version: 66.06
glider: 148
mission: 9
dive: 15
start: 1 14 110 11 59 58
data:
$ID,148
$MISSION,9
$DIVE,15
$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,-856059.69
$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,50
$R_STBD_OVSHOOT,41
$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
$GPS1,115306,4807.189,-12222.938,37,1.0,42,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-74.3
$GPS2,115902,4807.296,-12223.019,14,1.3,14,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,0.147
$KALMAN_X,10.1,-42.8,142.1,-197.5,-193.3
$KALMAN_Y,749.3,170.0,-131.3,-869.9,338.6
$MHEAD_RNG_PITCHd_Wd,291.5,1781,-12.2,-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,16,begin dive
$GC,18,-0.94,-146.0,0.0,0.0,0,81,0.00,0.00,-60.70,0.000,2,0.000,0.000,421,1816,2040,0,0,0,0,0,0
$GC,85,-0.94,-146.0,4.1,-4.7,8,171,12.20,2.72,-62.53,0.000,4,0.170,0.071,2647,248,3952,0,0,0,0,0,0
$GC,442,-0.94,-146.0,24.3,-7.5,62,451,0.00,2.55,0.00,0.000,6,0.000,0.030,2647,1792,3953,0,0,0,0,0,0
$GC,529,-0.94,-146.0,30.4,-6.9,75,539,0.00,2.67,0.00,0.000,4,0.000,0.044,2647,3377,3953,0,0,0,0,0,0
$GC,555,-0.94,-146.0,32.2,-6.9,78,563,0.00,2.58,0.00,0.000,6,0.000,0.031,2647,1828,3953,0,0,0,0,0,0
$GC,643,-0.94,-146.0,38.4,-6.9,91,652,0.00,2.75,0.00,0.000,4,0.000,0.051,2647,218,3953,0,0,0,0,0,0
$GC,661,-0.94,-146.0,39.7,-7.1,93,670,0.00,2.60,0.00,0.000,6,0.000,0.028,2647,1799,3953,0,0,0,0,0,0
$GC,741,-0.94,-146.0,45.9,-7.5,106,750,0.00,2.65,0.00,0.000,4,0.000,0.043,2647,3377,3953,0,0,0,0,0,0
$GC,765,-0.94,-146.0,47.3,-7.3,109,771,0.00,2.58,0.00,0.000,6,0.000,0.031,2647,1798,3953,0,0,0,0,0,0
$GC,917,-0.94,-146.0,58.4,-7.1,134,926,0.00,2.67,0.00,0.000,4,0.000,0.050,2647,227,3953,0,0,0,0,0,0
$GC,940,-0.94,-146.0,59.8,-7.4,137,946,0.00,2.58,0.00,0.000,6,0.000,0.031,2647,1809,3953,0,0,0,0,0,0
$GC,1096,-0.94,-146.0,70.7,-6.9,162,1105,0.00,2.62,0.00,0.000,4,0.000,0.048,2647,3377,3953,0,0,0,0,0,0
$GC,1122,-0.94,-146.0,72.6,-6.7,166,1131,0.00,2.62,0.00,0.000,6,0.000,0.032,2647,1796,3953,0,0,0,0,0,0
$GC,1283,-0.94,-146.0,83.1,-6.8,191,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1796,3953,0,0,0,0,0,0
$GC,1441,-0.94,-146.0,94.2,-6.8,216,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1795,3953,0,0,0,0,0,0
$GC,1598,-0.94,-146.0,104.4,-6.4,241,1604,0.00,2.65,0.00,0.000,4,0.000,0.042,2647,3383,3953,0,0,0,0,0,0
$GC,1637,-0.94,-146.0,106.8,-6.3,247,1642,0.00,2.60,0.00,0.000,6,0.000,0.037,2647,1799,3953,0,0,0,0,0,0
$STATE,1649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1650,begin apogee
$GC,1655,-0.31,0.0,107.8,6.3,249,1748,0.62,0.00,87.85,0.690,6,0.093,0.000,2785,1729,3506,0,0,0,0,0,0
$STATE,1749,end apogee,CONTROL_FINISHED_OK
$STATE,1749,begin climb
$GC,1754,0.94,146.0,110.0,0.0,263,1877,1.20,0.00,115.50,0.668,6,0.057,0.000,3063,1728,2910,0,0,0,0,0,0
$GC,2022,0.94,146.0,90.4,9.1,306,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1728,2906,0,0,0,0,0,0
$GC,2180,0.94,146.0,76.2,9.0,331,2185,0.00,2.62,0.00,0.000,4,0.000,0.061,3063,190,2906,0,0,0,0,0,0
$GC,2206,0.94,146.0,73.6,9.4,335,2211,0.00,2.55,0.00,0.000,6,0.000,0.031,3063,1749,2906,0,0,0,0,0,0
$GC,2358,0.94,146.0,59.6,8.8,360,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1750,2905,0,0,0,0,0,0
$GC,2513,0.94,146.0,45.9,8.6,385,2518,0.00,2.70,0.00,0.000,4,0.000,0.054,3063,190,2905,0,0,0,0,0,0
$GC,2554,0.94,146.0,41.8,9.8,392,2563,0.00,2.58,0.00,0.000,6,0.000,0.031,3063,1747,2906,0,0,0,0,0,0
$GC,2717,0.94,146.0,28.4,8.2,417,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1749,2906,0,0,0,0,0,0
$GC,2802,0.94,146.0,21.7,7.8,430,2811,0.00,2.67,0.00,0.000,4,0.000,0.054,3063,198,2906,0,0,0,0,0,0
$GC,2840,0.94,146.0,18.3,8.7,435,2848,0.00,2.55,0.00,0.000,6,0.000,0.031,3063,1745,2906,0,0,0,0,0,0
$GC,2927,0.94,148.6,11.9,7.0,448,2936,0.00,2.67,0.00,0.000,4,0.000,0.054,3063,194,2906,0,0,0,0,0,0
$GC,2945,0.95,155.8,10.7,6.8,450,2962,0.00,2.58,9.02,0.546,6,0.000,0.037,3063,1757,2870,0,0,0,0,0,0
$GC,3041,1.05,236.4,5.9,4.4,464,3066,0.10,0.00,22.33,0.592,2,0.082,0.000,3107,1757,2764,0,0,0,0,0,0
$STATE,3067,end climb,SURFACE_DEPTH_REACHED
$STATE,3067,begin surface coast
$FINISH,4.9,1.020235
$STATE,3226,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3226,begin surface
$SM_CCo,3248,459.70,0.581,1,0,530,730.01
$SM_GC,1.25,0.00,0.00,459.70,0.000,0.000,0.581,419,1846,530,-11.23,1.30,730.01
$IRIDIUM_FIX,4748.51,-12226.29,100499,101003
$TT8_MAMPS,0.027612
$HUMID,32.55
$INTERNAL_PRESSURE,9.23274
$TCM_TEMP,13.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,95.2,29.6
$24V_AH,23.5,2.345
$10V_AH,10.3,1.821
$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,25.775,57.900,234.700,459.700,0.000,29.290,22.800,181.175,4.250,0.000,15.903,785.293,311.909,718.618,1827.715,435.612,33.331,1345.022,0.000,1845.801,0.000,16.131,0.000
$DEVICE_MAMPS,170.274,154.934,690.300,581.386,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.572,281.731,350.310,874.222,1537.882,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324832
$DATA_FILE_SIZE,41709,492
$CAP_FILE_SIZE,64871,0
$CFSIZE,260165632,171724800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,130243,4807.634,-12223.484,7,1.4,12,18.3