version: 66.06
glider: 146
mission: 8
dive: 8
start: 1 17 113 22 6 16
data:
$ID,146
$MISSION,8
$DIVE,8
$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,-302502.94
$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,3090
$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,39
$R_STBD_OVSHOOT,38
$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
$GPS1,215821,1922.535,-8113.094,8,99.0,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.6
$GPS2,220523,1922.540,-8113.114,43,1.2,43,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,START1
$TGT_LATLONG,1922.500,-8112.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.097
$KALMAN_X,-2118.1,-679.3,37.6,3228.2,-72.2
$KALMAN_Y,233.0,-149.0,97.1,1427.3,510.6
$MHEAD_RNG_PITCHd_Wd,120.7,1076,-21.9,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.49,-95.7,0.0,0.0,0,92,0.00,0.00,-68.57,0.000,6,0.000,0.000,470,2134,3581,0,0,0,0,0,0
$GC,95,-1.53,-132.2,4.2,-7.4,9,121,12.70,2.58,-2.62,0.000,4,0.176,0.051,2747,570,3732,0,0,0,0,0,0
$GC,180,-1.53,-132.2,27.1,-16.7,20,189,0.00,2.47,0.00,0.000,6,0.000,0.016,2747,2165,3732,0,0,0,0,0,0
$GC,457,-1.53,-132.2,71.7,-16.0,46,461,0.00,2.58,0.00,0.000,4,0.000,0.041,2747,577,3733,0,0,0,0,0,0
$GC,479,-1.53,-132.2,75.4,-16.0,47,483,0.00,2.40,0.00,0.000,6,0.000,0.015,2747,2150,3732,0,0,0,0,0,0
$GC,746,-1.59,-132.2,112.9,-12.1,71,750,0.00,2.58,0.00,0.000,4,0.000,0.045,2747,579,3733,0,0,0,0,0,0
$GC,777,-1.64,-132.2,117.4,-14.3,73,782,0.00,2.35,0.00,0.000,6,0.000,0.025,2747,2135,3733,0,0,0,0,0,0
$GC,1046,-1.74,-132.2,147.5,-10.8,97,1051,0.15,0.00,0.00,0.000,6,0.064,0.000,2697,2135,3733,0,0,0,0,0,0
$GC,1309,-1.79,-132.2,178.8,-10.4,122,1313,0.00,2.58,0.00,0.000,4,0.000,0.054,2697,574,3733,0,0,0,0,0,0
$GC,1344,-1.84,-132.2,181.9,-10.2,124,1348,0.00,2.38,0.00,0.000,6,0.000,0.028,2697,2119,3734,0,0,0,0,0,0
$GC,1603,-1.90,-136.1,208.6,-9.7,142,1607,0.00,2.53,0.00,0.000,4,0.000,0.037,2697,3722,3734,0,0,0,0,0,0
$GC,1632,-1.96,-136.1,211.6,-10.2,142,1637,0.15,2.50,0.00,0.000,6,0.062,0.022,2642,2118,3733,0,0,0,0,0,0
$GC,1881,-1.96,-136.1,240.6,-11.6,148,1887,0.10,2.58,0.00,0.000,4,0.121,0.038,2663,3715,3733,0,0,0,0,0,0
$GC,1903,-1.96,-136.1,243.1,-11.2,148,1907,0.00,2.50,0.00,0.000,6,0.000,0.030,2663,2124,3733,0,0,0,0,0,0
$GC,2160,-1.96,-136.1,270.0,-10.4,155,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2124,3732,0,0,0,0,0,0
$GC,2402,-1.96,-136.1,295.6,-10.5,161,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2124,3732,0,0,0,0,0,0
$STATE,2482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2483,begin apogee
$GC,2488,-0.31,0.0,304.1,10.4,163,2595,1.60,0.00,103.00,0.714,6,0.084,0.000,3020,2124,3190,0,0,0,0,0,0
$STATE,2596,end apogee,CONTROL_FINISHED_OK
$STATE,2596,begin climb
$GC,2598,1.54,136.1,305.4,0.0,165,2717,1.62,2.85,105.82,0.702,4,0.028,0.071,3433,530,2634,0,0,0,0,0,0
$GC,2728,1.34,136.1,296.5,15.6,168,2734,0.25,2.50,0.00,0.000,6,0.124,0.029,3384,2088,2633,0,0,0,0,0,0
$GC,3008,1.25,136.1,257.7,13.8,175,3014,0.12,2.62,0.00,0.000,4,0.285,0.042,3362,3683,2629,0,0,0,0,0,0
$GC,3268,1.18,136.1,224.8,12.2,180,3274,0.00,2.53,0.00,0.000,6,0.000,0.034,3362,2122,2627,0,0,0,0,0,0
$GC,3518,1.18,136.1,196.8,10.9,187,3522,0.00,2.53,0.00,0.000,4,0.000,0.044,3362,3682,2626,0,0,0,0,0,0
$GC,3785,1.18,136.1,168.1,10.1,209,3790,0.00,2.45,0.00,0.000,6,0.000,0.030,3362,2154,2625,0,0,0,0,0,0
$GC,4047,1.24,186.3,148.5,6.5,234,4095,0.00,2.78,40.22,0.609,4,0.000,0.053,3362,519,2429,0,0,0,0,0,0
$GC,4114,1.26,205.9,144.0,8.6,239,4138,0.00,2.58,17.67,0.573,6,0.000,0.027,3361,2163,2350,0,0,0,0,0,0
$GC,4393,1.32,205.9,115.7,10.1,265,4398,0.00,2.42,0.00,0.000,4,0.000,0.043,3361,3681,2345,0,0,0,0,0,0
$GC,4550,1.41,210.2,100.1,9.7,277,4561,0.15,2.42,4.22,0.387,6,0.073,0.034,3404,2157,2332,0,0,0,0,0,0
$GC,4821,1.45,241.8,77.1,7.8,302,4854,0.00,2.50,27.70,0.542,4,0.000,0.043,3405,3690,2203,0,0,0,0,0,0
$GC,4990,1.45,241.8,59.7,11.0,315,4994,0.00,2.45,0.00,0.000,6,0.000,0.026,3405,2155,2200,0,0,0,0,0,0
$GC,5258,1.50,241.8,32.0,10.6,339,5262,0.00,2.47,0.00,0.000,4,0.000,0.035,3405,3690,2200,0,0,0,0,0,0
$GC,5448,1.50,241.8,10.1,12.5,365,5457,0.00,2.40,0.00,0.000,6,0.000,0.027,3404,2194,2199,0,0,0,0,0,0
$STATE,5499,end climb,SURFACE_DEPTH_REACHED
$STATE,5499,begin surface coast
$FINISH,0.6,1.022886
$STATE,5548,end surface coast,CONTROL_FINISHED_OK
$STATE,5548,begin surface
$SM_CCo,5571,44.45,0.487,0,0,1967,300.00
$SM_GC,1.19,0.00,0.00,44.45,0.000,0.000,0.487,474,2107,1967,-12.03,-1.22,300.00
$IRIDIUM_FIX,1925.22,-8030.38,130402,202011
$TT8_MAMPS,0.025311
$HUMID,58.74
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,25.40
$XPDR_PINGS,20
$24V_AH,23.6,1.614
$10V_AH,10.6,1.356
$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,28.600,65.575,298.650,44.450,0.000,29.028,41.081,186.340,5.000,0.000,45.197,744.546,2849.905,369.347,1583.598,492.033,33.342,892.435,0.000,1560.470,0.000,0.538,0.000
$DEVICE_MAMPS,284.557,115.817,714.077,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,253.273,271.301,349.819,550.226,1048.777,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,28934,379
$CAP_FILE_SIZE,67405,0
$CFSIZE,260165632,127979520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170113,234100,1922.587,-8112.299,8,2.0,26,-3.8