version: 66.06
glider: 141
mission: 9
dive: 19
start: 8 20 109 8 51 0
data:
$ID,141
$MISSION,9
$DIVE,19
$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,-15764.08
$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,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
$GPS1,084606,4806.926,-12223.116,23,1.2,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-78.5
$GPS2,085007,4806.934,-12223.126,8,2.0,8,18.3
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.130,0.048
$KALMAN_X,-357.8,-178.2,-79.4,1296.8,-47.9
$KALMAN_Y,164.7,48.0,-3.9,-1527.6,49.6
$MHEAD_RNG_PITCHd_Wd,51.3,198,-26.9,-8.000
$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,14,-0.90,-45.2,0.0,0.0,0,123,0.00,0.00,-105.22,0.000,2,0.000,0.000,74,2206,3209,0,0,0,0,0,0
$GC,126,-0.95,-89.0,3.3,-2.8,21,163,12.12,2.28,-14.88,0.000,4,0.312,0.075,2647,3600,3754,0,0,0,0,0,0
$GC,416,-0.83,-89.0,62.4,-22.6,57,421,0.17,2.15,0.00,0.000,6,0.248,0.043,2687,2187,3757,0,0,0,0,0,0
$STATE,632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,632,begin apogee
$GC,637,-0.16,0.0,104.4,18.9,77,760,0.80,0.00,98.65,0.660,6,0.216,0.000,2905,2080,3388,0,0,0,0,4,0
$STATE,761,end apogee,CONTROL_FINISHED_OK
$STATE,761,begin climb
$GC,763,0.95,89.0,111.2,0.0,89,861,1.12,2.22,79.55,0.673,4,0.143,0.048,3263,709,3023,0,0,0,0,2,0
$GC,1114,0.83,98.9,94.6,6.8,120,1131,0.15,2.15,10.60,0.584,6,0.245,0.044,3231,2097,2984,0,0,0,0,0,0
$GC,1449,0.75,100.8,69.7,7.8,152,1453,0.00,2.15,0.00,0.000,4,0.000,0.053,3240,709,2970,0,0,0,0,0,0
$GC,1617,0.68,112.7,56.7,6.6,166,1644,0.22,2.15,13.00,0.610,6,0.229,0.046,3186,2110,2923,0,0,0,0,1,0
$GC,1962,0.70,127.5,33.5,6.2,199,1986,0.00,2.22,13.00,0.612,4,0.000,0.056,3186,3500,2865,0,0,0,0,1,0
$GC,2104,0.66,127.5,21.6,9.0,212,2108,0.00,2.12,0.00,0.000,6,0.000,0.044,3194,2109,2856,0,0,0,0,0,0
$GC,2311,0.68,139.6,6.2,6.6,246,2322,0.00,2.22,3.95,0.531,4,0.000,0.057,3194,3503,2820,0,0,0,0,0,0
$STATE,2371,end climb,SURFACE_DEPTH_REACHED
$STATE,2371,begin surface coast
$FINISH,3.3,1.021626
$STATE,2434,end surface coast,CONTROL_FINISHED_OK
$STATE,2434,begin surface
$SM_CCo,2436,242.00,0.734,0,0,751,647.10
$SM_GC,1.52,9.18,0.00,0.00,0.087,0.000,0.000,75,2190,751,-8.99,-0.25,647.35
$RAFOS_CLK,108
$RAFOS,3,1250757243,8.583333,8.567500,45,42,42,0,0,0,731,1307,1878,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12223.57,141198,080811
$TT8_MAMPS,0.026845
$HUMID,1078638055
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,44.1
$24V_AH,24.2,2.052
$10V_AH,10.4,0.547
$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,23.775,21.950,218.750,242.000,0.000,24.329,35.498,94.478,0.750,0.000,10.049,456.172,1268.047,575.905,516.882,224.276,33.311,892.718,0.000,511.628,0.000,7.380,0.000
$DEVICE_MAMPS,312.169,92.040,673.426,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.951,198.329,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264124
$DATA_FILE_SIZE,9624,268
$CAP_FILE_SIZE,41221,0
$CFSIZE,260165632,256385024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$SOUNDSPEED,1484.6
$GPS,200809,093820,4806.903,-12223.011,10,1.8,10,18.3