version: 66.06
glider: 143
mission: 7
dive: 31
start: 8 27 109 17 21 4
data:
$ID,143
$MISSION,7
$DIVE,31
$D_SURF,2
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,35
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,2
$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,-18103.02
$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,45
$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,70
$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
$GPS1,171628,4807.984,-12224.035,7,2.1,26,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.5
$GPS2,172043,4807.987,-12224.025,12,1.8,29,18.3
$SPEED_LIMITS,0.173,0.261
$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,108.3,2224,-18.2,-10.000
$D_GRID,103
$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,-0.86,-146.6,0.0,0.0,0,79,0.00,0.00,-60.95,0.000,2,0.000,0.000,120,2403,2965,0,0,0,0,0,0
$GC,81,-0.86,-146.6,3.6,-9.1,12,113,9.68,2.22,-15.45,0.000,4,0.289,0.077,2220,998,3662,0,0,0,0,0,0
$GC,368,-0.86,-146.6,50.0,-15.2,63,374,0.00,2.17,0.00,0.000,6,0.000,0.055,2219,2398,3664,0,0,0,0,0,0
$STATE,440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,440,begin apogee
$GC,445,-0.19,0.0,60.7,14.5,76,560,0.73,0.00,107.28,0.652,6,0.171,0.000,2433,2196,3062,0,0,0,0,0,0
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,562,0.86,146.6,66.4,0.0,98,683,1.08,2.45,108.07,0.637,4,0.119,0.064,2771,3615,2464,0,0,0,0,0,0
$GC,688,0.93,209.9,62.2,7.1,122,745,0.00,2.28,48.30,0.610,6,0.000,0.050,2782,2206,2207,0,0,0,0,0,0
$GC,813,0.93,209.9,46.9,13.4,145,818,0.00,2.25,0.00,0.000,4,0.000,0.063,2793,797,2205,0,0,0,0,0,0
$GC,914,0.93,209.9,33.1,13.6,163,920,0.00,2.03,0.00,0.000,6,0.000,0.049,2792,2102,2203,0,0,0,0,0,0
$GC,987,0.93,209.9,23.6,13.1,176,992,0.00,2.08,0.00,0.000,4,0.000,0.064,2802,788,2203,0,0,0,0,0,0
$GC,1020,0.93,209.9,19.1,13.5,182,1027,0.00,2.00,0.00,0.000,6,0.000,0.048,2802,2086,2203,0,0,0,0,0,0
$GC,1095,0.93,209.9,9.5,12.2,195,1100,0.00,2.03,0.00,0.000,4,0.000,0.064,2812,794,2203,0,0,0,0,0,0
$GC,1134,0.93,209.9,4.6,11.6,202,1140,0.00,1.88,0.00,0.000,6,0.000,0.048,2812,2021,2204,0,0,0,0,0,0
$STATE,1166,end climb,SURFACE_DEPTH_REACHED
$STATE,1166,begin surface coast
$FINISH,0.9,1.019782
$STATE,1196,end surface coast,CONTROL_FINISHED_OK
$STATE,1196,begin surface
$SM_CCo,1212,82.75,0.599,0,0,1512,380.21
$SM_GC,1.40,0.00,0.00,82.75,0.000,0.000,0.599,126,2409,1512,-7.42,0.25,380.21
$RAFOS_CLK,57
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12230.75,211198,161650
$TT8_MAMPS,0.026845
$HUMID,1078489668
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,24.4,3.737
$10V_AH,10.6,1.132
$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,19.375,22.275,263.650,82.750,0.000,22.210,29.925,96.070,0.000,0.000,31.359,328.566,314.243,380.157,339.061,200.187,0.000,616.386,0.000,317.458,0.000,0.997,0.000
$DEVICE_MAMPS,289.159,77.467,651.950,599.027,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,139.578,147.628,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264500
$DATA_FILE_SIZE,6492,213
$CAP_FILE_SIZE,31520,0
$CFSIZE,260165632,256512000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.1
$CURRENT,0.119,226.0,1
$GPS,270809,174349,4807.919,-12224.004,10,1.5,27,18.3