version: 66.06
glider: 141
mission: 9
dive: 7
start: 8 19 109 23 13 6
data:
$ID,141
$MISSION,9
$DIVE,7
$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,-15445.028
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,230900,4807.673,-12223.762,10,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-79.2
$GPS2,231243,4807.661,-12223.770,11,1.5,16,18.3
$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,317.3,690,-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,-146.6,0.0,0.0,0,93,0.00,0.00,-75.72,0.000,2,0.000,0.000,79,2218,3215,0,0,0,0,0,0
$GC,95,-0.73,-146.6,3.2,-2.8,15,137,12.27,2.28,-20.20,0.000,4,0.308,0.077,2718,3606,3987,0,0,0,0,0,0
$GC,265,-0.62,-146.6,32.1,-18.0,40,272,0.15,2.17,0.00,0.000,6,0.210,0.044,2755,2183,3989,0,0,0,0,0,0
$GC,463,-0.58,-146.6,60.0,-13.5,59,467,0.00,2.25,0.00,0.000,4,0.000,0.062,2755,3612,3992,0,0,0,0,0,0
$GC,619,-0.56,-146.6,80.4,-13.5,72,623,0.00,2.15,0.00,0.000,6,0.000,0.044,2755,2196,3992,0,0,0,0,0,0
$STATE,774,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,774,begin apogee
$GC,779,-0.16,0.0,101.2,13.4,86,946,0.50,0.00,146.12,0.686,6,0.186,0.000,2905,2088,3388,0,0,0,0,3,0
$STATE,947,end apogee,CONTROL_FINISHED_OK
$STATE,947,begin climb
$GC,949,0.73,146.6,110.1,0.0,103,1073,0.90,2.30,111.80,0.742,4,0.143,0.054,3192,714,2790,0,0,0,0,0,0
$GC,1280,0.61,146.6,89.3,11.1,133,1287,0.15,2.15,0.00,0.000,6,0.212,0.048,3158,2096,2788,0,0,0,0,0,0
$GC,1605,0.57,169.3,60.2,9.0,164,1631,0.00,2.25,21.30,0.653,4,0.000,0.057,3158,3520,2697,0,0,0,0,0,0
$GC,1727,0.45,169.3,47.4,11.3,174,1734,0.22,2.17,0.00,0.000,6,0.206,0.045,3107,2113,2697,0,0,0,0,0,0
$GC,1926,0.56,236.8,33.3,6.9,193,1998,0.10,2.28,60.38,0.700,4,0.131,0.057,3143,3514,2421,0,0,0,0,1,0
$GC,2060,0.54,236.8,19.5,11.9,205,2066,0.00,2.22,0.00,0.000,6,0.000,0.047,3150,2105,2417,0,0,0,0,0,0
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2228,begin surface coast
$FINISH,1.4,1.019967
$STATE,2268,end surface coast,CONTROL_FINISHED_OK
$STATE,2268,begin surface
$SM_CCo,2286,109.05,0.770,0,0,1472,470.24
$SM_GC,1.41,0.00,0.00,109.05,0.000,0.000,0.770,75,2208,1472,-9.02,0.23,470.24
$RAFOS_CLK,89
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12226.29,131198,222242
$TT8_MAMPS,0.026845
$HUMID,1078718055
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.2,6.6
$24V_AH,24.4,0.939
$10V_AH,10.4,0.278
$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,23.400,22.500,339.600,109.050,0.000,25.039,29.191,78.364,1.500,0.000,17.580,402.254,1046.647,505.007,485.112,195.858,0.000,813.508,0.000,465.930,0.000,14.250,0.000
$DEVICE_MAMPS,308.334,92.040,742.456,770.068,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,160.244,174.548,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264160
$DATA_FILE_SIZE,9594,242
$CAP_FILE_SIZE,39586,0
$CFSIZE,260165632,256720896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$SOUNDSPEED,1483.5
$GPS,190809,235415,4807.878,-12223.938,11,99.0,30,18.3