version: 66.06
glider: 148
mission: 9
dive: 5
start: 1 13 110 23 52 41
data:
$ID,148
$MISSION,9
$DIVE,5
$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,-855470.75
$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,39
$R_STBD_OVSHOOT,35
$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
$GPS1,234408,4806.991,-12223.021,7,1.6,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.9
$GPS2,235144,4806.983,-12223.062,12,1.7,12,18.3
$SPEED_LIMITS,0.140,0.241
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.138,-0.197
$KALMAN_X,224.6,200.1,158.0,-721.4,-64.3
$KALMAN_Y,-210.1,-241.9,-199.8,-8.7,101.8
$MHEAD_RNG_PITCHd_Wd,126.6,2245,-14.2,-8.065
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.07,-146.0,0.0,0.0,0,118,0.00,0.00,-96.78,0.000,2,0.000,0.000,420,1735,3001,0,0,0,0,0,0
$GC,120,-1.07,-146.0,4.6,-5.4,13,168,12.12,2.67,-29.75,0.000,4,0.174,0.055,2618,3330,3951,0,0,0,0,0,0
$GC,191,-1.07,-146.0,7.2,-5.1,22,200,0.00,2.62,0.00,0.000,6,0.000,0.040,2618,1768,3952,0,0,0,0,0,0
$GC,279,-1.07,-146.0,12.9,-6.2,35,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1768,3953,0,0,0,0,0,0
$GC,366,-1.07,-146.0,18.6,-6.5,48,375,0.00,2.75,0.00,0.000,4,0.000,0.055,2618,172,3953,0,0,0,0,0,0
$GC,385,-1.07,-146.0,20.4,-7.4,50,394,0.00,2.62,0.00,0.000,6,0.000,0.034,2618,1754,3953,0,0,0,0,0,0
$GC,471,-1.07,-146.0,27.4,-8.4,63,480,0.00,2.65,0.00,0.000,4,0.000,0.045,2618,3326,3953,0,0,0,0,0,0
$GC,489,-1.07,-146.0,29.0,-8.7,65,498,0.00,2.60,0.00,0.000,6,0.000,0.035,2618,1772,3952,0,0,0,0,0,0
$GC,577,-1.07,-146.0,36.3,-8.8,78,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1772,3952,0,0,0,0,0,0
$GC,662,-1.07,-146.0,43.4,-8.5,91,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1772,3953,0,0,0,0,0,0
$GC,813,-1.07,-146.0,56.3,-8.3,116,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1772,3953,0,0,0,0,0,0
$GC,971,-1.07,-146.0,68.3,-7.7,141,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1772,3953,0,0,0,0,0,0
$GC,1126,-1.07,-146.0,80.9,-7.9,166,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1772,3953,0,0,0,0,0,0
$GC,1288,-1.07,-146.0,93.1,-7.8,191,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1772,3953,0,0,0,0,0,0
$STATE,1408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1408,begin apogee
$GC,1415,-0.31,0.0,103.0,8.1,211,1508,0.77,0.00,87.12,0.700,6,0.098,0.000,2786,1887,3506,0,0,0,0,0,0
$STATE,1509,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1512,1.07,146.0,105.8,0.0,225,1639,1.33,2.80,115.20,0.680,4,0.061,0.055,3091,267,2909,0,0,0,0,0,0
$GC,1694,1.07,146.0,93.0,11.8,255,1700,0.00,2.58,0.00,0.000,6,0.000,0.035,3091,1818,2905,0,0,0,0,0,0
$GC,1846,1.07,146.0,76.9,10.1,280,1855,0.00,2.70,0.00,0.000,4,0.000,0.054,3091,262,2905,0,0,0,0,0,0
$GC,1926,1.07,146.0,68.1,12.1,293,1931,0.00,2.62,0.00,0.000,6,0.000,0.038,3091,1846,2905,0,0,0,0,0,0
$GC,2078,1.07,146.0,52.1,10.0,318,2087,0.00,2.72,0.00,0.000,4,0.000,0.054,3092,270,2905,0,0,0,0,0,0
$GC,2137,1.07,146.0,45.9,11.8,327,2142,0.00,2.58,0.00,0.000,6,0.000,0.035,3091,1824,2905,0,0,0,0,0,0
$GC,2296,1.07,146.0,30.3,9.8,352,2305,0.00,2.70,0.00,0.000,4,0.000,0.058,3091,263,2905,0,0,0,0,0,0
$GC,2359,1.07,146.0,23.4,11.2,361,2367,0.00,2.60,0.00,0.000,6,0.000,0.036,3091,1819,2905,0,0,0,0,0,0
$GC,2446,1.07,146.0,15.0,9.3,374,2454,0.00,2.67,0.00,0.000,4,0.000,0.054,3092,268,2905,0,0,0,0,0,0
$GC,2500,1.07,146.0,9.0,10.7,382,2509,0.00,2.55,0.00,0.000,6,0.000,0.034,3092,1801,2905,0,0,0,0,0,0
$STATE,2559,end climb,SURFACE_DEPTH_REACHED
$STATE,2560,begin surface coast
$FINISH,5.4,1.019771
$STATE,2677,end surface coast,CONTROL_FINISHED_OK
$STATE,2677,begin surface
$SM_CCo,2680,483.80,0.603,0,0,510,734.67
$SM_GC,1.37,11.45,0.00,0.00,0.044,0.000,0.000,417,1732,505,-11.19,-0.51,736.15
$IRIDIUM_FIX,4748.51,-12224.57,090499,222238
$TT8_MAMPS,0.026845
$HUMID,32.31
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,13.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,85.2,37.9
$24V_AH,23.6,0.927
$10V_AH,10.3,0.592
$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,25.675,42.675,202.325,483.800,0.000,30.422,29.454,237.649,3.000,0.000,13.673,656.810,345.650,708.727,1515.555,513.416,33.324,1245.171,0.000,1531.166,0.000,9.816,0.000
$DEVICE_MAMPS,174.109,97.409,699.504,602.862,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,284.218,229.686,289.884,722.697,1273.235,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,35186,409
$CAP_FILE_SIZE,57919,0
$CFSIZE,260165632,172158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,004822,4806.742,-12222.861,8,3.7,27,18.3