version: 66.06
glider: 146
mission: 7
dive: 309
start: 7 9 112 4 25 23
data:
$ID,146
$MISSION,7
$DIVE,309
$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,-298515.16
$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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,041805,2140.024,-15808.017,8,1.3,25,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-69.9
$GPS2,042431,2140.006,-15808.085,14,1.3,14,9.9
$SPEED_LIMITS,0.119,0.238
$TGT_NAME,Mile4
$TGT_LATLONG,2139.500,-15808.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,-0.070
$KALMAN_X,-171779.2,522.8,887.9,162909.8,-835.1
$KALMAN_Y,199009.6,285.2,332.0,-311832.1,-506.1
$MHEAD_RNG_PITCHd_Wd,103.4,948,-21.6,-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,-1.44,-73.0,0.0,0.0,0,105,0.00,0.00,-80.93,0.000,6,0.000,0.000,473,2200,3486,0,0,0,0,0,0
$GC,110,-1.52,-136.3,1.6,-2.1,9,140,12.62,2.65,-5.15,0.000,4,0.170,0.054,2776,601,3748,0,0,0,0,0,0
$GC,176,-1.04,-136.3,20.5,-26.8,16,187,0.50,2.50,0.00,0.000,6,0.104,0.017,2884,2191,3748,0,0,0,0,0,0
$GC,463,-1.04,-136.3,58.8,-13.6,44,467,0.00,2.60,0.00,0.000,4,0.000,0.043,2884,601,3749,0,0,0,0,0,0
$GC,499,-1.04,-136.3,63.6,-13.1,46,503,0.00,2.42,0.00,0.000,6,0.000,0.018,2884,2176,3749,0,0,0,0,0,0
$GC,761,-1.04,-136.3,93.6,-10.3,70,765,0.00,2.47,0.00,0.000,4,0.000,0.038,2842,3750,3749,0,0,0,0,0,0
$GC,841,-1.10,-136.3,102.5,-11.4,76,845,0.00,2.42,0.00,0.000,6,0.000,0.021,2884,2192,3749,0,0,0,0,0,0
$GC,1101,-1.17,-136.3,131.2,-10.3,100,1107,0.10,2.60,0.00,0.000,4,0.081,0.048,2841,606,3749,0,0,0,0,0,0
$GC,1173,-1.13,-136.3,139.8,-12.5,105,1178,0.12,2.45,0.00,0.000,6,0.110,0.024,2868,2202,3749,0,0,0,0,0,0
$GC,1435,-1.17,-136.3,167.7,-10.0,129,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2202,3750,0,0,0,0,0,0
$GC,1693,-1.22,-136.3,191.5,-9.7,153,1697,0.00,2.62,0.00,0.000,4,0.000,0.046,2867,599,3750,0,0,0,0,0,0
$GC,1723,-1.27,-136.3,194.8,-10.7,155,1729,0.15,2.47,0.00,0.000,6,0.061,0.020,2810,2198,3751,0,0,0,0,0,0
$GC,1975,-1.20,-136.3,225.7,-12.5,164,1977,0.20,0.00,0.00,0.000,6,0.097,0.000,2852,2198,3750,0,0,0,0,0,0
$GC,2220,-1.24,-136.3,249.1,-8.9,170,2225,0.00,2.50,0.00,0.000,4,0.000,0.042,2815,3753,3749,0,0,0,0,0,0
$STATE,2230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2230,begin apogee
$GC,2239,-0.31,0.0,250.1,8.3,170,2350,0.82,0.00,107.55,0.673,6,0.072,0.000,3045,2175,3190,0,0,0,0,0,0
$STATE,2350,end apogee,CONTROL_FINISHED_OK
$STATE,2350,begin climb
$GC,2355,1.52,136.3,252.8,0.0,173,2472,1.67,2.70,106.80,0.663,4,0.046,0.056,3422,614,2633,0,0,0,0,0,0
$GC,2482,1.52,136.3,242.9,11.6,176,2487,0.00,2.47,0.00,0.000,6,0.000,0.020,3448,2179,2632,0,0,0,0,0,0
$GC,2762,1.52,136.3,212.2,11.2,183,2766,0.00,2.58,0.00,0.000,4,0.000,0.046,3401,3753,2629,0,0,0,0,0,0
$GC,2789,1.52,136.3,209.1,10.3,183,2793,0.00,2.53,0.00,0.000,6,0.000,0.028,3448,2181,2628,0,0,0,0,0,0
$GC,3058,1.52,136.3,181.0,10.4,202,3062,0.00,2.55,0.00,0.000,4,0.000,0.038,3402,3754,2627,0,0,0,0,0,0
$GC,3178,1.52,136.3,167.7,10.2,211,3183,0.00,2.53,0.00,0.000,6,0.000,0.036,3447,2184,2627,0,0,0,0,0,0
$GC,3441,1.58,146.2,146.2,7.6,236,3457,0.00,2.70,8.43,0.537,4,0.000,0.060,3447,604,2593,0,0,0,0,0,0
$GC,3486,1.59,155.9,142.9,7.6,239,3500,0.00,2.47,9.65,0.547,6,0.000,0.021,3448,2189,2554,0,0,0,0,0,0
$GC,3759,1.68,174.1,120.6,6.9,264,3784,0.15,2.75,15.80,0.573,4,0.072,0.054,3488,594,2478,0,0,0,0,0,0
$GC,3927,1.68,174.1,104.0,12.0,277,3931,0.00,2.47,0.00,0.000,6,0.000,0.028,3489,2164,2476,0,0,0,0,0,0
$GC,4194,1.68,174.1,78.7,9.0,301,4198,0.00,2.55,0.00,0.000,4,0.000,0.044,3387,3751,2475,0,0,0,0,0,0
$GC,4356,1.68,174.1,63.0,8.4,312,4368,3.10,2.55,0.00,0.000,6,0.344,0.028,3777,2176,2474,11,0,0,0,0,0
$GC,4647,1.24,174.1,19.1,17.1,341,4657,2.15,0.00,0.00,0.000,6,0.105,0.000,3384,2175,2473,0,0,0,0,0,0
$STATE,4925,end climb,SURFACE_DEPTH_REACHED
$STATE,4925,begin surface coast
$FINISH,-0.7,1.023390
$STATE,5058,end surface coast,CONTROL_FINISHED_OK
$STATE,5058,begin surface
$SM_CCo,5079,162.23,0.505,0,0,1639,380.21
$SM_GC,0.21,0.00,0.00,162.23,0.000,0.000,0.505,463,2172,1639,-12.19,-0.23,380.21
$IRIDIUM_FIX,2131.85,-15810.62,031001,020244
$TT8_MAMPS,0.027612
$HUMID,59.84
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,21.60
$XPDR_PINGS,21
$24V_AH,23.7,44.211
$10V_AH,10.4,37.767
$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,33.275,61.075,248.225,162.225,0.000,30.606,33.887,180.851,5.250,0.000,16.090,728.147,2050.696,450.194,1915.362,483.709,33.353,957.943,0.000,1938.292,0.000,0.537,0.000
$DEVICE_MAMPS,343.616,59.826,672.659,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,264.567,265.400,378.275,916.148,1464.312,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,28820,391
$CAP_FILE_SIZE,73462,0
$CFSIZE,260165632,128974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,090712,055405,2139.969,-15807.720,33,1.4,38,9.9