version: 66.07
glider: 158
mission: 7
dive: 4
start: 9 2 111 19 42 4
data:
$ID,158
$MISSION,7
$DIVE,4
$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,-688502.81
$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,36
$R_STBD_OVSHOOT,64
$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
$GPS1,020911,193155,4744.077,-12223.678,8,1.7,13,18.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-69.5
$GPS2,020911,194106,4744.105,-12223.697,11,1.2,27,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,0.108
$KALMAN_X,81.1,144.8,225.4,879.7,-33.4
$KALMAN_Y,-63.2,-73.6,67.3,2061.5,-164.7
$MHEAD_RNG_PITCHd_Wd,57.9,302,-26.9,-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,-0.95,-45.4,0.0,0.0,0,60,0.00,0.00,-42.60,0.000,2,0.000,0.000,103,2092,2448,0,0,0,0,0,0
$GC,61,-1.01,-90.9,3.1,-2.6,5,89,7.95,2.28,-11.52,0.000,4,0.259,0.052,1972,639,2795,0,0,0,0,0,0
$GC,187,-1.01,-90.9,18.8,-16.0,24,196,0.00,2.17,0.00,0.000,6,0.000,0.033,1963,2029,2796,0,0,0,0,0,0
$GC,270,-1.01,-90.9,32.6,-16.6,37,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2029,2796,0,0,0,0,0,0
$GC,349,-1.01,-90.9,45.6,-15.8,50,359,0.00,2.25,0.00,0.000,4,0.000,0.042,1952,3450,2796,0,0,0,0,0,0
$GC,424,-1.01,-90.9,58.7,-18.4,62,434,0.00,2.20,0.00,0.000,6,0.000,0.032,1952,2048,2796,0,0,0,0,0,0
$GC,576,-1.01,-90.9,81.6,-14.7,87,583,0.00,2.17,0.00,0.000,4,0.000,0.041,1953,638,2796,0,0,0,0,0,0
$GC,602,-1.01,-90.9,85.7,-16.0,91,610,0.15,2.17,0.00,0.000,6,0.211,0.033,1976,2060,2796,0,0,0,0,0,0
$GC,754,-1.01,-90.9,109.2,-15.3,116,763,0.00,2.20,0.00,0.000,4,0.000,0.042,1967,3456,2797,0,0,0,0,0,0
$GC,791,-1.01,-90.9,114.9,-15.4,122,801,0.00,2.20,0.00,0.000,6,0.000,0.031,1967,2034,2796,0,0,0,0,0,0
$GC,945,-1.01,-90.9,134.9,-13.7,147,952,0.00,2.20,0.00,0.000,4,0.000,0.041,1956,3454,2796,0,0,0,0,0,0
$STATE,1129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1129,begin apogee
$GC,1135,-0.17,0.0,162.6,14.4,178,1214,1.00,0.00,74.90,0.816,6,0.187,0.000,2236,1954,2423,0,0,0,0,0,0
$STATE,1215,end apogee,CONTROL_FINISHED_OK
$STATE,1215,begin climb
$GC,1217,1.01,90.9,167.0,0.0,189,1303,1.12,2.33,76.57,0.792,4,0.093,0.045,2632,542,2053,0,0,0,0,0,0
$GC,1318,1.01,90.9,155.9,15.2,203,1324,0.00,2.28,0.00,0.000,6,0.000,0.032,2632,1961,2050,0,0,0,0,0,0
$GC,1467,1.01,90.9,128.3,18.6,228,1475,0.00,2.25,0.00,0.000,4,0.000,0.045,2632,3352,2047,0,0,0,0,0,0
$GC,1551,1.01,90.9,109.2,21.7,242,1561,0.00,2.25,0.00,0.000,6,0.000,0.037,2642,1946,2047,0,0,0,0,0,0
$GC,1704,1.01,90.9,80.2,18.7,267,1710,0.00,2.22,0.00,0.000,4,0.000,0.042,2642,3353,2046,0,0,0,0,0,0
$GC,1754,1.01,90.9,70.4,19.9,275,1761,0.15,2.22,0.00,0.000,6,0.226,0.038,2620,1939,2046,0,0,0,0,0,0
$GC,1902,1.01,90.9,48.8,13.0,300,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1938,2045,0,0,0,0,0,0
$GC,2055,1.01,90.9,27.7,13.7,325,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1938,2045,0,0,0,0,0,0
$GC,2136,1.01,90.9,16.7,13.0,338,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,1938,2045,0,0,0,0,0,0
$GC,2219,1.01,90.9,5.9,13.7,351,2228,0.00,2.22,0.00,0.000,4,0.000,0.048,2629,544,2045,0,0,0,0,0,0
$STATE,2240,end climb,SURFACE_DEPTH_REACHED
$STATE,2241,begin surface coast
$FINISH,1.2,0.999389
$STATE,2266,end surface coast,CONTROL_FINISHED_OK
$STATE,2266,begin surface
$SM_CCo,2281,109.68,0.664,1,0,1527,220.03
$SM_GC,2.18,0.00,0.00,109.68,0.000,0.000,0.664,116,2067,1527,-6.82,0.48,220.03
$IRIDIUM_FIX,4726.11,-12222.38,020911,181855
$TT8_MAMPS,0.026215
$HUMID,50.74
$INTERNAL_PRESSURE,9.11239
$TCM_TEMP,15.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,130.6,41.6
$24V_AH,23.9,45.401
$10V_AH,9.9,18.489
$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,17.075,40.350,151.475,109.675,0.000,118.228,37.401,241.525,2.750,0.000,28.162,871.476,271.134,343.765,1419.314,60.713,32.317,723.353,0.000,1001.694,0.000,15.169,0.000
$DEVICE_MAMPS,259.335,52.020,816.255,664.020,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.716,290.731,743.418,131.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,20427,358
$CAP_FILE_SIZE,49048,0
$CFSIZE,260165632,254066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.135,351.4,1
$GPS,020911,202249,4744.331,-12223.372,10,1.1,15,18.2