version: 66.07
glider: 158
mission: 7
dive: 3
start: 9 2 111 18 49 10
data:
$ID,158
$MISSION,7
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_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,83
$T_MISSION,85
$T_ABORT,1440
$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,1.0275
$MASS,51928
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3200
$TGT_DEFAULT_LON,-7306
$TGT_AUTO_DEFAULT,0
$SM_CC,220
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-688501.56
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,2297
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,10
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2424
$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,50
$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,-28.794456
$PRESSURE_SLOPE,0.0001162534
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043177661
$SEABIRD_T_H,0.00063046697
$SEABIRD_T_I,2.3302269e-05
$SEABIRD_T_J,2.3954949e-06
$SEABIRD_C_G,-10.207527
$SEABIRD_C_H,1.1627212
$SEABIRD_C_I,-0.0018122391
$SEABIRD_C_J,0.00022576418
$GPS1,020911,184134,4743.766,-12223.906,10,2.6,29,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.0
$GPS2,020911,184808,4743.763,-12223.904,13,1.8,13,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,0.162
$KALMAN_X,172.0,157.9,168.9,575.6,183.5
$KALMAN_Y,64.9,-2.6,40.4,1262.3,-6.1
$MHEAD_RNG_PITCHd_Wd,15.6,953,-25.7,-8.032
$D_GRID,200
$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,-0.92,-49.5,0.0,0.0,0,67,0.00,0.00,-49.08,0.000,6,0.000,0.000,138,2066,2627,0,0,0,0,0,0
$GC,69,-0.97,-87.9,3.6,-3.8,6,88,7.88,2.30,-4.68,0.000,4,0.261,0.054,1986,631,2785,0,0,0,0,0,0
$GC,192,-0.97,-87.9,20.8,-16.0,25,201,0.00,2.20,0.00,0.000,6,0.000,0.032,1977,2038,2786,0,0,0,0,0,0
$GC,275,-0.97,-87.9,35.0,-18.0,38,283,0.00,2.22,0.00,0.000,4,0.000,0.041,1977,632,2786,0,0,0,0,0,0
$GC,291,-0.97,-87.9,38.2,-18.7,40,301,0.00,2.20,0.00,0.000,6,0.000,0.033,1967,2048,2786,0,0,0,0,0,0
$GC,373,-0.97,-87.9,52.5,-18.6,53,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2049,2786,0,0,0,0,0,0
$GC,520,-0.97,-87.9,80.3,-17.8,78,528,0.00,2.25,0.00,0.000,4,0.000,0.040,1967,625,2786,0,0,0,0,0,0
$GC,544,-0.97,-87.9,83.9,-17.8,81,551,0.00,2.20,0.00,0.000,6,0.000,0.032,1957,2067,2786,0,0,0,0,0,0
$GC,696,-0.97,-87.9,109.2,-15.3,106,705,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2068,2786,0,0,0,0,0,0
$GC,852,-0.97,-87.9,131.7,-13.9,131,858,0.00,2.12,0.00,0.000,4,0.000,0.041,1946,3456,2786,0,0,0,0,0,0
$GC,975,-0.97,-87.9,148.8,-13.4,152,985,0.12,2.20,0.00,0.000,6,0.188,0.031,1983,2031,2786,0,0,0,0,0,0
$GC,1128,-0.97,-87.9,167.9,-13.6,177,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2030,2786,0,0,0,0,0,0
$STATE,1188,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1188,begin apogee
$GC,1192,-0.17,0.0,176.1,13.0,187,1269,0.90,0.00,73.22,0.828,6,0.178,0.000,2242,1919,2424,0,0,0,0,0,0
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1271,0.97,87.9,178.8,0.0,198,1357,1.05,2.42,74.12,0.799,4,0.088,0.041,2607,3359,2064,0,0,0,0,0,0
$GC,1366,0.97,87.9,169.3,15.0,211,1373,0.00,2.22,0.00,0.000,6,0.000,0.037,2617,1979,2063,0,0,0,0,0,0
$GC,1515,0.97,87.9,142.2,18.8,236,1525,0.00,2.33,0.00,0.000,4,0.000,0.047,2628,545,2059,0,0,0,0,0,0
$GC,1562,0.97,87.9,132.8,20.1,243,1569,0.00,2.20,0.00,0.000,6,0.000,0.033,2628,1959,2058,0,0,0,0,0,0
$GC,1709,0.97,87.9,104.2,17.8,268,1719,0.00,2.22,0.00,0.000,4,0.000,0.044,2628,3357,2058,0,0,0,0,0,0
$GC,1724,0.97,87.9,101.6,17.6,270,1734,0.12,2.25,0.00,0.000,6,0.198,0.037,2605,1942,2058,0,0,0,0,0,0
$GC,1877,0.97,87.9,76.4,14.6,295,1883,0.00,2.22,0.00,0.000,4,0.000,0.041,2605,3356,2057,0,0,0,0,0,0
$GC,1892,0.97,87.9,74.0,15.3,297,1898,0.00,2.22,0.00,0.000,6,0.000,0.038,2614,1936,2057,0,0,0,0,0,0
$GC,2039,0.97,87.9,51.1,12.8,322,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1936,2057,0,0,0,0,0,0
$GC,2191,0.97,87.9,31.1,13.8,347,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1936,2057,0,0,0,0,0,0
$GC,2273,0.97,87.9,19.6,15.3,360,2282,0.00,2.22,0.00,0.000,4,0.000,0.047,2624,537,2057,0,0,0,0,0,0
$GC,2290,0.97,87.9,16.9,14.7,362,2299,0.00,2.20,0.00,0.000,6,0.000,0.033,2625,1947,2057,0,0,0,0,0,0
$STATE,2372,end climb,SURFACE_DEPTH_REACHED
$STATE,2372,begin surface coast
$FINISH,1.2,1.011886
$STATE,2392,end surface coast,CONTROL_FINISHED_OK
$STATE,2392,begin surface
$SM_CCo,2405,107.00,0.663,1,0,1527,220.03
$SM_GC,2.10,0.00,0.00,107.00,0.000,0.000,0.663,104,2092,1527,-6.86,1.19,220.03
$IRIDIUM_FIX,4726.11,-12227.78,020911,181828
$TT8_MAMPS,0.025466
$HUMID,52.04
$INTERNAL_PRESSURE,9.11239
$TCM_TEMP,15.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,120.6,65.3
$24V_AH,23.9,45.326
$10V_AH,10.0,18.432
$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,16.750,40.475,147.350,107.000,0.000,0.000,0.000,0.000,2.000,0.000,14.489,927.149,238.679,346.582,1039.788,44.518,31.401,741.970,0.000,1041.604,0.000,10.272,0.000
$DEVICE_MAMPS,260.865,91.800,827.730,663.255,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,266.572,251.649,763.296,135.363,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323464
$DATA_FILE_SIZE,23630,378
$CAP_FILE_SIZE,61645,0
$CFSIZE,260165632,254078976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,  1.2,1
$GPS,020911,193155,4744.077,-12223.678,8,1.7,13,18.2