version: 66.06
glider: 148
mission: 9
dive: 4
start: 1 13 110 22 53 55
data:
$ID,148
$MISSION,9
$DIVE,4
$D_SURF,5
$D_FLARE,4
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$D_BOOST,5
$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,62
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,710
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-855456.44
$T_RSLEEP,15
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3506
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,224204,4807.099,-12223.016,9,2.2,28,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.3
$GPS2,225301,4807.106,-12223.068,12,1.7,12,18.3
$SPEED_LIMITS,0.140,0.241
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.034,-0.135
$KALMAN_X,258.9,202.0,180.2,-789.4,48.1
$KALMAN_Y,-274.7,-247.7,-225.2,315.3,-53.6
$MHEAD_RNG_PITCHd_Wd,147.6,215,-26.9,-8.065
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.74,-45.7,0.0,0.0,0,111,0.00,0.00,-91.03,0.000,2,0.000,0.000,418,1779,2589,0,0,0,0,0,0
$GC,115,-1.76,-63.8,4.2,-5.9,12,170,11.30,2.60,-35.08,0.000,4,0.176,0.058,2467,3309,3767,0,0,0,0,0,0
$GC,292,-1.78,-82.3,14.6,-5.9,38,302,0.00,2.60,-1.38,0.000,6,0.000,0.036,2467,1753,3843,0,0,0,0,0,0
$GC,380,-1.78,-82.3,21.9,-10.3,51,389,0.00,2.70,0.00,0.000,4,0.000,0.054,2467,174,3844,0,0,0,0,0,0
$GC,398,-1.78,-82.3,24.3,-11.3,53,407,0.00,2.58,0.00,0.000,6,0.000,0.035,2466,1728,3844,0,0,0,0,0,0
$GC,485,-1.78,-82.3,35.5,-12.7,66,494,0.00,2.67,0.00,0.000,4,0.000,0.052,2466,172,3844,0,0,0,0,0,0
$GC,503,-1.78,-82.3,38.0,-13.3,68,511,0.00,2.58,0.00,0.000,6,0.000,0.035,2466,1728,3844,0,0,0,0,0,0
$GC,590,-1.78,-82.3,49.7,-14.3,81,596,0.00,2.65,0.00,0.000,4,0.000,0.052,2467,167,3844,0,0,0,0,0,0
$GC,638,-1.78,-82.3,57.3,-15.7,89,644,0.00,2.58,0.00,0.000,6,0.000,0.034,2466,1742,3844,0,0,0,0,0,0
$GC,792,-1.78,-82.3,79.3,-13.5,114,802,0.00,2.70,0.00,0.000,4,0.000,0.058,2466,168,3844,0,0,0,0,0,0
$GC,884,-1.78,-82.3,92.9,-15.3,129,889,0.00,2.55,0.00,0.000,6,0.000,0.034,2467,1731,3844,0,0,0,0,0,0
$STATE,974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,974,begin apogee
$GC,981,-0.31,0.0,105.8,13.3,143,1053,1.55,0.00,66.25,0.719,6,0.120,0.000,2785,1876,3505,0,0,0,0,0,0
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1055,1.78,82.3,109.3,0.0,154,1135,2.00,2.67,65.30,0.698,4,0.061,0.056,3247,3394,3169,0,0,0,0,0,0
$GC,1143,1.79,87.1,104.3,7.5,168,1157,0.00,2.60,5.45,0.522,6,0.000,0.038,3247,1855,3150,0,0,0,0,0,0
$GC,1301,1.79,87.1,84.2,13.0,194,1310,0.00,2.72,0.00,0.000,4,0.000,0.058,3247,266,3150,0,0,0,0,0,0
$GC,1634,1.79,87.1,37.4,13.5,252,1643,0.00,2.55,0.00,0.000,6,0.000,0.034,3247,1802,3150,0,0,0,0,0,0
$GC,1720,1.79,87.1,26.8,12.1,265,1729,0.00,2.65,0.00,0.000,4,0.000,0.052,3247,263,3150,0,0,0,0,0,0
$GC,2088,1.87,151.6,7.1,0.4,323,2151,0.00,2.58,52.28,0.632,6,0.000,0.033,3247,1822,2886,0,0,0,0,0,0
$GC,2233,1.96,227.1,6.1,-0.9,343,2295,0.17,0.00,59.42,0.621,2,0.071,0.000,3293,1822,2598,0,0,0,0,0,0
$STATE,2296,end climb,SURFACE_DEPTH_REACHED
$STATE,2296,begin surface coast
$FINISH,4.6,1.019044
$STATE,2541,end surface coast,CONTROL_FINISHED_OK
$STATE,2541,begin surface
$SM_CCo,2564,395.80,0.600,1,0,611,710.14
$SM_GC,1.32,0.00,0.00,395.80,0.000,0.000,0.600,420,1734,611,-11.22,-0.45,710.14
$IRIDIUM_FIX,4748.51,-12224.57,090499,222249
$TT8_MAMPS,0.026845
$HUMID,32.43
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,13.10
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,100.6,6.2
$24V_AH,23.6,0.789
$10V_AH,10.3,0.487
$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,27.650,42.275,248.700,395.800,0.000,0.000,0.000,0.000,5.500,0.000,13.997,612.938,155.658,624.793,1536.462,111.352,32.334,1158.450,0.000,1550.751,0.000,19.960,0.000
$DEVICE_MAMPS,175.643,84.370,718.679,599.794,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,274.920,251.519,306.988,767.100,1349.245,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,32130,390
$CAP_FILE_SIZE,70342,0
$CFSIZE,260165632,172191744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130110,234408,4806.991,-12223.021,7,1.6,7,18.3