version: 66.06
glider: 146
mission: 8
dive: 4
start: 1 17 113 17 34 35
data:
$ID,146
$MISSION,8
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$D_ABORT,200
$D_NO_BLEED,200
$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,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-302388.97
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3144
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,172907,1921.501,-8114.162,11,1.6,11,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.1
$GPS2,173343,1921.491,-8114.182,11,1.7,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,START1
$TGT_LATLONG,1922.500,-8112.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,0.125
$KALMAN_X,-822.9,-438.2,-402.9,268.7,-121.8
$KALMAN_Y,-291.0,-171.5,-161.3,292.4,-40.9
$MHEAD_RNG_PITCHd_Wd,65.1,3482,-17.5,-10.000
$D_GRID,90
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,100,0.00,0.00,-78.62,0.000,2,0.000,0.000,479,2173,3749,0,0,0,0,0,0
$GC,103,-1.27,-146.0,4.5,-8.5,10,129,13.20,2.55,-0.65,0.000,4,0.173,0.048,2860,3738,3788,0,0,0,0,0,0
$GC,141,-0.28,-146.0,20.6,-41.4,14,149,0.90,2.47,0.00,0.000,6,0.055,0.025,3081,2186,3788,0,0,0,0,0,0
$GC,439,-0.86,-146.0,44.3,-10.1,50,444,0.50,2.47,0.00,0.000,4,0.056,0.035,2951,3733,3788,0,0,0,0,0,0
$GC,729,-1.45,-146.0,69.1,-7.5,72,738,0.47,2.42,0.00,0.000,6,0.050,0.021,2826,2194,3788,0,0,0,0,0,0
$STATE,972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,972,begin apogee
$GC,977,-0.31,0.0,90.4,9.3,95,1097,1.02,0.00,109.53,0.541,6,0.063,0.000,3073,2194,3189,0,0,0,0,0,0
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1102,1.27,146.0,94.4,0.0,107,1217,1.38,0.00,110.22,0.537,6,0.025,0.000,3431,2194,2594,0,0,0,0,0,0
$GC,1476,1.15,190.5,80.2,7.9,141,1518,0.17,2.53,35.72,0.511,4,0.120,0.043,3396,3732,2412,0,0,0,0,0,0
$GC,1674,1.08,223.3,63.0,8.5,156,1707,0.00,2.42,27.35,0.496,6,0.000,0.027,3396,2197,2279,0,0,0,0,0,0
$GC,1967,1.03,236.2,34.9,9.4,182,1985,0.12,2.55,11.57,0.449,4,0.123,0.038,3371,3729,2226,0,0,0,0,0,0
$GC,2062,1.03,236.2,25.5,10.6,192,2071,0.00,2.45,0.00,0.000,6,0.000,0.028,3371,2209,2224,0,0,0,0,0,0
$STATE,2277,end climb,SURFACE_DEPTH_REACHED
$STATE,2277,begin surface coast
$FINISH,0.5,1.010275
$STATE,2326,end surface coast,CONTROL_FINISHED_OK
$STATE,2326,begin surface
$SM_CCo,2349,86.60,0.474,0,0,1763,350.04
$SM_GC,1.28,0.00,0.00,86.60,0.000,0.000,0.474,468,2208,1763,-12.31,0.79,350.04
$IRIDIUM_FIX,1913.80,-8115.06,130402,171700
$TT8_MAMPS,0.025311
$HUMID,52.99
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,26.80
$XPDR_PINGS,4
$24V_AH,23.7,1.316
$10V_AH,10.7,1.000
$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,29.400,19.875,294.400,86.600,0.000,0.000,0.000,0.000,1.000,0.000,13.413,412.685,526.476,335.425,1138.713,92.820,32.334,715.312,0.000,1151.320,0.000,0.541,0.000
$DEVICE_MAMPS,173.342,47.554,540.735,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,150.641,191.663,236.277,511.808,974.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,16233,231
$CAP_FILE_SIZE,42962,0
$CFSIZE,260165632,128155648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170113,181618,1921.523,-8114.107,11,2.0,28,-3.8