version: 66.06
glider: 148
mission: 9
dive: 10
start: 1 14 110 6 8 44
data:
$ID,148
$MISSION,9
$DIVE,10
$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,-855900.12
$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,48
$R_STBD_OVSHOOT,42
$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,3
$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
$GPS1,055554,4805.999,-12221.695,58,1.5,69,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.3
$GPS2,060749,4805.924,-12221.586,15,1.5,32,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.196,0.055
$KALMAN_X,415.3,54.3,-207.8,1411.8,102.7
$KALMAN_Y,-201.2,-70.9,239.3,-2582.3,-33.7
$MHEAD_RNG_PITCHd_Wd,267.5,531,-14.6,-7.042
$D_GRID,109
$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,-1.05,-110.4,0.0,0.0,0,73,0.00,0.00,-53.38,0.000,2,0.000,0.000,420,1817,1856,0,0,0,0,0,0
$GC,77,-1.05,-110.4,4.9,-7.1,7,163,12.15,2.65,-60.35,0.000,4,0.173,0.054,2622,3373,3953,0,0,0,0,0,0
$GC,206,-1.05,-110.4,10.8,-7.1,24,214,0.00,2.60,0.00,0.000,6,0.000,0.033,2621,1816,3954,0,0,0,0,0,0
$GC,293,-1.05,-110.4,17.2,-8.6,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1816,3954,0,0,0,0,0,0
$GC,378,-1.05,-110.4,23.5,-7.6,50,387,0.00,2.72,0.00,0.000,4,0.000,0.057,2621,228,3954,0,0,0,0,0,0
$GC,459,-1.05,-110.4,31.1,-9.8,62,468,0.00,2.50,0.00,0.000,6,0.000,0.029,2621,1746,3954,0,0,0,0,0,0
$GC,548,-1.05,-110.4,38.7,-8.5,75,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1749,3954,0,0,0,0,0,0
$GC,627,-1.05,-110.4,45.8,-8.5,88,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1749,3954,0,0,0,0,0,0
$GC,786,-1.05,-110.4,58.9,-8.2,113,791,0.00,2.72,0.00,0.000,4,0.000,0.048,2621,3378,3954,0,0,0,0,0,0
$GC,812,-1.05,-110.4,61.3,-8.6,117,817,0.00,2.67,0.00,0.000,6,0.000,0.034,2622,1760,3954,0,0,0,0,0,0
$GC,964,-1.05,-110.4,73.9,-8.0,142,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1759,3954,0,0,0,0,0,0
$GC,1122,-1.05,-110.4,85.7,-7.3,167,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1759,3954,0,0,0,0,0,0
$GC,1280,-1.05,-110.4,97.6,-7.4,192,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1759,3954,0,0,0,0,0,0
$STATE,1438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1439,begin apogee
$GC,1445,-0.31,0.0,109.2,7.3,217,1538,0.75,0.00,87.97,0.694,6,0.096,0.000,2785,1759,3506,0,0,0,0,0,0
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1542,1.05,110.4,111.5,0.0,231,1640,1.30,2.75,87.45,0.674,4,0.059,0.060,3084,176,3055,0,0,0,0,0,0
$GC,1680,1.05,110.4,102.7,9.9,254,1689,0.00,2.60,0.00,0.000,6,0.000,0.034,3085,1733,3054,0,0,0,0,0,0
$GC,1838,1.05,110.4,88.4,8.9,279,1844,0.00,2.67,0.00,0.000,4,0.000,0.058,3085,176,3054,0,0,0,0,0,0
$GC,1877,1.05,110.4,84.7,9.8,285,1882,0.00,2.58,0.00,0.000,6,0.000,0.031,3085,1742,3054,0,0,0,0,0,0
$GC,2030,1.05,110.4,70.6,8.5,310,2039,0.00,2.72,0.00,0.000,4,0.000,0.059,3085,172,3054,0,0,0,0,0,0
$GC,2053,1.05,110.4,68.6,8.8,313,2059,0.00,2.55,0.00,0.000,6,0.000,0.033,3085,1732,3054,0,0,0,0,0,0
$GC,2207,1.05,110.4,54.6,8.7,338,2216,0.00,2.70,0.00,0.000,4,0.000,0.056,3085,172,3054,0,0,0,0,0,0
$GC,2233,1.05,110.4,52.0,9.0,342,2242,0.00,2.58,0.00,0.000,6,0.000,0.036,3085,1731,3054,0,0,0,0,0,0
$GC,2393,1.05,110.4,39.6,8.1,367,2402,0.00,2.70,0.00,0.000,4,0.000,0.055,3084,172,3054,0,0,0,0,0,0
$GC,2423,1.05,110.4,36.9,7.9,371,2432,0.00,2.55,0.00,0.000,6,0.000,0.031,3085,1716,3054,0,0,0,0,0,0
$GC,2509,1.05,110.4,30.1,7.7,384,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1716,3054,0,0,0,0,0,0
$GC,2596,1.05,110.4,23.5,8.2,397,2606,0.00,2.65,0.00,0.000,4,0.000,0.058,3085,182,3054,0,0,0,0,0,0
$GC,2640,1.05,110.4,19.9,8.2,403,2649,0.00,2.53,0.00,0.000,6,0.000,0.031,3085,1711,3054,0,0,0,0,0,0
$GC,2726,1.09,149.8,14.4,5.3,416,2766,0.00,2.67,32.40,0.611,4,0.000,0.053,3085,175,2894,0,0,0,0,0,0
$GC,2783,1.15,191.1,11.5,5.3,423,2830,0.08,2.50,35.25,0.601,6,0.041,0.030,3127,1685,2726,0,0,0,0,0,0
$GC,2912,1.36,367.8,8.9,-0.6,441,3068,0.12,2.78,145.55,0.606,4,0.074,0.041,3177,3334,2004,0,0,0,0,0,0
$STATE,3425,end climb,NO_VERTICAL_VELOCITY
$STATE,3425,begin surface
$SM_CCo,3430,305.10,0.600,0,0,510,734.67
$SM_GC,1.42,11.68,0.00,0.00,0.037,0.000,0.000,417,1802,504,-11.19,0.06,736.15
$IRIDIUM_FIX,4748.51,-12221.84,100499,040440
$TT8_MAMPS,0.026845
$HUMID,32.83
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,13.10
$XPDR_PINGS,17
$24V_AH,23.5,1.631
$10V_AH,10.3,1.235
$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,26.075,58.000,388.625,305.100,0.000,22.525,25.596,476.737,6.750,0.000,33.640,790.268,400.540,612.533,1986.975,777.857,33.343,1342.972,0.000,1985.520,0.000,21.536,0.000
$DEVICE_MAMPS,173.342,59.826,694.135,599.794,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.794,302.541,382.209,952.838,1677.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,44857,518
$CAP_FILE_SIZE,72965,0
$CFSIZE,260165632,171925504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,071530,4805.961,-12221.924,114,1.5,120,18.3