version: 66.06
glider: 1
mission: 14
dive: 7
start: 9 22 109 20 23 1
data:
$ID,1
$MISSION,14
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-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,375
$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,-218792.16
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,250
$VBD_MAXERRORS,5
$CF8_MAXERRORS,20
$AH0_24V,300
$AH0_10V,200
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,57.461967
$FG_AHR_24V,4.6383591
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.036699742
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0072730002
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,48
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,2.8112627e-05
$SEABIRD_T_J,3.1957888e-06
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0.00038917549
$SEABIRD_C_J,7.9540005e-05
$GPS1,202357,6643.166,-6026.120,34,1.1,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-50.0
$GPS2,202741,6643.142,-6026.148,16,1.1,16,18.0
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,190.2,5039092,-18.0,-10.000
$D_GRID,100
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.31,-146.6,0.0,0.0,0,101,0.00,0.00,-73.47,0.000,2,0.007,0.000,394,2334,2833,0,0,0,0,0,0
$GC,105,-1.31,-146.6,3.7,-5.0,15,142,10.15,3.45,-9.15,0.000,4,0.000,0.000,2464,569,3105,10,0,19,0,0,0
$GC,394,-1.17,-146.6,63.9,-16.5,46,400,0.00,3.03,0.00,0.007,6,0.007,0.000,2459,2187,3109,0,0,15,0,0,0
$STATE,653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,653,begin apogee
$GC,661,-0.31,0.0,100.4,13.8,71,789,0.93,0.00,119.97,0.000,6,0.000,0.000,2692,1842,2513,1,0,0,0,0,0
$STATE,790,end apogee,CONTROL_FINISHED_OK
$STATE,790,begin climb
$GC,792,1.31,146.6,119.8,0.0,84,927,1.60,2.25,121.65,0.000,4,0.000,0.000,3058,508,1905,1,0,10,0,0,0
$GC,1180,3.50,646.8,171.4,-12.8,119,1492,1.80,2.80,276.92,0.000,6,0.000,0.000,3392,2132,605,3,0,11,0,3,0
$GC,1806,4.08,1120.5,250.3,-11.6,180,1813,0.00,2.55,0.28,0.007,4,0.000,0.000,3391,546,604,0,0,14,0,0,0
$GC,2065,4.70,1619.6,280.7,-12.7,202,2075,0.00,2.88,1.77,0.000,6,0.007,0.000,3391,2126,607,0,0,14,0,0,0
$GC,2400,5.27,2084.5,322.1,-11.2,234,2416,0.00,3.22,0.15,0.000,4,0.007,0.000,3390,196,605,0,0,22,0,0,0
$GC,2669,5.83,2541.2,353.0,-10.8,257,2680,0.00,4.15,0.28,0.007,6,0.007,0.000,3390,2245,603,0,0,24,0,0,0
$GC,3005,6.39,2998.5,390.6,-10.8,289,3022,0.00,3.12,0.12,0.007,4,0.007,0.000,3390,197,605,0,0,21,0,0,0
$GC,3274,6.97,3463.9,420.8,-11.2,312,3285,0.00,3.72,0.52,0.000,6,0.007,0.000,3390,2336,604,0,0,24,0,0,0
$GC,3609,7.58,3967.3,458.4,-12.9,344,3626,0.00,2.90,0.17,0.000,4,0.007,0.000,3388,531,603,0,0,12,0,0,0
$GC,3879,8.17,4441.7,491.8,-11.6,367,3890,0.00,2.70,1.95,0.000,6,0.007,0.000,3388,2141,604,0,0,13,0,0,0
$GC,4215,8.52,4726.1,520.7,-3.0,399,4231,0.00,3.03,0.20,0.007,4,0.007,0.000,3389,512,605,0,0,15,0,0,0
$GC,4483,8.48,4752.2,500.4,8.8,422,4493,0.00,3.20,1.23,0.000,6,0.000,0.000,3392,2771,606,0,0,20,0,0,0
$GC,4818,8.41,4752.2,469.5,10.5,454,4832,0.00,4.88,0.12,0.000,4,0.007,0.000,3390,566,602,0,0,27,0,0,0
$GC,5084,8.37,4752.2,441.5,10.7,477,5095,0.00,2.95,2.00,0.000,6,0.000,0.000,3392,2065,602,0,0,14,0,0,0
$GC,5419,8.37,4759.0,409.5,9.7,509,5435,0.00,3.53,0.12,0.000,4,0.007,0.000,3394,467,605,0,0,23,0,0,0
$GC,5686,8.37,4759.0,381.9,10.9,532,5697,0.00,3.00,2.38,0.000,6,0.000,0.000,3386,2322,609,0,0,14,0,0,0
$GC,6022,8.37,4759.0,347.6,10.2,564,6037,0.00,3.00,0.12,0.007,4,0.007,0.000,3387,529,600,0,0,14,0,0,0
$GC,6289,8.38,4761.6,320.8,9.9,587,6299,0.00,3.85,1.00,0.000,6,0.007,0.000,3391,2041,601,0,0,22,0,0,0
$GC,6623,8.38,4761.9,288.7,10.0,619,6639,0.00,3.15,0.12,0.007,4,0.007,0.000,3392,409,602,0,0,17,0,0,0
$GC,6891,8.38,4766.2,262.4,9.8,642,6903,0.00,3.20,1.95,0.000,6,0.007,0.000,3388,2142,599,0,0,14,0,0,0
$GC,7227,8.41,4786.9,230.0,9.1,674,7242,0.00,2.88,0.12,0.000,4,0.007,0.000,3386,546,604,0,0,14,0,0,0
$GC,7494,8.44,4816.6,206.0,8.6,697,7505,0.00,2.67,2.38,0.000,6,0.007,0.000,3394,2200,602,0,0,15,0,0,0
$GC,7829,8.44,4816.6,173.5,10.6,729,7844,0.00,3.35,0.17,0.000,4,0.007,0.000,3392,493,601,0,0,16,0,0,0
$GC,8096,8.52,4816.6,144.4,10.9,752,8106,0.00,2.88,2.08,0.000,6,0.007,0.000,3390,2130,602,0,0,14,0,0,0
$GC,8431,8.59,4820.9,109.6,9.8,784,8445,0.00,2.78,0.12,0.000,4,0.007,0.000,3388,450,603,0,0,13,0,0,0
$GC,8697,8.51,4820.9,83.6,12.0,807,8709,0.00,3.15,1.70,0.000,6,0.007,0.000,3390,2119,599,0,0,16,0,0,0
$GC,9033,8.51,4820.9,45.6,10.9,839,9040,0.00,2.75,0.15,0.007,4,0.007,0.000,3388,522,597,0,0,16,0,0,0
$GC,9292,8.81,4935.4,20.5,4.8,861,9304,0.00,3.25,1.65,0.000,6,0.007,0.000,3389,2204,605,0,0,17,0,0,0
$STATE,9464,end climb,SURFACE_DEPTH_REACHED
$STATE,9464,begin surface coast
$FINISH,0.1,1.012198
$STATE,9493,end surface coast,CONTROL_FINISHED_OK
$STATE,9494,begin surface
$SM_CCo,9581,0.00,0.000,0,0,596,465.58
$SM_GC,0.05,14.65,0.00,0.00,0.000,0.007,0.007,514,2059,596,-9.87,0.93,465.58
$SUPER,3,206,254,0,0,0
$RAFOS_CLK,0
$RAFOS,4,1253652243,20.750000,20.734167,80,0,0,0,0,0,855,0,0,0,0,0
$RAFOS,3,1253651644,20.583334,20.567778,80,0,0,0,0,0,783,0,0,0,0,0
$RAFOS_FIX,6635.280762,-6207.310059,220909,202004,4,80,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,1078173859
$INTERNAL_PRESSURE,16.1828
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$24V_AH,23.9,179.844
$10V_AH,10.7,30.889
$FG_AHR_24Vo,4.638
$FG_AHR_10Vo,57.556
$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,29.125,95.675,541.425,0.000,0.000,0.000,0.000,74.412,0.000,0.000,17.659,1479.887,6195.000,812.410,1030.422,315.419,0.000,977.824,0.000,978.739,720.000,2.968,0.000
$DEVICE_MAMPS,119.000,60.000,1300.000,0.000,0.000,103.000,0.000,223.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330160
$DATA_FILE_SIZE,31592,896
$CAP_FILE_SIZE,117151,8
$CFSIZE,260165632,253435904
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,29,510,3,0
$SOUNDSPEED,1465.0
$CURRENT,0.347,199.1,1
$GPS,220909,230944,6642.577,-6029.131,23,1.1,23,18.0