version: 66.06
glider: 146
mission: 8
dive: 7
start: 1 17 113 20 7 43
data:
$ID,146
$MISSION,8
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,100
$T_MISSION,200
$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,300
$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,-302457.12
$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,3100
$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,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,58
$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
$GPS1,200124,1921.990,-8113.758,10,1.3,10,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.9
$GPS2,200649,1921.979,-8113.789,14,1.8,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,START1
$TGT_LATLONG,1922.500,-8112.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,0.059
$KALMAN_X,-1492.5,-680.6,-251.7,1714.9,-63.7
$KALMAN_Y,-243.5,-191.1,-64.0,1069.4,274.3
$MHEAD_RNG_PITCHd_Wd,80.8,2449,-17.5,-10.000
$D_GRID,300
$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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,2,0.000,0.000,468,2120,3464,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.0,-4.2,9,120,13.15,2.55,-6.35,0.000,4,0.176,0.054,2818,564,3786,0,0,0,0,0,0
$GC,153,-1.20,-146.0,17.1,-16.4,16,163,0.00,2.45,0.00,0.000,6,0.000,0.021,2818,2142,3787,0,0,0,0,0,0
$GC,446,-1.20,-146.0,50.7,-11.5,49,450,0.00,2.58,0.00,0.000,4,0.000,0.047,2818,571,3786,0,0,0,0,0,0
$GC,480,-1.20,-146.0,55.2,-12.7,51,484,0.00,2.40,0.00,0.000,6,0.000,0.016,2818,2144,3786,0,0,0,0,0,0
$GC,747,-1.20,-146.0,84.0,-10.6,75,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2144,3786,0,0,0,0,0,0
$GC,1008,-1.26,-146.0,109.6,-8.4,100,1013,0.00,2.58,0.00,0.000,4,0.000,0.052,2818,567,3786,0,0,0,0,0,0
$GC,1032,-1.32,-146.0,111.3,-8.9,101,1036,0.00,2.38,0.00,0.000,6,0.000,0.018,2818,2137,3786,0,0,0,0,0,0
$GC,1298,-1.42,-146.0,133.2,-7.9,125,1304,0.12,0.00,0.00,0.000,6,0.073,0.000,2770,2137,3786,0,0,0,0,0,0
$GC,1563,-1.42,-146.0,157.2,-8.7,150,1567,0.00,2.58,0.00,0.000,4,0.000,0.055,2770,570,3786,0,0,0,0,0,0
$GC,1592,-1.46,-146.0,160.4,-9.6,152,1597,0.00,2.38,0.00,0.000,6,0.000,0.028,2770,2133,3786,0,0,0,0,0,0
$GC,1857,-1.52,-146.0,181.3,-7.5,176,1862,0.00,2.53,0.00,0.000,4,0.000,0.042,2770,3719,3785,0,0,0,0,0,0
$GC,1880,-1.59,-146.0,183.4,-7.3,177,1889,0.00,2.50,0.00,0.000,6,0.000,0.025,2770,2134,3785,0,0,0,0,0,0
$GC,2153,-1.67,-146.0,203.1,-7.2,200,2155,0.15,0.00,0.00,0.000,6,0.061,0.000,2714,2133,3785,0,0,0,0,0,0
$GC,2392,-1.67,-146.0,225.0,-9.2,206,2394,0.10,0.00,0.00,0.000,6,0.119,0.000,2736,2132,3784,0,0,0,0,0,0
$GC,2636,-1.67,-146.0,245.8,-8.6,212,2640,0.00,2.53,0.00,0.000,4,0.000,0.044,2736,3711,3783,0,0,0,0,0,0
$GC,2671,-1.67,-146.0,248.7,-8.3,212,2677,0.00,2.47,0.00,0.000,6,0.000,0.031,2736,2136,3783,0,0,0,0,0,0
$GC,2921,-1.67,-146.0,268.4,-7.8,219,2926,0.00,2.62,0.00,0.000,4,0.000,0.064,2736,580,3782,0,0,0,0,0,0
$GC,2949,-1.67,-146.0,270.8,-8.9,219,2953,0.00,2.40,0.00,0.000,6,0.000,0.024,2736,2127,3782,0,0,0,0,0,0
$GC,3201,-1.67,-146.0,290.7,-7.8,225,3205,0.00,2.58,0.00,0.000,4,0.000,0.051,2736,3728,3781,0,0,0,0,0,0
$GC,3240,-1.70,-146.0,294.0,-8.4,226,3245,0.00,2.50,0.00,0.000,6,0.000,0.028,2736,2131,3780,0,0,0,0,0,0
$STATE,3318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3318,begin apogee
$GC,3324,-0.31,0.0,300.3,7.8,228,3441,1.30,0.00,110.88,0.719,6,0.076,0.000,3032,2131,3192,0,0,0,0,0,0
$STATE,3442,end apogee,CONTROL_FINISHED_OK
$STATE,3442,begin climb
$GC,3446,1.27,146.0,302.8,0.0,231,3570,1.40,2.58,114.18,0.700,4,0.032,0.046,3389,3678,2592,0,0,0,0,0,0
$GC,3609,1.01,146.0,290.6,15.2,234,3618,0.30,2.58,0.00,0.000,6,0.107,0.038,3325,2100,2589,0,0,0,0,0,0
$GC,3862,0.90,146.0,261.6,11.1,241,3867,0.12,2.60,0.00,0.000,4,0.123,0.040,3299,3678,2587,0,0,0,0,0,0
$GC,4093,0.83,146.0,235.6,10.2,246,4098,0.00,2.50,0.00,0.000,6,0.000,0.033,3299,2119,2585,0,0,0,0,0,0
$GC,4366,0.79,153.0,208.7,9.7,253,4377,0.12,2.55,5.68,0.505,4,0.120,0.045,3272,3682,2565,0,0,0,0,0,0
$GC,4546,0.82,176.9,191.4,8.9,260,4575,0.00,2.47,20.80,0.624,6,0.000,0.033,3272,2137,2467,0,0,0,0,0,0
$GC,4831,0.90,201.4,166.9,8.9,287,4859,0.10,2.58,20.75,0.607,4,0.090,0.041,3305,3677,2369,0,0,0,0,0,0
$GC,4940,0.91,211.2,156.8,9.5,296,4954,0.00,2.45,9.55,0.545,6,0.000,0.031,3305,2154,2329,0,0,0,0,0,0
$GC,5217,0.93,225.6,130.5,9.3,321,5242,0.00,2.53,13.48,0.558,4,0.000,0.042,3304,3670,2269,0,0,0,0,0,0
$GC,5325,0.94,235.1,119.7,9.6,330,5340,0.00,2.38,9.30,0.521,6,0.000,0.031,3305,2186,2231,0,0,0,0,0,0
$GC,5595,1.06,273.8,97.0,8.2,355,5638,0.10,2.85,33.00,0.562,4,0.091,0.051,3337,516,2071,0,0,0,0,0,0
$GC,5650,1.09,299.3,92.0,8.8,360,5678,0.00,2.62,22.60,0.542,6,0.000,0.023,3337,2195,1969,0,0,0,0,0,0
$GC,5940,1.19,317.9,64.3,9.1,386,5968,0.00,2.45,16.17,0.511,4,0.000,0.035,3337,3682,1893,0,0,0,0,0,0
$GC,6083,1.27,317.9,49.3,11.4,397,6088,0.17,2.35,0.00,0.000,6,0.066,0.027,3385,2194,1890,0,0,0,0,0,0
$GC,6379,1.27,317.9,12.0,12.7,431,6388,0.00,2.42,0.00,0.000,4,0.000,0.036,3385,3679,1890,0,0,0,0,0,0
$STATE,6443,end climb,SURFACE_DEPTH_REACHED
$STATE,6443,begin surface coast
$FINISH,0.5,1.013952
$STATE,6485,end surface coast,CONTROL_FINISHED_OK
$STATE,6485,begin surface
$SM_CCo,6571,0.00,0.000,0,0,1884,320.12
$SM_GC,1.57,11.75,0.00,0.00,0.028,0.000,0.000,470,2134,1884,-11.98,-0.45,320.12
$IRIDIUM_FIX,1913.80,-8115.06,130402,191939
$TT8_MAMPS,0.026078
$HUMID,59.33
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,25.30
$XPDR_PINGS,29
$24V_AH,23.6,1.537
$10V_AH,10.6,1.262
$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,28.900,80.350,376.375,0.000,0.000,30.134,39.666,133.490,7.250,0.000,15.707,854.470,3387.523,402.927,1805.377,451.191,33.326,1022.453,0.000,1813.157,0.000,0.539,0.000
$DEVICE_MAMPS,176.410,63.661,718.679,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.259,318.745,410.258,639.055,1216.881,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,35216,446
$CAP_FILE_SIZE,79247,0
$CFSIZE,260165632,128008192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170113,215821,1922.535,-8113.094,8,99.0,28,-3.8