version: 66.10
glider: 122
mission: 10
dive: 28
start: 1 31 112 14 41 8
data:
$ID,122
$MISSION,10
$DIVE,28
$N_DIVES,33
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,20
$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,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$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,51009
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,602.70209
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38356.074
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,84
$PITCH_MAX,3900
$C_PITCH,3060
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,4045
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,300
$VBD_MAX,3824
$C_VBD,2757
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-23.95199
$PRESSURE_SLOPE,0.0001162797
$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,0
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,500.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,310112,142540,4806.846,-12223.025,51,0.9,69,16.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-79.5
$GPS2,310112,142540,4806.846,-12223.025,301,99.0,301,16.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.085,-0.414
$KALMAN_X,-11061627.0,155071.8,227690.6,-3113414.5,-141328.9
$KALMAN_Y,4345098.0,-62563.9,-90191.2,1229916.4,56084.4
$MHEAD_RNG_PITCHd_Wd,349.6,287,-27.2,-10.000
$D_GRID,103
$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,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.86,-63.7,0.0,0.0,0,50,0.00,0.00,-28.73,0.000,2,0.000,0.000,80,2622,1062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.86,-63.7,3.8,-12.9,3,131,12.40,2.58,-58.50,0.000,4,0.396,0.122,2766,4001,3019,0,0,0,0,0,0,14.37,14.55,14.81
$GC,138,-0.39,-73.4,7.5,-9.0,11,147,0.70,2.47,-0.80,0.000,6,0.321,0.064,2926,2592,3060,0,0,0,0,0,0,14.42,14.56,14.76
$GC,274,-0.91,-92.1,22.1,-8.0,25,282,0.47,2.45,-1.08,0.000,4,0.082,0.095,2751,1197,3138,0,0,0,0,0,0,14.64,14.57,14.73
$GC,509,-0.96,-92.1,61.7,-18.2,44,515,0.00,2.55,0.00,0.000,6,0.000,0.086,2742,2594,3138,0,0,0,0,0,0,28.83,14.59,28.83
$GC,657,-0.88,-92.1,93.2,-20.0,52,659,0.15,0.00,0.00,0.000,6,0.293,0.000,2772,2593,3138,0,0,0,0,0,0,14.45,28.83,28.83
$STATE,711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,711,begin apogee
$GC,716,-0.14,0.0,103.8,-18.1,55,807,0.88,0.00,85.05,1.251,6,0.249,0.000,3005,2502,2756,0,0,0,0,0,0,14.49,28.83,13.49
$STATE,809,end apogee,CONTROL_FINISHED_OK
$STATE,810,begin climb
$GC,812,0.91,92.1,107.5,0.0,59,908,1.10,0.00,91.97,1.229,6,0.135,0.000,3344,2502,2381,0,0,0,0,0,0,14.10,28.83,13.38
$GC,1015,0.67,92.1,97.2,10.1,70,1022,0.28,2.53,0.00,0.000,4,0.305,0.073,3290,1093,2370,0,0,0,0,0,0,14.15,14.30,28.83
$GC,1139,0.69,100.0,85.9,9.2,76,1150,0.00,2.60,6.30,1.017,6,0.000,0.080,3290,2509,2349,0,0,0,0,0,0,28.83,14.37,13.73
$GC,1269,0.70,106.8,73.4,9.3,82,1280,0.00,0.00,8.62,1.068,6,0.000,0.000,3290,2509,2321,0,0,0,0,0,0,28.83,28.83,13.76
$GC,1389,0.70,108.0,61.7,9.9,88,1393,0.00,2.53,0.00,0.000,4,0.000,0.073,3300,1093,2316,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1534,0.71,111.6,47.6,9.6,96,1544,0.00,2.55,4.80,0.903,6,0.000,0.080,3299,2507,2302,0,0,0,0,0,0,28.83,14.48,13.81
$GC,1670,0.71,113.6,34.3,9.8,110,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2507,2301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1790,0.70,132.1,23.9,8.0,122,1804,0.00,0.00,12.40,1.031,6,0.000,0.000,3299,2507,2218,0,0,0,0,0,0,28.83,28.83,13.86
$GC,1923,0.72,147.0,13.6,8.4,135,1932,0.00,0.00,7.25,0.153,6,0.000,0.000,3299,2507,2157,0,0,0,0,0,0,28.83,28.83,14.46
$GC,2053,1.14,267.4,9.6,-2.7,148,2120,0.40,2.58,59.38,0.133,4,0.099,0.090,3434,3903,1664,0,0,0,0,0,0,14.52,14.42,14.42
$GC,2201,1.30,385.8,6.5,-2.5,163,2265,0.00,2.47,55.45,0.125,6,0.000,0.063,3445,2502,1182,0,0,0,0,0,0,28.83,14.52,14.44
$GC,2391,1.83,481.8,3.7,-0.1,182,2440,0.57,0.00,44.95,0.118,6,0.083,0.000,3653,2502,792,0,0,0,0,0,0,14.48,28.83,14.40
$GC,2561,2.04,573.7,2.8,0.3,199,2600,0.17,0.00,35.60,0.119,2,0.130,0.000,3717,2502,503,0,0,0,0,0,0,14.46,28.83,28.83
$FREEZE,2.63,0.000,0.000,0,2,0
$STATE,2601,end climb,NO_VERTICAL_VELOCITY
$STATE,2601,begin surface
$SM_CCo,2605,27.00,0.119,0,0,299,602.70
$SM_GC,1.98,11.48,0.20,0.00,0.128,0.115,0.000,84,2607,297,-9.27,-0.82,603.68,0,0,0,0,0,0,14.50,14.57,28.83
$IRIDIUM_FIX,4751.72,-12221.84,310112,131315
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.40
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,13.4,12.172
$10V_AH,12.9,0.000
$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,28.600,25.675,411.775,27.000,0.000,0.000,0.000,218.275,1.500,0.000,301.844,242.598,1780.959,451.506,1048.802,104.522,33.198,1021.938,0.000,491.651,0.000,14.215,0.000
$DEVICE_MAMPS,395.505,122.400,1250.775,118.575,0.000,0.000,0.000,148.410,420.000,0.000,20.220,18.210,2.190,18.210,35.440,40.680,51.170,9.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2613.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,69.132,0.000,0.000,0.000
$MEM,323560
$DATA_FILE_SIZE,3463,203
$CAP_FILE_SIZE,58387,0
$CFSIZE,260165632,255442944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,310112,142540,4806.846,-12223.025,301,99.0,301,16.7