version: 66.07
glider: 500
mission: 7
dive: 100
start: 9 24 110 5 1 43
data:
$ID,500
$MISSION,7
$DIVE,100
$D_SURF,3
$D_FLARE,3
$D_TGT,240
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$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,80
$T_MISSION,500
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,390
$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,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-117325.03
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3290
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-66.799538
$PRESSURE_SLOPE,0.00011603366
$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,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,240910,045437,2040.679,-15749.572,38,1.1,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-77.4
$GPS2,240910,050049,2040.678,-15749.701,9,1.2,14,9.7
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,LINE2e
$TGT_LATLONG,2025.000,-15644.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.092
$KALMAN_X,-74536.0,129.0,252.9,78304.8,-1189.2
$KALMAN_Y,-64.6,58.1,-0.5,-62569.7,-403.6
$MHEAD_RNG_PITCHd_Wd,57.1,117673,-19.8,-10.000
$D_GRID,240
$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,-0.80,-116.8,0.0,0.0,0,79,0.00,0.00,-61.12,0.000,2,0.000,0.000,123,1890,2841,0,0,0,0,0,0
$GC,83,-0.80,-116.8,3.2,-8.7,12,109,11.35,2.40,-6.90,0.000,4,0.235,0.051,3023,290,3229,0,0,0,0,0,0
$GC,137,-0.80,-116.8,24.1,-29.0,22,143,0.00,2.38,0.00,0.000,6,0.000,0.030,3011,1924,3231,0,0,0,0,0,0
$GC,336,-0.80,-116.8,64.7,-19.1,43,340,0.00,2.28,0.00,0.000,4,0.000,0.041,3000,3480,3231,0,0,0,0,0,0
$GC,363,-0.80,-116.8,70.1,-20.1,45,367,0.10,2.30,0.00,0.000,6,0.154,0.028,3028,1859,3232,0,0,0,0,0,0
$GC,623,-0.80,-116.8,114.3,-16.9,69,624,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1859,3233,0,0,0,0,0,0
$GC,878,-0.80,-116.8,156.8,-15.2,93,882,0.00,2.20,0.00,0.000,4,0.000,0.040,3028,323,3235,0,0,0,0,0,0
$GC,944,-0.80,-116.8,167.4,-15.0,98,950,0.00,2.25,0.00,0.000,6,0.000,0.030,3019,1917,3235,0,0,0,0,0,0
$GC,1204,-0.80,-116.8,202.5,-11.7,122,1208,0.00,2.28,0.00,0.000,4,0.000,0.038,3018,324,3235,0,0,0,0,0,0
$GC,1288,-0.80,-116.8,212.6,-12.1,126,1292,0.00,2.20,0.00,0.000,6,0.000,0.029,3006,1905,3235,0,0,0,0,0,0
$STATE,1550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1550,begin apogee
$GC,1555,-0.23,0.0,240.1,9.9,139,1646,0.60,0.00,88.15,0.660,6,0.105,0.000,3216,2022,2750,0,0,0,0,0,0
$STATE,1647,end apogee,CONTROL_FINISHED_OK
$STATE,1647,begin climb
$GC,1649,0.80,116.8,242.0,0.0,143,1748,0.85,0.00,91.97,0.653,6,0.047,0.000,3565,2022,2273,0,0,0,0,0,0
$GC,2063,0.84,151.4,214.4,8.0,164,2097,0.00,2.45,27.52,0.625,4,0.000,0.041,3577,422,2131,0,0,0,0,0,0
$GC,2351,0.88,176.8,188.6,8.5,182,2376,0.00,2.25,20.33,0.608,6,0.000,0.031,3577,1986,2029,0,0,0,0,0,0
$GC,2632,0.88,176.8,160.5,10.3,208,2636,0.00,2.28,0.00,0.000,4,0.000,0.040,3589,423,2021,0,0,0,0,0,0
$GC,2694,0.88,176.8,153.3,11.2,213,2698,0.00,2.28,0.00,0.000,6,0.000,0.032,3589,1998,2020,0,0,0,0,0,0
$GC,2955,0.91,206.4,125.5,8.3,237,2984,0.00,0.00,23.73,0.583,6,0.000,0.000,3589,1998,1907,0,0,0,0,0,0
$GC,3239,0.91,206.4,95.2,12.2,264,3244,0.00,2.35,0.00,0.000,4,0.000,0.043,3589,3583,1902,0,0,0,0,0,0
$GC,3323,0.91,206.4,85.6,11.0,271,3327,0.00,2.25,0.00,0.000,6,0.000,0.029,3601,1997,1901,0,0,0,0,0,0
$GC,3584,0.98,260.1,65.6,6.9,295,3635,0.00,2.38,41.95,0.552,4,0.000,0.040,3613,424,1688,0,0,0,0,0,0
$GC,3796,0.98,260.1,40.9,13.4,314,3803,0.00,2.30,0.00,0.000,6,0.000,0.031,3613,2011,1682,0,0,0,0,0,0
$GC,4070,0.98,260.1,4.2,12.5,356,4076,0.00,2.30,0.00,0.000,4,0.000,0.042,3613,3588,1680,0,0,0,0,0,0
$STATE,4080,end climb,SURFACE_DEPTH_REACHED
$STATE,4080,begin surface coast
$FINISH,0.3,1.022873
$STATE,4104,end surface coast,CONTROL_FINISHED_OK
$STATE,4104,begin surface
$SM_CCo,4123,63.88,0.071,0,0,1159,390.02
$SM_GC,0.90,0.00,0.00,63.88,0.000,0.000,0.071,129,1894,1159,-9.88,-0.17,390.02
$IRIDIUM_FIX,2031.77,-15753.10,180312,161652
$TT8_MAMPS,0.027612
$HUMID,1078559345
$INTERNAL_PRESSURE,9.56946
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.5,9.867
$10V_AH,10.6,10.155
$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,21.675,41.650,293.650,63.875,0.000,30.363,27.929,180.633,0.000,0.000,17.101,674.469,2407.529,407.797,939.956,111.206,33.362,815.585,0.000,687.242,0.000,0.543,0.000
$DEVICE_MAMPS,235.469,102.778,660.387,70.564,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,240.778,0.000,0.000,0.000,0.000,0.000,0.000,26317.699,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,335028
$DATA_FILE_SIZE,13461,362
$CAP_FILE_SIZE,78177,0
$CFSIZE,260165632,231120896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240910,061214,2040.594,-15750.150,7,1.8,7,9.7