version: 66.06
glider: 1
mission: 14
dive: 9
start: 9 23 109 2 29 13
data:
$ID,1
$MISSION,14
$DIVE,9
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$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,412
$T_MISSION,470
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$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,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-218867.11
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,5
$R_STBD_OVSHOOT,0
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,57.681595
$FG_AHR_24V,4.6383591
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,022951,6642.597,-6032.367,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,023410,6642.606,-6032.363,32,1.1,32,18.0
$SPEED_LIMITS,0.139,0.245
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,260.8,5031680,-14.8,-8.010
$D_GRID,100
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,107,0.00,0.00,-77.18,0.000,2,0.007,0.000,410,2211,2951,0,0,0,0,0,0
$GC,110,-1.10,-146.6,3.5,-3.1,16,143,10.35,2.40,-5.15,0.000,4,0.000,0.000,2509,3784,3106,10,0,15,0,0,0
$GC,396,-1.10,-146.6,44.6,-9.0,48,413,0.32,3.70,0.00,0.007,6,0.007,0.000,2427,2012,3104,1,0,18,0,0,0
$GC,601,-1.10,-146.6,64.3,-10.7,67,618,0.50,3.62,0.00,0.007,4,0.000,0.000,2532,3583,3106,1,0,22,0,0,0
$GC,764,-1.10,-146.6,83.2,-12.1,81,783,0.50,3.53,0.00,0.007,6,0.000,0.000,2414,1839,3103,0,0,18,0,0,0
$STATE,914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,914,begin apogee
$GC,922,-0.31,0.0,100.3,11.1,95,1053,1.15,0.00,118.85,0.000,6,0.000,0.007,2724,2221,2518,1,0,0,0,0,0
$STATE,1054,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1056,1.10,146.6,114.9,0.0,108,1192,1.20,2.92,120.78,0.000,4,0.000,0.000,2990,563,1923,1,0,15,0,1,0
$GC,1446,2.90,608.3,151.4,-8.8,144,1745,1.77,3.42,266.38,0.000,6,0.000,0.000,3371,2345,605,1,0,19,0,2,0
$GC,2060,4.76,1091.1,213.7,-9.6,203,2075,0.00,3.33,0.12,0.007,4,0.007,0.000,3374,562,604,0,0,16,0,0,0
$GC,2290,5.43,1641.1,238.7,-12.0,223,2305,0.00,3.28,0.73,0.000,6,0.007,0.000,3375,2262,607,0,0,18,0,0,0
$GC,2620,6.00,2105.0,270.1,-8.9,254,2636,0.00,3.42,0.22,0.007,4,0.007,0.000,3373,257,606,0,0,19,0,0,0
$GC,2652,6.59,2585.3,273.5,-9.5,256,2665,0.00,3.17,1.30,0.000,6,0.007,0.000,3374,2186,605,0,0,17,0,0,0
$GC,2990,7.18,3062.9,305.4,-9.4,288,3006,0.00,3.45,0.15,0.007,4,0.007,0.000,3376,451,604,0,0,17,0,0,0
$GC,3224,7.77,3539.9,328.0,-9.4,308,3234,0.00,3.15,1.45,0.000,6,0.007,0.000,3372,2212,604,0,0,18,0,0,0
$GC,3559,8.39,4042.4,360.4,-10.3,340,3575,0.00,3.40,0.17,0.000,4,0.007,0.000,3372,395,605,0,0,19,0,0,0
$GC,3580,9.00,4539.5,362.6,-10.1,341,3591,0.00,4.03,0.15,0.000,6,0.007,0.000,3373,2307,604,0,0,23,0,0,0
$GC,3916,9.56,4992.4,392.0,-8.5,373,3934,0.00,2.80,0.17,0.000,4,0.007,0.000,3378,500,606,0,0,14,0,0,0
$GC,4186,10.14,5469.5,416.2,-9.4,396,4198,0.00,3.00,1.40,0.000,6,0.007,0.000,3372,2203,605,0,0,14,0,0,0
$GC,4523,10.79,5994.6,451.0,-11.1,428,4539,0.00,2.92,0.17,0.007,4,0.007,0.000,3375,331,605,0,0,15,0,0,0
$GC,4792,11.36,6463.6,477.3,-9.1,451,4802,0.00,2.97,1.60,0.000,6,0.007,0.000,3374,2423,605,0,0,16,0,0,0
$GC,5127,11.88,6879.3,506.9,-7.1,483,5142,0.00,4.10,0.15,0.007,4,0.007,0.000,3373,576,606,0,0,24,0,0,0
$GC,5394,11.72,6879.3,501.6,8.5,506,5405,0.00,2.90,1.98,0.000,6,0.007,0.000,3369,2278,607,0,0,17,0,0,0
$GC,5730,11.70,6904.7,479.1,7.1,538,5746,0.00,3.28,0.15,0.007,4,0.007,0.000,3372,276,607,0,0,19,0,0,0
$GC,5998,11.87,6958.3,462.5,6.1,561,6008,0.00,3.40,0.98,0.000,6,0.007,0.000,3375,2224,595,0,0,19,0,0,0
$GC,6333,11.78,6958.3,435.7,9.6,593,6354,0.00,3.25,0.22,0.000,4,0.007,0.000,3372,339,604,0,0,16,0,0,0
$GC,6605,11.95,6982.5,413.0,7.1,616,6616,0.00,3.65,0.88,0.000,6,0.000,0.000,3374,2530,605,0,0,20,0,0,0
$GC,6939,11.95,6982.5,388.0,8.5,648,6955,0.00,4.60,0.20,0.000,4,0.007,0.000,3372,405,604,0,0,25,0,0,0
$GC,7208,11.96,6990.5,365.5,7.7,671,7218,0.00,3.40,0.95,0.000,6,0.007,0.000,3373,2213,608,0,0,19,0,0,0
$GC,7544,11.96,6990.5,338.3,8.8,703,7560,0.00,3.40,0.12,0.007,4,0.007,0.000,3374,401,607,0,0,21,0,0,0
$GC,7812,11.83,6990.5,308.5,10.1,726,7822,0.00,3.35,1.52,0.000,6,0.007,0.000,3371,2295,605,0,0,15,0,0,0
$GC,8149,11.85,7004.6,282.0,7.5,758,8165,0.00,3.85,0.20,0.000,4,0.007,0.000,3372,405,684,0,0,22,0,0,0
$GC,8417,11.92,7016.3,262.3,7.6,781,8429,0.00,3.03,1.42,0.000,6,0.007,0.000,3375,2170,606,0,0,14,0,0,0
$GC,8753,11.97,7016.3,234.3,9.2,813,8771,0.00,3.03,0.20,0.007,4,0.007,0.000,3372,508,605,0,0,14,0,0,0
$GC,8901,11.97,7016.3,220.9,9.1,825,8911,0.00,3.47,0.57,0.000,6,0.007,0.000,3377,2427,604,0,0,17,0,0,0
$GC,9235,11.91,7016.3,183.7,11.0,857,9254,0.00,3.30,0.15,0.007,4,0.007,0.000,3375,396,605,0,0,14,0,0,0
$GC,9506,11.85,7016.3,154.1,11.5,880,9518,0.00,3.78,0.73,0.000,6,0.007,0.000,3371,2249,611,0,0,22,0,0,0
$GC,9842,11.90,7016.3,122.2,8.9,912,9857,0.00,4.68,0.12,0.000,4,0.007,0.000,3376,325,603,0,0,28,0,0,0
$GC,10108,11.90,7016.3,100.0,8.6,935,10119,0.00,3.42,1.75,0.000,6,0.007,0.000,3376,2350,603,0,0,21,0,0,0
$GC,10443,11.90,7016.3,71.7,8.1,967,10459,0.00,4.05,0.15,0.007,4,0.000,0.000,3374,305,599,0,0,23,0,0,0
$GC,10610,11.90,7016.3,57.7,9.1,981,10621,0.00,2.92,2.40,0.000,6,0.007,0.000,3372,2162,601,0,0,14,0,0,0
$GC,10945,11.90,7016.3,26.3,8.2,1013,10952,0.00,2.65,0.15,0.007,4,0.007,0.000,3375,463,605,0,0,13,0,0,0
$GC,11205,11.93,7035.6,10.0,7.3,1049,11221,0.00,4.05,0.20,0.000,6,0.007,0.000,3374,2346,602,0,0,24,0,0,0
$GC,11290,12.04,7128.2,5.7,4.6,1063,11306,0.00,3.65,0.12,0.007,4,0.007,0.000,3372,427,602,0,0,19,0,0,0
$STATE,11333,end climb,SURFACE_DEPTH_REACHED
$STATE,11333,begin surface coast
$FINISH,1.5,1.024722
$STATE,11356,end surface coast,CONTROL_FINISHED_OK
$STATE,11356,begin surface
$SM_CCo,11448,0.00,0.000,0,0,604,464.11
$SM_GC,0.05,14.68,0.00,0.00,0.000,0.007,0.007,479,2171,604,-9.70,4.10,464.11
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253681042,4.750000,4.733889,80,0,0,0,0,0,881,0,0,0,0,0
$RAFOS,3,1253680442,4.583333,4.567222,80,0,0,0,0,0,806,0,0,0,0,0
$RAFOS,2,1253679846,4.416667,4.401667,80,0,0,0,0,0,978,0,0,0,0,0
$RAFOS,0,1253678646,4.083333,4.068333,80,0,0,0,0,0,581,0,0,0,0,0
$RAFOS_FIX,6630.730957,-6221.422363,230909,040444,4,80,12.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078216284
$INTERNAL_PRESSURE,16.1769
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,181.037
$10V_AH,10.7,31.006
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,57.791
$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,30.475,143.775,528.975,0.000,0.000,0.000,0.000,80.910,0.000,0.000,34.674,1983.163,7227.457,960.131,1202.472,376.748,0.000,1151.885,0.000,1125.794,1800.000,3.333,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330148
$DATA_FILE_SIZE,37801,1074
$CAP_FILE_SIZE,142454,8
$CFSIZE,260165632,253276160
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,28,776,3,0
$SOUNDSPEED,1452.4
$CURRENT,0.264,245.0,1
$GPS,230909,054738,6643.540,-6035.965,22,1.1,22,18.0