version: 66.09
glider: 117
mission: 27
dive: 1
start: 6 21 111 19 46 11
data:
$ID,117
$MISSION,27
$DIVE,1
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1100
$D_NO_BLEED,50
$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,15
$T_MISSION,30
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51811
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.099998
$TGT_DEFAULT_LON,-122.36667
$TGT_AUTO_DEFAULT,0
$SM_CC,625
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-115014.2
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2779
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3324
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.2690158
$PRESSURE_SLOPE,0.0001158926
$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,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,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00439863
$SEABIRD_T_H,0.00065720873
$SEABIRD_T_I,3.0612431e-05
$SEABIRD_T_J,3.6729182e-06
$SEABIRD_C_G,-9.9227343
$SEABIRD_C_H,1.1140056
$SEABIRD_C_I,-0.0018444209
$SEABIRD_C_J,0.00019243189
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,210611,194225,4807.372,-12223.178,16,1.6,16,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.2
$GPS2,210611,194519,4807.379,-12223.191,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.083,-0.247
$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,143.1,742,-18.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.58,-146.6,0.0,0.0,0,74,0.00,0.00,-57.50,0.000,2,0.000,0.000,400,2059,2321,0,0,0,0,0,0
$GC,76,-1.58,-146.6,3.1,-3.8,10,142,11.55,2.60,-47.03,0.000,4,0.160,0.080,2431,635,3922,0,0,0,0,0,0
$GC,272,-1.58,-146.6,15.6,-8.7,44,279,0.00,2.42,0.00,0.000,6,0.000,0.044,2431,2032,3925,0,0,0,0,0,0
$GC,345,-1.58,-146.6,22.4,-9.5,55,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2032,3926,0,0,0,0,0,0
$GC,537,-1.58,-146.6,42.1,-10.4,73,542,0.00,2.58,0.00,0.000,4,0.000,0.076,2431,647,3926,0,0,0,0,0,0
$GC,546,-1.58,-146.6,43.4,-10.6,73,555,0.00,2.45,0.00,0.000,6,0.000,0.046,2431,2043,3926,0,0,0,0,0,0
$STATE,563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,563,begin apogee
$GC,566,-0.38,0.0,45.0,10.5,75,686,1.25,0.00,110.85,0.624,6,0.090,0.000,2691,2047,3324,0,0,0,0,0,0
$STATE,687,end apogee,CONTROL_FINISHED_OK
$STATE,687,begin climb
$GC,688,1.58,146.6,49.8,0.0,86,811,1.85,2.70,113.22,0.607,4,0.034,0.077,3134,649,2726,0,0,0,0,0,0
$GC,919,1.58,146.6,43.0,10.1,107,924,0.00,2.47,0.00,0.000,6,0.000,0.047,3133,2046,2723,0,0,0,0,0,0
$GC,1116,1.60,164.2,24.4,9.2,125,1138,0.00,2.70,14.57,0.566,4,0.000,0.085,3134,3448,2654,0,0,0,0,0,0
$GC,1191,1.60,164.6,17.4,10.0,133,1198,0.00,2.50,0.00,0.000,6,0.000,0.050,3134,2051,2653,0,0,0,0,0,0
$GC,1267,1.61,165.7,9.9,9.9,146,1273,0.00,2.60,0.00,0.000,4,0.000,0.073,3134,3450,2653,0,0,0,0,0,0
$GC,1291,1.63,184.8,7.7,9.1,150,1315,0.00,2.53,17.85,0.578,6,0.000,0.052,3134,2042,2570,0,0,0,0,0,0
$GC,1383,1.79,313.2,4.0,4.1,166,1481,0.15,2.67,87.65,0.605,4,0.081,0.080,3169,644,2044,0,0,0,0,0,0
$STATE,1497,end climb,SURFACE_DEPTH_REACHED
$STATE,1497,begin surface coast
$FINISH,2.9,1.018029
$STATE,1627,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1627,begin surface
$SM_CCo,1648,178.27,0.604,0,0,775,625.02
$SM_GC,1.60,0.00,0.00,178.27,0.000,0.000,0.604,408,2060,775,-10.91,0.28,625.02,0,0,0,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,210611,191946
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.11
$INTERNAL_PRESSURE,9.35807
$TCM_TEMP,20.50
$24V_AH,24.0,33.187
$10V_AH,10.2,21.654
$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,27.375,30.750,344.150,178.275,0.000,0.000,0.000,0.000,0.000,0.000,13.695,440.329,484.109,582.360,370.927,19.093,29.237,854.367,0.000,366.576,0.000,0.000,0.000
$DEVICE_MAMPS,159.885,84.915,624.240,603.585,0.000,0.000,0.000,0.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,142.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334392
$DATA_FILE_SIZE,6813,208
$CAP_FILE_SIZE,58527,0
$CFSIZE,260034560,258011136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,201916,4807.233,-12223.105,106,8.1,125,18.3