version: 66.07
glider: 34
mission: 4
dive: 19
start: 11 10 110 15 44 48
data:
$ID,34
$MISSION,4
$DIVE,19
$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,975.34076
$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,-4621.4854
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,101110,152734,4807.950,-12224.036,12,2.2,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-59.8
$GPS2,101110,154350,4807.975,-12224.015,10,1.0,10,18.3
$SPEED_LIMITS,0.100,0.351
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.204,-0.286
$KALMAN_X,-4834.1,-178.0,-180.7,4951.0,39.6
$KALMAN_Y,6604.2,226.4,354.7,-6993.5,-72.2
$MHEAD_RNG_PITCHd_Wd,126.2,2199,-11.6,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.14,-293.3,0.0,0.0,0,250,0.00,0.00,-231.32,0.000,2,0.000,0.000,353,2025,2442,0,0,0,0,0,0
$GC,252,-1.14,-293.3,3.0,-1.1,40,401,9.32,2.40,-131.80,0.000,4,0.176,0.089,1924,3423,3964,0,0,0,0,0,0
$GC,520,-1.14,-293.3,15.4,-7.9,86,527,0.00,2.28,0.00,0.000,6,0.000,0.077,1924,2023,3964,0,0,0,0,0,0
$GC,594,-1.14,-293.3,21.0,-7.7,98,595,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2023,3964,0,0,0,0,0,0
$GC,722,-1.14,-293.3,29.6,-6.6,110,726,0.00,2.33,0.00,0.000,4,0.000,0.092,1924,3422,3964,0,0,0,0,0,0
$GC,787,-1.14,-293.3,33.7,-6.2,115,796,0.00,2.30,0.00,0.000,6,0.000,0.074,1924,2022,3964,0,0,0,0,0,0
$GC,922,-1.14,-293.3,43.0,-6.8,128,923,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2021,3964,0,0,0,0,0,0
$GC,1049,-1.14,-293.3,51.1,-6.9,140,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2021,3964,0,0,0,0,0,0
$GC,1177,-1.14,-293.3,59.1,-6.2,152,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2021,3964,0,0,0,0,0,0
$GC,1304,-1.14,-293.3,66.7,-5.8,164,1308,0.00,2.30,0.00,0.000,4,0.000,0.092,1924,3422,3964,0,0,0,0,0,0
$GC,1336,-1.14,-293.3,68.7,-6.3,166,1344,0.00,2.28,0.00,0.000,6,0.000,0.074,1924,2026,3964,0,0,0,0,0,0
$GC,1471,-1.14,-293.3,76.4,-5.5,179,1475,0.00,2.35,0.00,0.000,4,0.000,0.104,1924,625,3964,0,0,0,0,0,0
$GC,1521,-1.14,-293.3,79.5,-6.2,183,1525,0.00,2.20,0.00,0.000,6,0.000,0.070,1924,2040,3964,0,0,0,0,0,0
$GC,1655,-1.14,-293.3,87.1,-5.7,195,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2040,3964,0,0,0,0,0,0
$GC,1782,-1.14,-293.3,94.3,-5.4,207,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2040,3964,0,0,0,0,0,0
$STATE,1812,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1813,begin apogee
$GC,1816,-0.33,0.0,96.3,6.0,210,1930,0.88,0.00,109.70,0.824,6,0.117,0.000,2097,2047,3455,0,0,0,0,0,0
$STATE,1931,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1932,1.14,293.3,98.2,0.0,220,2158,1.67,2.50,215.27,0.797,4,0.097,0.104,2423,624,2462,0,0,0,0,0,0
$GC,2226,1.14,293.3,68.6,16.0,248,2230,0.00,2.25,0.00,0.000,6,0.000,0.072,2423,2018,2462,0,0,0,0,0,0
$GC,2359,1.14,293.3,48.7,15.4,260,2363,0.00,2.38,0.00,0.000,4,0.000,0.102,2423,624,2461,0,0,0,0,0,0
$GC,2401,1.14,293.3,42.5,15.7,263,2409,0.00,2.25,0.00,0.000,6,0.000,0.072,2423,2021,2462,0,0,0,0,0,0
$GC,2536,1.14,293.3,21.7,14.2,276,2540,0.00,2.35,0.00,0.000,4,0.000,0.102,2423,625,2462,0,0,0,0,0,0
$GC,2576,1.14,293.3,15.9,14.5,281,2583,0.00,2.20,0.00,0.000,6,0.000,0.072,2423,2028,2462,0,0,0,0,0,0
$GC,2651,1.14,293.3,5.6,13.5,294,2657,0.00,2.35,0.00,0.000,4,0.000,0.102,2423,625,2461,0,0,0,0,0,0
$STATE,2662,end climb,SURFACE_DEPTH_REACHED
$STATE,2662,begin surface coast
$FINISH,1.7,1.017719
$STATE,2685,end surface coast,CONTROL_FINISHED_OK
$STATE,2685,begin surface
$SM_CCo,2703,511.12,0.720,0,0,151,975.34
$SM_GC,0.79,0.00,0.00,511.12,0.000,0.000,0.720,354,2029,151,-8.39,0.14,975.34
$IRIDIUM_FIX,4748.51,-12221.84,101110,151530
$TT8_MAMPS,0.023219
$HUMID,48.74
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,90.2,39.2
$24V_AH,24.0,7.329
$10V_AH,10.2,2.793
$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,21.850,36.950,324.975,511.125,0.000,139.286,221.576,245.779,1.750,0.000,13.304,594.851,1245.204,1096.621,1215.175,58.357,33.224,1483.432,0.000,508.150,0.000,14.565,0.000
$DEVICE_MAMPS,176.293,104.286,824.356,720.070,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.871,0.000,0.000,456.999,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323472
$DATA_FILE_SIZE,16917,300
$CAP_FILE_SIZE,59924,0
$CFSIZE,260165632,253747200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,163928,4807.721,-12223.813,10,2.1,29,18.3