version: 66.06
glider: 146
mission: 8
dive: 16
start: 1 18 113 23 20 22
data:
$ID,146
$MISSION,8
$DIVE,16
$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,-307573.38
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,231333,1924.545,-8119.180,8,2.1,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-74.2
$GPS2,231929,1924.499,-8119.167,35,1.3,51,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP1
$TGT_LATLONG,1926.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.023
$KALMAN_X,-24807.2,-19.9,2636.2,12036.9,-1381.6
$KALMAN_Y,12573.0,119.4,-177.8,-7265.7,363.3
$MHEAD_RNG_PITCHd_Wd,98.7,3448,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.53,0.000,2,0.000,0.000,481,2093,3617,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.7,-9.0,9,121,12.85,2.65,-2.78,0.000,4,0.174,0.062,2789,525,3788,0,0,0,0,0,0
$GC,133,0.04,-146.0,23.2,-47.1,13,143,1.40,2.45,0.00,0.000,6,0.123,0.015,3076,2126,3789,0,0,0,0,0,0
$GC,413,0.13,-146.0,71.5,-15.2,39,418,0.12,2.42,0.00,0.000,4,0.131,0.031,3101,3645,3788,0,0,0,0,0,0
$GC,461,0.13,-146.0,79.0,-13.7,42,465,0.00,2.42,0.00,0.000,6,0.000,0.024,3101,2104,3788,0,0,0,0,0,0
$GC,725,0.13,-146.0,111.1,-10.3,66,734,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2104,3788,0,0,0,0,0,0
$GC,990,0.07,-146.0,136.3,-9.3,91,995,0.00,2.60,0.00,0.000,4,0.000,0.053,3101,521,3789,0,0,0,0,0,0
$GC,1050,-0.01,-146.0,142.2,-9.2,95,1056,0.12,2.42,0.00,0.000,6,0.072,0.021,3053,2111,3788,0,0,0,0,0,0
$GC,1313,-0.01,-146.0,168.8,-8.7,120,1317,0.00,2.47,0.00,0.000,4,0.000,0.038,3053,3674,3788,0,0,0,0,0,0
$GC,1343,-0.01,-146.0,171.5,-9.1,122,1348,0.00,2.40,0.00,0.000,6,0.000,0.029,3053,2120,3788,0,0,0,0,0,0
$GC,1606,-0.01,-146.0,195.0,-8.7,146,1610,0.00,2.47,0.00,0.000,4,0.000,0.035,3053,3671,3788,0,0,0,0,0,0
$GC,1628,-0.01,-146.0,197.4,-9.4,147,1638,0.00,2.42,0.00,0.000,6,0.000,0.026,3053,2135,3788,0,0,0,0,0,0
$GC,1912,-0.01,-146.0,220.9,-8.2,157,1916,0.00,2.42,0.00,0.000,4,0.000,0.035,3053,3664,3787,0,0,0,0,0,0
$GC,1928,-0.01,-146.0,222.5,-8.3,157,1932,0.00,2.38,0.00,0.000,6,0.000,0.023,3053,2135,3787,0,0,0,0,0,0
$GC,2196,-0.05,-146.0,245.1,-8.6,164,2200,0.00,2.45,0.00,0.000,4,0.000,0.045,3053,3669,3787,0,0,0,0,0,0
$GC,2242,-0.11,-146.0,249.1,-9.0,165,2246,0.00,2.40,0.00,0.000,6,0.000,0.031,3053,2144,3787,0,0,0,0,0,0
$GC,2520,-0.15,-146.0,272.4,-8.4,172,2524,0.00,2.45,0.00,0.000,4,0.000,0.046,3053,3668,3786,0,0,0,0,0,0
$GC,2544,-0.19,-146.0,274.3,-8.3,172,2548,0.00,2.40,0.00,0.000,6,0.000,0.024,3053,2147,3785,0,0,0,0,0,0
$GC,2799,-0.24,-146.0,294.5,-7.8,179,2804,0.12,2.45,0.00,0.000,4,0.071,0.041,3007,3660,3784,0,0,0,0,0,0
$GC,2815,-0.24,-146.0,296.1,-7.7,179,2819,0.00,2.40,0.00,0.000,6,0.000,0.026,3007,2143,3784,0,0,0,0,0,0
$STATE,2870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2870,begin apogee
$GC,2877,-0.31,0.0,301.5,9.6,181,2992,0.00,0.00,112.55,0.723,6,0.000,0.000,3006,2143,3190,0,0,0,0,0,0
$STATE,2993,end apogee,CONTROL_FINISHED_OK
$STATE,2993,begin climb
$GC,2995,1.27,146.0,311.2,0.0,184,3114,1.55,0.00,114.82,0.706,6,0.076,0.000,3348,2143,2594,0,0,0,0,0,0
$GC,3357,1.92,250.1,296.8,5.2,193,3455,0.55,2.65,85.30,0.696,4,0.045,0.046,3501,3729,2168,0,0,0,0,0,0
$GC,3562,2.11,266.4,279.1,9.2,197,3582,0.15,2.45,14.50,0.629,6,0.067,0.035,3544,2208,2103,0,0,0,0,0,0
$GC,3859,2.21,266.4,248.9,10.4,205,3863,0.00,2.50,0.00,0.000,4,0.000,0.047,3544,3739,2099,0,0,0,0,0,0
$GC,3908,2.31,266.4,242.7,11.5,206,3913,0.15,2.45,0.00,0.000,6,0.065,0.029,3590,2212,2098,0,0,0,0,0,0
$GC,4182,2.31,266.4,208.2,12.6,213,4186,0.00,2.47,0.00,0.000,4,0.000,0.046,3590,3734,2097,0,0,0,0,0,0
$GC,4225,2.31,266.4,202.3,13.0,214,4230,0.00,2.42,0.00,0.000,6,0.000,0.038,3590,2219,2096,0,0,0,0,0,0
$GC,4496,2.35,266.4,170.7,11.5,237,4500,0.00,2.45,0.00,0.000,4,0.000,0.045,3590,3735,2096,0,0,0,0,0,0
$GC,4596,2.40,266.4,159.1,11.8,245,4600,0.00,2.40,0.00,0.000,6,0.000,0.029,3590,2234,2095,0,0,0,0,0,0
$GC,4863,2.51,295.5,133.3,8.7,269,4896,0.12,2.45,24.12,0.589,4,0.073,0.036,3631,3733,1985,0,0,0,0,0,0
$GC,4927,2.51,295.5,125.7,12.0,274,4936,0.00,2.40,0.00,0.000,6,0.000,0.027,3631,2261,1984,0,0,0,0,0,0
$GC,5193,2.59,306.1,98.4,9.5,299,5212,0.00,0.00,10.62,0.521,6,0.000,0.000,3631,2261,1940,0,0,0,0,0,0
$GC,5473,2.69,324.2,73.1,9.2,325,5502,0.12,2.45,16.38,0.529,4,0.076,0.044,3671,3732,1867,0,0,0,0,0,0
$GC,5595,2.69,324.2,58.8,12.5,334,5599,0.00,2.33,0.00,0.000,6,0.000,0.025,3671,2260,1866,0,0,0,0,0,0
$GC,5865,2.69,324.2,27.6,12.2,359,5874,0.00,2.40,0.00,0.000,4,0.000,0.033,3671,3737,1866,0,0,0,0,0,0
$GC,5983,2.69,324.2,11.8,12.9,376,5992,0.00,2.33,0.00,0.000,6,0.000,0.025,3671,2283,1866,0,0,0,0,0,0
$STATE,6053,end climb,SURFACE_DEPTH_REACHED
$STATE,6053,begin surface coast
$FINISH,0.6,1.023237
$STATE,6109,end surface coast,CONTROL_FINISHED_OK
$STATE,6109,begin surface
$SM_CCo,6194,0.00,0.000,0,0,1858,326.74
$SM_GC,1.56,12.80,0.00,0.00,0.024,0.000,0.000,468,2060,1858,-11.89,-1.13,326.74
$IRIDIUM_FIX,1906.95,-8124.43,140402,232318
$TT8_MAMPS,0.025311
$HUMID,58.70
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,25.10
$XPDR_PINGS,26
$24V_AH,23.6,2.941
$10V_AH,10.6,2.241
$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,30.075,78.525,378.300,0.000,0.000,0.000,0.000,0.000,6.500,0.000,53.104,773.956,3343.196,435.928,1574.276,174.265,33.339,978.624,0.000,1539.646,0.000,0.539,0.000
$DEVICE_MAMPS,174.109,62.127,722.514,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.797,267.975,349.698,532.461,1014.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356084
$DATA_FILE_SIZE,32167,394
$CAP_FILE_SIZE,81030,0
$CFSIZE,260165632,127639552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190113,010536,1924.698,-8118.021,81,1.0,82,-3.7