version: 66.06
glider: 146
mission: 7
dive: 308
start: 7 9 112 2 25 12
data:
$ID,146
$MISSION,7
$DIVE,308
$D_SURF,4
$D_FLARE,3
$D_TGT,250
$D_ABORT,300
$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,100
$T_MISSION,200
$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,-298498.44
$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,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
$GPS1,021751,2140.296,-15808.778,7,99.0,27,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-68.5
$GPS2,022423,2140.256,-15808.788,35,0.9,50,9.9
$SPEED_LIMITS,0.119,0.238
$TGT_NAME,Mile4
$TGT_LATLONG,2139.500,-15808.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.188,-0.145
$KALMAN_X,-171818.5,668.9,710.1,161776.0,15.6
$KALMAN_Y,198404.5,206.4,663.3,-311002.3,-324.0
$MHEAD_RNG_PITCHd_Wd,117.6,1950,-15.2,-8.333
$D_GRID,250
$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,-1.12,-136.3,0.0,0.0,0,114,0.00,0.00,-88.47,0.000,6,0.000,0.000,468,2200,3746,0,0,0,0,0,0
$GC,117,-1.12,-136.3,3.6,-5.0,10,138,13.18,2.65,0.00,0.000,4,0.171,0.036,2743,592,3748,0,0,0,0,0,0
$GC,168,-0.11,-136.3,21.0,-33.9,15,176,0.98,2.50,0.00,0.000,6,0.084,0.020,3083,2185,3748,0,0,0,0,0,0
$GC,482,-0.32,-136.3,36.5,-3.6,48,487,0.15,2.62,0.00,0.000,4,0.059,0.044,3023,598,3748,0,0,0,0,0,0
$GC,548,-0.46,-136.3,40.7,-5.4,52,559,0.00,2.42,0.00,0.000,6,0.000,0.018,3023,2156,3748,0,0,0,0,0,0
$GC,816,-0.57,-136.3,55.0,-5.5,77,821,0.15,2.55,0.00,0.000,4,0.058,0.032,2943,3752,3748,0,0,0,0,0,0
$GC,851,-0.57,-136.3,57.4,-7.5,79,857,0.12,2.47,0.00,0.000,6,0.092,0.022,2993,2166,3749,0,0,0,0,0,0
$GC,1119,-0.64,-136.3,74.7,-6.8,103,1123,0.00,2.53,0.00,0.000,4,0.000,0.046,2993,608,3749,0,0,0,0,0,0
$GC,1169,-0.75,-136.3,78.2,-7.5,106,1174,0.17,2.38,0.00,0.000,6,0.052,0.017,2927,2169,3749,0,0,0,0,0,0
$GC,1430,-0.67,-136.3,102.6,-9.1,130,1435,0.17,2.50,0.00,0.000,4,0.087,0.035,2937,3745,3749,0,0,0,0,0,0
$GC,1479,-0.74,-136.3,106.2,-8.5,133,1484,0.00,2.45,0.00,0.000,6,0.000,0.028,2967,2165,3750,0,0,0,0,0,0
$GC,1745,-0.74,-136.3,126.4,-7.2,157,1750,0.00,2.53,0.00,0.000,4,0.000,0.048,2967,608,3750,0,0,0,0,0,0
$GC,1806,-0.79,-136.3,130.8,-7.4,161,1811,0.10,2.38,0.00,0.000,6,0.077,0.022,2920,2164,3749,0,0,0,0,0,0
$GC,2069,-0.73,-136.3,153.9,-7.8,185,2074,0.15,2.55,0.00,0.000,4,0.092,0.046,2946,608,3750,0,0,0,0,0,0
$GC,2105,-0.73,-136.3,156.6,-7.1,187,2110,0.00,2.35,0.00,0.000,6,0.000,0.018,2954,2139,3750,0,0,0,0,0,0
$GC,2368,-0.73,-136.3,171.0,-5.9,212,2372,0.00,2.53,0.00,0.000,4,0.000,0.035,2922,3746,3750,0,0,0,0,0,0
$GC,2385,-0.73,-136.3,172.1,-5.8,213,2389,0.00,2.50,0.00,0.000,6,0.000,0.028,2954,2145,3750,0,0,0,0,0,0
$GC,2648,-0.73,-136.3,187.0,-5.1,237,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2145,3750,0,0,0,0,0,0
$GC,2911,-0.77,-136.3,203.4,-6.5,259,2916,0.00,2.55,0.00,0.000,4,0.000,0.033,2925,3750,3750,0,0,0,0,0,0
$GC,2928,-0.81,-136.3,204.8,-6.8,259,2932,0.00,2.47,0.00,0.000,6,0.000,0.028,2954,2156,3750,0,0,0,0,0,0
$GC,3191,-0.86,-136.3,219.9,-5.7,266,3193,0.12,0.00,0.00,0.000,6,0.071,0.000,2904,2156,3751,0,0,0,0,0,0
$GC,3432,-0.80,-136.3,240.7,-9.0,272,3437,0.15,2.55,0.00,0.000,4,0.091,0.043,2914,3746,3750,0,0,0,0,0,0
$GC,3466,-0.86,-136.3,243.1,-6.5,272,3471,0.00,2.50,0.00,0.000,6,0.000,0.021,2939,2153,3751,0,0,0,0,0,0
$STATE,3591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3591,begin apogee
$GC,3599,-0.31,0.0,251.3,6.4,276,3713,0.45,0.00,108.10,0.679,6,0.062,0.000,3046,2153,3190,0,0,0,0,0,0
$STATE,3714,end apogee,CONTROL_FINISHED_OK
$STATE,3714,begin climb
$GC,3717,1.12,136.3,255.2,0.0,279,3838,1.33,2.70,107.62,0.670,4,0.045,0.041,3219,3740,2632,0,0,0,0,0,0
$GC,3855,1.19,194.2,249.7,6.0,282,3910,0.00,2.53,47.72,0.657,6,0.000,0.028,3361,2184,2398,0,0,0,0,0,0
$GC,4168,1.19,194.2,224.1,8.5,290,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2184,2392,0,0,0,0,0,0
$GC,4412,1.21,209.8,205.4,7.7,296,4431,0.00,2.62,13.60,0.604,4,0.000,0.043,3299,3744,2333,0,0,0,0,0,0
$GC,4460,1.26,209.8,201.3,8.5,297,4466,0.12,2.55,0.00,0.000,6,0.069,0.031,3401,2175,2332,0,0,0,0,0,0
$GC,4729,1.26,209.8,176.1,9.2,320,4733,0.00,2.65,0.00,0.000,4,0.000,0.060,3401,598,2330,0,0,0,0,0,0
$GC,4773,1.22,209.8,171.7,11.5,323,4777,0.00,2.47,0.00,0.000,6,0.000,0.028,3401,2182,2329,0,0,0,0,0,0
$GC,5039,1.22,209.8,146.7,9.5,347,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2182,2329,0,0,0,0,0,0
$GC,5299,1.24,229.9,125.2,7.5,372,5324,0.00,2.72,17.70,0.581,4,0.000,0.053,3401,601,2251,0,0,0,0,0,0
$GC,5393,1.24,229.9,117.5,8.8,379,5397,0.00,2.47,0.00,0.000,6,0.000,0.022,3401,2187,2250,0,0,0,0,0,0
$GC,5659,1.24,229.9,93.1,8.8,403,5663,0.00,2.58,0.00,0.000,4,0.000,0.038,3308,3761,2247,0,0,0,0,0,0
$GC,5731,1.24,229.9,86.4,8.5,408,5742,5.25,2.53,0.00,0.000,6,0.397,0.035,3434,2202,2248,19,0,0,0,0,0
$GC,6009,0.62,229.9,27.2,22.3,434,6019,2.78,2.58,0.00,0.000,4,0.107,0.046,3094,3754,2246,0,0,0,0,0,0
$GC,6063,0.78,229.9,21.4,9.0,440,6073,0.10,2.50,0.00,0.000,6,0.039,0.025,3293,2202,2246,0,0,0,0,0,0
$GC,6463,1.25,395.1,10.8,1.6,489,6577,0.35,0.00,110.75,0.513,2,0.045,0.000,3396,2200,1705,0,0,0,0,0,0
$STATE,6582,end climb,SURFACE_DEPTH_REACHED
$STATE,6582,begin surface coast
$FINISH,-0.6,1.023389
$STATE,6671,end surface coast,CONTROL_FINISHED_OK
$STATE,6671,begin surface
$SM_CCo,6692,11.52,0.460,0,0,1638,380.21
$SM_GC,0.08,0.00,0.00,11.52,0.000,0.000,0.460,474,2199,1638,-12.15,0.54,380.21
$IRIDIUM_FIX,2131.85,-15808.47,031001,000022
$TT8_MAMPS,0.026845
$HUMID,60.86
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,22.20
$XPDR_PINGS,28
$24V_AH,23.7,44.127
$10V_AH,10.2,37.646
$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,37.625,80.875,405.500,11.525,0.000,25.314,33.427,159.915,7.000,0.000,52.119,924.160,2767.320,406.293,2492.571,504.856,33.355,1080.125,0.000,2485.018,0.000,0.538,0.000
$DEVICE_MAMPS,397.306,59.826,678.795,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.328,342.832,490.642,1204.224,1919.271,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,38260,512
$CAP_FILE_SIZE,94621,0
$CFSIZE,260165632,128983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,19,0,0,0
$GPS,090712,041805,2140.024,-15808.017,8,1.3,25,9.9