version: 66.06
glider: 148
mission: 9
dive: 18
start: 1 14 110 15 16 28
data:
$ID,148
$MISSION,9
$DIVE,18
$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,-856110.44
$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,70
$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
$GPS1,150950,4808.150,-12223.677,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.5
$GPS2,151532,4808.299,-12223.758,10,1.3,10,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.156,-0.167
$KALMAN_X,-179.2,-134.1,-105.8,-580.2,-96.2
$KALMAN_Y,1687.9,388.8,175.4,-480.4,278.8
$MHEAD_RNG_PITCHd_Wd,118.7,1088,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.94,-146.0,0.0,0.0,0,118,0.00,0.00,-97.75,0.000,2,0.000,0.000,418,1847,2893,0,0,0,0,0,0
$GC,122,-0.94,-146.0,4.6,-5.9,13,178,12.23,2.50,-35.33,0.000,4,0.170,0.054,2648,3346,3951,0,0,0,0,0,0
$GC,193,-0.94,-146.0,5.8,-2.8,22,202,0.00,2.60,0.00,0.000,6,0.000,0.032,2648,1792,3952,0,0,0,0,0,0
$GC,281,-0.94,-146.0,10.5,-5.5,35,290,0.00,2.70,0.00,0.000,4,0.000,0.051,2648,217,3952,0,0,0,0,0,0
$GC,348,-0.94,-146.0,15.4,-7.4,45,357,0.00,2.53,0.00,0.000,6,0.000,0.028,2648,1762,3952,0,0,0,0,0,0
$GC,436,-0.94,-146.0,21.0,-6.6,58,445,0.00,2.72,0.00,0.000,4,0.000,0.044,2648,3378,3952,0,0,0,0,0,0
$GC,462,-0.94,-146.0,22.7,-6.7,61,470,0.00,2.62,0.00,0.000,6,0.000,0.032,2649,1805,3952,0,0,0,0,0,0
$GC,548,-0.94,-146.0,28.7,-7.1,74,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1805,3952,0,0,0,0,0,0
$GC,635,-0.94,-146.0,34.7,-6.6,87,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1805,3952,0,0,0,0,0,0
$GC,718,-0.94,-146.0,40.8,-7.0,100,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1804,3952,0,0,0,0,0,0
$GC,877,-0.94,-146.0,51.5,-6.8,125,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1805,3952,0,0,0,0,0,0
$GC,1029,-0.94,-146.0,61.9,-6.7,150,1038,0.00,2.65,0.00,0.000,4,0.000,0.044,2648,3368,3952,0,0,0,0,0,0
$GC,1044,-0.94,-146.0,62.9,-6.9,152,1053,0.00,2.60,0.00,0.000,6,0.000,0.038,2648,1804,3952,0,0,0,0,0,0
$GC,1202,-0.94,-146.0,73.1,-6.5,177,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1804,3952,0,0,0,0,0,0
$GC,1355,-0.94,-146.0,83.6,-6.9,202,1364,0.00,2.65,0.00,0.000,4,0.000,0.044,2648,3372,3952,0,0,0,0,0,0
$GC,1379,-0.94,-146.0,85.1,-6.7,205,1385,0.00,2.60,0.00,0.000,6,0.000,0.031,2648,1794,3952,0,0,0,0,0,0
$GC,1537,-0.94,-146.0,96.1,-6.7,230,1546,0.00,2.67,0.00,0.000,4,0.000,0.056,2648,218,3952,0,0,0,0,0,0
$GC,1560,-0.94,-146.0,97.6,-6.7,233,1566,0.00,2.58,0.00,0.000,6,0.000,0.033,2648,1806,3952,0,0,0,0,0,0
$STATE,1636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1637,begin apogee
$GC,1642,-0.31,0.0,103.3,6.7,246,1734,0.62,0.00,87.90,0.683,6,0.094,0.000,2786,1718,3505,0,0,0,0,0,0
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1740,0.94,146.0,105.4,0.0,260,1870,1.20,2.67,115.38,0.663,4,0.061,0.058,3061,204,2908,0,0,0,0,0,0
$GC,1907,0.94,146.0,95.6,9.3,287,1913,0.00,2.55,0.00,0.000,6,0.000,0.029,3061,1754,2906,0,0,0,0,0,0
$GC,2059,0.94,146.0,82.7,7.9,312,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1756,2906,0,0,0,0,0,0
$GC,2218,0.94,146.0,71.2,7.2,337,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1756,2906,0,0,0,0,0,0
$GC,2369,0.95,150.8,60.5,6.9,362,2378,0.00,0.00,4.95,0.476,6,0.000,0.000,3062,1756,2890,0,0,0,0,0,0
$GC,2525,0.95,150.8,49.4,7.8,387,2531,0.00,2.65,0.00,0.000,4,0.000,0.052,3061,203,2889,0,0,0,0,0,0
$GC,2554,0.95,150.8,46.3,8.4,392,2563,0.00,2.55,0.00,0.000,6,0.000,0.030,3061,1748,2889,0,0,0,0,0,0
$GC,2716,0.96,159.1,34.8,6.8,417,2732,0.00,0.00,8.57,0.554,6,0.000,0.000,3061,1751,2855,0,0,0,0,0,0
$GC,2811,1.01,200.4,29.2,5.7,431,2851,0.00,0.00,35.40,0.616,6,0.000,0.000,3061,1752,2688,0,0,0,0,0,0
$GC,2929,1.03,216.4,21.8,6.5,448,2954,0.10,2.72,14.65,0.578,4,0.080,0.049,3109,3323,2623,0,0,0,0,0,0
$GC,2983,1.03,216.4,16.9,9.2,455,2992,0.10,2.60,0.00,0.000,6,0.099,0.034,3085,1781,2621,0,0,0,0,0,0
$GC,3069,1.03,216.4,9.3,8.6,468,3078,0.00,2.78,0.00,0.000,4,0.000,0.055,3085,173,2620,0,0,0,0,0,0
$STATE,3258,end climb,NO_VERTICAL_VELOCITY
$STATE,3258,begin surface
$SM_CCo,3261,428.25,0.594,0,0,509,734.67
$SM_GC,1.29,11.20,0.00,0.00,0.034,0.000,0.000,419,1820,501,-11.17,0.57,737.37
$IRIDIUM_FIX,4754.94,-12225.30,100499,141411
$TT8_MAMPS,0.026845
$HUMID,32.04
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,13.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,100.1,29.2
$24V_AH,23.5,2.719
$10V_AH,10.3,2.168
$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,25.450,52.775,266.850,428.250,0.000,29.463,21.801,171.285,3.000,0.000,11.916,789.518,412.129,695.501,1834.631,421.935,33.340,1355.978,0.000,1856.523,0.000,20.174,0.000
$DEVICE_MAMPS,170.274,94.341,683.397,593.658,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.226,279.012,352.475,875.620,1543.632,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324776
$DATA_FILE_SIZE,41629,497
$CAP_FILE_SIZE,65962,0
$CFSIZE,260165632,171601920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,162104,4808.225,-12223.599,13,8.1,32,18.3