version: 66.06
glider: 143
mission: 7
dive: 19
start: 8 27 109 8 30 19
data:
$ID,143
$MISSION,7
$DIVE,19
$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,-17860.939
$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,44
$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
$GPS1,082550,4806.707,-12223.079,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.4
$GPS2,083002,4806.702,-12223.076,12,1.3,12,18.3
$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,351.4,560,-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,-146.6,0.0,0.0,0,123,0.00,0.00,-104.90,0.000,2,0.000,0.000,125,2405,2876,0,0,0,0,0,0
$GC,126,-0.83,-146.6,3.0,-5.1,21,163,9.77,2.28,-18.25,0.000,4,0.293,0.077,2227,995,3663,0,0,0,0,0,0
$GC,416,-0.83,-146.6,49.4,-15.1,73,424,0.00,2.17,0.00,0.000,6,0.000,0.054,2227,2400,3664,0,0,0,0,0,0
$GC,494,-0.83,-146.6,60.5,-15.0,86,499,0.00,2.25,0.00,0.000,4,0.000,0.071,2227,3809,3664,0,0,0,0,0,0
$GC,555,-0.83,-146.6,69.6,-14.3,97,562,0.00,2.15,0.00,0.000,6,0.000,0.048,2227,2403,3665,0,0,0,0,0,0
$GC,630,-0.83,-146.6,80.3,-15.0,110,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2403,3665,0,0,0,0,0,0
$GC,702,-0.83,-146.6,90.8,-14.3,123,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2403,3665,0,0,0,0,0,0
$STATE,771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,771,begin apogee
$GC,776,-0.19,0.0,100.3,14.3,135,889,0.70,0.00,106.93,0.690,6,0.173,0.000,2434,2191,3063,0,0,0,0,0,0
$STATE,890,end apogee,CONTROL_FINISHED_OK
$STATE,890,begin climb
$GC,891,0.83,146.6,106.1,0.0,157,1010,1.05,2.30,108.35,0.673,4,0.121,0.064,2773,797,2465,0,0,0,0,0,0
$GC,1094,0.83,146.6,94.8,10.3,195,1100,0.00,2.22,0.00,0.000,6,0.000,0.049,2774,2212,2462,0,0,0,0,0,0
$GC,1167,0.83,146.6,87.4,9.7,208,1173,0.00,2.25,0.00,0.000,4,0.000,0.064,2784,798,2462,0,0,0,0,0,0
$GC,1184,0.83,146.6,85.7,10.1,211,1189,0.00,2.20,0.00,0.000,6,0.000,0.051,2784,2207,2461,0,0,0,0,0,0
$GC,1257,0.83,146.6,78.1,10.3,224,1262,0.00,2.22,0.00,0.000,4,0.000,0.064,2794,802,2461,0,0,0,0,0,0
$GC,1285,0.83,146.6,75.3,10.2,229,1290,0.00,2.15,0.00,0.000,6,0.000,0.051,2794,2191,2461,0,0,0,0,0,0
$GC,1358,0.83,146.6,67.7,10.1,242,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2191,2461,0,0,0,0,0,0
$GC,1430,0.83,146.6,60.3,9.9,255,1435,0.00,2.17,0.00,0.000,4,0.000,0.064,2805,803,2461,0,0,0,0,0,0
$GC,1458,0.83,146.6,57.4,10.5,260,1464,0.17,2.15,0.00,0.000,6,0.200,0.052,2764,2199,2461,0,0,0,0,0,0
$GC,1531,0.84,160.3,50.6,8.9,273,1548,0.00,2.20,11.35,0.591,4,0.000,0.061,2772,794,2408,0,0,0,0,0,0
$GC,1598,0.84,160.3,44.2,9.9,285,1604,0.00,2.12,0.00,0.000,6,0.000,0.051,2772,2178,2407,0,0,0,0,0,0
$GC,1673,0.84,160.3,37.1,9.5,298,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2178,2407,0,0,0,0,0,0
$GC,1745,0.86,170.4,30.2,9.1,311,1762,0.00,2.20,8.88,0.573,4,0.000,0.064,2782,807,2368,0,0,0,0,0,0
$GC,1767,0.86,170.4,28.1,9.6,315,1773,0.00,2.10,0.00,0.000,6,0.000,0.051,2782,2178,2367,0,0,0,0,0,0
$GC,1842,0.86,170.4,21.1,9.6,328,1847,0.00,2.15,0.00,0.000,4,0.000,0.064,2793,797,2367,0,0,0,0,0,0
$GC,1853,0.86,170.4,19.8,9.7,330,1858,0.00,2.10,0.00,0.000,6,0.000,0.051,2793,2169,2366,0,0,0,0,0,0
$GC,1925,0.86,170.4,12.4,10.1,343,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2169,2366,0,0,0,0,0,0
$GC,1998,0.86,172.0,5.3,9.5,356,2003,0.00,2.12,0.00,0.000,4,0.000,0.064,2803,804,2366,0,0,0,0,0,0
$STATE,2041,end climb,SURFACE_DEPTH_REACHED
$STATE,2041,begin surface coast
$FINISH,1.5,1.020130
$STATE,2070,end surface coast,CONTROL_FINISHED_OK
$STATE,2070,begin surface
$SM_CCo,2088,104.95,0.626,0,0,1513,380.21
$SM_GC,1.45,0.00,0.00,104.95,0.000,0.000,0.626,126,2401,1513,-7.42,0.03,380.21
$RAFOS_CLK,100
$RAFOS,4,1251362644,8.750000,8.734445,44,43,43,0,0,0,645,549,1516,0,0,0
$RAFOS,3,1251362042,8.583333,8.567223,41,41,40,0,0,0,635,1318,1861,0,0,0
$RAFOS,1,1251360841,8.250000,8.233611,48,41,41,0,0,0,1430,1048,1694,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,211198,070713
$TT8_MAMPS,0.026845
$HUMID,1078549023
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,100.3,17.5
$24V_AH,24.4,2.824
$10V_AH,10.6,0.848
$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,19.525,44.325,235.500,104.950,0.000,30.656,48.299,85.202,2.750,0.000,15.264,557.114,662.299,448.965,550.448,236.023,0.000,816.628,0.000,536.524,720.000,15.965,0.000
$DEVICE_MAMPS,292.994,76.700,690.300,625.872,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.637,264.020,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264540
$DATA_FILE_SIZE,12740,369
$CAP_FILE_SIZE,51687,0
$CFSIZE,260165632,256864256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.2
$GPS,270809,090744,4806.840,-12223.044,8,1.4,8,18.3