version: 66.06
glider: 141
mission: 9
dive: 18
start: 8 20 109 7 58 14
data:
$ID,141
$MISSION,9
$DIVE,18
$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,-15753.402
$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,39
$R_STBD_OVSHOOT,35
$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
$GPS1,075258,4807.019,-12222.887,8,4.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-78.5
$GPS2,075722,4807.025,-12222.900,11,3.5,30,18.3
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.072,-0.118
$KALMAN_X,-286.4,-153.7,-87.1,1487.6,-82.5
$KALMAN_Y,58.1,20.6,2.4,-1228.9,21.0
$MHEAD_RNG_PITCHd_Wd,193.2,132,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.90,-45.2,0.0,0.0,0,119,0.00,0.00,-100.57,0.000,2,0.000,0.000,74,2215,3071,0,0,0,0,0,0
$GC,121,-0.95,-89.7,3.1,-2.7,20,163,12.18,2.28,-20.40,0.000,4,0.314,0.067,2646,790,3756,0,0,0,0,0,0
$GC,193,-0.80,-89.7,11.0,-15.0,33,199,0.22,2.20,0.00,0.000,6,0.265,0.051,2696,2192,3757,0,0,0,0,0,0
$GC,271,-0.74,-89.7,25.9,-18.4,44,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2191,3757,0,0,0,0,0,0
$GC,462,-0.70,-89.7,60.7,-18.4,62,467,0.15,2.25,0.00,0.000,4,0.241,0.062,2730,3613,3758,0,0,0,0,0,0
$GC,597,-0.72,-89.7,83.0,-15.5,73,603,0.00,2.17,0.00,0.000,6,0.000,0.043,2730,2205,3758,0,0,0,0,0,0
$STATE,749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,749,begin apogee
$GC,755,-0.16,0.0,106.0,14.8,88,882,0.62,0.00,99.28,0.620,6,0.200,0.000,2906,2075,3384,0,0,0,0,4,0
$STATE,883,end apogee,CONTROL_FINISHED_OK
$STATE,883,begin climb
$GC,885,0.95,89.7,112.2,0.0,101,988,1.10,2.22,82.68,0.622,4,0.137,0.051,3263,710,3023,0,0,0,0,2,0
$GC,1050,0.84,110.9,111.0,5.5,116,1082,0.12,2.20,20.95,0.605,6,0.245,0.044,3238,2107,2936,0,0,0,0,1,0
$GC,1399,0.75,110.9,77.8,9.0,149,1404,0.15,2.20,0.00,0.000,4,0.256,0.055,3199,3507,2933,0,0,0,0,0,0
$GC,1658,0.67,110.9,54.5,8.5,171,1664,0.12,2.12,0.00,0.000,6,0.237,0.042,3182,2111,2932,0,0,0,0,0,0
$GC,1982,0.69,126.7,33.5,6.1,202,2004,0.00,0.00,14.48,0.561,6,0.000,0.000,3181,2111,2871,0,0,0,0,1,0
$GC,2196,0.70,135.2,18.8,7.0,223,2212,0.00,2.20,11.43,0.608,4,0.000,0.054,3182,3511,2837,0,0,0,0,0,0
$GC,2291,0.67,135.2,10.8,8.3,240,2297,0.00,2.15,0.00,0.000,6,0.000,0.042,3190,2100,2824,0,0,0,0,0,0
$GC,2365,0.70,140.0,5.2,7.4,253,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2100,2823,0,0,0,0,0,0
$STATE,2401,end climb,SURFACE_DEPTH_REACHED
$STATE,2402,begin surface coast
$FINISH,3.1,1.020849
$STATE,2453,end surface coast,CONTROL_FINISHED_OK
$STATE,2454,begin surface
$SM_CCo,2456,241.73,0.755,0,0,751,647.10
$SM_GC,1.38,9.15,0.00,0.00,0.084,0.000,0.000,74,2206,749,-8.99,0.17,647.59
$RAFOS_CLK,108
$RAFOS,2,1250756643,8.416667,8.400833,40,40,38,0,0,0,1,274,1587,0,0,0
$RAFOS,1,1250756043,8.250000,8.234167,46,44,43,0,0,0,1148,203,1287,0,0,0
$RAFOS,0,1250755447,8.083333,8.068611,44,43,40,0,0,0,764,465,181,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4754.94,-11907.04,141198,070750
$TT8_MAMPS,0.026845
$HUMID,1078635474
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,31.1
$24V_AH,24.2,1.953
$10V_AH,10.4,0.524
$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,23.825,22.300,228.800,241.725,0.000,30.625,41.783,84.207,1.250,0.000,33.088,453.964,1304.773,590.891,508.435,223.091,33.315,901.531,0.000,476.052,1440.000,12.717,0.000
$DEVICE_MAMPS,313.703,84.370,622.037,754.728,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.013,198.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264116
$DATA_FILE_SIZE,9644,269
$CAP_FILE_SIZE,43753,0
$CFSIZE,260165632,256413696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$SOUNDSPEED,1484.4
$GPS,200809,084606,4806.926,-12223.116,23,1.2,23,18.3