version: 66.06
glider: 141
mission: 9
dive: 17
start: 8 20 109 7 6 55
data:
$ID,141
$MISSION,9
$DIVE,17
$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,50
$T_MISSION,70
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51430
$NAV_MODE,1
$FERRY_MAX,0
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-15719.687
$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,32
$R_STBD_OVSHOOT,39
$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
$GPS1,070131,4807.006,-12223.083,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.8
$GPS2,070602,4807.005,-12223.100,14,1.5,14,18.3
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.138,-0.012
$KALMAN_X,-198.9,-122.6,-91.6,1128.8,-82.4
$KALMAN_Y,14.1,2.9,1.9,-1202.2,7.9
$MHEAD_RNG_PITCHd_Wd,76.8,124,-26.9,-8.000
$D_GRID,105
$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,14,-0.90,-45.2,0.0,0.0,0,83,0.00,0.00,-65.45,0.000,2,0.000,0.000,76,2215,3043,0,0,0,0,0,0
$GC,85,-0.95,-87.3,3.0,-3.0,13,127,12.18,2.30,-21.12,0.000,4,0.312,0.069,2645,787,3746,0,0,0,0,0,0
$GC,133,-0.68,-88.0,7.3,-7.9,22,139,0.38,2.22,0.00,0.000,6,0.261,0.052,2731,2198,3747,0,0,0,0,0,0
$GC,207,-0.67,-88.0,19.2,-15.7,35,212,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2198,3747,0,0,0,0,0,0
$GC,276,-0.67,-88.0,29.9,-15.2,42,280,0.00,2.25,0.00,0.000,4,0.000,0.062,2731,3618,3748,0,0,0,0,0,0
$GC,338,-0.67,-88.0,39.9,-16.0,47,342,0.00,2.20,0.00,0.000,6,0.000,0.044,2732,2184,3747,0,0,0,0,0,0
$GC,535,-0.69,-88.0,70.5,-15.1,65,539,0.00,2.25,0.00,0.000,4,0.000,0.061,2732,3613,3748,0,0,0,0,0,0
$GC,654,-0.71,-88.0,89.0,-15.0,75,658,0.00,2.15,0.00,0.000,6,0.000,0.043,2732,2200,3748,0,0,0,0,0,0
$STATE,689,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,689,begin apogee
$GC,694,-0.16,0.0,94.8,15.6,78,782,0.60,0.00,79.30,0.695,6,0.198,0.000,2901,2088,3389,0,0,0,0,1,0
$STATE,783,end apogee,CONTROL_FINISHED_OK
$STATE,783,begin climb
$GC,785,0.95,88.0,99.8,0.0,87,857,1.15,0.00,66.70,0.747,6,0.144,0.000,3257,2087,3030,0,0,0,0,0,0
$GC,1175,0.84,107.3,84.8,5.7,124,1199,0.00,2.35,16.83,0.641,4,0.000,0.054,3253,3526,2951,0,0,0,0,0,0
$GC,1250,0.67,107.3,79.0,8.5,131,1255,0.35,2.20,0.00,0.000,6,0.246,0.041,3181,2109,2950,0,0,0,0,0,0
$GC,1574,0.69,126.3,57.6,5.8,161,1605,0.00,2.30,22.33,0.650,4,0.000,0.056,3181,3513,2868,0,0,0,0,0,0
$GC,1802,0.65,126.3,37.9,8.9,181,1808,0.00,2.17,0.00,0.000,6,0.000,0.043,3190,2095,2863,0,0,0,0,0,0
$GC,1999,0.67,137.1,23.2,6.7,200,2019,0.00,2.33,11.85,0.623,4,0.000,0.057,3190,3525,2823,0,0,0,0,0,0
$GC,2177,0.64,137.1,6.7,9.0,228,2183,0.12,2.17,0.00,0.000,6,0.232,0.043,3173,2097,2816,0,0,0,0,0,0
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2249,begin surface coast
$FINISH,3.4,1.021656
$STATE,2340,end surface coast,CONTROL_FINISHED_OK
$STATE,2340,begin surface
$SM_CCo,2343,241.73,0.765,0,0,751,647.10
$SM_GC,1.39,9.05,0.00,0.00,0.082,0.000,0.000,74,2214,749,-8.99,0.42,647.59
$RAFOS_CLK,106
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,141198,060607
$TT8_MAMPS,0.026078
$HUMID,1078643216
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.5,9.6
$24V_AH,24.2,1.853
$10V_AH,10.4,0.499
$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,23.825,27.200,197.000,241.725,0.000,30.173,36.753,97.185,1.000,0.000,16.222,460.067,1284.029,512.976,474.819,243.643,32.332,807.073,0.000,461.694,0.000,8.815,0.000
$DEVICE_MAMPS,312.169,93.574,747.058,764.699,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.430,187.975,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264172
$DATA_FILE_SIZE,9621,257
$CAP_FILE_SIZE,43141,0
$CFSIZE,260165632,256438272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1484.6
$GPS,200809,075258,4807.019,-12222.887,8,4.7,27,18.3