version: 66.06
glider: 148
mission: 9
dive: 6
start: 1 14 110 0 56 47
data:
$ID,148
$MISSION,9
$DIVE,6
$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,71
$T_MISSION,80
$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,-855504.69
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,004822,4806.742,-12222.861,8,3.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.2
$GPS2,005552,4806.774,-12222.918,11,3.5,30,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,-0.179
$KALMAN_X,150.6,179.1,95.4,-386.8,-158.7
$KALMAN_Y,-180.4,-237.3,-117.3,-509.0,198.5
$MHEAD_RNG_PITCHd_Wd,123.3,1829,-12.2,-7.042
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.94,-146.0,0.0,0.0,0,126,0.00,0.00,-105.95,0.000,2,0.000,0.000,417,1733,2970,0,0,0,0,0,0
$GC,129,-0.94,-146.0,4.3,-4.6,14,184,12.40,2.70,-31.67,0.000,4,0.176,0.073,2648,189,3952,0,0,0,0,0,0
$GC,214,-0.94,-146.0,7.7,-6.1,25,222,0.00,2.60,0.00,0.000,6,0.000,0.034,2647,1758,3953,0,0,0,0,0,0
$GC,300,-0.94,-146.0,12.7,-5.7,38,309,0.00,2.65,0.00,0.000,4,0.000,0.045,2647,3327,3953,0,0,0,0,0,0
$GC,324,-0.94,-146.0,14.1,-5.5,41,333,0.00,2.60,0.00,0.000,6,0.000,0.035,2647,1775,3954,0,0,0,0,0,0
$GC,413,-0.94,-146.0,19.2,-5.9,54,422,0.00,2.75,0.00,0.000,4,0.000,0.055,2647,175,3954,0,0,0,0,0,0
$GC,438,-0.94,-146.0,20.9,-6.3,57,446,0.00,2.60,0.00,0.000,6,0.000,0.035,2647,1744,3954,0,0,0,0,0,0
$GC,524,-0.94,-146.0,27.1,-6.9,70,533,0.00,2.67,0.00,0.000,4,0.000,0.045,2647,3331,3953,0,0,0,0,0,0
$GC,550,-0.94,-146.0,28.8,-7.0,73,560,0.00,2.62,0.00,0.000,6,0.000,0.035,2647,1760,3953,0,0,0,0,0,0
$GC,637,-0.94,-146.0,35.0,-6.9,86,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1761,3953,0,0,0,0,0,0
$GC,723,-0.94,-146.0,41.0,-7.2,99,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1761,3953,0,0,0,0,0,0
$GC,876,-0.94,-146.0,51.8,-7.3,124,885,0.00,2.65,0.00,0.000,4,0.000,0.045,2647,3323,3954,0,0,0,0,0,0
$GC,900,-0.94,-146.0,53.1,-7.0,127,905,0.00,2.55,0.00,0.000,6,0.000,0.034,2647,1765,3953,0,0,0,0,0,0
$GC,1055,-0.94,-146.0,63.8,-6.8,152,1064,0.00,2.65,0.00,0.000,4,0.000,0.044,2647,3332,3953,0,0,0,0,0,0
$GC,1070,-0.94,-146.0,65.1,-6.8,154,1079,0.00,2.60,0.00,0.000,6,0.000,0.038,2647,1772,3954,0,0,0,0,0,0
$GC,1229,-0.94,-146.0,75.3,-6.6,179,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1772,3954,0,0,0,0,0,0
$GC,1385,-0.94,-146.0,85.5,-6.4,204,1394,0.00,2.62,0.00,0.000,4,0.000,0.043,2647,3331,3954,0,0,0,0,0,0
$GC,1419,-0.94,-146.0,87.6,-6.5,209,1425,0.00,2.55,0.00,0.000,6,0.000,0.040,2647,1769,3954,0,0,0,0,0,0
$GC,1576,-0.94,-146.0,97.8,-6.3,234,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1768,3953,0,0,0,0,0,0
$STATE,1657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1658,begin apogee
$GC,1663,-0.31,0.0,103.1,6.3,247,1757,0.62,0.00,87.47,0.696,6,0.095,0.000,2785,1886,3506,0,0,0,0,0,0
$STATE,1757,end apogee,CONTROL_FINISHED_OK
$STATE,1758,begin climb
$GC,1762,0.94,146.0,105.2,0.0,261,1888,1.20,2.80,115.15,0.676,4,0.058,0.056,3064,270,2909,0,0,0,0,0,0
$GC,1931,0.94,146.0,95.0,10.1,289,1937,0.00,2.55,0.00,0.000,6,0.000,0.035,3064,1813,2907,0,0,0,0,0,0
$GC,2086,0.94,146.0,80.6,8.7,314,2095,0.00,2.67,0.00,0.000,4,0.000,0.059,3064,269,2906,0,0,0,0,0,0
$GC,2109,0.94,146.0,78.5,9.0,317,2115,0.00,2.60,0.00,0.000,6,0.000,0.038,3064,1844,2906,0,0,0,0,0,0
$GC,2264,0.94,146.0,64.2,9.2,342,2273,0.00,2.72,0.00,0.000,4,0.000,0.058,3064,266,2905,0,0,0,0,0,0
$GC,2298,0.94,146.0,60.9,9.8,347,2304,0.00,2.60,0.00,0.000,6,0.000,0.039,3064,1840,2906,0,0,0,0,0,0
$GC,2452,0.94,146.0,46.2,9.3,372,2461,0.00,2.70,0.00,0.000,4,0.000,0.054,3064,272,2905,0,0,0,0,0,0
$GC,2487,0.94,146.0,42.9,9.6,377,2492,0.00,2.55,0.00,0.000,6,0.000,0.034,3064,1823,2906,0,0,0,0,0,0
$GC,2646,0.94,146.0,28.7,8.2,402,2655,0.00,2.67,0.00,0.000,4,0.000,0.053,3064,270,2906,0,0,0,0,0,0
$GC,2696,0.94,146.0,23.9,9.5,409,2705,0.00,2.58,0.00,0.000,6,0.000,0.035,3064,1818,2906,0,0,0,0,0,0
$GC,2782,0.94,146.0,16.5,8.2,422,2791,0.00,2.67,0.00,0.000,4,0.000,0.053,3064,266,2906,0,0,0,0,0,0
$GC,2831,0.94,146.0,11.8,9.6,429,2839,0.00,2.53,0.00,0.000,6,0.000,0.035,3064,1791,2906,0,0,0,0,0,0
$GC,2920,1.01,203.5,6.0,5.2,442,2952,0.00,0.00,29.83,0.612,2,0.000,0.000,3064,1791,2763,0,0,0,0,0,0
$STATE,2952,end climb,SURFACE_DEPTH_REACHED
$STATE,2953,begin surface coast
$FINISH,4.7,1.019582
$STATE,3116,end surface coast,CONTROL_FINISHED_OK
$STATE,3117,begin surface
$SM_CCo,3137,400.83,0.591,1,0,610,710.14
$SM_GC,1.32,0.00,0.00,400.83,0.000,0.000,0.591,416,1734,610,-11.24,-0.45,710.14
$IRIDIUM_FIX,4751.72,-12223.57,090499,232335
$TT8_MAMPS,0.027612
$HUMID,31.96
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,13.40
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,80.2,6.2
$24V_AH,23.6,1.054
$10V_AH,10.3,0.711
$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,25.600,68.675,232.450,400.825,0.000,27.228,26.667,223.434,4.000,0.000,33.293,754.476,288.801,670.710,1771.647,519.986,33.330,1304.511,0.000,1780.466,0.000,5.424,0.000
$DEVICE_MAMPS,176.410,111.982,696.436,591.357,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.811,267.469,337.400,841.121,1479.502,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,38488,472
$CAP_FILE_SIZE,67879,0
$CFSIZE,260165632,172105728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,015704,4806.518,-12222.667,12,2.6,31,18.3