version: 66.06
glider: 146
mission: 7
dive: 301
start: 7 8 112 10 43 54
data:
$ID,146
$MISSION,7
$DIVE,301
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,520
$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,133
$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,-298265.81
$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,3115
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$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,28
$R_STBD_OVSHOOT,44
$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
$GPS1,103536,2145.828,-15806.506,67,1.0,67,9.9
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-70.7
$GPS2,104300,2145.823,-15806.603,8,1.3,14,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,mile5
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.113,-0.225
$KALMAN_X,-169691.9,-534.5,-526.0,165820.3,371.4
$KALMAN_Y,197733.1,-52.3,-60.5,-299050.5,526.5
$MHEAD_RNG_PITCHd_Wd,196.7,10687,-18.2,-10.025
$D_GRID,400
$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,-136.3,0.0,0.0,0,114,0.00,0.00,-88.15,0.000,6,0.000,0.000,463,2162,3746,0,0,0,0,0,0
$GC,119,-1.31,-136.3,4.0,-8.7,10,138,12.98,2.58,0.00,0.000,4,0.172,0.038,2822,592,3747,0,0,0,0,0,0
$GC,278,-1.05,-136.3,42.3,-16.1,25,289,0.25,2.50,0.00,0.000,6,0.101,0.018,2880,2183,3748,0,0,0,0,0,0
$GC,546,-0.96,-136.3,78.0,-11.3,50,551,0.12,2.62,0.00,0.000,4,0.110,0.045,2906,587,3748,0,0,0,0,0,0
$GC,572,-0.88,-136.3,80.6,-10.8,51,577,0.00,2.45,0.00,0.000,6,0.000,0.023,2907,2195,3748,0,0,0,0,0,0
$GC,837,-0.88,-136.3,109.1,-10.3,75,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2199,3749,0,0,0,0,0,0
$GC,1102,-0.88,-136.3,134.4,-10.9,100,1106,0.00,2.47,0.00,0.000,4,0.000,0.035,2887,3744,3750,0,0,0,0,0,0
$GC,1123,-0.88,-136.3,136.6,-11.0,101,1127,0.00,2.45,0.00,0.000,6,0.000,0.027,2907,2164,3750,0,0,0,0,0,0
$GC,1384,-0.88,-136.3,166.4,-10.8,125,1388,0.00,2.53,0.00,0.000,4,0.000,0.055,2906,610,3750,0,0,0,0,0,0
$GC,1406,-0.88,-136.3,168.8,-10.9,126,1417,0.00,2.45,0.00,0.000,6,0.000,0.018,2906,2185,3750,0,0,0,0,0,0
$GC,1674,-0.88,-136.3,192.0,-9.1,151,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2185,3750,0,0,0,0,0,0
$GC,1957,-0.88,-136.3,223.0,-11.1,164,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2185,3751,0,0,0,0,0,0
$GC,2201,-0.88,-136.3,243.4,-8.0,170,2206,0.00,2.60,0.00,0.000,4,0.000,0.054,2906,611,3751,0,0,0,0,0,0
$GC,2304,-0.94,-136.3,253.0,-8.8,172,2309,0.00,2.45,0.00,0.000,6,0.000,0.025,2907,2188,3751,0,0,0,0,0,0
$GC,2572,-1.01,-136.3,273.3,-7.3,179,2576,0.00,2.53,0.00,0.000,4,0.000,0.039,2907,3754,3751,0,0,0,0,0,0
$GC,2633,-1.11,-136.3,277.1,-6.1,180,2637,0.00,2.47,0.00,0.000,6,0.000,0.031,2875,2189,3751,0,0,0,0,0,0
$GC,2896,-1.19,-136.3,295.0,-7.1,187,2901,0.22,2.67,0.00,0.000,4,0.046,0.062,2831,609,3750,0,0,0,0,0,0
$GC,2918,-1.19,-136.3,297.6,-10.0,187,2923,0.10,2.50,0.00,0.000,6,0.115,0.031,2853,2195,3750,0,0,0,0,0,0
$GC,3175,-1.19,-136.3,325.2,-10.6,194,3180,0.00,2.70,0.00,0.000,4,0.000,0.064,2853,597,3749,0,0,0,0,0,0
$GC,3196,-1.19,-136.3,327.6,-9.8,194,3201,0.00,2.53,0.00,0.000,6,0.000,0.034,2853,2187,3749,0,0,0,0,0,0
$GC,3452,-1.19,-136.3,350.3,-8.8,201,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2187,3748,0,0,0,0,0,0
$GC,3697,-1.19,-136.3,371.5,-8.8,207,3702,0.00,2.58,0.00,0.000,4,0.000,0.054,2853,3756,3747,0,0,0,0,0,0
$GC,3764,-1.19,-136.3,378.3,-10.1,208,3768,0.00,2.50,0.00,0.000,6,0.000,0.034,2831,2197,3746,0,0,0,0,0,0
$STATE,4016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4017,begin apogee
$GC,4022,-0.31,0.0,402.2,9.1,215,4139,0.82,0.00,109.50,0.826,6,0.071,0.000,3044,2197,3192,0,0,0,0,0,0
$STATE,4139,end apogee,CONTROL_FINISHED_OK
$STATE,4139,begin climb
$GC,4144,1.31,136.3,404.4,0.0,218,4260,1.48,0.00,111.28,0.806,6,0.046,0.000,3398,2197,2635,0,0,0,0,0,0
$GC,4471,1.31,136.3,374.9,10.3,226,4475,0.00,2.88,0.00,0.000,4,0.000,0.088,3397,593,2629,0,0,0,0,0,0
$GC,4489,1.28,143.8,373.3,9.7,226,4503,0.00,2.55,7.20,0.649,6,0.000,0.028,3397,2177,2602,0,0,0,0,0,0
$GC,4754,1.32,182.7,350.9,8.1,233,4795,0.00,2.70,33.58,0.775,4,0.000,0.047,3397,3771,2444,0,0,0,0,0,0
$GC,4834,1.33,183.5,343.2,10.0,234,4840,0.00,2.60,0.00,0.000,6,0.000,0.034,3324,2184,2442,0,0,0,0,0,0
$GC,5086,1.35,203.0,319.5,9.1,241,5111,0.00,2.88,18.20,0.739,4,0.000,0.076,3397,597,2361,0,0,0,0,0,0
$GC,5166,1.35,203.0,311.0,10.8,242,5172,0.00,2.55,0.00,0.000,6,0.000,0.028,3397,2201,2358,0,0,0,0,0,0
$GC,5418,1.35,203.0,283.9,11.0,249,5422,0.00,2.55,0.00,0.000,4,0.000,0.041,3354,3754,2356,0,0,0,0,0,0
$GC,5440,1.35,203.0,281.2,10.6,249,5444,0.00,2.55,0.00,0.000,6,0.000,0.032,3397,2194,2356,0,0,0,0,0,0
$GC,5696,1.44,244.0,260.1,8.0,256,5739,0.12,2.65,35.83,0.733,4,0.077,0.044,3329,3747,2194,0,0,0,0,0,0
$GC,5757,1.44,244.0,254.1,10.6,257,5762,0.45,2.53,0.00,0.000,6,0.047,0.037,3439,2211,2192,1,0,0,0,0,0
$GC,6018,1.22,244.0,214.1,15.2,264,6021,0.82,0.00,0.00,0.000,6,0.117,0.000,3381,2211,2189,0,0,0,0,0,0
$GC,6264,1.42,308.0,196.4,6.9,273,6327,0.17,2.65,54.65,0.689,4,0.061,0.040,3300,3755,1934,0,0,0,0,0,0
$GC,6354,1.48,308.0,188.6,11.0,280,6358,0.00,2.53,0.00,0.000,6,0.000,0.036,3431,2214,1931,0,0,0,0,0,0
$GC,6621,1.52,308.0,158.1,12.3,304,6626,0.00,2.72,0.00,0.000,4,0.000,0.056,3431,598,1928,0,0,0,0,0,0
$GC,6675,1.59,308.0,150.7,12.2,308,6681,0.12,2.55,0.00,0.000,6,0.073,0.028,3469,2219,1927,0,0,0,0,0,0
$GC,6938,1.59,308.0,116.8,12.7,332,6942,0.00,2.47,0.00,0.000,4,0.000,0.042,3466,3761,1926,0,0,0,0,0,0
$GC,6997,1.59,308.0,108.7,12.4,336,7007,0.00,2.53,0.00,0.000,6,0.000,0.035,3469,2216,1925,0,0,0,0,0,0
$GC,7266,1.59,308.0,77.1,12.3,361,7271,0.00,2.72,0.00,0.000,4,0.000,0.054,3469,592,1925,0,0,0,0,0,0
$GC,7316,1.59,308.0,70.6,12.6,364,7320,0.00,2.53,0.00,0.000,6,0.000,0.021,3469,2212,1924,0,0,0,0,0,0
$GC,7583,1.59,308.0,38.7,13.3,388,7588,0.00,2.72,0.00,0.000,4,0.000,0.052,3419,587,1923,0,0,0,0,0,0
$GC,7644,1.61,321.1,31.8,9.4,392,7661,0.00,2.50,11.18,0.507,6,0.000,0.021,3469,2200,1881,0,0,0,0,0,0
$STATE,7865,end climb,SURFACE_DEPTH_REACHED
$STATE,7865,begin surface coast
$FINISH,-0.6,1.002140
$STATE,7908,end surface coast,CONTROL_FINISHED_OK
$STATE,7908,begin surface
$SM_CCo,7930,46.75,0.516,0,0,1640,380.71
$SM_GC,0.15,0.00,0.00,46.75,0.000,0.000,0.516,468,2202,1640,-12.18,0.62,380.71
$IRIDIUM_FIX,2136.49,-15805.46,021001,080818
$TT8_MAMPS,0.021476
$HUMID,65.83
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.50
$XPDR_PINGS,35
$24V_AH,23.6,43.352
$10V_AH,10.3,36.832
$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,29.700,97.925,381.400,46.750,0.000,23.817,40.738,225.605,8.750,0.000,15.999,839.602,4685.258,485.512,1833.097,575.305,33.360,1093.840,0.000,1851.656,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,88.205,826.059,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,285.587,241.345,342.781,760.354,1213.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355908
$DATA_FILE_SIZE,31940,423
$CAP_FILE_SIZE,94237,0
$CFSIZE,260165632,129302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,080712,125803,2145.066,-15807.118,9,2.8,29,9.9