version: 66.06
glider: 148
mission: 9
dive: 17
start: 1 14 110 14 10 14
data:
$ID,148
$MISSION,9
$DIVE,17
$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,-856097.88
$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,46
$R_STBD_OVSHOOT,61
$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
$GPS1,140337,4807.959,-12223.911,39,0.9,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.6
$GPS2,140919,4808.092,-12223.995,8,1.0,19,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.199,-0.113
$KALMAN_X,-25.1,-99.4,-25.9,-1145.2,-111.6
$KALMAN_Y,1207.7,314.0,65.1,-192.6,267.1
$MHEAD_RNG_PITCHd_Wd,101.3,1242,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.94,-146.0,0.0,0.0,0,141,0.00,0.00,-120.35,0.000,2,0.000,0.000,420,1825,3535,0,0,0,0,0,0
$GC,145,-0.94,-146.0,4.6,-3.6,16,178,12.27,2.60,-12.20,0.000,4,0.173,0.053,2647,3356,3951,0,0,0,0,0,0
$GC,193,-0.94,-146.0,6.7,-4.2,22,202,0.00,2.58,0.00,0.000,6,0.000,0.031,2647,1814,3952,0,0,0,0,0,0
$GC,281,-0.94,-146.0,11.5,-6.1,35,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1814,3953,0,0,0,0,0,0
$GC,366,-0.94,-146.0,17.4,-6.6,48,375,0.00,2.72,0.00,0.000,4,0.000,0.051,2647,224,3953,0,0,0,0,0,0
$GC,404,-0.94,-146.0,20.3,-7.5,53,413,0.00,2.55,0.00,0.000,6,0.000,0.033,2647,1773,3953,0,0,0,0,0,0
$GC,492,-0.94,-146.0,26.3,-6.7,66,500,0.00,2.70,0.00,0.000,4,0.000,0.042,2646,3378,3953,0,0,0,0,0,0
$GC,522,-0.94,-146.0,28.6,-6.9,70,531,0.00,2.62,0.00,0.000,6,0.000,0.032,2647,1803,3953,0,0,0,0,0,0
$GC,609,-0.94,-146.0,34.8,-7.2,83,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1803,3953,0,0,0,0,0,0
$GC,692,-0.94,-146.0,40.7,-7.0,96,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1803,3953,0,0,0,0,0,0
$GC,851,-0.94,-146.0,51.3,-6.7,121,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1803,3953,0,0,0,0,0,0
$GC,1001,-0.94,-146.0,61.7,-6.7,146,1010,0.00,2.65,0.00,0.000,4,0.000,0.048,2647,3371,3953,0,0,0,0,0,0
$GC,1026,-0.94,-146.0,63.1,-6.9,149,1032,0.00,2.58,0.00,0.000,6,0.000,0.033,2647,1795,3953,0,0,0,0,0,0
$GC,1180,-0.94,-146.0,73.6,-6.8,174,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1795,3953,0,0,0,0,0,0
$GC,1339,-0.94,-146.0,84.4,-7.0,199,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1795,3953,0,0,0,0,0,0
$GC,1496,-0.94,-146.0,95.1,-6.8,224,1505,0.00,2.65,0.00,0.000,4,0.000,0.042,2647,3368,3953,0,0,0,0,0,0
$GC,1520,-0.94,-146.0,96.7,-6.8,227,1526,0.00,2.58,0.00,0.000,6,0.000,0.032,2647,1799,3953,0,0,0,0,0,0
$STATE,1609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1609,begin apogee
$GC,1615,-0.31,0.0,103.3,6.9,242,1708,0.62,0.00,88.00,0.684,6,0.094,0.000,2785,1726,3505,0,0,0,0,0,0
$STATE,1709,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1711,0.94,146.0,105.5,0.0,256,1838,1.20,0.00,115.40,0.663,6,0.057,0.000,3063,1726,2909,0,0,0,0,0,0
$GC,1985,0.94,146.0,86.4,8.9,299,1991,0.00,2.62,0.00,0.000,4,0.000,0.054,3064,187,2906,0,0,0,0,0,0
$GC,2013,0.94,146.0,83.7,9.4,303,2018,0.00,2.55,0.00,0.000,6,0.000,0.035,3064,1747,2905,0,0,0,0,0,0
$GC,2164,0.94,146.0,69.4,8.6,328,2173,0.00,2.67,0.00,0.000,4,0.000,0.051,3064,3325,2905,0,0,0,0,0,0
$GC,2179,0.94,146.0,68.0,8.8,330,2188,0.00,2.60,0.00,0.000,6,0.000,0.040,3064,1774,2905,0,0,0,0,0,0
$GC,2338,0.94,146.0,54.3,8.8,355,2344,0.00,2.72,0.00,0.000,4,0.000,0.054,3064,172,2905,0,0,0,0,0,0
$GC,2407,0.94,146.0,47.3,9.9,367,2413,0.00,2.58,0.00,0.000,6,0.000,0.031,3064,1748,2905,0,0,0,0,0,0
$GC,2562,0.94,146.0,33.8,8.7,392,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1749,2905,0,0,0,0,0,0
$GC,2649,0.94,146.0,26.5,8.3,405,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1750,2905,0,0,0,0,0,0
$GC,2734,0.94,146.0,19.3,8.3,418,2743,0.00,2.75,0.00,0.000,4,0.000,0.054,3064,172,2905,0,0,0,0,0,0
$GC,2753,0.94,146.0,17.8,8.4,420,2762,0.00,2.60,0.00,0.000,6,0.000,0.030,3063,1747,2905,0,0,0,0,0,0
$GC,2839,0.94,146.0,11.1,7.3,433,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1748,2905,0,0,0,0,0,0
$GC,2926,1.01,199.2,5.7,5.3,446,2950,0.00,0.00,22.38,0.593,2,0.000,0.000,3063,1748,2799,0,0,0,0,0,0
$STATE,2951,end climb,SURFACE_DEPTH_REACHED
$STATE,2951,begin surface coast
$FINISH,3.9,1.019517
$STATE,3099,end surface coast,CONTROL_FINISHED_OK
$STATE,3099,begin surface
$SM_CCo,3120,395.90,0.579,1,0,529,730.01
$SM_GC,1.23,0.00,0.00,395.90,0.000,0.000,0.579,418,1847,529,-11.23,1.33,730.01
$IRIDIUM_FIX,4748.51,-12247.79,100499,131323
$TT8_MAMPS,0.027612
$HUMID,32.43
$INTERNAL_PRESSURE,9.23274
$TCM_TEMP,13.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,95.1,26.9
$24V_AH,23.5,2.586
$10V_AH,10.3,2.046
$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,25.500,47.475,225.775,395.900,0.000,31.174,26.148,162.548,4.000,0.000,21.126,751.394,297.750,655.111,1762.947,408.706,33.344,1269.505,0.000,1776.693,0.000,14.455,0.000
$DEVICE_MAMPS,173.342,115.050,684.164,579.085,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.269,269.476,337.046,840.078,1480.581,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324856
$DATA_FILE_SIZE,38424,472
$CAP_FILE_SIZE,62191,0
$CFSIZE,260165632,171651072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,150950,4808.150,-12223.677,13,1.2,13,18.3