version: 66.06
glider: 146
mission: 8
dive: 15
start: 1 18 113 22 3 46
data:
$ID,146
$MISSION,8
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,400
$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,66
$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,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,-307487.69
$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,3075
$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,2100
$C_ROLL_CLIMB,2170
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,53
$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
$GPS1,215117,1924.441,-8119.710,11,99.0,31,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.8
$GPS2,220255,1924.374,-8119.684,13,1.3,32,-3.7
$SPEED_LIMITS,0.144,0.261
$TGT_NAME,DEEP1
$TGT_LATLONG,1926.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,0.108
$KALMAN_X,-24995.5,765.0,2666.3,10660.1,-2961.0
$KALMAN_Y,12354.3,352.9,-104.6,-7601.9,392.1
$MHEAD_RNG_PITCHd_Wd,69.3,4208,-17.7,-10.101
$D_GRID,200
$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,-1.28,-146.0,0.0,0.0,0,84,0.00,0.00,-63.05,0.000,2,0.000,0.000,479,2069,3538,0,0,0,0,0,0
$GC,87,-1.28,-146.0,3.6,-5.0,8,113,12.62,2.53,-4.43,0.000,4,0.170,0.053,2785,548,3787,0,0,0,0,0,0
$GC,190,-0.69,-146.0,41.1,-31.4,20,196,0.68,2.38,0.00,0.000,6,0.122,0.016,2922,2114,3787,0,0,0,0,0,0
$GC,453,-0.38,-146.0,110.4,-20.6,44,458,0.30,2.42,0.00,0.000,4,0.098,0.028,2990,3667,3786,0,0,0,0,0,0
$GC,503,-0.25,-146.0,118.6,-17.3,47,508,0.12,2.42,0.00,0.000,6,0.112,0.028,3019,2114,3786,0,0,0,0,0,0
$GC,765,-0.18,-146.0,153.8,-12.0,71,770,0.00,2.60,0.00,0.000,4,0.000,0.051,3019,530,3787,0,0,0,0,0,0
$GC,808,-0.10,-146.0,158.9,-12.6,74,813,0.15,2.40,0.00,0.000,6,0.104,0.023,3053,2114,3786,0,0,0,0,0,0
$GC,1071,-0.10,-146.0,182.7,-9.0,98,1075,0.00,2.42,0.00,0.000,4,0.000,0.041,3052,3660,3786,0,0,0,0,0,0
$GC,1106,-0.10,-146.0,185.4,-9.1,100,1110,0.00,2.40,0.00,0.000,6,0.000,0.021,3053,2108,3786,0,0,0,0,0,0
$STATE,1272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1273,begin apogee
$GC,1278,-0.31,0.0,200.9,9.0,115,1392,0.20,0.00,111.40,0.636,6,0.051,0.000,2985,2108,3190,0,0,0,0,0,0
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1395,1.28,146.0,212.8,0.0,118,1521,1.62,2.58,111.93,0.624,4,0.076,0.056,3349,596,2593,0,0,0,0,0,0
$GC,1538,1.96,266.8,211.1,4.5,121,1649,0.62,2.45,97.45,0.616,6,0.037,0.026,3514,2176,2101,0,0,0,0,0,0
$GC,1901,2.19,303.8,182.9,8.4,142,1939,0.15,2.60,31.38,0.591,4,0.068,0.040,3559,3730,1951,0,0,0,0,0,0
$GC,2067,2.33,303.8,164.2,11.0,156,2072,0.10,2.45,0.00,0.000,6,0.091,0.031,3590,2197,1948,0,0,0,0,0,0
$GC,2330,2.44,312.5,136.5,9.7,180,2344,0.00,2.50,8.43,0.505,4,0.000,0.040,3590,3730,1915,0,0,0,0,0,0
$GC,2404,2.55,312.5,128.5,11.1,186,2409,0.17,2.45,0.00,0.000,6,0.059,0.036,3641,2190,1913,0,0,0,0,0,0
$GC,2665,2.60,312.5,98.5,10.4,210,2669,0.00,2.65,0.00,0.000,4,0.000,0.054,3641,587,1912,0,0,0,0,0,0
$GC,2685,2.64,312.5,96.7,10.6,211,2690,0.00,2.53,0.00,0.000,6,0.000,0.025,3641,2210,1911,0,0,0,0,0,0
$GC,2955,2.73,332.9,70.3,9.2,235,2984,0.12,2.50,18.10,0.520,4,0.077,0.035,3681,3736,1831,0,0,0,0,0,0
$GC,3049,2.73,332.9,59.3,12.5,242,3054,0.00,2.40,0.00,0.000,6,0.000,0.025,3681,2230,1830,0,0,0,0,0,0
$GC,3324,2.73,332.9,26.7,11.6,268,3333,0.00,2.45,0.00,0.000,4,0.000,0.035,3681,3736,1829,0,0,0,0,0,0
$STATE,3492,end climb,SURFACE_DEPTH_REACHED
$STATE,3494,begin surface coast
$FINISH,1.5,1.023162
$STATE,3502,end surface coast,CONTROL_FINISHED_OK
$STATE,3502,begin surface
$SM_CCo,3587,0.00,0.000,0,0,1821,335.82
$SM_GC,1.69,12.82,0.00,0.00,0.023,0.000,0.000,465,2096,1821,-11.89,-0.11,335.82
$IRIDIUM_FIX,1918.37,-8119.23,140402,222233
$TT8_MAMPS,0.025311
$HUMID,57.00
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.20
$XPDR_PINGS,14
$24V_AH,23.6,2.840
$10V_AH,10.6,2.144
$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,29.700,49.750,378.675,0.000,0.000,0.000,0.000,0.000,3.500,0.000,33.360,566.347,1382.788,374.402,1222.021,129.021,33.345,790.076,0.000,1210.771,0.000,0.539,0.000
$DEVICE_MAMPS,169.507,55.991,635.843,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,196.155,228.120,292.642,451.318,858.839,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356196
$DATA_FILE_SIZE,22701,294
$CAP_FILE_SIZE,212707,0
$CFSIZE,260165632,127578112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180113,230419,1924.623,-8119.187,8,2.0,8,-3.7