version: 66.06
glider: 146
mission: 7
dive: 313
start: 7 9 112 10 19 55
data:
$ID,146
$MISSION,7
$DIVE,313
$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,-298584.16
$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,44
$R_STBD_OVSHOOT,55
$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
$GPS1,101406,2138.979,-15807.893,42,1.0,42,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-65.8
$GPS2,101901,2139.011,-15807.873,11,1.6,11,9.9
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,Mile3
$TGT_LATLONG,2138.700,-15808.200
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.177,-0.160
$KALMAN_X,-169885.9,-348.2,-684.4,163815.2,515.1
$KALMAN_Y,200980.2,117.1,-210.6,-314934.0,437.1
$MHEAD_RNG_PITCHd_Wd,218.0,806,-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,18,-1.15,-136.3,0.0,0.0,0,159,0.00,0.00,-134.77,0.000,6,0.000,0.000,472,2188,3747,0,0,0,0,0,0
$GC,164,-1.15,-136.3,3.2,-5.5,15,184,13.12,2.58,0.00,0.000,4,0.172,0.035,2856,601,3747,0,0,0,0,0,0
$GC,327,-0.91,-136.3,40.6,-14.5,31,336,0.22,2.45,0.00,0.000,6,0.094,0.017,2910,2173,3748,0,0,0,0,0,0
$GC,594,-0.77,-136.3,73.2,-11.6,56,599,0.15,2.55,0.00,0.000,4,0.106,0.047,2944,612,3748,0,0,0,0,0,0
$GC,618,-0.67,-136.3,75.8,-10.4,57,623,0.10,2.42,0.00,0.000,6,0.117,0.016,2967,2189,3748,0,0,0,0,0,0
$GC,885,-0.67,-136.3,96.9,-6.2,81,889,0.00,2.45,0.00,0.000,4,0.000,0.037,2928,3747,3748,0,0,0,0,0,0
$GC,906,-0.67,-136.3,98.5,-6.1,82,916,0.00,2.45,0.00,0.000,6,0.000,0.022,2967,2190,3747,0,0,0,0,0,0
$GC,1173,-0.67,-136.3,117.3,-8.7,107,1177,0.00,2.60,0.00,0.000,4,0.000,0.049,2967,601,3748,0,0,0,0,0,0
$GC,1206,-0.71,-136.3,120.1,-8.5,109,1210,0.00,2.42,0.00,0.000,6,0.000,0.017,2967,2182,3747,0,0,0,0,0,0
$GC,1472,-0.71,-136.3,143.2,-8.3,133,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2182,3747,0,0,0,0,0,0
$GC,1735,-0.76,-136.3,158.9,-5.5,158,1739,0.00,2.58,0.00,0.000,4,0.000,0.051,2967,600,3747,0,0,0,0,0,0
$GC,1771,-0.84,-136.3,160.6,-5.2,160,1776,0.15,2.42,0.00,0.000,6,0.059,0.018,2907,2180,3750,0,0,0,0,0,0
$STATE,2002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2002,begin apogee
$GC,2010,-0.31,0.0,181.1,10.2,181,2119,0.57,0.00,105.80,0.607,6,0.067,0.000,3044,2181,3190,0,0,0,0,0,0
$STATE,2120,end apogee,CONTROL_FINISHED_OK
$STATE,2120,begin climb
$GC,2122,1.15,136.3,187.6,0.0,192,2246,1.33,2.70,106.22,0.601,4,0.048,0.048,3362,609,2633,0,0,0,0,0,0
$GC,2287,1.23,171.9,181.7,7.1,205,2323,0.00,2.45,29.98,0.578,6,0.000,0.018,3362,2171,2489,0,0,0,0,0,0
$GC,2585,1.37,233.8,163.8,5.9,232,2645,0.20,2.65,51.10,0.584,4,0.054,0.037,3258,3752,2235,0,0,0,0,0,0
$GC,2703,1.37,233.8,153.4,10.1,242,2708,0.00,2.53,0.00,0.000,6,0.000,0.033,3421,2185,2232,0,0,0,0,0,0
$GC,2964,1.37,233.8,126.6,9.3,266,2968,0.00,2.62,0.00,0.000,4,0.000,0.054,3421,599,2230,0,0,0,0,0,0
$GC,3035,1.37,233.8,120.1,9.9,271,3039,0.00,2.47,0.00,0.000,6,0.000,0.018,3421,2186,2228,0,0,0,0,0,0
$GC,3301,1.38,240.2,99.5,8.3,295,3312,0.00,2.50,5.82,0.439,4,0.000,0.040,3310,3746,2209,0,0,0,0,0,0
$GC,3354,1.38,240.2,94.6,9.6,299,3359,0.08,2.53,0.00,0.000,6,0.106,0.032,3449,2170,2208,0,0,0,0,0,0
$GC,3623,1.31,240.2,67.3,8.9,323,3628,0.22,2.55,0.00,0.000,4,0.091,0.035,3304,3752,2208,0,0,0,0,0,0
$GC,3687,1.43,266.5,62.4,7.5,327,3718,0.15,2.47,22.83,0.518,6,0.064,0.028,3449,2189,2102,0,0,0,0,0,0
$GC,3976,1.38,266.5,35.4,10.4,353,3981,0.15,2.65,0.00,0.000,4,0.103,0.050,3416,601,2098,0,0,0,0,0,0
$GC,4040,1.38,266.5,29.2,9.0,357,4051,0.00,2.47,0.00,0.000,6,0.000,0.018,3416,2181,2096,0,0,0,0,0,0
$STATE,4368,end climb,SURFACE_DEPTH_REACHED
$STATE,4368,begin surface coast
$FINISH,-0.7,1.023608
$STATE,4458,end surface coast,CONTROL_FINISHED_OK
$STATE,4458,begin surface
$SM_CCo,4479,88.12,0.490,0,0,1639,380.21
$SM_GC,0.01,0.00,0.00,88.12,0.000,0.000,0.490,458,2187,1639,-12.22,0.14,380.21
$IRIDIUM_FIX,2129.53,-15806.32,031001,090951
$TT8_MAMPS,0.023777
$HUMID,58.66
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,23.40
$XPDR_PINGS,16
$24V_AH,23.8,44.572
$10V_AH,10.2,38.211
$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,28.175,55.525,321.750,88.125,0.000,23.714,38.013,111.759,4.000,0.000,12.612,702.738,1369.962,396.429,2006.076,400.939,33.360,973.876,0.000,2036.605,0.000,0.537,0.000
$DEVICE_MAMPS,171.808,53.690,606.697,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,272.959,288.419,416.932,1008.818,1610.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,32026,408
$CAP_FILE_SIZE,70872,0
$CFSIZE,260165632,128823296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,113655,2139.134,-15807.895,11,1.2,11,9.9