version: 66.06
glider: 141
mission: 9
dive: 12
start: 8 20 109 2 54 0
data:
$ID,141
$MISSION,9
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,60
$T_ABORT,720
$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,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,51430
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-15602.269
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,4041
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4044
$C_VBD,3389
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$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,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.255871
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043482846
$SEABIRD_T_H,0.00064259337
$SEABIRD_T_I,2.4116636e-05
$SEABIRD_T_J,2.3731232e-06
$SEABIRD_C_G,-9.926631
$SEABIRD_C_H,1.0917815
$SEABIRD_C_I,-0.00047649047
$SEABIRD_C_J,0.00015061456
$GPS1,024836,4808.001,-12224.056,12,1.3,28,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-80.1
$GPS2,025337,4808.012,-12224.062,9,1.2,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$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,126.7,2289,-17.5,-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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.6,0.0,0.0,0,72,0.00,0.00,-55.45,0.000,2,0.000,0.000,77,2201,3068,0,0,0,0,0,0
$GC,75,-0.73,-146.6,3.2,-3.1,11,122,12.45,2.25,-26.58,0.000,4,0.311,0.070,2716,779,3987,0,0,0,0,0,0
$GC,290,-0.65,-146.6,35.2,-15.3,42,296,0.12,2.22,0.00,0.000,6,0.239,0.051,2744,2201,3989,0,0,0,0,0,0
$GC,487,-0.60,-146.6,63.9,-14.4,61,491,0.00,2.22,0.00,0.000,4,0.000,0.064,2744,3617,3991,0,0,0,0,0,0
$GC,621,-0.56,-146.6,83.3,-14.3,72,627,0.12,2.15,0.00,0.000,6,0.202,0.044,2775,2199,3991,0,0,0,0,0,0
$STATE,784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,784,begin apogee
$GC,789,-0.16,0.0,103.8,12.2,88,970,0.43,0.00,151.55,0.655,6,0.176,0.000,2902,2088,3388,0,0,0,0,5,0
$STATE,972,end apogee,CONTROL_FINISHED_OK
$STATE,972,begin climb
$GC,974,0.73,146.6,112.7,0.0,106,1111,0.93,2.40,121.22,0.719,4,0.143,0.054,3185,3506,2787,0,0,0,0,1,0
$GC,1365,0.56,146.6,80.4,12.8,142,1369,0.20,2.17,0.00,0.000,6,0.216,0.045,3147,2107,2780,0,0,0,0,0,0
$GC,1694,0.53,175.1,51.2,8.7,173,1736,0.00,2.25,29.05,0.614,4,0.000,0.058,3146,3513,2670,0,0,0,0,1,0
$GC,1859,0.44,175.1,34.1,11.2,188,1864,0.17,2.20,0.00,0.000,6,0.205,0.046,3107,2096,2658,0,0,0,0,0,0
$GC,2057,0.59,262.5,21.2,6.0,206,2139,0.12,2.38,61.78,0.685,4,0.118,0.058,3151,3515,2318,0,0,0,0,2,0
$STATE,2229,end climb,SURFACE_DEPTH_REACHED
$STATE,2229,begin surface coast
$FINISH,1.5,1.019169
$STATE,2247,end surface coast,CONTROL_FINISHED_OK
$STATE,2247,begin surface
$SM_CCo,2266,64.43,0.693,0,0,1757,400.08
$SM_GC,2.13,0.00,0.00,64.43,0.000,0.000,0.693,78,2186,1757,-9.01,-0.40,400.08
$RAFOS_CLK,90
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,141198,020247
$TT8_MAMPS,0.026845
$HUMID,1078698700
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,43.8
$24V_AH,24.3,1.390
$10V_AH,10.4,0.383
$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,23.825,22.500,363.600,64.425,0.000,26.461,75.821,107.209,1.250,0.000,15.787,392.073,1021.662,487.210,472.918,275.505,0.000,796.732,0.000,459.583,0.000,7.375,0.000
$DEVICE_MAMPS,310.635,93.574,718.679,692.601,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.079,173.045,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264168
$DATA_FILE_SIZE,9652,239
$CAP_FILE_SIZE,38701,0
$CFSIZE,260165632,256589824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$SOUNDSPEED,1483.7
$GPS,200809,033344,4807.847,-12223.853,10,1.5,10,18.3