version: 66.06
glider: 146
mission: 7
dive: 310
start: 7 9 112 6 0 40
data:
$ID,146
$MISSION,7
$DIVE,310
$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,-298531.25
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,055405,2139.969,-15807.720,33,1.4,38,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-71.6
$GPS2,055949,2139.946,-15807.794,13,1.5,13,9.9
$SPEED_LIMITS,0.119,0.238
$TGT_NAME,Mile4
$TGT_LATLONG,2139.500,-15808.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,-0.162
$KALMAN_X,-171500.1,226.8,400.4,163908.1,-889.8
$KALMAN_Y,199868.8,198.2,-170.7,-312214.0,156.3
$MHEAD_RNG_PITCHd_Wd,140.9,899,-20.6,-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,18,-1.39,-79.6,0.0,0.0,0,104,0.00,0.00,-80.68,0.000,6,0.000,0.000,463,2172,3514,0,0,0,0,0,0
$GC,107,-1.46,-136.3,1.9,-2.6,9,135,12.82,2.62,-4.68,0.000,4,0.170,0.058,2789,598,3748,0,0,0,0,0,0
$GC,222,-1.23,-136.3,28.2,-19.3,22,231,0.22,2.50,0.00,0.000,6,0.107,0.018,2838,2182,3748,0,0,0,0,0,0
$GC,491,-1.12,-136.3,73.3,-15.2,47,496,0.15,2.62,0.00,0.000,4,0.123,0.044,2869,594,3749,0,0,0,0,0,0
$GC,528,-1.05,-136.3,78.7,-13.5,49,532,0.00,2.47,0.00,0.000,6,0.000,0.017,2869,2194,3748,0,0,0,0,0,0
$GC,795,-1.05,-136.3,108.0,-12.8,73,799,0.00,2.47,0.00,0.000,4,0.000,0.035,2828,3752,3748,0,0,0,0,0,0
$GC,840,-1.05,-136.3,115.0,-13.4,76,851,0.00,2.50,0.00,0.000,6,0.000,0.022,2869,2176,3749,0,0,0,0,0,0
$GC,1108,-1.05,-136.3,147.3,-11.1,101,1112,0.00,2.58,0.00,0.000,4,0.000,0.051,2868,601,3749,0,0,0,0,0,0
$GC,1214,-1.09,-136.3,159.8,-10.7,109,1220,0.00,2.45,0.00,0.000,6,0.000,0.019,2869,2189,3749,0,0,0,0,0,0
$GC,1476,-1.09,-136.3,181.9,-7.6,134,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2189,3750,0,0,0,0,0,0
$GC,1732,-1.09,-136.3,200.3,-7.6,158,1737,0.00,2.60,0.00,0.000,4,0.000,0.054,2837,601,3750,0,0,0,0,0,0
$GC,1767,-1.09,-136.3,203.2,-8.7,158,1775,0.00,2.40,0.00,0.000,6,0.000,0.020,2869,2175,3749,0,0,0,0,0,0
$GC,2018,-1.13,-136.3,221.5,-7.6,165,2022,0.00,2.60,0.00,0.000,4,0.000,0.050,2819,608,3749,0,0,0,0,0,0
$GC,2038,-1.13,-136.3,223.5,-8.6,165,2043,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,2184,3749,0,0,0,0,0,0
$GC,2297,-1.53,-136.3,227.8,0.1,172,2302,0.32,2.50,0.00,0.000,4,0.038,0.036,2722,3746,3749,0,0,0,0,0,0
$STATE,2373,end dive,NO_VERTICAL_VELOCITY
$STATE,2373,begin apogee
$GC,2381,-0.31,0.0,227.8,0.0,173,2492,1.17,0.00,107.38,0.663,6,0.047,0.000,3049,2175,3190,0,0,0,0,0,0
$STATE,2493,end apogee,CONTROL_FINISHED_OK
$STATE,2493,begin climb
$GC,2497,1.46,136.3,227.6,0.0,176,2610,1.60,0.00,106.50,0.654,6,0.044,0.000,3434,2175,2634,0,0,0,0,0,0
$GC,2860,1.46,136.3,198.2,9.5,185,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2175,2629,0,0,0,0,0,0
$GC,3119,1.46,136.3,175.4,9.3,209,3123,0.00,2.62,0.00,0.000,4,0.000,0.054,3433,601,2627,0,0,0,0,0,0
$GC,3151,1.46,136.3,172.3,9.8,211,3156,0.00,2.50,0.00,0.000,6,0.000,0.028,3433,2184,2627,0,0,0,0,0,0
$GC,3419,1.52,136.8,147.7,8.3,235,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2184,2626,0,0,0,0,0,0
$GC,3679,1.63,176.6,129.1,5.5,260,3720,0.15,2.72,32.60,0.601,4,0.068,0.050,3478,577,2465,0,0,0,0,0,0
$GC,3786,1.63,176.6,120.3,9.2,268,3796,0.00,2.55,0.00,0.000,6,0.000,0.021,3477,2174,2464,0,0,0,0,0,0
$GC,4054,1.63,176.6,97.6,10.0,293,4058,0.00,2.60,0.00,0.000,4,0.000,0.046,3477,600,2463,0,0,0,0,0,0
$GC,4086,1.63,176.6,94.1,10.1,295,4091,0.00,2.50,0.00,0.000,6,0.000,0.021,3477,2186,2462,0,0,0,0,0,0
$GC,4354,1.64,182.4,70.3,7.9,319,4370,0.00,2.58,5.07,0.431,4,0.000,0.038,3173,3747,2445,0,0,0,0,0,0
$GC,4593,1.65,192.4,50.7,7.6,336,4609,0.00,2.50,10.15,0.504,6,0.000,0.028,3477,2188,2404,0,0,0,0,0,0
$GC,4865,1.65,192.4,29.3,8.5,361,4876,0.00,2.65,0.00,0.000,4,0.000,0.051,3477,603,2402,0,0,0,0,0,0
$GC,5002,1.65,194.3,17.6,8.2,377,5013,0.00,2.50,0.00,0.000,6,0.000,0.020,3477,2186,2401,0,0,0,0,0,0
$STATE,5151,end climb,SURFACE_DEPTH_REACHED
$STATE,5151,begin surface coast
$FINISH,-0.5,1.023707
$STATE,5209,end surface coast,CONTROL_FINISHED_OK
$STATE,5209,begin surface
$SM_CCo,5233,148.62,0.505,0,0,1639,380.21
$SM_GC,0.23,0.00,0.00,148.62,0.000,0.000,0.505,468,2188,1639,-12.18,0.23,380.21
$IRIDIUM_FIX,2129.53,-15808.47,031001,040403
$TT8_MAMPS,0.027612
$HUMID,60.86
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,21.60
$XPDR_PINGS,18
$24V_AH,23.7,44.292
$10V_AH,10.4,37.887
$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,28.525,60.975,261.700,148.625,0.000,30.412,33.584,143.018,4.500,0.000,15.483,736.779,2177.271,452.216,1915.967,444.348,33.352,979.568,0.000,1937.407,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,57.525,663.455,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,271.905,272.177,388.460,910.548,1454.721,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,32090,402
$CAP_FILE_SIZE,72405,0
$CFSIZE,260165632,128933888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,073130,2139.502,-15807.600,9,1.8,26,9.9