version: 66.07
glider: 34
mission: 4
dive: 17
start: 11 10 110 13 28 34
data:
$ID,34
$MISSION,4
$DIVE,17
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,970
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4618.9702
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,366
$PITCH_MAX,2908
$C_PITCH,2177
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,247
$ROLL_MAX,3968
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,151
$VBD_MAX,3963
$C_VBD,3455
$VBD_DBAND,2
$VBD_CNV,-0.29519999
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,7
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,4
$AH0_24V,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.887691
$PRESSURE_SLOPE,0.00094911997
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043511861
$SEABIRD_T_H,0.0006267078
$SEABIRD_T_I,2.3336246e-05
$SEABIRD_T_J,2.4288879e-06
$SEABIRD_C_G,-10.094185
$SEABIRD_C_H,1.1592568
$SEABIRD_C_I,-0.0011433914
$SEABIRD_C_J,0.00016895766
$GPS1,101110,132323,4808.349,-12224.407,25,3.0,70,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-60.3
$GPS2,101110,132736,4808.377,-12224.403,14,1.2,30,18.4
$SPEED_LIMITS,0.100,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,-0.295
$KALMAN_X,-4507.6,-311.9,-137.1,4235.5,29.9
$KALMAN_Y,6168.4,402.8,253.1,-5889.0,-12.2
$MHEAD_RNG_PITCHd_Wd,128.8,3085,-11.6,-10.000
$D_GRID,101
$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,-1.14,-293.3,0.0,0.0,0,175,0.00,0.00,-156.20,0.000,2,0.000,0.000,354,2037,1866,0,0,0,0,0,0
$GC,177,-1.14,-293.3,3.3,-3.3,27,348,9.38,2.38,-152.98,0.000,4,0.184,0.089,1924,3447,3962,0,0,0,0,0,0
$GC,388,-1.14,-293.3,10.2,-6.9,63,396,0.00,2.33,-0.10,0.000,6,0.000,0.077,1924,2021,3965,0,0,0,0,0,0
$GC,464,-1.14,-293.3,15.9,-6.7,76,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2021,3965,0,0,0,0,0,0
$GC,537,-1.14,-293.3,21.0,-7.0,88,542,0.00,2.40,0.00,0.000,4,0.000,0.092,1924,3450,3965,0,0,0,0,0,0
$GC,577,-1.14,-293.3,23.9,-7.3,91,581,0.00,2.30,0.00,0.000,6,0.000,0.077,1923,2021,3965,0,0,0,0,0,0
$GC,710,-1.14,-293.3,33.1,-7.2,103,712,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2021,3965,0,0,0,0,0,0
$GC,838,-1.14,-293.3,41.2,-6.4,115,839,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2021,3965,0,0,0,0,0,0
$GC,966,-1.14,-293.3,49.4,-6.5,127,970,0.00,2.33,0.00,0.000,4,0.000,0.104,1924,627,3965,0,0,0,0,0,0
$GC,1031,-1.14,-293.3,53.4,-6.5,132,1039,0.00,2.25,0.00,0.000,6,0.000,0.070,1924,2051,3965,0,0,0,0,0,0
$GC,1166,-1.14,-293.3,61.9,-5.6,145,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2051,3964,0,0,0,0,0,0
$GC,1294,-1.14,-293.3,69.5,-6.0,157,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2050,3964,0,0,0,0,0,0
$GC,1421,-1.14,-293.3,77.1,-6.4,169,1425,0.00,2.25,0.00,0.000,4,0.000,0.094,1924,3421,3964,0,0,0,0,0,0
$GC,1453,-1.14,-293.3,78.9,-6.1,171,1460,0.00,2.28,0.00,0.000,6,0.000,0.077,1924,2026,3964,0,0,0,0,0,0
$GC,1587,-1.14,-293.3,86.9,-5.7,184,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2027,3964,0,0,0,0,0,0
$GC,1715,-1.14,-293.3,94.3,-6.0,196,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2026,3964,0,0,0,0,0,0
$STATE,1809,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1809,begin apogee
$GC,1812,-0.33,0.0,99.6,5.1,205,1927,0.88,0.00,109.62,0.819,6,0.114,0.000,2097,2026,3455,0,0,0,0,0,0
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1928,begin climb
$GC,1929,1.14,293.3,101.8,0.0,215,2152,1.67,2.53,214.23,0.795,4,0.097,0.104,2423,627,2461,0,0,0,0,0,0
$GC,2212,1.14,293.3,72.9,16.2,241,2221,0.00,2.28,0.00,0.000,6,0.000,0.070,2423,2019,2462,0,0,0,0,0,0
$GC,2347,1.14,293.3,51.8,15.0,254,2352,0.00,2.38,0.00,0.000,4,0.000,0.102,2423,625,2462,0,0,0,0,0,0
$GC,2390,1.14,293.3,45.3,15.7,257,2399,0.00,2.25,0.00,0.000,6,0.000,0.070,2423,2026,2462,0,0,0,0,0,0
$GC,2525,1.14,293.3,25.1,14.6,270,2529,0.00,2.35,0.00,0.000,4,0.000,0.102,2423,624,2462,0,0,0,0,0,0
$GC,2619,1.14,293.3,10.5,15.5,283,2626,0.00,2.20,0.00,0.000,6,0.000,0.072,2423,2032,2462,0,0,0,0,0,0
$STATE,2665,end climb,SURFACE_DEPTH_REACHED
$STATE,2665,begin surface coast
$FINISH,2.3,1.016492
$STATE,2705,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2721,507.52,0.718,0,0,170,970.03
$SM_GC,1.12,0.00,0.00,507.52,0.000,0.000,0.718,355,2038,170,-8.39,0.37,970.03
$IRIDIUM_FIX,4754.94,-12225.30,101110,121218
$TT8_MAMPS,0.023219
$HUMID,49.01
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,23.9,6.931
$10V_AH,10.2,2.718
$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,21.900,32.475,323.850,507.525,0.000,24.645,39.822,102.430,1.250,0.000,32.761,609.368,1051.648,1041.725,754.720,44.979,33.214,1433.984,0.000,521.546,0.000,8.698,0.000
$DEVICE_MAMPS,183.742,104.286,819.390,717.587,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.615,0.000,0.000,454.575,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323444
$DATA_FILE_SIZE,16971,298
$CAP_FILE_SIZE,51958,0
$CFSIZE,260165632,253825024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,142329,4808.143,-12224.244,11,2.4,30,18.3