version: 66.06
glider: 146
mission: 7
dive: 302
start: 7 8 112 13 5 13
data:
$ID,146
$MISSION,7
$DIVE,302
$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,-298281.66
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,125803,2145.066,-15807.118,9,2.8,29,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-71.0
$GPS2,130419,2145.085,-15807.143,13,1.3,13,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,mile5
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.086,-0.237
$KALMAN_X,-170557.5,-613.7,444.9,164883.0,-35.5
$KALMAN_Y,197675.7,-101.3,493.8,-300857.2,-43.0
$MHEAD_RNG_PITCHd_Wd,190.1,9072,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.31,-136.3,0.0,0.0,0,116,0.00,0.00,-88.82,0.000,6,0.000,0.000,468,2203,3745,0,0,0,0,0,0
$GC,121,-1.31,-136.3,3.6,-7.8,10,142,12.88,2.67,0.00,0.000,4,0.170,0.037,2821,587,3748,0,0,0,0,0,0
$GC,253,-1.06,-136.3,37.4,-17.5,24,258,0.30,2.47,0.00,0.000,6,0.114,0.019,2883,2185,3749,0,0,0,0,0,0
$GC,520,-0.93,-136.3,77.2,-14.9,48,525,0.12,2.65,0.00,0.000,4,0.115,0.048,2910,586,3749,0,0,0,0,0,0
$GC,554,-0.87,-136.3,82.1,-12.7,50,559,0.00,2.45,0.00,0.000,6,0.000,0.018,2910,2178,3749,0,0,0,0,0,0
$GC,817,-0.82,-136.3,114.8,-10.2,74,822,0.10,2.53,0.00,0.000,4,0.121,0.035,2915,3750,3750,0,0,0,0,0,0
$GC,864,-0.89,-136.3,118.5,-8.7,77,869,0.00,2.47,0.00,0.000,6,0.000,0.022,2934,2169,3753,0,0,0,0,0,0
$GC,1132,-0.93,-136.3,140.6,-7.7,101,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2170,3751,0,0,0,0,0,0
$GC,1397,-0.97,-136.3,162.4,-9.6,126,1402,0.12,2.55,0.00,0.000,4,0.068,0.039,2862,3756,3751,0,0,0,0,0,0
$GC,1427,-0.97,-136.3,166.2,-11.3,128,1432,0.00,2.42,0.00,0.000,6,0.000,0.021,2880,2193,3751,0,0,0,0,0,0
$GC,1691,-0.93,-136.3,194.1,-9.7,152,1696,0.15,2.62,0.00,0.000,4,0.095,0.057,2906,610,3752,0,0,0,0,0,0
$GC,1713,-0.93,-136.3,196.4,-8.7,153,1723,0.00,2.47,0.00,0.000,6,0.000,0.021,2914,2203,3752,0,0,0,0,0,0
$GC,1965,-0.93,-136.3,217.1,-8.3,163,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2203,3752,0,0,0,0,0,0
$GC,2211,-0.97,-136.3,235.8,-7.7,169,2215,0.00,2.65,0.00,0.000,4,0.000,0.051,2914,598,3752,0,0,0,0,0,0
$GC,2272,-1.03,-136.3,242.1,-9.6,170,2277,0.15,2.45,0.00,0.000,6,0.060,0.022,2857,2179,3752,0,0,0,0,0,0
$GC,2536,-0.98,-136.3,268.6,-9.7,177,2538,0.20,0.00,0.00,0.000,6,0.087,0.000,2902,2179,3752,0,0,0,0,0,0
$GC,2777,-1.04,-136.3,287.6,-7.7,183,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2180,3752,0,0,0,0,0,0
$GC,3021,-1.11,-136.3,307.0,-8.4,189,3023,0.12,0.00,0.00,0.000,6,0.066,0.000,2853,2179,3751,0,0,0,0,0,0
$GC,3264,-1.11,-136.3,330.5,-9.5,195,3266,0.10,0.00,0.00,0.000,6,0.110,0.000,2876,2180,3750,0,0,0,0,0,0
$GC,3510,-1.11,-136.3,350.8,-8.1,201,3515,0.00,2.58,0.00,0.000,4,0.000,0.047,2876,3750,3750,0,0,0,0,0,0
$GC,3544,-1.14,-136.3,353.5,-8.0,201,3549,0.00,2.47,0.00,0.000,6,0.000,0.031,2876,2208,3749,0,0,0,0,0,0
$GC,3794,-1.14,-136.3,371.9,-7.5,208,3798,0.00,2.83,0.00,0.000,4,0.000,0.087,2870,586,3748,0,0,0,0,0,0
$GC,3823,-1.14,-136.3,374.2,-8.4,208,3827,0.00,2.55,0.00,0.000,6,0.000,0.032,2875,2173,3748,0,0,0,0,0,0
$GC,4073,-1.18,-136.3,391.7,-6.9,214,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2171,3747,0,0,0,0,0,0
$STATE,4232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4232,begin apogee
$GC,4238,-0.31,0.0,402.5,6.7,218,4355,0.73,0.00,110.12,0.825,6,0.068,0.000,3045,2171,3191,0,0,0,0,0,0
$STATE,4356,end apogee,CONTROL_FINISHED_OK
$STATE,4356,begin climb
$GC,4360,1.31,136.3,404.8,0.0,221,4484,1.48,2.90,111.22,0.806,4,0.045,0.077,3396,594,2633,0,0,0,0,0,0
$GC,4498,1.27,146.3,396.6,9.5,224,4513,0.00,2.60,9.75,0.694,6,0.000,0.036,3355,2180,2593,0,0,0,0,0,0
$GC,4769,1.28,155.7,370.5,9.6,231,4783,0.00,2.67,8.85,0.689,4,0.000,0.054,3322,3768,2554,0,0,0,0,0,0
$GC,4816,1.28,155.7,365.3,11.3,232,4826,3.42,2.62,0.00,0.000,6,0.305,0.036,3693,2175,2552,11,0,0,0,0,0
$GC,5102,0.67,155.7,301.1,23.9,239,5111,2.72,2.67,0.00,0.000,4,0.117,0.040,3172,3758,2549,0,0,0,0,0,0
$GC,5181,1.10,278.4,295.4,3.9,240,5297,0.80,2.53,103.78,0.755,6,0.030,0.036,3482,2195,2055,2,0,0,0,0,0
$GC,5564,1.00,278.4,240.1,15.8,250,5567,0.70,0.00,0.00,0.000,6,0.113,0.000,3333,2196,2046,0,0,0,0,0,0
$GC,5808,1.29,350.0,223.0,6.5,256,5877,0.25,2.78,60.92,0.703,4,0.048,0.065,3408,599,1763,0,0,0,0,0,0
$GC,5926,1.37,350.0,209.1,13.1,258,5931,0.00,2.62,0.00,0.000,6,0.000,0.028,3401,2225,1760,0,0,0,0,0,0
$GC,6187,1.45,350.0,179.4,12.2,276,6192,0.10,2.80,0.00,0.000,4,0.085,0.054,3439,591,1757,0,0,0,0,0,0
$GC,6245,1.45,350.0,171.2,14.7,280,6250,0.00,2.58,0.00,0.000,6,0.000,0.024,3439,2203,1755,0,0,0,0,0,0
$GC,6507,1.45,350.0,134.2,13.8,304,6511,0.00,2.72,0.00,0.000,4,0.000,0.058,3438,593,1755,0,0,0,0,0,0
$GC,6538,1.45,350.0,129.6,15.9,306,6543,0.00,2.50,0.00,0.000,6,0.000,0.028,3439,2184,1754,0,0,0,0,0,0
$GC,6801,1.45,350.0,94.1,13.7,330,6805,0.00,2.53,0.00,0.000,4,0.000,0.039,3438,3755,1753,0,0,0,0,0,0
$GC,6836,1.53,350.0,89.2,13.3,332,6860,15.60,2.58,0.00,0.000,6,0.484,0.030,3205,2181,1752,56,1,0,0,0,0
$STATE,7142,end climb,SURFACE_DEPTH_REACHED
$STATE,7142,begin surface coast
$FINISH,-0.5,1.011196
$STATE,7164,end surface coast,CONTROL_FINISHED_OK
$STATE,7164,begin surface
$SM_CCo,7187,22.70,0.520,0,0,1640,380.21
$SM_GC,0.34,0.00,0.00,22.70,0.000,0.000,0.520,471,2178,1640,-12.16,-0.03,380.21
$IRIDIUM_FIX,2136.49,-15809.76,021001,101051
$TT8_MAMPS,0.027612
$HUMID,69.25
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,19.00
$XPDR_PINGS,28
$24V_AH,23.6,43.460
$10V_AH,10.3,36.925
$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,53.725,77.950,404.650,22.700,0.000,23.853,34.242,179.735,7.000,0.000,15.215,745.723,4347.236,463.142,1539.001,492.563,33.362,1027.467,0.000,1551.280,0.000,0.535,0.000
$DEVICE_MAMPS,483.977,87.438,824.525,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,246.542,201.122,289.307,601.275,955.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,28880,365
$CAP_FILE_SIZE,85756,8
$CFSIZE,260165632,129273856
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,69,0,0,0
$GPS,080712,150616,2144.006,-15807.502,7,1.8,11,9.9