version: 66.06
glider: 148
mission: 9
dive: 11
start: 1 14 110 7 25 27
data:
$ID,148
$MISSION,9
$DIVE,11
$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,0
$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,700
$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,-855914.88
$T_RSLEEP,3
$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,23
$R_STBD_OVSHOOT,30
$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,10
$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,4
$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
$GPS1,071530,4805.961,-12221.924,114,1.5,120,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.0
$GPS2,072432,4805.898,-12221.905,12,1.5,12,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,0.100
$KALMAN_X,583.0,12.5,-133.9,824.4,326.4
$KALMAN_Y,-366.8,-14.9,159.4,-2440.3,-241.4
$MHEAD_RNG_PITCHd_Wd,295.7,221,-22.4,-7.042
$D_GRID,150
$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,-1.46,-51.9,0.0,0.0,0,81,0.00,0.00,-60.62,0.000,2,0.000,0.000,416,1799,2028,0,0,0,0,0,0
$GC,85,-1.48,-69.0,4.6,-5.5,8,156,11.52,2.70,-47.85,0.000,4,0.170,0.056,2526,3381,3791,0,0,0,0,0,0
$GC,177,-1.51,-86.7,9.1,-5.4,20,187,0.00,2.65,-1.65,0.000,6,0.000,0.034,2526,1798,3860,0,0,0,0,0,0
$GC,265,-1.51,-86.7,15.3,-9.6,33,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1798,3860,0,0,0,0,0,0
$GC,351,-1.51,-86.7,22.5,-8.6,46,359,0.00,2.72,0.00,0.000,4,0.000,0.053,2526,211,3861,0,0,0,0,0,0
$GC,536,-1.51,-86.7,44.5,-13.4,75,542,0.00,2.58,0.00,0.000,6,0.000,0.029,2526,1789,3861,0,0,0,0,0,0
$GC,689,-1.51,-86.7,63.5,-11.7,100,698,0.00,2.70,0.00,0.000,4,0.000,0.054,2526,213,3861,0,0,0,0,0,0
$GC,758,-1.51,-86.7,71.6,-13.0,111,764,0.00,2.55,0.00,0.000,6,0.000,0.028,2526,1779,3861,0,0,0,0,0,0
$GC,912,-1.51,-86.7,89.3,-11.2,136,922,0.00,2.67,0.00,0.000,4,0.000,0.053,2526,214,3861,0,0,0,0,0,0
$GC,947,-1.51,-86.7,93.3,-11.6,141,953,0.00,2.53,0.00,0.000,6,0.000,0.035,2526,1771,3861,0,0,0,0,0,0
$GC,1100,-1.51,-86.7,110.2,-10.6,166,1108,0.00,2.65,0.00,0.000,4,0.000,0.051,2526,219,3861,0,0,0,0,0,0
$STATE,1133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1133,begin apogee
$GC,1141,-0.31,0.0,113.8,10.8,171,1220,1.25,0.00,70.10,0.701,6,0.110,0.000,2787,1760,3505,0,0,0,0,0,0
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1221,begin climb
$GC,1224,1.51,86.7,116.7,0.0,183,1303,1.73,0.00,69.03,0.680,6,0.056,0.000,3189,1760,3151,0,0,0,0,0,0
$GC,1449,1.51,86.7,94.9,12.0,219,1455,0.00,2.72,0.00,0.000,4,0.000,0.058,3189,171,3150,0,0,0,0,0,0
$GC,1590,1.51,86.7,76.0,13.0,244,1599,0.00,2.60,0.00,0.000,6,0.000,0.031,3189,1740,3150,0,0,0,0,0,0
$GC,1750,1.51,86.7,58.4,11.0,269,1756,0.00,2.70,0.00,0.000,4,0.000,0.058,3189,164,3149,0,0,0,0,0,0
$GC,1866,1.51,86.7,44.5,12.5,289,1872,0.00,2.60,0.00,0.000,6,0.000,0.034,3189,1745,3150,0,0,0,0,0,0
$GC,2025,1.51,86.7,28.3,10.1,314,2034,0.00,2.72,0.00,0.000,4,0.000,0.053,3189,169,3150,0,0,0,0,0,0
$GC,2216,1.52,101.9,10.9,5.7,343,2241,0.00,2.58,13.40,0.582,6,0.000,0.030,3189,1738,3090,0,0,0,0,0,0
$GC,2318,1.62,175.6,10.0,0.3,358,2389,0.10,2.78,60.30,0.615,4,0.091,0.054,3222,168,2788,0,0,0,0,0,0
$GC,2419,1.67,218.1,8.0,3.2,371,2466,0.00,2.53,36.45,0.599,6,0.000,0.028,3222,1708,2616,0,0,0,0,0,0
$GC,2545,1.75,289.0,7.8,0.6,389,2615,0.00,2.78,60.28,0.603,4,0.000,0.043,3222,3320,2325,0,0,0,0,0,0
$STATE,2768,end climb,NO_VERTICAL_VELOCITY
$STATE,2768,begin surface
$SM_CCo,2771,368.67,0.594,0,0,510,734.67
$SM_GC,1.54,12.00,0.00,0.00,0.044,0.000,0.000,422,1790,505,-11.17,-0.23,736.15
$IRIDIUM_FIX,4748.51,-12224.57,100499,060617
$TT8_MAMPS,0.026845
$HUMID,32.08
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,13.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,95.4,28.1
$24V_AH,23.5,1.770
$10V_AH,10.3,1.349
$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,26.600,52.875,309.550,368.675,0.000,29.101,30.368,310.462,2.750,0.000,14.152,663.159,306.580,627.268,1606.591,598.640,33.334,1216.912,0.000,1628.447,0.000,10.427,0.000
$DEVICE_MAMPS,169.507,57.525,701.038,594.425,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.809,254.037,316.201,787.695,1385.225,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324508
$DATA_FILE_SIZE,35390,422
$CAP_FILE_SIZE,59091,0
$CFSIZE,260165632,171900928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,082116,4806.064,-12222.154,36,99.0,55,18.3