version: 66.06
glider: 148
mission: 12
dive: 9
start: 5 24 113 6 38 9
data:
$ID,148
$MISSION,12
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,340
$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,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015115.2
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3420
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,87
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2980
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,063136,2247.171,-15800.176,36,1.6,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-77.9
$GPS2,063717,2247.241,-15800.142,16,1.8,26,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAL2
$TGT_LATLONG,2243.400,-15800.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.048,-0.255
$KALMAN_X,-453.6,-213.5,490.9,37.0,110.9
$KALMAN_Y,3124.4,582.6,267.7,198.9,559.8
$MHEAD_RNG_PITCHd_Wd,180.6,7231,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,79,0.00,0.00,-59.88,0.000,2,0.000,0.000,410,1565,2986,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.3,-5.8,8,115,14.52,2.33,-10.10,0.000,4,0.160,0.054,3136,169,3576,0,0,0,0,0,0
$GC,133,-0.36,-146.0,20.4,-31.8,14,142,0.88,2.17,0.00,0.000,6,0.083,0.019,3334,1566,3576,0,0,0,0,0,0
$GC,428,-1.13,-146.0,38.1,-8.4,51,437,0.65,0.00,0.00,0.000,6,0.052,0.000,3169,1569,3576,0,0,0,0,0,0
$GC,695,-1.04,-146.0,70.7,-13.1,76,704,0.10,0.00,0.00,0.000,6,0.120,0.000,3191,1569,3576,0,0,0,0,0,0
$GC,959,-1.04,-146.0,101.1,-10.1,101,964,0.00,2.53,0.00,0.000,4,0.000,0.025,3191,3178,3577,0,0,0,0,0,0
$GC,989,-1.12,-146.0,103.9,-9.6,103,993,0.00,2.55,0.00,0.000,6,0.000,0.037,3191,1584,3577,0,0,0,0,0,0
$GC,1255,-1.12,-146.0,130.3,-9.6,127,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1584,3577,0,0,0,0,0,0
$GC,1517,-1.12,-146.0,155.0,-9.4,152,1521,0.00,2.47,0.00,0.000,4,0.000,0.025,3191,3173,3578,0,0,0,0,0,0
$GC,1557,-1.32,-146.0,158.6,-8.3,155,1563,0.25,2.53,0.00,0.000,6,0.040,0.031,3103,1595,3577,0,0,0,0,0,0
$GC,1820,-1.13,-146.0,197.0,-14.7,180,1830,0.32,0.00,0.00,0.000,6,0.090,0.000,3174,1595,3577,0,0,0,0,0,0
$GC,2091,-1.13,-146.0,224.0,-9.6,189,2096,0.00,2.47,0.00,0.000,4,0.000,0.026,3174,3181,3577,0,0,0,0,0,0
$GC,2111,-1.22,-146.0,225.7,-8.8,189,2116,0.00,2.55,0.00,0.000,6,0.000,0.029,3174,1588,3577,0,0,0,0,0,0
$GC,2376,-1.29,-146.0,248.5,-8.7,196,2378,0.15,0.00,0.00,0.000,6,0.058,0.000,3113,1588,3577,0,0,0,0,0,0
$GC,2619,-1.19,-146.0,278.4,-12.5,202,2624,0.20,2.55,0.00,0.000,4,0.094,0.029,3158,3178,3577,0,0,0,0,0,0
$GC,2639,-1.19,-146.0,280.6,-10.3,202,2644,0.00,2.53,0.00,0.000,6,0.000,0.030,3158,1599,3577,0,0,0,0,0,0
$STATE,2901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2901,begin apogee
$GC,2907,-0.31,0.0,302.3,8.1,209,3023,0.82,0.00,111.80,0.655,6,0.068,0.000,3351,1412,2980,0,0,0,0,0,0
$STATE,3024,end apogee,CONTROL_FINISHED_OK
$STATE,3024,begin climb
$GC,3027,1.27,146.0,307.8,0.0,212,3151,1.42,2.12,115.47,0.655,4,0.033,0.065,3705,183,2382,0,0,0,0,0,0
$GC,3418,0.84,208.9,296.5,7.1,220,3476,0.45,1.95,51.65,0.645,6,0.106,0.032,3603,1420,2127,0,0,0,0,0,0
$GC,3766,0.86,229.4,267.4,9.1,229,3790,0.00,2.17,17.50,0.602,4,0.000,0.057,3603,184,2043,0,0,0,0,0,0
$GC,3967,0.81,257.0,247.9,8.7,233,3997,0.00,1.90,24.52,0.609,6,0.000,0.024,3603,1421,1931,0,0,0,0,0,0
$GC,4281,0.82,262.3,218.5,9.8,241,4288,0.00,0.00,5.40,0.462,6,0.000,0.000,3603,1421,1910,0,0,0,0,0,0
$GC,4528,0.83,272.0,195.1,9.6,250,4544,0.00,0.00,10.00,0.533,6,0.000,0.000,3603,1421,1869,0,0,0,0,0,0
$GC,4803,0.92,294.1,168.8,9.0,276,4828,0.00,2.58,19.55,0.558,4,0.000,0.030,3603,2983,1780,0,0,0,0,0,0
$GC,4859,1.09,304.0,163.2,9.5,281,4877,0.22,2.55,9.75,0.509,6,0.045,0.036,3673,1428,1739,0,0,0,0,0,0
$GC,5132,1.00,304.0,129.0,13.0,307,5136,0.17,2.10,0.00,0.000,4,0.105,0.051,3636,163,1736,0,0,0,0,0,0
$GC,5163,1.00,304.0,124.4,13.3,309,5168,0.00,1.95,0.00,0.000,6,0.000,0.021,3636,1434,1736,0,0,0,0,0,0
$GC,5426,1.00,304.0,94.1,12.0,334,5430,0.00,2.12,0.00,0.000,4,0.000,0.051,3636,164,1736,0,0,0,0,0,0
$GC,5467,1.00,304.0,88.7,13.1,337,5472,0.00,1.92,0.00,0.000,6,0.000,0.021,3636,1428,1736,0,0,0,0,0,0
$GC,5735,1.02,318.1,62.2,9.4,362,5754,0.00,0.00,12.68,0.461,6,0.000,0.000,3636,1431,1683,0,0,0,0,0,0
$GC,6012,1.15,355.7,35.3,8.3,388,6050,0.15,0.00,33.15,0.469,6,0.061,0.000,3693,1431,1528,0,0,0,0,0,0
$STATE,6267,end climb,SURFACE_DEPTH_REACHED
$STATE,6267,begin surface coast
$FINISH,0.4,1.023171
$STATE,6308,end surface coast,CONTROL_FINISHED_OK
$STATE,6308,begin surface
$SM_CCo,6332,19.48,0.430,0,0,1430,380.21
$SM_GC,1.79,0.00,0.00,19.48,0.000,0.000,0.430,415,1617,1430,-13.82,0.48,380.21
$IRIDIUM_FIX,2239.35,-15802.37,180802,040438
$TT8_MAMPS,0.027612
$HUMID,66.06
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,22.40
$XPDR_PINGS,53
$24V_AH,23.6,1.079
$10V_AH,10.0,0.968
$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,33.650,46.525,411.475,19.475,0.000,29.230,38.014,146.402,13.250,0.000,28.363,817.620,3304.485,411.110,1745.028,420.349,33.331,1029.256,0.000,1746.784,0.000,0.539,0.000
$DEVICE_MAMPS,160.303,65.195,655.018,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,289.271,310.108,392.462,843.270,1147.310,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,35066,431
$CAP_FILE_SIZE,74822,0
$CFSIZE,260165632,171573248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,082505,2246.591,-15800.341,12,1.1,23,10.1