version: 66.06
glider: 146
mission: 7
dive: 316
start: 7 9 112 14 20 54
data:
$ID,146
$MISSION,7
$DIVE,316
$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,-298650.56
$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,56
$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
$GPS1,141405,2139.735,-15807.640,35,1.0,35,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-71.1
$GPS2,142000,2139.779,-15807.614,10,1.6,15,9.9
$SPEED_LIMITS,0.122,0.239
$TGT_NAME,Mile3
$TGT_LATLONG,2138.700,-15808.200
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.178,-0.159
$KALMAN_X,-168363.2,-311.5,526.9,161491.4,713.8
$KALMAN_Y,203431.2,79.7,622.5,-316754.1,600.1
$MHEAD_RNG_PITCHd_Wd,218.3,2238,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.15,-136.3,0.0,0.0,0,113,0.00,0.00,-87.82,0.000,6,0.000,0.000,467,2212,3746,0,0,0,0,0,0
$GC,116,-1.15,-136.3,3.3,-5.7,10,137,13.07,2.67,0.00,0.000,4,0.170,0.036,2855,590,3747,0,0,0,0,0,0
$GC,198,-0.89,-136.3,25.6,-16.3,19,209,0.28,2.50,0.00,0.000,6,0.091,0.025,2919,2179,3747,0,0,0,0,0,0
$GC,475,-0.76,-136.3,56.9,-10.3,45,481,0.12,2.65,0.00,0.000,4,0.107,0.046,2947,590,3747,0,0,0,0,0,0
$GC,540,-0.71,-136.3,63.1,-8.6,49,544,0.00,2.45,0.00,0.000,6,0.000,0.017,2947,2178,3747,0,0,0,0,0,0
$GC,807,-0.71,-136.3,86.0,-8.2,73,811,0.00,2.47,0.00,0.000,4,0.000,0.032,2908,3742,3747,0,0,0,0,0,0
$GC,865,-0.75,-136.3,91.0,-9.0,77,870,0.28,2.42,0.00,0.000,6,0.071,0.023,2997,2180,3747,0,0,0,0,0,0
$GC,1132,-0.90,-136.3,105.6,-4.8,101,1138,0.38,2.58,0.00,0.000,4,0.034,0.052,2889,597,3747,0,0,0,0,0,0
$GC,1168,-0.81,-136.3,108.9,-9.8,103,1174,0.20,2.42,0.00,0.000,6,0.095,0.017,2941,2175,3746,0,0,0,0,0,0
$GC,1433,-0.81,-136.3,131.1,-8.5,128,1437,0.00,2.47,0.00,0.000,4,0.000,0.038,2920,3753,3747,0,0,0,0,0,0
$GC,1479,-0.85,-136.3,134.7,-8.1,131,1484,0.00,2.42,0.00,0.000,6,0.000,0.021,2941,2187,3746,0,0,0,0,0,0
$GC,1740,-0.85,-136.3,153.1,-6.7,155,1745,0.00,2.55,0.00,0.000,4,0.000,0.055,2941,612,3747,0,0,0,0,0,0
$GC,1774,-0.85,-136.3,155.2,-7.2,157,1778,0.00,2.42,0.00,0.000,6,0.000,0.022,2940,2196,3747,0,0,0,0,0,0
$GC,2040,-0.85,-136.3,174.3,-6.9,181,2044,0.00,2.45,0.00,0.000,4,0.000,0.038,2890,3747,3747,0,0,0,0,0,0
$GC,2068,-0.85,-136.3,176.5,-7.0,183,2072,0.00,2.42,0.00,0.000,6,0.000,0.021,2940,2187,3747,0,0,0,0,0,0
$STATE,2125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2125,begin apogee
$GC,2132,-0.31,0.0,180.5,6.8,188,2243,0.43,0.00,105.47,0.611,6,0.068,0.000,3045,2187,3189,0,0,0,0,0,0
$STATE,2244,end apogee,CONTROL_FINISHED_OK
$STATE,2244,begin climb
$GC,2247,1.15,136.3,184.4,0.0,199,2358,1.33,0.00,105.62,0.607,6,0.049,0.000,3363,2187,2634,0,0,0,0,0,0
$GC,2614,1.21,186.5,166.3,6.4,234,2662,0.00,2.55,40.95,0.589,4,0.000,0.039,3269,3737,2430,0,0,0,0,0,0
$GC,2705,1.31,207.8,160.3,7.7,241,2730,0.15,2.47,18.33,0.562,6,0.063,0.027,3410,2192,2342,0,0,0,0,0,0
$GC,2992,1.31,207.8,133.1,9.4,268,2997,0.00,2.65,0.00,0.000,4,0.000,0.054,3410,599,2338,0,0,0,0,0,0
$GC,3052,1.31,207.8,127.3,9.3,272,3063,0.00,2.47,0.00,0.000,6,0.000,0.020,3409,2174,2336,0,0,0,0,0,0
$GC,3320,1.32,216.9,108.1,8.2,297,3334,0.00,2.58,8.32,0.494,4,0.000,0.035,3336,3738,2305,0,0,0,0,0,0
$GC,3371,1.32,216.9,103.4,9.7,301,3375,0.00,2.47,0.00,0.000,6,0.000,0.035,3410,2195,2304,0,0,0,0,0,0
$GC,3638,1.36,244.9,81.6,7.4,325,3673,0.00,2.58,24.38,0.540,4,0.000,0.040,3101,3747,2190,0,0,0,0,0,0
$GC,3704,1.49,306.0,77.0,6.0,330,3764,0.12,2.47,51.33,0.542,6,0.071,0.031,3451,2206,1940,0,0,0,0,0,0
$GC,4022,1.44,306.0,46.1,10.6,358,4027,0.10,2.70,0.00,0.000,4,0.117,0.054,3422,596,1937,0,0,0,0,0,0
$GC,4101,1.48,306.0,37.5,9.5,363,4112,0.00,2.50,0.00,0.000,6,0.000,0.018,3424,2178,1935,0,0,0,0,0,0
$STATE,4454,end climb,SURFACE_DEPTH_REACHED
$STATE,4454,begin surface coast
$FINISH,-0.6,1.009132
$STATE,4519,end surface coast,CONTROL_FINISHED_OK
$STATE,4519,begin surface
$SM_CCo,4540,57.47,0.489,0,0,1639,380.21
$SM_GC,0.13,0.00,0.00,57.47,0.000,0.000,0.489,467,2181,1639,-12.18,0.03,380.21
$IRIDIUM_FIX,2131.85,-15952.69,031001,131319
$TT8_MAMPS,0.027612
$HUMID,60.12
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,22.80
$XPDR_PINGS,18
$24V_AH,23.8,44.816
$10V_AH,10.4,38.576
$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,28.300,60.375,354.400,57.475,0.000,30.883,34.507,152.448,4.500,0.000,17.300,715.054,1409.542,378.676,2000.234,456.402,33.352,944.648,0.000,2035.971,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,55.224,611.299,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.785,293.715,421.004,1012.198,1612.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,31992,412
$CAP_FILE_SIZE,73091,0
$CFSIZE,260165632,128700416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,153819,2139.548,-15807.865,7,1.7,7,9.9