version: 66.06
glider: 148
mission: 9
dive: 7
start: 1 14 110 2 6 31
data:
$ID,148
$MISSION,9
$DIVE,7
$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,-855548.25
$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,28
$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
$GPS1,015704,4806.518,-12222.667,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.9
$GPS2,020536,4806.575,-12222.750,41,1.4,41,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.157,-0.167
$KALMAN_X,85.4,160.0,-23.0,22.4,-155.6
$KALMAN_Y,-192.1,-210.5,29.4,-1039.7,139.9
$MHEAD_RNG_PITCHd_Wd,118.5,1412,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.94,-146.0,0.0,0.0,0,127,0.00,0.00,-105.43,0.000,2,0.000,0.000,416,1735,3060,0,0,0,0,0,0
$GC,131,-0.94,-146.0,4.0,-4.1,14,179,12.38,2.67,-28.90,0.000,4,0.176,0.073,2645,183,3951,0,0,0,0,0,0
$GC,201,-0.94,-146.0,6.8,-4.4,23,210,0.00,2.60,0.00,0.000,6,0.000,0.036,2645,1759,3952,0,0,0,0,0,0
$GC,288,-0.94,-146.0,11.8,-5.6,36,296,0.00,2.65,0.00,0.000,4,0.000,0.045,2645,3326,3953,0,0,0,0,0,0
$GC,350,-0.94,-146.0,15.5,-6.0,45,359,0.00,2.55,0.00,0.000,6,0.000,0.036,2645,1808,3953,0,0,0,0,0,0
$GC,438,-0.94,-146.0,20.8,-6.3,58,447,0.00,2.80,0.00,0.000,4,0.000,0.061,2645,182,3953,0,0,0,0,0,0
$GC,468,-0.94,-146.0,23.1,-7.1,62,477,0.00,2.62,0.00,0.000,6,0.000,0.033,2645,1767,3953,0,0,0,0,0,0
$GC,557,-0.94,-146.0,29.6,-7.2,75,565,0.00,2.62,0.00,0.000,4,0.000,0.045,2645,3326,3953,0,0,0,0,0,0
$GC,574,-0.94,-146.0,31.0,-7.3,77,583,0.00,2.55,0.00,0.000,6,0.000,0.035,2645,1800,3953,0,0,0,0,0,0
$GC,660,-0.94,-146.0,37.2,-7.2,90,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1800,3953,0,0,0,0,0,0
$GC,747,-0.94,-146.0,42.9,-6.7,103,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1800,3953,0,0,0,0,0,0
$GC,897,-0.94,-146.0,53.3,-7.0,128,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1800,3953,0,0,0,0,0,0
$GC,1054,-0.94,-146.0,63.5,-7.0,153,1059,0.00,2.58,0.00,0.000,4,0.000,0.051,2645,3336,3953,0,0,0,0,0,0
$GC,1073,-0.94,-146.0,65.1,-6.8,156,1082,0.00,2.58,0.00,0.000,6,0.000,0.038,2645,1791,3953,0,0,0,0,0,0
$GC,1232,-0.94,-146.0,76.2,-6.9,181,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1791,3953,0,0,0,0,0,0
$GC,1385,-0.94,-146.0,86.5,-6.6,206,1394,0.00,2.60,0.00,0.000,4,0.000,0.051,2645,3331,3953,0,0,0,0,0,0
$GC,1409,-0.94,-146.0,87.9,-6.7,209,1414,0.00,2.53,0.00,0.000,6,0.000,0.034,2645,1783,3953,0,0,0,0,0,0
$GC,1564,-0.94,-146.0,98.1,-6.6,234,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1783,3953,0,0,0,0,0,0
$STATE,1637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1637,begin apogee
$GC,1642,-0.31,0.0,103.3,6.6,246,1735,0.65,0.00,87.38,0.696,6,0.093,0.000,2789,1882,3506,0,0,0,0,0,0
$STATE,1736,end apogee,CONTROL_FINISHED_OK
$STATE,1736,begin climb
$GC,1740,0.94,146.0,105.4,0.0,260,1869,1.17,2.83,115.10,0.674,4,0.057,0.055,3063,276,2909,0,0,0,0,0,0
$GC,1906,0.94,146.0,95.9,10.0,287,1912,0.00,2.55,0.00,0.000,6,0.000,0.035,3063,1817,2907,0,0,0,0,0,0
$GC,2060,0.94,146.0,81.6,9.0,312,2069,0.00,2.67,0.00,0.000,4,0.000,0.054,3062,272,2906,0,0,0,0,0,0
$GC,2082,0.94,146.0,79.5,9.3,315,2088,0.00,2.60,0.00,0.000,6,0.000,0.038,3063,1847,2906,0,0,0,0,0,0
$GC,2237,0.94,146.0,65.2,9.0,340,2246,0.00,2.72,0.00,0.000,4,0.000,0.057,3063,270,2906,0,0,0,0,0,0
$GC,2283,0.94,146.0,60.9,9.7,347,2288,0.00,2.58,0.00,0.000,6,0.000,0.039,3063,1832,2906,0,0,0,0,0,0
$GC,2435,0.94,146.0,47.1,8.8,372,2444,0.00,2.70,0.00,0.000,4,0.000,0.057,3063,269,2906,0,0,0,0,0,0
$GC,2470,0.94,146.0,44.0,9.5,377,2476,0.00,2.55,0.00,0.000,6,0.000,0.032,3062,1824,2906,0,0,0,0,0,0
$GC,2629,0.94,146.0,30.3,8.2,402,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1824,2906,0,0,0,0,0,0
$GC,2714,0.94,146.0,23.2,8.4,415,2723,0.00,2.67,0.00,0.000,4,0.000,0.052,3063,270,2906,0,0,0,0,0,0
$GC,2746,0.94,146.0,20.4,8.9,419,2754,0.00,2.58,0.00,0.000,6,0.000,0.032,3063,1823,2906,0,0,0,0,0,0
$GC,2832,0.94,146.0,13.0,8.4,432,2840,0.00,2.67,0.00,0.000,4,0.000,0.053,3063,269,2906,0,0,0,0,0,0
$GC,2870,0.94,146.0,9.8,8.4,437,2878,0.00,2.55,0.00,0.000,6,0.000,0.033,3063,1806,2906,0,0,0,0,0,0
$STATE,2953,end climb,SURFACE_DEPTH_REACHED
$STATE,2954,begin surface coast
$FINISH,4.5,1.020135
$STATE,3094,end surface coast,CONTROL_FINISHED_OK
$STATE,3094,begin surface
$SM_CCo,3115,408.88,0.591,1,0,611,710.14
$SM_GC,1.28,0.00,0.00,408.88,0.000,0.000,0.591,422,1733,611,-11.22,-0.48,710.14
$IRIDIUM_FIX,4748.51,-12224.57,100499,010132
$TT8_MAMPS,0.027612
$HUMID,32.63
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,13.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,80.1,6.2
$24V_AH,23.5,1.180
$10V_AH,10.3,0.831
$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,25.600,63.225,202.475,408.875,0.000,30.987,25.580,258.710,4.500,0.000,42.931,756.763,288.666,663.088,1780.947,560.523,33.327,1275.896,0.000,1775.528,0.000,5.424,0.000
$DEVICE_MAMPS,176.410,98.176,695.669,590.590,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.020,266.712,335.779,837.543,1476.105,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,38405,472
$CAP_FILE_SIZE,67332,0
$CFSIZE,260165632,172060672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,030613,4806.320,-12222.459,6,1.6,11,18.3