version: 66.06
glider: 143
mission: 7
dive: 23
start: 8 27 109 11 17 42
data:
$ID,143
$MISSION,7
$DIVE,23
$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,-17946.256
$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,29
$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
$GPS1,111331,4806.922,-12223.003,13,1.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.6
$GPS2,111725,4806.909,-12222.979,11,1.1,11,18.3
$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,333.1,170,-27.8,-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,-1.10,-58.7,0.0,0.0,0,124,0.00,0.00,-105.60,0.000,2,0.000,0.000,121,2402,2949,0,0,0,0,0,0
$GC,127,-1.14,-87.3,3.4,-6.4,21,154,9.18,2.22,-11.25,0.000,4,0.288,0.074,2130,985,3420,0,0,0,0,0,0
$GC,234,-1.14,-87.3,23.6,-20.3,40,239,0.00,2.20,0.00,0.000,6,0.000,0.055,2130,2403,3421,0,0,0,0,0,0
$GC,307,-1.14,-87.3,37.7,-19.4,53,312,0.00,2.25,0.00,0.000,4,0.000,0.069,2129,3818,3421,0,0,0,0,0,0
$GC,363,-1.14,-87.3,48.5,-18.7,63,368,0.00,2.17,0.00,0.000,6,0.000,0.048,2130,2403,3422,0,0,0,0,0,0
$GC,435,-1.14,-87.3,61.9,-18.4,76,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2403,3422,0,0,0,0,0,0
$GC,507,-1.14,-87.3,75.3,-18.4,89,512,0.00,2.22,0.00,0.000,4,0.000,0.067,2130,3810,3422,0,0,0,0,0,0
$GC,630,-1.14,-87.3,99.4,-19.2,111,638,0.00,2.12,0.00,0.000,6,0.000,0.048,2130,2412,3423,0,0,0,0,0,0
$STATE,642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,642,begin apogee
$GC,647,-0.19,0.0,102.1,18.8,113,718,1.08,0.00,64.57,0.680,6,0.199,0.000,2429,2194,3062,0,0,0,0,0,0
$STATE,719,end apogee,CONTROL_FINISHED_OK
$STATE,719,begin climb
$GC,721,1.14,87.3,106.4,0.0,127,793,1.35,2.25,64.80,0.671,4,0.117,0.060,2873,807,2706,0,0,0,0,0,0
$GC,823,1.17,113.4,102.2,6.7,146,849,0.00,2.20,20.52,0.630,6,0.000,0.048,2873,2206,2600,0,0,0,0,0,0
$GC,917,1.17,113.4,92.2,11.8,163,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2206,2598,0,0,0,0,0,0
$GC,989,1.17,113.4,83.7,11.6,176,994,0.00,2.22,0.00,0.000,4,0.000,0.062,2883,804,2598,0,0,0,0,0,0
$GC,1011,1.17,113.4,81.0,12.0,180,1016,0.00,2.17,0.00,0.000,6,0.000,0.051,2883,2200,2598,0,0,0,0,0,0
$GC,1084,1.17,113.4,73.1,10.8,193,1089,0.00,2.22,0.00,0.000,4,0.000,0.063,2893,803,2598,0,0,0,0,0,0
$GC,1134,1.17,113.4,67.5,11.2,202,1140,0.00,2.15,0.00,0.000,6,0.000,0.052,2893,2191,2598,0,0,0,0,0,0
$GC,1207,1.17,113.4,59.5,11.3,215,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2192,2598,0,0,0,0,0,0
$GC,1280,1.17,113.4,51.7,10.9,228,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2191,2598,0,0,0,0,0,0
$GC,1353,1.17,113.4,44.2,9.8,241,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2192,2598,0,0,0,0,0,0
$GC,1425,1.17,113.4,37.2,9.7,254,1430,0.00,2.15,0.00,0.000,4,0.000,0.063,2903,805,2598,0,0,0,0,0,0
$GC,1436,1.17,116.0,36.2,9.2,256,1442,0.00,2.10,0.00,0.000,6,0.000,0.052,2904,2181,2598,0,0,0,0,0,0
$GC,1509,1.18,123.3,29.6,8.7,269,1525,0.00,2.20,8.40,0.564,4,0.000,0.064,2914,807,2560,0,0,0,0,0,0
$GC,1593,1.18,123.3,21.7,9.8,284,1599,0.15,2.08,0.00,0.000,6,0.234,0.053,2883,2164,2559,0,0,0,0,0,0
$GC,1667,1.18,126.2,14.7,9.2,297,1678,0.00,2.15,3.78,0.423,4,0.000,0.062,2891,812,2548,0,0,0,0,0,0
$GC,1931,1.27,198.7,4.8,1.7,344,1992,0.00,2.05,53.42,0.633,6,0.000,0.052,2891,2160,2250,0,0,0,0,0,0
$GC,2060,1.37,281.1,2.9,0.6,368,2107,0.15,2.22,38.75,0.611,4,0.111,0.064,2952,809,1914,0,0,0,0,0,0
$STATE,2111,end climb,SURFACE_DEPTH_REACHED
$STATE,2111,begin surface coast
$FINISH,0.4,1.019626
$STATE,2162,end surface coast,CONTROL_FINISHED_OK
$STATE,2162,begin surface
$SM_CCo,2181,45.83,0.611,0,0,1512,380.21
$SM_GC,2.24,0.00,0.00,45.83,0.000,0.000,0.611,119,2400,1512,-7.44,0.00,380.21
$RAFOS_CLK,106
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12330.66,211198,101045
$TT8_MAMPS,0.026845
$HUMID,1078579990
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,20.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.3,5.2
$24V_AH,24.6,3.118
$10V_AH,10.6,0.939
$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,20.325,44.225,254.250,45.825,0.000,26.680,32.361,87.725,3.000,0.000,13.985,579.617,695.826,400.200,573.389,220.832,0.000,781.617,0.000,562.136,0.000,15.937,0.000
$DEVICE_MAMPS,287.625,73.632,679.562,610.532,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.462,273.275,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264528
$DATA_FILE_SIZE,15884,387
$CAP_FILE_SIZE,52872,0
$CFSIZE,260165632,256745472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1486.2
$GPS,270809,115542,4807.026,-12223.040,7,2.0,11,18.3