version: 66.06
glider: 146
mission: 7
dive: 304
start: 7 8 112 17 36 37
data:
$ID,146
$MISSION,7
$DIVE,304
$D_SURF,4
$D_FLARE,3
$D_TGT,350
$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,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,-298318.94
$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,30
$R_STBD_OVSHOOT,50
$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
$GPS1,172430,2142.719,-15807.852,71,0.9,72,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-65.1
$GPS2,173542,2142.604,-15807.967,9,0.9,14,9.9
$SPEED_LIMITS,0.139,0.249
$TGT_NAME,mile5
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,-0.248
$KALMAN_X,-171787.4,152.0,366.9,164009.6,-1211.9
$KALMAN_Y,197408.6,90.5,-115.8,-304765.8,-538.2
$MHEAD_RNG_PITCHd_Wd,165.0,4282,-17.7,-9.722
$D_GRID,350
$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,-1.27,-136.3,0.0,0.0,0,114,0.00,0.00,-93.30,0.000,6,0.000,0.000,467,2186,3746,0,0,0,0,0,0
$GC,120,-1.27,-136.3,2.7,-4.6,10,140,13.00,2.65,0.00,0.000,4,0.173,0.039,2824,598,3748,0,0,0,0,0,0
$GC,225,-1.03,-136.3,31.7,-17.8,22,231,0.30,2.47,0.00,0.000,6,0.116,0.021,2888,2174,3750,0,0,0,0,0,0
$GC,493,-0.92,-136.3,70.8,-13.7,46,498,0.12,2.60,0.00,0.000,4,0.114,0.044,2915,597,3749,0,0,0,0,0,0
$GC,556,-0.92,-136.3,79.2,-12.6,50,560,0.00,2.42,0.00,0.000,6,0.000,0.018,2915,2169,3749,0,0,0,0,0,0
$GC,817,-0.92,-136.3,106.3,-10.4,74,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2169,3750,0,0,0,0,0,0
$GC,1075,-0.92,-136.3,131.7,-10.4,98,1080,0.00,2.53,0.00,0.000,4,0.000,0.034,2896,3754,3752,0,0,0,0,0,0
$GC,1097,-0.92,-136.3,133.8,-10.4,99,1102,0.00,2.53,0.00,0.000,6,0.000,0.028,2915,2132,3751,0,0,0,0,0,0
$GC,1360,-0.92,-136.3,159.4,-8.6,123,1364,0.00,2.53,0.00,0.000,4,0.000,0.057,2915,601,3752,0,0,0,0,0,0
$GC,1382,-0.92,-136.3,161.0,-8.8,124,1387,0.00,2.38,0.00,0.000,6,0.000,0.022,2915,2161,3751,0,0,0,0,0,0
$GC,1648,-0.92,-136.3,180.2,-7.0,148,1653,0.00,2.55,0.00,0.000,4,0.000,0.048,2915,600,3752,0,0,0,0,0,0
$GC,1695,-0.92,-136.3,183.7,-8.1,151,1699,0.00,2.38,0.00,0.000,6,0.000,0.025,2915,2143,3752,0,0,0,0,0,0
$GC,1991,-0.92,-136.3,207.0,-7.7,173,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2143,3752,0,0,0,0,0,0
$GC,2235,-0.98,-136.3,224.8,-7.2,179,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2144,3750,0,0,0,0,0,0
$GC,2477,-1.04,-136.3,240.8,-6.1,185,2479,0.12,0.00,0.00,0.000,6,0.067,0.000,2862,2144,3752,0,0,0,0,0,0
$GC,2720,-1.00,-136.3,263.4,-10.0,191,2726,0.15,2.60,0.00,0.000,4,0.095,0.063,2896,608,3754,0,0,0,0,0,0
$GC,2750,-1.00,-136.3,266.1,-9.5,191,2754,0.00,2.38,0.00,0.000,6,0.000,0.021,2896,2137,3751,0,0,0,0,0,0
$GC,3000,-1.04,-136.3,286.7,-8.3,197,3005,0.00,2.60,0.00,0.000,4,0.000,0.043,2894,3758,3750,0,0,0,0,0,0
$GC,3034,-1.08,-136.3,289.6,-8.3,197,3040,0.00,2.53,0.00,0.000,6,0.000,0.025,2852,2158,3750,0,0,0,0,0,0
$GC,3286,-1.13,-136.3,308.2,-7.5,204,3291,0.12,2.62,0.00,0.000,4,0.068,0.041,2844,3755,3749,0,0,0,0,0,0
$GC,3313,-1.13,-136.3,311.3,-10.4,204,3319,0.10,2.58,0.00,0.000,6,0.113,0.027,2869,2146,3749,0,0,0,0,0,0
$GC,3564,-1.13,-136.3,333.4,-8.5,210,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2146,3748,0,0,0,0,0,0
$STATE,3805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3805,begin apogee
$GC,3813,-0.31,0.0,353.3,8.3,216,3927,0.73,0.00,109.68,0.785,6,0.044,0.000,3052,2146,3190,0,0,0,0,0,0
$STATE,3928,end apogee,CONTROL_FINISHED_OK
$STATE,3928,begin climb
$GC,3930,1.27,136.3,353.2,0.0,219,4046,1.42,0.00,110.47,0.767,6,0.043,0.000,3392,2146,2634,0,0,0,0,0,0
$GC,4259,1.29,145.4,329.4,9.3,227,4269,0.00,0.00,8.32,0.643,6,0.000,0.000,3392,2146,2597,0,0,0,0,0,0
$GC,4503,1.30,155.3,307.1,9.2,233,4518,0.00,2.72,9.75,0.666,4,0.000,0.043,3392,3758,2556,0,0,0,0,0,0
$GC,4562,1.31,161.2,301.4,9.4,234,4576,0.00,2.58,6.57,0.605,6,0.000,0.038,3392,2175,2532,0,0,0,0,0,0
$GC,4829,1.35,194.3,278.7,8.1,241,4863,0.00,2.65,28.95,0.724,4,0.000,0.041,3310,3751,2397,0,0,0,0,0,0
$GC,4896,1.36,202.8,272.5,9.3,242,4916,5.53,2.55,8.23,0.627,6,0.400,0.032,3735,2186,2364,20,0,0,0,0,0
$GC,5204,0.76,202.8,199.5,24.5,250,5215,2.65,2.65,0.00,0.000,4,0.122,0.042,3108,3751,2358,0,0,0,0,0,0
$GC,5257,1.19,297.5,193.7,5.2,254,5352,0.88,2.55,81.47,0.682,6,0.026,0.029,3530,2187,1976,3,0,0,0,0,0
$GC,5604,1.01,297.5,137.4,17.6,286,5610,0.90,2.70,0.00,0.000,4,0.116,0.057,3337,594,1968,0,0,0,0,0,0
$GC,5655,1.28,335.2,132.6,7.9,289,5710,15.60,2.55,31.85,0.617,6,0.474,0.023,3326,2196,1822,56,1,0,0,0,0
$GC,5973,0.76,335.2,49.8,26.3,317,5978,2.65,0.00,0.00,0.000,6,0.113,0.000,3284,2196,1818,0,0,0,0,0,0
$GC,6242,1.31,455.9,33.7,3.9,341,6350,0.45,2.75,100.30,0.551,4,0.036,0.055,3412,598,1329,0,0,0,0,0,0
$GC,6402,1.45,455.9,19.4,10.4,356,6432,15.60,2.55,0.00,0.000,6,0.482,0.020,3158,2194,1326,56,1,0,0,0,0
$STATE,6441,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,6536,0.00,0.000,0,0,1321,458.22
$SM_GC,0.11,14.50,0.00,0.00,0.056,0.000,0.000,473,2196,1321,-12.05,0.45,458.22
$IRIDIUM_FIX,2136.49,-15807.61,021001,151533
$TT8_MAMPS,0.026845
$HUMID,66.57
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,19.00
$XPDR_PINGS,25
$24V_AH,23.6,43.715
$10V_AH,10.3,37.138
$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,74.825,66.575,495.600,0.000,0.000,30.522,35.047,393.993,6.250,0.000,16.202,683.220,3711.597,468.866,1555.686,779.655,33.351,1065.827,0.000,1572.394,0.000,0.534,0.000
$DEVICE_MAMPS,481.676,62.894,784.641,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,241.445,211.719,302.758,672.671,1074.733,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,28943,360
$CAP_FILE_SIZE,84371,16
$CFSIZE,260165632,129179648
$ERRORS,0,0,0,0,0,0,0,0,2,0,0,135,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,080712,192613,2141.633,-15808.048,9,1.9,10,9.9