version: 66.07
glider: 158
mission: 7
dive: 6
start: 9 2 111 21 10 34
data:
$ID,158
$MISSION,7
$DIVE,6
$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,-688505.31
$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,30
$R_STBD_OVSHOOT,34
$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
$GPS1,020911,210334,4744.244,-12223.535,13,2.2,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-69.6
$GPS2,020911,210936,4744.238,-12223.575,16,1.2,32,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.154,-0.185
$KALMAN_X,-1044.4,457.5,116.0,1954.8,-1221.8
$KALMAN_Y,-619.1,-59.1,-4.8,2919.5,-720.3
$MHEAD_RNG_PITCHd_Wd,158.3,2294,-14.1,-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,-0.65,-146.0,0.0,0.0,0,59,0.00,0.00,-42.55,0.000,2,0.000,0.000,117,2059,2453,0,0,0,0,0,0
$GC,61,-0.65,-146.0,3.3,-3.1,5,97,8.43,2.28,-18.40,0.000,4,0.262,0.053,2088,624,3020,0,0,0,0,0,0
$GC,309,-0.65,-146.0,32.3,-13.5,44,318,0.00,2.25,0.00,0.000,6,0.000,0.033,2078,2052,3020,0,0,0,0,0,0
$GC,392,-0.65,-146.0,42.9,-13.1,57,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2052,3021,0,0,0,0,0,0
$GC,537,-0.65,-146.0,58.4,-9.8,82,545,0.00,2.25,0.00,0.000,4,0.000,0.041,2078,637,3021,0,0,0,0,0,0
$GC,582,-0.65,-146.0,62.9,-10.5,89,590,0.00,2.17,0.00,0.000,6,0.000,0.032,2068,2058,3021,0,0,0,0,0,0
$GC,727,-0.65,-146.0,79.7,-12.0,114,736,0.00,2.20,0.00,0.000,4,0.000,0.044,2058,3451,3021,0,0,0,0,0,0
$GC,765,-0.65,-146.0,85.1,-14.0,120,774,0.00,2.22,0.00,0.000,6,0.000,0.034,2057,2033,3020,0,0,0,0,0,0
$GC,913,-0.65,-146.0,107.9,-16.5,145,920,0.12,0.00,0.00,0.000,6,0.196,0.000,2088,2030,3021,0,0,0,0,0,0
$GC,1066,-0.65,-146.0,128.7,-11.5,170,1075,0.00,2.25,0.00,0.000,4,0.000,0.043,2078,3447,3020,0,0,0,0,0,0
$GC,1113,-0.65,-146.0,133.5,-10.5,177,1121,0.00,2.15,0.00,0.000,6,0.000,0.033,2079,2050,3021,0,0,0,0,0,0
$GC,1260,-0.65,-146.0,149.0,-11.2,202,1269,0.00,2.22,0.00,0.000,4,0.000,0.041,2068,3454,3021,0,0,0,0,0,0
$GC,1286,-0.65,-146.0,152.0,-10.9,206,1295,0.00,2.20,0.00,0.000,6,0.000,0.034,2068,2046,3021,0,0,0,0,0,0
$STATE,1376,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1376,begin apogee
$GC,1380,-0.17,0.0,161.5,10.9,221,1506,0.55,0.00,116.80,0.815,6,0.149,0.000,2239,1899,2423,0,0,0,0,0,0
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1509,0.65,146.0,164.4,0.0,239,1637,0.77,0.00,119.00,0.789,6,0.086,0.000,2508,1899,1827,0,0,0,0,0,0
$GC,1776,0.65,146.0,133.5,15.6,281,1784,0.00,2.35,0.00,0.000,4,0.000,0.041,2508,3366,1822,0,0,0,0,0,0
$GC,1815,0.65,146.0,127.5,16.0,287,1822,0.00,2.28,0.00,0.000,6,0.000,0.038,2519,1940,1822,0,0,0,0,0,0
$GC,1958,0.65,146.0,106.3,14.1,312,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1940,1821,0,0,0,0,0,0
$GC,2105,0.65,146.0,84.7,13.7,337,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1941,1821,0,0,0,0,0,0
$GC,2249,0.65,146.0,64.7,15.4,362,2258,0.00,2.25,0.00,0.000,4,0.000,0.049,2529,540,1821,0,0,0,0,0,0
$GC,2283,0.65,146.0,59.6,16.2,367,2290,0.00,2.20,0.00,0.000,6,0.000,0.034,2529,1957,1820,0,0,0,0,0,0
$GC,2429,0.65,146.0,37.5,15.5,392,2438,0.00,2.28,0.00,0.000,4,0.000,0.047,2540,545,1820,0,0,0,0,0,0
$GC,2464,0.65,146.0,31.9,15.8,397,2474,0.12,2.20,0.00,0.000,6,0.157,0.034,2501,1950,1820,0,0,0,0,0,0
$GC,2548,0.65,146.0,20.5,12.9,410,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1950,1820,0,0,0,0,0,0
$GC,2630,0.65,146.0,10.5,11.8,423,2639,0.00,2.22,0.00,0.000,4,0.000,0.044,2501,3360,1820,0,0,0,0,0,0
$GC,2647,0.65,146.0,8.6,11.4,425,2656,0.00,2.25,0.00,0.000,6,0.000,0.039,2511,1942,1820,0,0,0,0,0,0
$STATE,2699,end climb,SURFACE_DEPTH_REACHED
$STATE,2699,begin surface coast
$FINISH,1.3,1.021539
$STATE,2732,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2745,67.18,0.631,1,0,1526,220.03
$SM_GC,2.33,0.00,0.00,67.18,0.000,0.000,0.631,115,2063,1526,-6.82,0.37,220.03
$IRIDIUM_FIX,4729.30,-12222.38,020911,202055
$TT8_MAMPS,0.026215
$HUMID,50.78
$INTERNAL_PRESSURE,9.10263
$TCM_TEMP,15.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,130.5,40.8
$24V_AH,23.8,45.562
$10V_AH,10.0,18.601
$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,16.325,40.525,235.800,67.175,0.000,27.896,29.672,211.067,3.000,0.000,33.197,1030.808,223.489,375.068,1493.412,77.003,33.323,840.230,0.000,1209.488,0.000,17.548,0.000
$DEVICE_MAMPS,261.630,71.145,814.725,631.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.315,327.020,892.039,156.956,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323468
$DATA_FILE_SIZE,26980,438
$CAP_FILE_SIZE,55626,0
$CFSIZE,260165632,253992960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028, 27.0,1
$GPS,020911,215819,4743.917,-12223.484,9,1.4,14,18.2