version: 66.06
glider: 146
mission: 7
dive: 305
start: 7 8 112 19 58 12
data:
$ID,146
$MISSION,7
$DIVE,305
$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,-298393.38
$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,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
$GPS1,195306,2141.518,-15808.344,7,1.8,13,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-67.2
$GPS2,195719,2141.503,-15808.396,16,2.0,17,9.9
$SPEED_LIMITS,0.139,0.249
$TGT_NAME,mile5
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.067,-0.240
$KALMAN_X,-172059.2,345.6,-471.2,164191.5,-333.4
$KALMAN_Y,197541.4,85.9,-518.2,-306535.0,251.1
$MHEAD_RNG_PITCHd_Wd,185.8,2129,-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,-136.3,0.0,0.0,0,123,0.00,0.00,-100.90,0.000,6,0.000,0.000,472,2197,3747,0,0,0,0,0,0
$GC,129,-1.27,-136.3,2.4,-4.1,11,148,12.93,2.62,0.00,0.000,4,0.172,0.037,2826,590,3748,0,0,0,0,0,0
$GC,316,-1.04,-136.3,46.1,-16.7,29,327,0.22,2.50,0.00,0.000,6,0.100,0.018,2879,2192,3749,0,0,0,0,0,0
$GC,579,-0.93,-136.3,81.6,-12.9,54,585,0.15,2.62,0.00,0.000,4,0.107,0.052,2912,597,3749,0,0,0,0,0,0
$GC,630,-0.93,-136.3,87.8,-10.9,57,636,0.00,2.40,0.00,0.000,6,0.000,0.018,2912,2163,3748,0,0,0,0,0,0
$GC,891,-0.93,-136.3,115.8,-9.8,82,896,0.00,2.58,0.00,0.000,4,0.000,0.048,2908,597,3749,0,0,0,0,0,0
$GC,914,-0.93,-136.3,117.4,-9.4,83,918,0.00,2.38,0.00,0.000,6,0.000,0.018,2912,2147,3749,0,0,0,0,0,0
$GC,1181,-0.93,-136.3,141.8,-9.9,107,1185,0.00,2.55,0.00,0.000,4,0.000,0.038,2894,3751,3749,0,0,0,0,0,0
$GC,1241,-0.98,-136.3,148.0,-9.5,111,1246,0.00,2.53,0.00,0.000,6,0.000,0.025,2912,2128,3749,0,0,0,0,0,0
$GC,1506,-0.98,-136.3,172.2,-8.8,136,1510,0.00,2.50,0.00,0.000,4,0.000,0.058,2912,598,3749,0,0,0,0,0,0
$GC,1551,-0.98,-136.3,176.3,-9.4,139,1555,0.00,2.35,0.00,0.000,6,0.000,0.025,2912,2137,3749,0,0,0,0,0,0
$GC,1818,-1.02,-136.3,199.6,-8.5,163,1823,0.00,2.55,0.00,0.000,4,0.000,0.038,2912,3754,3748,0,0,0,0,0,0
$GC,1869,-1.08,-136.3,204.7,-9.3,164,1874,0.12,2.53,0.00,0.000,6,0.067,0.026,2863,2129,3748,0,0,0,0,0,0
$GC,2143,-1.01,-136.3,233.8,-10.2,171,2148,0.15,2.55,0.00,0.000,4,0.100,0.057,2891,600,3748,0,0,0,0,0,0
$GC,2193,-1.01,-136.3,238.2,-7.9,172,2197,0.00,2.35,0.00,0.000,6,0.000,0.027,2892,2132,3748,0,0,0,0,0,0
$GC,2467,-1.01,-136.3,260.8,-8.5,179,2471,0.00,2.60,0.00,0.000,4,0.000,0.040,2881,3746,3747,0,0,0,0,0,0
$GC,2501,-1.01,-136.3,263.8,-8.7,179,2507,0.00,2.55,0.00,0.000,6,0.000,0.022,2892,2117,3747,0,0,0,0,0,0
$GC,2751,-1.01,-136.3,283.9,-8.2,186,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2117,3746,0,0,0,0,0,0
$GC,2997,-1.01,-136.3,303.0,-7.6,192,3001,0.00,2.65,0.00,0.000,4,0.000,0.039,2890,3752,3745,0,0,0,0,0,0
$GC,3037,-1.07,-136.3,306.4,-8.5,193,3041,0.00,2.58,0.00,0.000,6,0.000,0.029,2878,2124,3745,0,0,0,0,0,0
$GC,3321,-1.11,-136.3,328.5,-7.1,200,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,3743,0,0,0,0,0,0
$GC,3566,-1.16,-136.3,344.1,-6.7,206,3571,0.12,2.67,0.00,0.000,4,0.071,0.044,2828,3743,3742,0,0,0,0,0,0
$STATE,3630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3630,begin apogee
$GC,3639,-0.31,0.0,350.5,8.9,207,3751,0.85,0.00,108.57,0.776,6,0.069,0.000,3043,2186,3190,0,0,0,0,0,0
$STATE,3751,end apogee,CONTROL_FINISHED_OK
$STATE,3752,begin climb
$GC,3756,1.27,136.3,351.8,0.0,210,3880,1.45,2.92,110.03,0.762,4,0.039,0.077,3396,589,2632,0,0,0,0,0,0
$GC,4133,1.62,338.4,351.7,0.0,218,4312,0.30,2.55,170.12,0.773,6,0.048,0.029,3478,2171,1810,0,0,0,0,0,0
$GC,4559,1.48,338.4,310.3,18.3,229,4564,0.20,2.75,0.00,0.000,4,0.109,0.069,3437,594,1803,0,0,0,0,0,0
$GC,4705,1.48,338.4,287.2,14.3,232,4710,0.00,2.55,0.00,0.000,6,0.000,0.025,3406,2194,1801,0,0,0,0,0,0
$GC,4973,1.48,338.4,249.7,14.2,239,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2194,1800,0,0,0,0,0,0
$GC,5215,1.48,338.4,219.3,12.5,245,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2194,1798,0,0,0,0,0,0
$GC,5462,1.48,338.4,189.8,11.4,257,5467,0.00,2.70,0.00,0.000,4,0.000,0.054,3437,592,1798,0,0,0,0,0,0
$GC,5487,1.48,338.4,187.0,12.4,258,5497,0.00,2.58,0.00,0.000,6,0.000,0.028,3437,2194,1795,0,0,0,0,0,0
$GC,5752,1.48,338.4,155.0,12.7,283,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2194,1795,0,0,0,0,0,0
$GC,6017,1.48,338.4,123.0,12.2,308,6021,0.00,2.67,0.00,0.000,4,0.000,0.056,3437,587,1795,0,0,0,0,0,0
$GC,6063,1.48,338.4,117.5,12.4,311,6067,0.00,2.53,0.00,0.000,6,0.000,0.025,3437,2182,1794,0,0,0,0,0,0
$GC,6329,1.52,338.4,90.0,10.8,335,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2183,1794,0,0,0,0,0,0
$GC,6597,1.57,338.4,57.2,12.3,360,6601,0.00,2.65,0.00,0.000,4,0.000,0.050,3437,585,1794,0,0,0,0,0,0
$GC,6645,1.65,338.4,51.2,12.1,363,6650,0.15,2.45,0.00,0.000,6,0.067,0.020,3480,2168,1792,0,0,0,0,0,0
$GC,6962,1.60,338.4,10.3,13.9,396,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2165,1794,0,0,0,0,0,0
$STATE,7005,end climb,SURFACE_DEPTH_REACHED
$STATE,7005,begin surface coast
$FINISH,-0.6,1.007666
$STATE,7055,end surface coast,CONTROL_FINISHED_OK
$STATE,7055,begin surface
$SM_CCo,7078,30.90,0.512,0,0,1640,380.21
$SM_GC,0.32,0.00,0.00,30.90,0.000,0.000,0.512,468,2169,1640,-12.18,-0.31,380.21
$IRIDIUM_FIX,2131.85,-15808.47,021001,191905
$TT8_MAMPS,0.027612
$HUMID,65.71
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.10
$XPDR_PINGS,30
$24V_AH,23.6,43.852
$10V_AH,10.2,37.260
$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,28.675,76.950,388.725,30.900,0.000,0.000,0.000,0.000,7.500,0.000,18.315,802.828,3826.869,446.926,1912.249,197.518,33.347,1069.433,0.000,1921.528,0.000,0.536,0.000
$DEVICE_MAMPS,171.808,76.700,776.204,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,274.849,242.187,345.898,773.438,1235.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,31970,407
$CAP_FILE_SIZE,103508,0
$CFSIZE,260165632,129118208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080712,215800,2141.107,-15808.620,36,1.7,36,9.9