version: 66.06
glider: 148
mission: 9
dive: 8
start: 1 14 110 3 23 28
data:
$ID,148
$MISSION,9
$DIVE,8
$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,680
$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,-855562.06
$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,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$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,2
$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
$GPS1,030613,4806.320,-12222.459,6,1.6,11,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-62.6
$GPS2,032232,4806.481,-12222.578,11,1.8,11,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.173
$KALMAN_X,-0.2,122.6,-135.1,470.5,-143.3
$KALMAN_Y,-82.0,-158.1,157.9,-1508.1,133.9
$MHEAD_RNG_PITCHd_Wd,120.6,1142,-12.2,-7.042
$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,18,-0.94,-146.0,0.0,0.0,0,141,0.00,0.00,-120.55,0.000,2,0.000,0.000,422,1733,3447,0,0,0,0,0,0
$GC,145,-0.94,-146.0,4.5,-4.7,16,186,12.25,2.83,-15.48,0.000,4,0.173,0.056,2645,3385,3952,0,0,0,0,0,0
$GC,208,-0.94,-146.0,7.2,-3.6,24,216,0.00,2.62,0.00,0.000,6,0.000,0.036,2645,1815,3953,0,0,0,0,0,0
$GC,296,-0.94,-146.0,12.4,-6.0,37,304,0.00,2.75,0.00,0.000,4,0.000,0.054,2645,215,3953,0,0,0,0,0,0
$GC,314,-0.94,-146.0,13.5,-5.8,39,322,0.00,2.60,0.00,0.000,6,0.000,0.030,2645,1794,3953,0,0,0,0,0,0
$GC,401,-0.94,-146.0,18.7,-6.2,52,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1797,3953,0,0,0,0,0,0
$GC,488,-0.94,-146.0,24.7,-7.1,65,496,0.00,2.67,0.00,0.000,4,0.000,0.046,2645,3377,3953,0,0,0,0,0,0
$GC,505,-0.94,-146.0,26.3,-7.4,67,514,0.00,2.70,0.00,0.000,6,0.000,0.034,2645,1765,3953,0,0,0,0,0,0
$GC,593,-0.94,-146.0,32.6,-7.3,80,602,0.00,2.75,0.00,0.000,4,0.000,0.047,2645,3376,3953,0,0,0,0,0,0
$GC,611,-0.94,-146.0,33.9,-7.4,82,619,0.00,2.67,0.00,0.000,6,0.000,0.035,2645,1778,3953,0,0,0,0,0,0
$GC,698,-0.94,-146.0,40.2,-7.1,95,703,0.00,2.65,0.00,0.000,4,0.000,0.054,2645,215,3953,0,0,0,0,0,0
$GC,713,-0.94,-146.0,41.4,-7.3,97,718,0.00,2.55,0.00,0.000,6,0.000,0.036,2645,1787,3953,0,0,0,0,0,0
$GC,865,-0.94,-146.0,52.6,-7.2,122,874,0.00,2.67,0.00,0.000,4,0.000,0.044,2645,3376,3953,0,0,0,0,0,0
$GC,879,-0.94,-146.0,53.9,-7.6,124,888,0.00,2.65,0.00,0.000,6,0.000,0.039,2645,1786,3953,0,0,0,0,0,0
$GC,1036,-0.94,-146.0,65.1,-7.6,149,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1786,3953,0,0,0,0,0,0
$GC,1188,-0.94,-146.0,76.1,-7.1,174,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1786,3954,0,0,0,0,0,0
$GC,1351,-0.94,-146.0,87.2,-6.8,199,1356,0.00,2.67,0.00,0.000,4,0.000,0.045,2645,3383,3953,0,0,0,0,0,0
$GC,1377,-0.94,-146.0,89.2,-7.1,203,1382,0.00,2.62,0.00,0.000,6,0.000,0.035,2645,1790,3954,0,0,0,0,0,0
$GC,1533,-0.94,-146.0,99.7,-6.7,228,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1789,3953,0,0,0,0,0,0
$STATE,1616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1616,begin apogee
$GC,1623,-0.31,0.0,105.1,6.5,241,1716,0.65,0.00,87.97,0.699,6,0.096,0.000,2787,1727,3505,0,0,0,0,0,0
$STATE,1717,end apogee,CONTROL_FINISHED_OK
$STATE,1717,begin climb
$GC,1720,0.94,146.0,107.8,0.0,255,1847,1.17,2.67,115.40,0.676,4,0.058,0.061,3061,196,2909,0,0,0,0,0,0
$GC,1879,0.94,146.0,99.1,9.2,281,1885,0.00,2.53,0.00,0.000,6,0.000,0.034,3061,1746,2907,0,0,0,0,0,0
$GC,2033,0.94,146.0,84.9,8.8,306,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1746,2906,0,0,0,0,0,0
$GC,2192,0.94,146.0,70.8,8.9,331,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1746,2906,0,0,0,0,0,0
$GC,2343,0.94,146.0,57.3,8.7,356,2352,0.00,2.67,0.00,0.000,4,0.000,0.055,3061,202,2905,0,0,0,0,0,0
$GC,2378,0.94,146.0,54.4,9.1,361,2384,0.00,2.53,0.00,0.000,6,0.000,0.031,3061,1743,2905,0,0,0,0,0,0
$GC,2530,0.94,146.0,40.8,8.4,386,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1743,2905,0,0,0,0,0,0
$GC,2692,0.94,146.0,27.9,8.1,411,2701,0.00,2.67,0.00,0.000,4,0.000,0.054,3061,197,2905,0,0,0,0,0,0
$GC,2710,0.94,146.0,26.3,8.2,413,2719,0.00,2.55,0.00,0.000,6,0.000,0.033,3061,1734,2906,0,0,0,0,0,0
$GC,2796,0.94,146.0,19.1,7.9,426,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1734,2906,0,0,0,0,0,0
$GC,2883,0.94,146.0,12.1,7.8,439,2891,0.00,2.65,0.00,0.000,4,0.000,0.054,3061,200,2905,0,0,0,0,0,0
$GC,2902,0.94,146.0,10.9,7.5,441,2910,0.00,2.53,0.00,0.000,6,0.000,0.035,3061,1721,2906,0,0,0,0,0,0
$GC,2988,1.01,202.5,5.8,5.2,454,3035,0.00,0.00,44.75,0.616,2,0.000,0.000,3061,1723,2689,0,0,0,0,0,0
$STATE,3036,end climb,SURFACE_DEPTH_REACHED
$STATE,3036,begin surface coast
$FINISH,4.0,1.019495
$STATE,3208,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3209,begin surface
$SM_CCo,3229,336.48,0.587,1,0,733,680.22
$SM_GC,1.47,0.00,0.00,336.48,0.000,0.000,0.587,418,1842,733,-11.23,1.19,680.22
$IRIDIUM_FIX,4748.51,-12224.57,100499,030322
$TT8_MAMPS,0.027612
$HUMID,31.96
$INTERNAL_PRESSURE,9.25227
$TCM_TEMP,13.40
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,100.0,23.4
$24V_AH,23.5,1.314
$10V_AH,10.3,0.957
$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,25.450,58.400,248.125,336.475,0.000,116.886,268.365,251.851,5.500,0.000,13.170,770.299,481.241,612.300,1819.066,874.618,33.335,1265.370,0.000,1837.279,0.000,22.961,0.000
$DEVICE_MAMPS,173.342,161.070,698.737,586.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.186,277.063,348.254,868.185,1530.092,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,41709,487
$CAP_FILE_SIZE,69524,0
$CFSIZE,260165632,172015616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,042458,4806.241,-12222.229,58,2.9,78,18.3