version: 66.06
glider: 141
mission: 9
dive: 26
start: 8 20 109 15 17 9
data:
$ID,141
$MISSION,9
$DIVE,26
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,40
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51430
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$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,450
$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,-15908.223
$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,37
$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
$GPS1,151201,4805.923,-12221.780,6,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.6
$GPS2,151614,4805.934,-12221.781,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.152,0.082
$KALMAN_X,-998.2,-131.9,0.5,3472.0,-16.5
$KALMAN_Y,-207.4,-7.5,-32.9,-2919.5,-15.1
$MHEAD_RNG_PITCHd_Wd,280.1,297,-27.2,-10.000
$D_GRID,108
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.93,-63.1,0.0,0.0,0,109,0.00,0.00,-90.68,0.000,2,0.000,0.000,76,2212,2878,0,0,0,0,0,0
$GC,111,-1.00,-117.3,3.1,-4.2,18,158,12.02,2.22,-27.42,0.000,4,0.311,0.067,2629,789,3868,0,0,0,0,0,0
$GC,411,-0.93,-117.3,62.9,-23.1,56,416,0.12,2.17,0.00,0.000,6,0.267,0.051,2655,2193,3871,0,0,0,0,0,0
$STATE,546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,546,begin apogee
$GC,551,-0.16,0.0,92.4,22.4,68,698,0.90,0.00,121.00,0.676,6,0.220,0.000,2902,2071,3389,0,0,0,0,4,0
$STATE,698,end apogee,CONTROL_FINISHED_OK
$STATE,699,begin climb
$GC,701,1.00,117.3,101.6,0.0,83,815,1.20,2.22,99.60,0.712,4,0.140,0.048,3282,704,2906,0,0,0,0,1,0
$GC,1034,0.88,117.3,72.9,12.5,113,1040,0.15,2.17,0.00,0.000,6,0.242,0.043,3249,2108,2898,0,0,0,0,0,0
$GC,1360,0.80,117.3,37.4,10.2,144,1365,0.12,2.17,0.00,0.000,4,0.259,0.054,3221,3511,2897,0,0,0,0,0,0
$GC,1618,0.73,131.4,12.2,8.5,174,1630,0.15,2.12,4.65,0.565,6,0.235,0.040,3197,2103,2853,0,0,0,0,0,0
$GC,1698,0.77,166.8,6.7,6.2,188,1719,0.00,0.00,16.48,0.706,6,0.000,0.000,3197,2103,2708,0,0,0,0,0,0
$GC,1787,0.99,272.6,4.3,-1.2,204,1844,0.22,2.28,49.17,0.770,4,0.090,0.054,3289,694,2275,0,0,0,0,0,0
$STATE,1849,end climb,SURFACE_DEPTH_REACHED
$STATE,1849,begin surface coast
$FINISH,1.8,1.019018
$STATE,1899,end surface coast,CONTROL_FINISHED_OK
$STATE,1899,begin surface
$SM_CCo,1919,82.40,0.763,0,0,1553,450.13
$SM_GC,1.71,0.00,0.00,82.40,0.000,0.000,0.763,79,2202,1553,-9.01,0.06,450.13
$RAFOS_CLK,73
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,141198,141440
$TT8_MAMPS,0.026845
$HUMID,1078579990
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,92.4,6.5
$24V_AH,24.3,2.698
$10V_AH,10.4,0.716
$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,24.925,17.950,290.900,82.400,0.000,23.844,47.127,91.668,1.250,0.000,13.773,365.999,789.832,455.440,433.266,225.495,33.337,739.454,0.000,424.662,0.000,8.811,0.000
$DEVICE_MAMPS,310.635,79.001,770.068,763.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,148.255,160.744,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264120
$DATA_FILE_SIZE,9648,225
$CAP_FILE_SIZE,36431,0
$CFSIZE,260165632,256172032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$SOUNDSPEED,1487.7
$GPS,200809,155126,4805.913,-12221.894,12,1.1,12,18.3