version: 66.07
glider: 23
mission: 12
dive: 28
start: 3 4 110 14 27 0
data:
$ID,23
$MISSION,12
$DIVE,28
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,30
$D_BOOST,0
$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,40
$T_MISSION,60
$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,51609
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-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,475
$N_FILEKB,4
$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,-39785.609
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2475
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3248
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-28.118189
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,14
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$GPS1,040310,142149,4806.331,-12222.145,29,1.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.6
$GPS2,040310,142607,4806.326,-12222.127,14,2.0,14,18.3
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.142
$KALMAN_X,1619.3,216.6,-193.1,-283.2,24.9
$KALMAN_Y,-950.7,397.9,180.0,-3457.6,67.9
$MHEAD_RNG_PITCHd_Wd,293.1,1650,-21.2,-10.000
$D_GRID,108
$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,-1.45,-117.3,0.0,0.0,0,113,0.00,0.00,-94.62,0.000,2,0.000,0.000,366,2284,3007,0,0,0,0,0,0
$GC,116,-1.45,-117.3,3.4,-7.0,19,153,10.62,2.45,-20.15,0.000,4,0.175,0.060,2152,3719,3728,0,0,0,0,0,0
$GC,406,-1.45,-117.3,40.9,-13.7,57,410,0.00,2.33,0.00,0.000,6,0.000,0.031,2152,2320,3729,0,0,0,0,0,0
$GC,603,-1.45,-117.3,66.7,-12.8,75,607,0.00,2.35,0.00,0.000,4,0.000,0.046,2152,3709,3729,0,0,0,0,0,0
$GC,859,-1.45,-117.3,101.8,-13.4,97,865,0.00,2.35,0.00,0.000,6,0.000,0.031,2152,2288,3729,0,0,0,0,0,0
$STATE,916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,916,begin apogee
$GC,922,-0.31,0.0,108.2,10.6,103,1019,1.27,0.00,90.65,0.827,6,0.116,0.000,2400,2362,3246,0,0,0,0,0,0
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1022,1.45,117.3,110.3,0.0,113,1126,1.80,3.08,89.65,0.801,4,0.058,0.046,2787,937,2768,0,0,0,0,0,0
$GC,1149,1.45,117.3,95.4,16.8,125,1153,0.00,2.85,0.00,0.000,6,0.000,0.031,2788,2341,2768,0,0,0,0,0,0
$GC,1474,1.45,117.3,44.1,15.2,155,1479,0.00,2.88,0.00,0.000,4,0.000,0.044,2788,945,2768,0,0,0,0,0,0
$GC,1491,1.45,117.3,41.2,15.6,156,1495,0.00,2.85,0.00,0.000,6,0.000,0.032,2788,2352,2768,0,0,0,0,0,0
$GC,1692,1.45,117.3,11.1,13.9,179,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2352,2768,0,0,0,0,0,0
$GC,1766,1.59,243.3,4.7,2.8,192,1855,0.15,2.50,81.07,0.740,4,0.064,0.051,2825,3759,2254,0,0,0,0,0,0
$STATE,1859,end climb,SURFACE_DEPTH_REACHED
$STATE,1859,begin surface coast
$FINISH,1.7,1.018831
$STATE,2046,end surface coast,CONTROL_FINISHED_OK
$STATE,2046,begin surface
$SM_CCo,2069,113.53,0.714,0,0,1311,475.15
$SM_GC,0.91,0.00,0.00,113.53,0.000,0.000,0.714,366,2288,1311,-9.70,-0.34,475.15
$IRIDIUM_FIX,4748.51,-12220.12,280811,070727
$TT8_MAMPS,0.029913
$HUMID,1078070313
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.8,5.495
$10V_AH,9.9,0.909
$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,25.250,26.200,261.375,113.525,0.000,31.240,29.734,108.716,0.000,0.000,15.601,378.782,938.327,443.770,603.121,92.737,33.340,733.078,0.000,440.065,0.000,0.539,0.000
$DEVICE_MAMPS,174.876,69.797,826.826,714.077,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,161.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324060
$DATA_FILE_SIZE,6832,243
$CAP_FILE_SIZE,35676,0
$CFSIZE,260034560,256147456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040310,150428,4806.500,-12222.233,7,2.7,26,18.3