version: 66.06
glider: 143
mission: 7
dive: 17
start: 8 27 109 7 8 42
data:
$ID,143
$MISSION,7
$DIVE,17
$D_SURF,2
$D_FLARE,3
$D_TGT,100
$D_ABORT,200
$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,35
$T_MISSION,50
$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,50964
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,8
$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,-17826.014
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,3063
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.51395
$PRESSURE_SLOPE,0.0001163694
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,30
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,070334,4806.430,-12223.473,7,99.0,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.2
$GPS2,070825,4806.428,-12223.477,11,1.5,16,18.3
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.070,0.247
$KALMAN_X,-1510.3,-705.2,-148.5,2209.4,65.4
$KALMAN_Y,-909.2,-270.8,-53.9,308.3,-227.8
$MHEAD_RNG_PITCHd_Wd,10.8,1212,-17.5,-9.524
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.83,-146.6,0.0,0.0,0,78,0.00,0.00,-60.08,0.000,2,0.000,0.000,125,2400,2953,0,0,0,0,0,0
$GC,80,-0.83,-146.6,3.7,-7.8,12,112,9.82,2.28,-15.48,0.000,4,0.293,0.083,2230,3802,3661,0,0,0,0,0,0
$GC,281,-0.83,-146.6,36.6,-15.6,48,287,0.00,2.17,0.00,0.000,6,0.000,0.049,2231,2390,3663,0,0,0,0,0,0
$GC,354,-0.83,-146.6,47.3,-14.8,61,359,0.00,2.25,0.00,0.000,4,0.000,0.068,2231,3803,3663,0,0,0,0,0,0
$GC,393,-0.83,-146.6,53.3,-14.8,68,398,0.00,2.15,0.00,0.000,6,0.000,0.049,2231,2403,3663,0,0,0,0,0,0
$GC,465,-0.83,-146.6,63.9,-15.2,81,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2403,3663,0,0,0,0,0,0
$GC,538,-0.83,-146.6,74.5,-14.8,94,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2403,3664,0,0,0,0,0,0
$GC,610,-0.83,-146.6,84.8,-14.5,107,615,0.00,2.22,0.00,0.000,4,0.000,0.067,2231,3809,3664,0,0,0,0,0,0
$GC,653,-0.83,-146.6,90.4,-14.2,114,658,0.00,2.12,0.00,0.000,6,0.000,0.048,2230,2411,3664,0,0,0,0,0,0
$STATE,718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,718,begin apogee
$GC,723,-0.19,0.0,100.6,14.9,126,836,0.68,0.00,106.70,0.693,6,0.172,0.000,2431,2186,3062,0,0,0,0,0,0
$STATE,837,end apogee,CONTROL_FINISHED_OK
$STATE,837,begin climb
$GC,839,0.83,146.6,106.4,0.0,148,957,1.05,2.30,107.85,0.660,4,0.121,0.064,2769,792,2464,0,0,0,0,0,0
$GC,963,0.93,228.0,103.4,6.0,172,1034,0.00,2.25,61.83,0.634,6,0.000,0.048,2770,2198,2132,0,0,0,0,0,0
$GC,1101,0.93,228.0,87.8,12.8,198,1107,0.00,2.25,0.00,0.000,4,0.000,0.064,2780,799,2129,0,0,0,0,0,0
$GC,1208,0.93,228.0,73.7,13.2,217,1213,0.00,2.15,0.00,0.000,6,0.000,0.051,2780,2178,2128,0,0,0,0,0,0
$GC,1281,0.93,228.0,64.2,12.8,230,1286,0.00,2.17,0.00,0.000,4,0.000,0.065,2790,803,2128,0,0,0,0,0,0
$GC,1314,0.93,228.0,59.6,14.0,236,1320,0.00,2.12,0.00,0.000,6,0.000,0.052,2790,2172,2128,0,0,0,0,0,0
$GC,1388,0.93,228.0,49.9,12.8,249,1393,0.00,2.15,0.00,0.000,4,0.000,0.065,2800,802,2128,0,0,0,0,0,0
$GC,1432,0.93,228.0,43.7,14.1,257,1438,0.00,2.08,0.00,0.000,6,0.000,0.052,2800,2154,2128,0,0,0,0,0,0
$GC,1505,0.93,228.0,33.9,13.6,270,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2154,2128,0,0,0,0,0,0
$GC,1577,0.93,228.0,24.2,13.7,283,1583,0.00,2.12,0.00,0.000,4,0.000,0.065,2810,791,2127,0,0,0,0,0,0
$GC,1599,0.93,228.0,21.2,13.2,287,1605,0.00,2.08,0.00,0.000,6,0.000,0.051,2810,2147,2127,0,0,0,0,0,0
$GC,1674,0.93,228.0,10.9,13.5,300,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2147,2127,0,0,0,0,0,0
$GC,1746,0.93,228.0,2.4,10.0,313,1752,0.00,2.10,0.00,0.000,4,0.000,0.066,2820,796,2127,0,0,0,0,0,0
$STATE,1756,end climb,SURFACE_DEPTH_REACHED
$STATE,1756,begin surface coast
$FINISH,0.3,1.020027
$STATE,1781,end surface coast,CONTROL_FINISHED_OK
$STATE,1781,begin surface
$SM_CCo,1799,74.15,0.612,0,0,1512,380.21
$SM_GC,1.44,0.00,0.00,74.15,0.000,0.000,0.612,117,2409,1512,-7.45,0.23,380.21
$RAFOS_CLK,91
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,211198,060620
$TT8_MAMPS,0.026845
$HUMID,1078590313
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.4,18.6
$24V_AH,24.5,2.661
$10V_AH,10.6,0.800
$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,19.200,39.825,276.375,74.150,0.000,26.350,34.520,137.157,2.750,0.000,17.590,483.523,539.614,404.858,480.336,266.434,0.000,732.042,0.000,466.302,0.000,14.456,0.000
$DEVICE_MAMPS,292.994,82.836,692.601,612.066,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.798,226.617,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264484
$DATA_FILE_SIZE,12774,319
$CAP_FILE_SIZE,45821,0
$CFSIZE,260165632,256929792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.4
$GPS,270809,074106,4806.570,-12223.172,11,1.4,27,18.3