version: 66.06
glider: 141
mission: 9
dive: 20
start: 8 20 109 9 43 13
data:
$ID,141
$MISSION,9
$DIVE,20
$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,-15780.738
$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,35
$R_STBD_OVSHOOT,33
$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
$GPS1,093820,4806.903,-12223.011,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-78.6
$GPS2,094219,4806.885,-12222.959,9,1.7,14,18.3
$SPEED_LIMITS,0.139,0.218
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.007,0.138
$KALMAN_X,-473.8,-203.9,-56.7,1623.2,-42.3
$KALMAN_Y,18.9,4.2,5.3,-1429.8,7.1
$MHEAD_RNG_PITCHd_Wd,339.0,218,-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,15,-0.90,-45.2,0.0,0.0,0,123,0.00,0.00,-105.07,0.000,2,0.000,0.000,75,2191,3171,0,0,0,0,0,0
$GC,126,-0.95,-91.9,3.1,-2.5,21,163,12.18,2.20,-17.33,0.000,4,0.314,0.071,2644,789,3764,0,0,0,0,0,0
$GC,360,-0.86,-91.9,47.1,-21.0,52,365,0.15,2.20,0.00,0.000,6,0.263,0.051,2675,2200,3767,0,0,0,0,0,0
$GC,558,-0.80,-91.9,86.8,-19.7,70,562,0.00,2.25,0.00,0.000,4,0.000,0.062,2675,3621,3767,0,0,0,0,0,0
$STATE,646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,646,begin apogee
$GC,654,-0.16,0.0,105.4,19.7,77,771,0.82,0.00,98.43,0.657,6,0.222,0.000,2901,2105,3388,0,0,0,0,3,0
$STATE,772,end apogee,CONTROL_FINISHED_OK
$STATE,772,begin climb
$GC,774,0.95,91.9,112.9,0.0,89,877,1.15,2.38,79.85,0.659,4,0.145,0.051,3267,689,3012,0,0,0,0,2,0
$GC,973,0.82,93.3,107.4,7.8,107,979,0.17,2.25,0.00,0.000,6,0.242,0.044,3229,2118,3009,0,0,0,0,0,0
$GC,1297,0.74,105.4,83.5,6.6,138,1322,0.00,2.22,13.40,0.599,4,0.000,0.055,3226,3500,2958,0,0,0,0,1,0
$GC,1569,0.62,105.4,59.0,9.0,162,1576,0.22,2.20,0.00,0.000,6,0.227,0.041,3166,2090,2951,0,0,0,0,0,0
$GC,1894,0.66,127.7,40.3,5.4,193,1918,0.00,0.00,17.08,0.601,6,0.000,0.000,3166,2090,2868,0,0,0,0,1,0
$GC,2107,0.71,134.5,26.7,7.2,213,2131,0.00,2.28,13.00,0.639,4,0.000,0.056,3164,3500,2832,0,0,0,0,1,0
$GC,2200,0.71,134.5,19.4,8.0,222,2206,0.00,2.15,0.00,0.000,6,0.000,0.043,3171,2097,2825,0,0,0,0,0,0
$GC,2275,0.76,136.9,14.1,7.7,235,2280,0.00,2.20,0.00,0.000,4,0.000,0.056,3171,3506,2825,0,0,0,0,0,0
$GC,2325,0.76,136.9,9.7,8.8,244,2331,0.00,2.15,0.00,0.000,6,0.000,0.043,3180,2099,2825,0,0,0,0,0,0
$GC,2399,0.84,160.5,5.1,5.2,257,2416,0.15,2.17,10.30,0.697,4,0.112,0.052,3246,697,2733,0,0,0,0,0,0
$GC,2534,0.92,225.2,4.1,0.3,281,2570,0.00,2.15,30.12,0.729,6,0.000,0.046,3246,2099,2470,0,0,0,0,0,0
$STATE,2596,end climb,SURFACE_DEPTH_REACHED
$STATE,2596,begin surface coast
$FINISH,3.2,1.019839
$STATE,2749,end surface coast,CONTROL_FINISHED_OK
$STATE,2749,begin surface
$SM_CCo,2752,201.35,0.740,0,0,751,647.10
$SM_GC,1.61,9.30,0.00,0.00,0.085,0.000,0.000,76,2210,749,-8.98,0.28,647.84
$RAFOS_CLK,119
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,141198,080812
$TT8_MAMPS,0.026845
$HUMID,1078649668
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,24.2,2.151
$10V_AH,10.4,0.572
$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,24.150,31.325,262.175,201.350,0.000,30.717,30.908,84.566,1.750,0.000,16.028,529.358,1392.927,578.512,587.067,225.841,33.321,942.417,0.000,573.233,0.000,13.076,0.000
$DEVICE_MAMPS,313.703,84.370,729.417,740.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.337,234.954,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264160
$DATA_FILE_SIZE,12733,320
$CAP_FILE_SIZE,48495,0
$CFSIZE,260165632,256348160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$SOUNDSPEED,1487.1
$GPS,200809,103522,4807.046,-12222.979,5,7.2,24,18.3