version: 66.06
glider: 148
mission: 9
dive: 12
start: 1 14 110 8 45 29
data:
$ID,148
$MISSION,9
$DIVE,12
$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,730
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-855973.56
$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,26
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,082116,4806.064,-12222.154,36,99.0,55,18.3
$_CALLS,3
$_XMS_NAKs,42
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.5
$GPS2,084434,4806.083,-12222.166,36,99.0,55,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.030
$KALMAN_X,513.4,23.2,72.0,360.3,182.9
$KALMAN_Y,-301.1,13.2,-41.6,-1997.6,-146.1
$MHEAD_RNG_PITCHd_Wd,85.7,256,-26.7,-7.042
$D_GRID,107
$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,17,-1.72,-37.3,0.0,0.0,0,73,0.00,0.00,-53.88,0.000,2,0.000,0.000,421,1790,1909,0,0,0,0,0,0
$GC,76,-1.72,-37.3,5.2,-7.8,7,145,11.38,2.70,-50.75,0.000,4,0.176,0.067,2478,214,3660,0,0,0,0,0,0
$GC,174,-1.72,-37.3,11.4,-11.2,20,183,0.00,2.58,0.00,0.000,6,0.000,0.026,2478,1803,3661,0,0,0,0,0,0
$GC,261,-1.77,-79.2,12.8,-1.7,33,270,0.00,2.60,-3.33,0.000,4,0.000,0.050,2478,3371,3829,0,0,0,0,0,0
$GC,386,-1.77,-79.2,23.4,-9.7,52,394,0.00,2.62,0.00,0.000,6,0.000,0.033,2478,1798,3830,0,0,0,0,0,0
$GC,473,-1.77,-79.2,33.6,-12.4,65,482,0.00,2.67,0.00,0.000,4,0.000,0.049,2478,227,3831,0,0,0,0,0,0
$GC,491,-1.77,-79.2,36.1,-12.8,67,499,0.00,2.55,0.00,0.000,6,0.000,0.028,2478,1784,3831,0,0,0,0,0,0
$GC,574,-1.77,-79.2,47.7,-13.4,80,583,0.00,2.67,0.00,0.000,4,0.000,0.049,2478,220,3831,0,0,0,0,0,0
$GC,589,-1.77,-79.2,49.9,-13.3,82,598,0.00,2.58,0.00,0.000,6,0.000,0.028,2478,1796,3831,0,0,0,0,0,0
$GC,746,-1.77,-79.2,70.8,-13.2,107,753,0.00,2.65,0.00,0.000,4,0.000,0.052,2478,217,3831,0,0,0,0,0,0
$GC,820,-1.77,-79.2,81.5,-14.6,119,825,0.00,2.55,0.00,0.000,6,0.000,0.034,2478,1798,3830,0,0,0,0,0,0
$GC,983,-1.77,-79.2,103.2,-12.6,144,991,0.00,2.67,0.00,0.000,4,0.000,0.046,2478,225,3831,0,0,0,0,0,0
$STATE,1015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1015,begin apogee
$GC,1025,-0.31,0.0,107.4,13.2,149,1095,1.50,0.00,63.90,0.702,6,0.123,0.000,2784,1761,3506,0,0,0,0,0,0
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1098,1.77,79.2,111.2,0.0,160,1171,2.00,2.70,63.28,0.680,4,0.058,0.051,3242,3316,3183,0,0,0,0,0,0
$GC,1184,1.77,79.2,105.8,8.5,173,1190,0.00,2.62,0.00,0.000,6,0.000,0.035,3242,1752,3182,0,0,0,0,0,0
$GC,1336,1.77,79.2,85.9,12.6,198,1345,0.00,2.70,0.00,0.000,4,0.000,0.052,3242,178,3182,0,0,0,0,0,0
$GC,1539,1.77,79.2,57.9,14.0,233,1545,0.00,2.55,0.00,0.000,6,0.000,0.029,3242,1741,3182,0,0,0,0,0,0
$GC,1696,1.77,79.2,38.9,11.8,258,1705,0.00,2.70,0.00,0.000,4,0.000,0.051,3242,175,3182,0,0,0,0,0,0
$GC,2065,1.85,145.2,9.5,-1.3,316,2126,0.00,2.58,52.85,0.615,6,0.000,0.031,3242,1750,2914,0,0,0,0,0,0
$GC,2209,1.91,199.2,7.3,0.2,336,2264,0.15,2.78,45.72,0.605,4,0.069,0.052,3286,174,2694,0,0,0,0,0,0
$STATE,2324,end climb,NO_VERTICAL_VELOCITY
$STATE,2324,begin surface
$SM_CCo,2327,445.45,0.596,0,0,510,734.67
$SM_GC,1.24,12.32,0.00,0.00,0.045,0.000,0.000,419,1812,503,-11.19,0.31,736.64
$IRIDIUM_FIX,4748.51,-12220.12,100499,080839
$TT8_MAMPS,0.026845
$HUMID,32.24
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,13.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,100.3,23.6
$24V_AH,23.5,1.947
$10V_AH,10.3,1.457
$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,27.350,52.675,225.750,445.450,0.000,86.060,98.721,861.039,3.500,0.000,58.069,571.026,384.922,658.985,1402.200,1276.123,33.326,1149.992,0.000,1368.716,0.000,21.141,0.000
$DEVICE_MAMPS,175.643,67.496,701.805,595.959,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,247.975,213.692,265.264,660.701,1163.070,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,28843,352
$CAP_FILE_SIZE,68545,0
$CFSIZE,260165632,171859968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,093531,4806.176,-12222.060,71,1.6,77,18.3