,107.0,9.1,385,6897,0.15,0.00,16.60,0.571,6,0.066,0.000,3454,2187,2183,0,0,0,0,0,0
$GC,7151,1.39,252.7,77.2,9.7,411,7166,0.00,2.60,5.82,0.458,4,0.000,0.041,3454,3756,2159,0,0,0,0,0,0
$GC,7209,1.39,252.7,71.1,11.7,415,7214,0.00,2.53,0.00,0.000,6,0.000,0.028,3454,2187,2159,0,0,0,0,0,0
$GC,7475,1.39,252.7,41.3,11.6,439,7480,0.00,2.55,0.00,0.000,4,0.000,0.035,3454,3763,2159,0,0,0,0,0,0
$GC,7496,1.39,252.7,38.6,11.7,440,7500,0.00,2.47,0.00,0.000,6,0.000,0.027,3454,2202,2158,0,0,0,0,0,0
$STATE,7808,end climb,SURFACE_DEPTH_REACHED
$STATE,7808,begin surface coast
$FINISH,-0.5,1.023748
$STATE,7870,end surface coast,CONTROL_FINISHED_OK
$STATE,7870,begin surface
$SM_CCo,7891,102.35,0.505,0,0,1640,380.21
$SM_GC,0.05,0.00,0.00,102.35,0.000,0.000,0.505,466,2197,1640,-12.32,0.48,380.21
$IRIDIUM_FIX,2234.68,-15803.24,130901,171758
$TT8_MAMPS,0.026078
$HUMID,57.71
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,22.40
$XPDR_PINGS,33
$24V_AH,23.6,22.766
$10V_AH,10.3,21.236
$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,33.350,76.475,326.175,102.350,0.000,77.549,105.852,349.586,8.250,0.000,59.054,930.974,4677.803,509.029,1908.076,828.551,33.370,1081.722,0.000,1880.088,0.000,0.536,0.000
$DEVICE_MAMPS,172.575,71.331,776.204,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.154,318.966,428.580,870.260,1316.973,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,38257,491
$CAP_FILE_SIZE,91145,0
$CFSIZE,260165632,136806400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,190612,201254,2245.829,-15801.516,66,1.1,83,10.1