version: 66.06
glider: 143
mission: 7
dive: 18
start: 8 27 109 7 45 29
data:
$ID,143
$MISSION,7
$DIVE,18
$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,-17845.049
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,074106,4806.570,-12223.172,11,1.4,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.8
$GPS2,074513,4806.565,-12223.164,11,1.4,16,18.3
$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,355.9,830,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-60.08,0.000,2,0.000,0.000,117,2409,2924,0,0,0,0,0,0
$GC,80,-0.83,-146.6,3.1,-5.3,12,112,9.85,2.30,-16.95,0.000,4,0.294,0.078,2227,993,3662,0,0,0,0,0,0
$GC,348,-0.83,-146.6,47.9,-15.8,60,353,0.00,2.17,0.00,0.000,6,0.000,0.056,2227,2398,3664,0,0,0,0,0,0
$GC,422,-0.83,-146.6,58.9,-14.4,73,427,0.00,2.25,0.00,0.000,4,0.000,0.072,2227,3812,3664,0,0,0,0,0,0
$GC,489,-0.83,-146.6,69.1,-14.2,85,495,0.00,2.15,0.00,0.000,6,0.000,0.049,2227,2406,3664,0,0,0,0,0,0
$GC,562,-0.83,-146.6,79.8,-14.3,98,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2406,3664,0,0,0,0,0,0
$GC,636,-0.83,-146.6,90.6,-14.8,111,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2406,3664,0,0,0,0,0,0
$STATE,703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,703,begin apogee
$GC,708,-0.19,0.0,100.3,14.4,123,821,0.70,0.00,106.90,0.693,6,0.176,0.000,2433,2193,3062,0,0,0,0,0,0
$STATE,822,end apogee,CONTROL_FINISHED_OK
$STATE,822,begin climb
$GC,824,0.83,146.6,105.6,0.0,145,942,1.05,2.30,108.03,0.667,4,0.121,0.065,2772,797,2464,0,0,0,0,0,0
$GC,998,0.83,146.6,97.4,9.6,178,1004,0.00,2.22,0.00,0.000,6,0.000,0.049,2772,2204,2463,0,0,0,0,0,0
$GC,1071,0.83,146.6,90.1,9.6,191,1077,0.00,2.25,0.00,0.000,4,0.000,0.064,2782,794,2463,0,0,0,0,0,0
$GC,1138,0.83,146.6,83.6,9.8,203,1143,0.00,2.17,0.00,0.000,6,0.000,0.051,2782,2190,2462,0,0,0,0,0,0
$GC,1211,0.83,146.6,76.5,9.6,216,1216,0.00,2.20,0.00,0.000,4,0.000,0.065,2793,796,2462,0,0,0,0,0,0
$GC,1228,0.83,150.5,74.9,9.4,219,1239,0.00,2.15,4.18,0.444,6,0.000,0.052,2793,2183,2449,0,0,0,0,0,0
$GC,1306,0.83,150.5,66.9,10.5,233,1311,0.00,2.17,0.00,0.000,4,0.000,0.066,2803,803,2449,0,0,0,0,0,0
$GC,1339,0.83,150.5,63.4,10.7,239,1345,0.15,2.12,0.00,0.000,6,0.202,0.053,2769,2179,2449,0,0,0,0,0,0
$GC,1413,0.83,152.1,56.2,9.5,252,1418,0.00,2.15,0.00,0.000,4,0.000,0.064,2777,800,2448,0,0,0,0,0,0
$GC,1430,0.84,155.4,54.6,9.4,255,1441,0.00,2.10,5.25,0.500,6,0.000,0.051,2778,2172,2429,0,0,0,0,0,0
$GC,1508,0.84,155.4,47.2,9.6,269,1514,0.00,2.15,0.00,0.000,4,0.000,0.064,2788,797,2429,0,0,0,0,0,0
$GC,1530,0.84,155.4,44.9,9.8,273,1536,0.00,2.10,0.00,0.000,6,0.000,0.052,2788,2170,2429,0,0,0,0,0,0
$GC,1603,0.84,155.4,37.7,10.1,286,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2170,2428,0,0,0,0,0,0
$GC,1676,0.84,155.4,30.6,9.7,299,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2170,2429,0,0,0,0,0,0
$GC,1748,0.85,161.8,23.9,9.2,312,1758,0.00,0.00,6.35,0.536,6,0.000,0.000,2788,2170,2402,0,0,0,0,0,0
$GC,1826,0.86,169.4,16.6,9.2,326,1842,0.00,2.22,7.35,0.551,4,0.000,0.065,2798,793,2372,0,0,0,0,0,0
$GC,1847,0.86,169.4,14.4,10.5,330,1853,0.00,2.12,0.00,0.000,6,0.000,0.051,2798,2180,2372,0,0,0,0,0,0
$GC,1921,0.86,169.4,7.2,9.8,343,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2180,2372,0,0,0,0,0,0
$GC,1994,0.98,272.1,2.1,5.0,356,2000,0.00,0.00,4.10,0.443,2,0.000,0.000,2798,2180,2352,0,0,0,0,0,0
$STATE,2000,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,2.2,1.020082
$STATE,2050,end surface coast,CONTROL_FINISHED_OK
$STATE,2050,begin surface
$SM_CCo,2053,212.25,0.607,0,0,442,642.93
$SM_GC,1.15,7.72,0.00,0.00,0.063,0.000,0.000,125,2404,437,-7.38,0.11,644.16
$RAFOS_CLK,111
$RAFOS,0,1251360243,8.083333,8.067500,44,41,39,0,0,0,1222,1774,624,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,211198,070739
$TT8_MAMPS,0.026845
$HUMID,1078577410
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.3,14.2
$24V_AH,24.5,2.751
$10V_AH,10.6,0.825
$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,19.475,39.975,242.150,212.250,0.000,29.294,31.266,94.032,2.500,0.000,18.404,566.831,762.327,523.359,548.260,225.792,0.000,881.194,0.000,532.447,720.000,15.951,0.000
$DEVICE_MAMPS,293.761,78.234,692.601,606.697,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.574,262.719,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264536
$DATA_FILE_SIZE,12730,366
$CAP_FILE_SIZE,52614,0
$CFSIZE,260165632,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.4
$GPS,270809,082550,4806.707,-12223.079,8,1.6,8,18.3