version: 66.06
glider: 141
mission: 9
dive: 6
start: 8 19 109 22 29 43
data:
$ID,141
$MISSION,9
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,0
$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,40
$T_MISSION,60
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$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,1.023
$MASS,51430
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,470
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15426.819
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,4041
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4044
$C_VBD,3389
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.255871
$PRESSURE_SLOPE,0.000115925
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043482846
$SEABIRD_T_H,0.00064259337
$SEABIRD_T_I,2.4116636e-05
$SEABIRD_T_J,2.3731232e-06
$SEABIRD_C_G,-9.926631
$SEABIRD_C_H,1.0917815
$SEABIRD_C_I,-0.00047649047
$SEABIRD_C_J,0.00015061456
$GPS1,222525,4807.453,-12223.735,11,1.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-77.5
$GPS2,222920,4807.474,-12223.723,15,1.4,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,322.3,1033,-17.5,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.6,0.0,0.0,0,113,0.00,0.00,-95.50,0.000,2,0.000,0.000,79,2068,3038,0,0,0,0,0,0
$GC,115,-0.73,-146.6,3.2,-2.8,19,162,12.23,2.50,-26.33,0.000,4,0.308,0.074,2717,3604,3987,0,0,0,0,0,0
$GC,415,-0.63,-146.6,51.7,-16.5,57,420,0.15,2.15,0.00,0.000,6,0.206,0.045,2755,2189,3990,0,0,0,0,0,0
$GC,740,-0.60,-146.6,96.3,-13.3,87,744,0.00,2.22,0.00,0.000,4,0.000,0.062,2755,3614,3992,0,0,0,0,0,0
$STATE,770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,770,begin apogee
$GC,777,-0.16,0.0,100.2,14.4,89,903,0.47,0.00,115.75,0.754,6,0.183,0.000,2900,2104,3388,0,0,0,0,1,0
$STATE,904,end apogee,CONTROL_FINISHED_OK
$STATE,904,begin climb
$GC,906,0.73,146.6,107.6,0.0,102,1024,0.93,2.33,108.43,0.757,4,0.143,0.056,3195,696,2790,0,0,0,0,0,0
$GC,1176,0.60,146.6,90.2,11.1,126,1182,0.17,2.20,0.00,0.000,6,0.210,0.047,3155,2099,2790,0,0,0,0,0,0
$GC,1501,0.57,176.7,62.6,8.6,157,1535,0.00,2.28,29.77,0.693,4,0.000,0.059,3154,3520,2666,0,0,0,0,0,0
$GC,1665,0.47,176.7,44.9,11.4,172,1670,0.17,2.20,0.00,0.000,6,0.202,0.044,3119,2093,2660,0,0,0,0,0,0
$GC,1863,0.57,241.3,29.7,7.0,190,1955,0.00,2.30,70.00,0.655,4,0.000,0.057,3119,3507,2401,0,0,0,0,3,0
$GC,1996,0.60,241.3,18.8,10.1,203,2001,0.00,2.22,0.00,0.000,6,0.000,0.046,3123,2096,2396,0,0,0,0,0,0
$GC,2070,0.70,277.7,12.5,8.3,216,2091,0.17,0.00,17.20,0.758,6,0.107,0.000,3184,2096,2256,0,0,0,0,0,0
$STATE,2157,end climb,SURFACE_DEPTH_REACHED
$STATE,2157,begin surface coast
$FINISH,1.5,1.018311
$STATE,2191,end surface coast,CONTROL_FINISHED_OK
$STATE,2192,begin surface
$SM_CCo,2209,89.90,0.679,0,0,1472,470.24
$SM_GC,1.58,0.00,0.00,89.90,0.000,0.000,0.679,80,2218,1472,-9.00,0.51,470.24
$RAFOS_CLK,84
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,131198,212120
$TT8_MAMPS,0.026845
$HUMID,1078742571
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.2,6.7
$24V_AH,24.4,0.840
$10V_AH,10.5,0.257
$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,23.550,22.925,341.150,89.900,0.000,31.257,36.489,77.250,2.250,0.000,16.564,389.689,982.174,495.802,477.150,207.226,0.000,809.414,0.000,457.173,0.000,19.901,0.000
$DEVICE_MAMPS,307.567,78.234,757.796,678.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,157.116,171.592,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264148
$DATA_FILE_SIZE,9614,238
$CAP_FILE_SIZE,39742,0
$CFSIZE,260165632,256745472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$SOUNDSPEED,1484.5
$GPS,190809,230900,4807.673,-12223.762,10,1.9,14,18.3