version: 66.06
glider: 146
mission: 7
dive: 307
start: 7 9 112 0 17 26
data:
$ID,146
$MISSION,7
$DIVE,307
$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,-298445.69
$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,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
$GPS1,001023,2140.814,-15808.637,65,1.5,66,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-71.2
$GPS2,001631,2140.840,-15808.595,14,1.7,14,9.9
$SPEED_LIMITS,0.139,0.249
$TGT_NAME,mile5
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.167,-0.161
$KALMAN_X,-171983.3,764.6,-80.8,162965.0,516.9
$KALMAN_Y,198515.9,209.3,445.6,-309823.8,532.6
$MHEAD_RNG_PITCHd_Wd,216.1,939,-19.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.35,-116.5,0.0,0.0,0,116,0.00,0.00,-85.70,0.000,6,0.000,0.000,466,2166,3665,0,0,0,0,0,0
$GC,121,-1.37,-136.3,3.8,-6.8,10,143,12.85,2.58,-1.38,0.000,4,0.171,0.056,2760,597,3747,0,0,0,0,0,0
$GC,292,-1.12,-136.3,45.4,-18.0,26,297,0.30,2.47,0.00,0.000,6,0.150,0.018,2865,2188,3748,0,0,0,0,0,0
$GC,554,-1.01,-136.3,84.3,-14.5,50,559,0.12,2.50,0.00,0.000,4,0.118,0.032,2847,3748,3748,0,0,0,0,0,0
$GC,588,-0.97,-136.3,88.7,-13.6,52,592,0.00,2.50,0.00,0.000,6,0.000,0.023,2884,2167,3748,0,0,0,0,0,0
$GC,849,-0.93,-136.3,121.2,-12.3,76,854,0.00,2.55,0.00,0.000,4,0.000,0.052,2892,597,3749,0,0,0,0,0,0
$GC,871,-0.89,-136.3,123.4,-12.2,77,876,0.12,2.47,0.00,0.000,6,0.114,0.018,2919,2200,3749,0,0,0,0,0,0
$GC,1139,-0.89,-136.3,148.3,-8.9,101,1143,0.00,2.60,0.00,0.000,4,0.000,0.045,2919,608,3749,0,0,0,0,0,0
$GC,1223,-0.93,-136.3,156.6,-9.4,107,1229,0.00,2.42,0.00,0.000,6,0.000,0.017,2919,2178,3749,0,0,0,0,0,0
$GC,1484,-0.98,-136.3,178.8,-9.4,132,1488,0.00,2.50,0.00,0.000,4,0.000,0.037,2883,3753,3750,0,0,0,0,0,0
$GC,1546,-1.05,-136.3,184.9,-9.2,136,1551,0.00,2.45,0.00,0.000,6,0.000,0.023,2864,2178,3750,0,0,0,0,0,0
$GC,1835,-1.11,-136.3,210.7,-8.3,155,1841,0.20,2.62,0.00,0.000,4,0.051,0.051,2849,599,3749,0,0,0,0,0,0
$GC,1889,-1.05,-136.3,216.0,-10.6,156,1894,0.17,2.40,0.00,0.000,6,0.097,0.018,2888,2178,3749,0,0,0,0,0,0
$GC,2161,-1.05,-136.3,236.0,-7.2,163,2166,0.00,2.60,0.00,0.000,4,0.000,0.052,2888,598,3750,0,0,0,0,0,0
$GC,2211,-1.12,-136.3,240.0,-8.3,164,2216,0.00,2.40,0.00,0.000,6,0.000,0.025,2888,2159,3750,0,0,0,0,0,0
$GC,2486,-1.17,-136.3,260.2,-7.6,171,2491,0.12,2.58,0.00,0.000,4,0.067,0.041,2801,3753,3750,0,0,0,0,0,0
$GC,2502,-1.17,-136.3,262.0,-8.0,171,2508,0.10,2.53,0.00,0.000,6,0.110,0.025,2860,2150,3750,0,0,0,0,0,0
$GC,2766,-1.17,-136.3,285.6,-8.9,178,2770,0.00,2.58,0.00,0.000,4,0.000,0.044,2835,3745,3749,0,0,0,0,0,0
$GC,2789,-1.17,-136.3,288.0,-9.3,178,2793,0.00,2.50,0.00,0.000,6,0.000,0.031,2860,2164,3750,0,0,0,0,0,0
$GC,3044,-1.17,-136.3,310.8,-8.8,185,3048,0.00,2.58,0.00,0.000,4,0.000,0.042,2828,3754,3749,0,0,0,0,0,0
$GC,3079,-1.21,-136.3,313.3,-7.9,185,3084,0.00,2.53,0.00,0.000,6,0.000,0.033,2860,2175,3751,0,0,0,0,0,0
$GC,3329,-1.31,-136.3,329.5,-6.6,192,3334,0.12,2.60,0.00,0.000,4,0.069,0.047,2770,3743,3749,0,0,0,0,0,0
$STATE,3472,end dive,NO_VERTICAL_VELOCITY
$STATE,3472,begin apogee
$GC,3482,-0.31,0.0,329.5,0.0,195,3595,0.98,0.00,108.78,0.747,6,0.046,0.000,3050,2178,3190,0,0,0,0,0,0
$STATE,3596,end apogee,CONTROL_FINISHED_OK
$STATE,3596,begin climb
$GC,3598,1.37,136.3,329.4,0.0,198,3719,1.52,2.62,108.82,0.732,4,0.047,0.045,3352,3744,2633,0,0,0,0,0,0
$GC,3765,1.38,141.3,319.8,9.4,201,3775,0.00,2.58,4.68,0.499,6,0.000,0.035,3412,2178,2616,0,0,0,0,0,0
$GC,4048,1.39,150.4,293.7,9.2,208,4059,0.00,0.00,9.38,0.633,6,0.000,0.000,3414,2178,2577,0,0,0,0,0,0
$GC,4293,1.39,150.4,267.0,11.3,214,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2178,2573,0,0,0,0,0,0
$GC,4535,1.45,194.6,248.5,7.2,220,4580,0.00,2.80,37.20,0.695,4,0.000,0.062,3414,594,2394,0,0,0,0,0,0
$GC,4650,1.49,194.6,237.6,11.0,222,4655,0.12,2.55,0.00,0.000,6,0.076,0.028,3451,2178,2391,0,0,0,0,0,0
$GC,4907,1.49,194.6,210.1,9.9,229,4912,0.00,2.58,0.00,0.000,4,0.000,0.043,3451,3759,2389,0,0,0,0,0,0
$GC,4962,1.49,195.8,204.5,9.7,230,4967,0.00,2.55,0.00,0.000,6,0.000,0.031,3450,2193,2388,0,0,0,0,0,0
$GC,5228,1.49,195.8,178.5,9.8,251,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2193,2387,0,0,0,0,0,0
$GC,5485,1.52,213.2,155.2,8.7,275,5511,0.00,2.62,15.88,0.611,4,0.000,0.042,3199,3753,2319,0,0,0,0,0,0
$GC,5568,1.52,213.2,147.4,10.9,281,5572,0.00,2.50,0.00,0.000,6,0.000,0.028,3451,2210,2318,0,0,0,0,0,0
$GC,5834,1.52,213.2,120.2,10.9,305,5838,0.00,2.70,0.00,0.000,4,0.000,0.054,3451,596,2319,0,0,0,0,0,0
$GC,5931,1.55,213.2,108.4,11.4,312,5942,0.00,2.55,0.00,0.000,6,0.000,0.021,3451,2197,2315,0,0,0,0,0,0
$GC,6200,1.59,213.2,82.6,10.9,337,6204,0.00,2.53,0.00,0.000,4,0.000,0.037,3351,3759,2315,0,0,0,0,0,0
$GC,6274,1.65,213.2,73.9,11.5,342,6279,0.10,2.53,0.00,0.000,6,0.086,0.028,3483,2186,2318,0,0,0,0,0,0
$GC,6541,1.65,213.2,44.6,11.1,366,6545,0.00,2.53,0.00,0.000,4,0.000,0.035,3390,3762,2314,0,0,0,0,0,0
$GC,6631,1.65,213.2,33.2,11.9,372,6641,0.00,2.53,0.00,0.000,6,0.000,0.028,3483,2204,2314,0,0,0,0,0,0
$STATE,6931,end climb,SURFACE_DEPTH_REACHED
$STATE,6931,begin surface coast
$FINISH,-0.6,0.999819
$STATE,6998,end surface coast,CONTROL_FINISHED_OK
$STATE,6998,begin surface
$SM_CCo,7022,132.73,0.509,0,0,1639,380.21
$SM_GC,0.13,0.00,0.00,132.73,0.000,0.000,0.509,468,2200,1639,-12.18,0.59,380.21
$IRIDIUM_FIX,2131.85,-15808.47,021001,222253
$TT8_MAMPS,0.027612
$HUMID,62.04
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,21.90
$XPDR_PINGS,33
$24V_AH,23.6,44.041
$10V_AH,10.3,37.492
$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,28.950,91.625,284.725,132.725,0.000,27.358,37.483,165.191,8.250,0.000,16.327,844.043,3764.401,473.900,1948.511,494.755,33.357,1071.063,0.000,1963.027,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,62.127,747.058,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,281.350,251.825,359.989,816.743,1303.933,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,32104,416
$CAP_FILE_SIZE,91906,0
$CFSIZE,260165632,129040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,021751,2140.296,-15808.778,7,99.0,27,9.9