version: 66.06
glider: 146
mission: 7
dive: 303
start: 7 8 112 15 18 7
data:
$ID,146
$MISSION,7
$DIVE,303
$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,-298302.12
$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,42
$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
$GPS1,150616,2144.006,-15807.502,7,1.8,11,9.9
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-68.3
$GPS2,151714,2144.007,-15807.574,17,2.0,18,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,mile5
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.025,-0.251
$KALMAN_X,-171255.9,-373.6,850.7,164194.1,-694.5
$KALMAN_Y,197610.4,-41.7,397.2,-302751.4,-380.8
$MHEAD_RNG_PITCHd_Wd,175.8,6943,-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,-89.43,0.000,6,0.000,0.000,471,2178,3747,0,0,0,0,0,0
$GC,119,-1.31,-136.3,3.3,-7.1,10,138,13.02,2.60,0.00,0.000,4,0.173,0.045,2819,590,3747,0,0,0,0,0,0
$GC,235,-1.01,-136.3,35.6,-19.2,22,240,0.35,2.50,0.00,0.000,6,0.114,0.017,2891,2206,3749,0,0,0,0,0,0
$GC,502,-0.92,-136.3,71.6,-12.2,46,513,0.10,0.00,0.00,0.000,6,0.128,0.000,2912,2206,3747,0,0,0,0,0,0
$GC,771,-0.92,-136.3,99.6,-10.2,71,775,0.00,2.65,0.00,0.000,4,0.000,0.048,2912,585,3749,0,0,0,0,0,0
$GC,787,-0.92,-136.3,101.9,-10.7,72,792,0.00,2.42,0.00,0.000,6,0.000,0.017,2912,2174,3750,0,0,0,0,0,0
$GC,1048,-0.92,-136.3,131.3,-10.4,96,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2174,3750,0,0,0,0,0,0
$GC,1306,-0.92,-136.3,155.8,-10.2,120,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2174,3751,0,0,0,0,0,0
$GC,1576,-0.92,-136.3,181.7,-9.5,145,1580,0.00,2.60,0.00,0.000,4,0.000,0.050,2912,590,3752,0,0,0,0,0,0
$GC,1608,-0.92,-136.3,185.7,-9.4,147,1619,0.00,2.45,0.00,0.000,6,0.000,0.021,2913,2168,3752,0,0,0,0,0,0
$GC,1870,-0.96,-136.3,207.5,-8.2,166,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2168,3752,0,0,0,0,0,0
$GC,2110,-1.01,-136.3,226.3,-7.6,172,2114,0.00,2.60,0.00,0.000,4,0.000,0.057,2912,591,3750,0,0,0,0,0,0
$GC,2171,-1.10,-136.3,230.9,-7.5,173,2176,0.15,2.42,0.00,0.000,6,0.059,0.026,2857,2169,3752,0,0,0,0,0,0
$GC,2434,-1.05,-136.3,257.4,-10.7,180,2439,0.12,2.58,0.00,0.000,4,0.104,0.037,2861,3753,3752,0,0,0,0,0,0
$GC,2478,-1.10,-136.3,261.8,-8.7,181,2483,0.00,2.50,0.00,0.000,6,0.000,0.028,2883,2160,3754,0,0,0,0,0,0
$GC,2758,-1.14,-136.3,285.9,-9.1,188,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2160,3752,0,0,0,0,0,0
$GC,3000,-1.18,-136.3,302.5,-6.7,194,3005,0.12,2.60,0.00,0.000,4,0.067,0.041,2822,3743,3751,0,0,0,0,0,0
$GC,3028,-1.14,-136.3,304.5,-7.7,194,3034,0.85,2.47,0.00,0.000,6,0.071,0.027,2921,2182,3751,3,0,0,0,0,0
$GC,3280,-1.61,-136.3,313.4,-4.2,200,3287,1.12,2.70,0.00,0.000,4,0.035,0.067,2747,595,3750,0,0,0,0,0,0
$GC,3401,-1.36,-136.3,328.9,-14.8,202,3406,0.32,2.47,0.00,0.000,6,0.094,0.028,2815,2153,3749,0,0,0,0,0,0
$GC,3653,-1.28,-136.3,356.3,-11.0,208,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2154,3748,0,0,0,0,0,0
$GC,3894,-1.21,-136.3,381.1,-10.1,214,3896,0.15,0.00,0.00,0.000,6,0.107,0.000,2848,2154,3748,0,0,0,0,0,0
$GC,4138,-1.40,-136.3,394.1,-4.0,220,4144,0.17,2.67,0.00,0.000,4,0.052,0.052,2765,3761,3744,0,0,0,0,0,0
$STATE,4274,end dive,NO_VERTICAL_VELOCITY
$STATE,4274,begin apogee
$GC,4282,-0.31,0.0,394.2,0.0,223,4398,1.08,0.00,109.90,0.828,6,0.050,0.000,3048,2185,3190,0,0,0,0,0,0
$STATE,4399,end apogee,CONTROL_FINISHED_OK
$STATE,4399,begin climb
$GC,4402,1.31,136.3,394.2,0.0,226,4527,1.48,2.97,111.25,0.811,4,0.046,0.087,3397,592,2632,0,0,0,0,0,0
$GC,4533,1.27,151.2,387.4,9.3,229,4553,0.00,2.60,14.02,0.736,6,0.000,0.032,3397,2178,2573,0,0,0,0,0,0
$GC,4817,1.28,154.0,359.9,9.9,236,4821,0.00,2.78,0.00,0.000,4,0.000,0.076,3397,594,2567,0,0,0,0,0,0
$GC,4844,1.22,154.0,356.8,10.8,236,4848,0.00,2.55,0.00,0.000,6,0.000,0.032,3397,2172,2565,0,0,0,0,0,0
$GC,5094,1.25,176.5,334.6,8.9,242,5120,0.00,2.70,20.92,0.761,4,0.000,0.050,3341,3762,2471,0,0,0,0,0,0
$GC,5179,1.27,195.1,326.7,9.1,244,5204,0.00,2.62,17.52,0.746,6,0.000,0.038,3397,2166,2393,0,0,0,0,0,0
$GC,5466,1.27,197.7,298.3,9.9,251,5471,0.00,2.72,0.00,0.000,4,0.000,0.072,3397,595,2389,0,0,0,0,0,0
$GC,5490,1.27,197.7,296.0,10.5,251,5494,0.00,2.55,0.00,0.000,6,0.000,0.030,3371,2184,2387,0,0,0,0,0,0
$GC,5745,1.27,197.7,270.2,10.1,258,5749,0.00,2.58,0.00,0.000,4,0.000,0.044,3326,3757,2386,0,0,0,0,0,0
$GC,5805,1.29,209.0,264.2,9.5,259,5841,15.60,2.58,12.43,0.703,6,0.482,0.035,3640,2181,2337,56,1,0,0,0,0
$GC,6108,0.71,209.0,191.9,24.8,267,6124,2.70,2.67,0.00,0.000,4,0.120,0.044,2913,3755,2332,0,0,0,0,0,0
$GC,6177,1.19,328.1,186.9,4.1,272,6293,3.33,2.55,102.00,0.695,6,0.227,0.033,3836,2186,1852,11,0,0,0,0,0
$GC,6561,0.66,328.1,84.8,29.1,307,6572,2.78,2.72,0.00,0.000,4,0.121,0.054,3171,596,1843,0,0,0,0,0,0
$GC,6589,0.54,328.1,78.0,22.4,309,6594,0.00,2.58,0.00,0.000,6,0.000,0.021,3246,2220,1841,0,0,0,0,0,0
$GC,6857,1.25,375.9,64.9,7.7,333,6912,0.50,2.83,40.08,0.590,4,0.054,0.054,3384,597,1654,0,0,0,0,0,0
$GC,6933,1.54,407.6,57.8,8.5,338,6971,0.22,2.55,27.30,0.571,6,0.031,0.019,3453,2192,1527,0,0,0,0,0,0
$GC,7256,1.58,407.6,17.6,14.9,370,7266,0.00,2.70,0.00,0.000,4,0.000,0.051,3452,603,1523,0,0,0,0,0,0
$GC,7295,1.58,407.6,11.7,14.8,374,7306,0.00,2.50,0.00,0.000,6,0.000,0.019,3452,2182,1522,0,0,0,0,0,0
$STATE,7347,end climb,SURFACE_DEPTH_REACHED
$STATE,7347,begin surface coast
$FINISH,-0.0,1.023695
$STATE,7390,end surface coast,CONTROL_FINISHED_OK
$STATE,7390,begin surface
$SM_CCo,7472,0.00,0.000,0,0,1516,409.90
$SM_GC,0.33,12.10,0.00,0.00,0.023,0.000,0.000,468,2186,1516,-12.07,0.17,409.90
$IRIDIUM_FIX,2136.49,-15842.93,021001,131355
$TT8_MAMPS,0.027612
$HUMID,68.54
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.20
$XPDR_PINGS,31
$24V_AH,23.5,43.586
$10V_AH,10.3,37.035
$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,56.275,88.600,455.425,0.000,0.000,30.704,35.857,376.172,7.750,0.000,19.846,766.934,4314.856,461.357,1808.703,777.320,33.354,1140.477,0.000,1812.283,0.000,0.534,0.000
$DEVICE_MAMPS,481.676,87.438,827.593,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,258.764,214.940,309.870,738.635,1179.614,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,28895,385
$CAP_FILE_SIZE,98184,8
$CFSIZE,260165632,129212416
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,70,0,0,0
$GPS,080712,172430,2142.719,-15807.852,71,0.9,72,9.9