version: 66.06
glider: 140
mission: 7
dive: 8
start: 8 14 109 21 44 31
data:
$ID,140
$MISSION,7
$DIVE,8
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$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,40
$T_MISSION,52
$T_ABORT,720
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51118
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$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,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,684.38696
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-43707.117
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3340
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.054012
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$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,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,213716,4743.333,-12224.118,9,99.0,28,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.6
$GPS2,214410,4743.373,-12224.089,11,2.2,30,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,263.5,1159,-17.5,-10.000
$D_GRID,120
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.01,-146.6,0.0,0.0,0,129,0.00,0.00,-112.28,0.000,2,0.000,0.000,217,2471,3122,0,0,0,0,0,0
$GC,133,-1.01,-146.6,3.0,-6.2,20,170,10.15,2.12,-21.23,0.000,4,0.301,0.052,2505,1079,3940,0,0,0,0,0,0
$GC,326,-0.75,-146.6,30.3,-16.1,55,333,0.28,2.03,0.00,0.000,6,0.193,0.035,2587,2431,3940,0,0,0,0,0,0
$GC,658,-0.75,-146.6,64.4,-10.6,116,665,0.00,2.03,0.00,0.000,4,0.000,0.036,2588,1079,3941,0,0,0,0,0,0
$GC,752,-0.75,-146.6,74.6,-10.4,133,759,0.00,2.05,0.00,0.000,6,0.000,0.035,2587,2448,3941,0,0,0,0,0,0
$STATE,806,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,806,begin apogee
$GC,811,-0.24,0.0,80.2,10.6,142,932,0.52,0.00,110.85,0.861,6,0.173,0.000,2752,2566,3340,0,0,0,0,0,0
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,934,1.01,146.6,86.7,0.0,163,1058,1.27,2.22,112.32,0.826,4,0.130,0.047,3155,3938,2742,0,0,0,0,0,0
$GC,1161,0.69,146.6,76.7,10.5,204,1169,0.30,2.05,0.00,0.000,6,0.213,0.027,3073,2573,2741,0,0,0,0,0,0
$GC,1492,0.84,267.4,57.6,4.4,265,1597,0.12,2.25,92.97,0.818,4,0.132,0.040,3114,1161,2248,0,0,0,0,0,0
$GC,1753,0.92,267.4,32.7,11.3,312,1760,0.00,2.08,0.00,0.000,6,0.000,0.034,3114,2518,2243,0,0,0,0,0,0
$STATE,2029,end climb,SURFACE_DEPTH_REACHED
$STATE,2029,begin surface coast
$FINISH,0.6,1.014374
$STATE,2047,end surface coast,CONTROL_FINISHED_OK
$STATE,2047,begin surface
$SM_CCo,2063,323.48,0.764,0,0,549,684.39
$SM_GC,1.40,0.00,0.00,323.48,0.000,0.000,0.764,219,2437,549,-8.20,-0.34,684.39
$IRIDIUM_FIX,4726.11,-12220.67,081198,212137
$TT8_MAMPS,0.026845
$HUMID,1078355474
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,6.5
$24V_AH,24.4,2.249
$10V_AH,10.4,0.821
$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,21.125,17.025,316.150,323.475,0.000,0.000,0.000,0.000,1.250,0.000,31.450,510.069,296.870,586.113,1033.050,49.577,0.000,1046.704,0.000,1018.235,0.000,8.494,0.000
$DEVICE_MAMPS,300.664,105.846,860.574,763.932,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,241.806,374.090,934.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,266260
$DATA_FILE_SIZE,19149,366
$CAP_FILE_SIZE,52727,0
$CFSIZE,260165632,255528960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140809,222507,4743.468,-12224.312,8,1.7,13,18.2