version: 66.07
glider: 22
mission: 15
dive: 4
start: 2 3 110 22 1 37
data:
$ID,22
$MISSION,15
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,30
$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,50
$T_MISSION,75
$T_ABORT,1440
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51743
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.099998
$TGT_DEFAULT_LON,-122.36667
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-252402.84
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2532
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.247711
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$GPS1,030210,215638,4807.592,-12223.384,12,2.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-70.2
$GPS2,030210,220046,4807.593,-12223.358,11,2.1,30,18.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.201
$KALMAN_X,-196.9,-128.2,-119.9,640.0,-74.0
$KALMAN_Y,-20.0,-50.9,-55.3,-775.1,-7.3
$MHEAD_RNG_PITCHd_Wd,131.3,1185,-20.7,-10.000
$D_GRID,107
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.28,-117.3,0.0,0.0,0,123,0.00,0.00,-105.35,0.000,2,0.000,0.000,374,2029,2612,0,0,0,0,0,0
$GC,127,-1.28,-117.3,3.3,-7.0,21,178,10.30,0.00,-34.45,0.000,6,0.168,0.000,2248,2030,3709,0,0,0,0,0,0
$GC,247,-1.28,-117.3,16.1,-13.8,43,252,0.00,2.12,0.00,0.000,4,0.000,0.048,2248,797,3711,0,0,0,0,0,0
$GC,296,-1.28,-117.3,23.6,-13.8,50,302,0.00,2.47,0.00,0.000,6,0.000,0.050,2248,2207,3711,0,0,0,0,0,0
$GC,494,-1.28,-117.3,53.0,-15.6,69,498,0.00,2.53,0.00,0.000,4,0.000,0.061,2248,3617,3711,0,0,0,0,0,0
$GC,668,-1.28,-117.3,83.8,-17.7,84,673,0.00,2.47,0.00,0.000,6,0.000,0.044,2248,2192,3711,0,0,0,0,0,0
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,820,begin apogee
$GC,825,-0.28,0.0,107.7,14.4,98,923,1.10,0.00,94.15,0.702,6,0.113,0.000,2469,2188,3230,0,0,0,0,0,0
$STATE,924,end apogee,CONTROL_FINISHED_OK
$STATE,924,begin climb
$GC,926,1.28,117.3,111.2,0.0,108,1032,1.55,2.55,94.62,0.682,4,0.077,0.051,2806,789,2751,0,0,0,0,0,0
$GC,1121,1.28,117.3,89.4,13.4,126,1127,0.00,2.50,0.00,0.000,6,0.000,0.048,2806,2211,2747,0,0,0,0,0,0
$GC,1446,1.28,117.3,45.8,12.9,157,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2212,2744,0,0,0,0,0,0
$GC,1637,1.28,117.3,21.6,12.6,175,1642,0.00,2.50,0.00,0.000,4,0.000,0.058,2806,3620,2743,0,0,0,0,0,0
$GC,1693,1.28,117.3,14.2,13.1,183,1699,0.00,2.50,0.00,0.000,6,0.000,0.044,2805,2187,2741,0,0,0,0,0,0
$GC,1766,1.32,158.6,6.6,7.6,196,1802,0.00,0.00,33.65,0.612,6,0.000,0.000,2805,2183,2583,0,0,0,0,0,0
$GC,1870,1.53,353.5,5.8,-1.1,215,2038,0.25,2.62,158.45,0.611,4,0.074,0.057,2867,3620,1786,0,0,0,0,0,0
$STATE,2261,end climb,NO_VERTICAL_VELOCITY
$STATE,2261,begin surface
$SM_CCo,2264,173.35,0.584,0,0,349,706.46
$SM_GC,0.75,11.18,0.00,0.00,0.056,0.000,0.000,375,2185,345,-9.86,-0.42,707.69
$IRIDIUM_FIX,4748.51,-12221.84,300711,151509
$TT8_MAMPS,0.028379
$HUMID,1078155474
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.8,0.694
$10V_AH,9.9,0.272
$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,24.375,24.850,380.875,173.350,0.000,23.762,25.677,98.705,0.000,0.000,31.622,394.472,1085.856,605.342,488.712,238.105,32.332,943.483,0.000,479.056,0.000,0.527,0.000
$DEVICE_MAMPS,167.973,61.360,701.805,583.687,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,186.279,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324420
$DATA_FILE_SIZE,9609,288
$CAP_FILE_SIZE,39377,0
$CFSIZE,260034560,256839680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,224621,4807.391,-12223.151,79,3.4,98,18.3