version: 66.06
glider: 146
mission: 7
dive: 312
start: 7 9 112 9 3 38
data:
$ID,146
$MISSION,7
$DIVE,312
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,210
$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,70
$T_MISSION,150
$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,-298570.91
$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,47
$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
$GPS1,085555,2138.929,-15807.796,10,1.4,10,9.9
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-68.9
$GPS2,090243,2138.958,-15807.799,12,1.3,12,9.9
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,Mile3
$TGT_LATLONG,2138.700,-15808.200
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.157,-0.180
$KALMAN_X,-170543.0,-243.5,-630.9,164447.3,-6.1
$KALMAN_Y,200345.2,127.9,-394.3,-314209.8,283.2
$MHEAD_RNG_PITCHd_Wd,211.3,840,-15.7,-8.571
$D_GRID,180
$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,-1.15,-136.3,0.0,0.0,0,114,0.00,0.00,-88.05,0.000,6,0.000,0.000,467,2175,3748,0,0,0,0,0,0
$GC,119,-1.15,-136.3,3.3,-5.6,10,140,13.15,2.60,0.00,0.000,4,0.170,0.043,2856,598,3749,0,0,0,0,0,0
$GC,292,-0.91,-136.3,41.7,-13.9,27,297,0.28,2.47,0.00,0.000,6,0.107,0.018,2916,2191,3746,0,0,0,0,0,0
$GC,559,-0.78,-136.3,73.6,-11.5,51,570,0.12,0.00,0.00,0.000,6,0.109,0.000,2943,2192,3747,0,0,0,0,0,0
$GC,823,-0.78,-136.3,99.6,-8.4,76,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2192,3746,0,0,0,0,0,0
$GC,1078,-0.78,-136.3,120.6,-9.4,100,1083,0.00,2.47,0.00,0.000,4,0.000,0.038,2893,3744,3746,0,0,0,0,0,0
$GC,1102,-0.78,-136.3,122.2,-9.3,101,1106,0.00,2.45,0.00,0.000,6,0.000,0.026,2943,2165,3746,0,0,0,0,0,0
$GC,1368,-0.78,-136.3,146.0,-9.5,125,1372,0.00,2.53,0.00,0.000,4,0.000,0.049,2935,608,3747,0,0,0,0,0,0
$GC,1404,-0.78,-136.3,149.9,-9.3,127,1410,0.00,2.42,0.00,0.000,6,0.000,0.017,2943,2189,3746,0,0,0,0,0,0
$GC,1665,-0.78,-136.3,169.7,-7.5,152,1670,0.00,2.58,0.00,0.000,4,0.000,0.051,2943,606,3746,0,0,0,0,0,0
$GC,1684,-0.78,-136.3,171.0,-7.8,153,1688,0.00,2.42,0.00,0.000,6,0.000,0.018,2943,2188,3746,0,0,0,0,0,0
$STATE,1799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1799,begin apogee
$GC,1805,-0.31,0.0,180.4,8.4,163,1913,0.43,0.00,105.53,0.611,6,0.068,0.000,3046,2188,3190,0,0,0,0,0,0
$STATE,1914,end apogee,CONTROL_FINISHED_OK
$STATE,1914,begin climb
$GC,1917,1.15,136.3,185.1,0.0,174,2040,1.33,2.72,105.50,0.604,4,0.046,0.059,3364,623,2634,0,0,0,0,0,0
$STATE,2061,end climb,NO_VERTICAL_VELOCITY
$STATE,2061,begin surface
$SM_CCo,2065,429.00,0.601,0,0,476,665.50
$SM_GC,0.06,11.70,0.00,0.00,0.029,0.000,0.000,472,2187,466,-12.05,0.20,668.20
$IRIDIUM_FIX,2131.85,-15806.32,031001,070725
$TT8_MAMPS,0.026845
$HUMID,61.38
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,23.90
$XPDR_PINGS,10
$24V_AH,23.7,44.497
$10V_AH,10.3,38.083
$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,27.000,25.125,211.025,429.000,0.000,30.437,32.161,209.129,2.500,0.000,14.158,393.543,2224.472,635.510,869.565,436.896,33.360,980.796,0.000,883.615,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,59.059,610.532,601.328,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,123.185,130.714,190.190,420.245,672.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,13062,186
$CAP_FILE_SIZE,43790,0
$CFSIZE,260165632,128897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,101406,2138.979,-15807.893,42,1.0,42,9.9