version: 66.06
glider: 148
mission: 9
dive: 86
start: 11 22 110 12 44 9
data:
$ID,148
$MISSION,9
$DIVE,86
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,4
$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,166
$T_MISSION,350
$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,52499
$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,450
$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,-859220.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2900
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3070
$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,-11.449877
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,122806,2253.391,-15742.324,28,1.0,28,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-63.5
$GPS2,124314,2253.433,-15742.298,12,1.3,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,0.245
$KALMAN_X,-48018.6,-322.6,109.3,95672.3,-787.9
$KALMAN_Y,18951.2,-958.6,-431.2,118669.7,-1294.7
$MHEAD_RNG_PITCHd_Wd,9.2,8473,-17.6,-10.040
$D_GRID,500
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.28,-145.8,0.0,0.0,0,133,0.00,0.00,-112.45,0.000,2,0.000,0.000,408,1724,3371,0,0,0,0,0,0
$GC,137,-1.28,-146.0,3.5,-4.8,15,162,12.05,2.60,-5.32,0.000,4,0.169,0.037,2613,3362,3668,0,0,0,0,0,0
$GC,239,-1.28,-146.0,28.5,-13.6,30,247,0.00,2.50,0.00,0.000,6,0.000,0.023,2613,1803,3669,0,0,0,0,0,0
$GC,515,-1.19,-146.0,68.3,-14.3,56,523,0.12,0.00,0.00,0.000,6,0.118,0.000,2639,1804,3669,0,0,0,0,0,0
$GC,783,-1.26,-146.0,97.1,-9.8,81,788,0.00,2.45,0.00,0.000,4,0.000,0.028,2638,3357,3670,0,0,0,0,0,0
$GC,844,-1.43,-146.0,102.5,-6.8,86,853,0.17,2.53,0.00,0.000,6,0.022,0.023,2535,1771,3669,0,0,0,0,0,0
$GC,1109,-1.26,-146.0,139.6,-14.5,111,1118,0.38,2.53,0.00,0.000,4,0.091,0.036,2621,191,3669,0,0,0,0,0,0
$GC,1161,-1.46,-146.0,146.2,-10.4,116,1166,0.17,2.45,0.00,0.000,6,0.051,0.018,2546,1785,3670,0,0,0,0,0,0
$GC,1422,-1.34,-146.0,182.0,-13.7,140,1424,0.28,0.00,0.00,0.000,6,0.091,0.000,2606,1788,3670,0,0,0,0,0,0
$GC,1696,-1.41,-146.0,207.5,-8.9,160,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1788,3670,0,0,0,0,0,0
$GC,1939,-1.50,-146.0,230.0,-9.0,166,1944,0.15,2.45,0.00,0.000,4,0.058,0.029,2546,3336,3670,0,0,0,0,0,0
$GC,1971,-1.50,-146.0,233.9,-11.8,166,1976,0.12,2.50,0.00,0.000,6,0.108,0.023,2572,1756,3670,0,0,0,0,0,0
$GC,2222,-1.50,-146.0,260.0,-10.3,172,2226,0.00,2.53,0.00,0.000,4,0.000,0.031,2572,3335,3670,0,0,0,0,0,0
$GC,2240,-1.50,-146.0,262.2,-10.6,172,2245,0.00,2.50,0.00,0.000,6,0.000,0.023,2573,1748,3670,0,0,0,0,0,0
$GC,2504,-1.50,-146.0,289.1,-10.5,179,2508,0.00,2.55,0.00,0.000,4,0.000,0.032,2572,3334,3669,0,0,0,0,0,0
$GC,2552,-1.56,-146.0,294.1,-10.0,180,2556,0.00,2.47,0.00,0.000,6,0.000,0.025,2573,1767,3669,0,0,0,0,0,0
$GC,2834,-1.56,-146.0,325.4,-11.4,187,2838,0.00,2.60,0.00,0.000,4,0.000,0.047,2572,186,3668,0,0,0,0,0,0
$GC,2877,-1.64,-146.0,330.3,-11.3,188,2882,0.12,2.45,0.00,0.000,6,0.066,0.024,2514,1753,3668,0,0,0,0,0,0
$GC,3166,-1.52,-146.0,366.7,-12.4,195,3171,0.25,2.58,0.00,0.000,4,0.094,0.036,2572,3348,3666,0,0,0,0,0,0
$GC,3204,-1.60,-146.0,370.7,-8.3,195,3211,0.10,2.53,0.00,0.000,6,0.078,0.027,2496,1767,3666,0,0,0,0,0,0
$GC,3456,-1.45,-146.0,400.3,-12.2,202,3463,0.35,2.62,0.00,0.000,4,0.091,0.054,2578,190,3665,0,0,0,0,0,0
$GC,3482,-1.51,-146.0,403.5,-10.3,202,3486,0.00,2.47,0.00,0.000,6,0.000,0.026,2578,1757,3665,0,0,0,0,0,0
$GC,3742,-1.60,-146.0,422.4,-7.0,209,3747,0.12,2.60,0.00,0.000,4,0.067,0.042,2526,3350,3663,0,0,0,0,0,0
$GC,3800,-1.60,-146.0,427.7,-9.4,210,3805,0.10,2.55,0.00,0.000,6,0.117,0.031,2549,1765,3663,0,0,0,0,0,0
$GC,4073,-1.60,-146.0,454.1,-9.9,217,4078,0.00,2.62,0.00,0.000,4,0.000,0.047,2549,3353,3661,0,0,0,0,0,0
$GC,4093,-1.60,-146.0,456.3,-11.4,217,4098,0.00,2.58,0.00,0.000,6,0.000,0.031,2549,1764,3661,0,0,0,0,0,0
$GC,4357,-1.60,-146.0,481.9,-9.4,224,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1764,3659,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4604,-0.31,0.0,502.8,8.4,230,4726,1.25,0.00,118.03,0.876,6,0.081,0.000,2830,1641,3070,0,0,0,0,0,0
$STATE,4727,end apogee,CONTROL_FINISHED_OK
$STATE,4727,begin climb
$GC,4730,1.28,146.0,506.5,0.0,233,4863,1.42,2.58,122.70,0.858,4,0.028,0.068,3187,184,2473,0,0,0,0,0,0
$GC,5130,0.73,146.0,468.5,14.4,242,5137,0.62,2.35,0.00,0.000,6,0.121,0.028,3062,1648,2464,0,0,0,0,0,0
$GC,5423,0.68,185.7,443.9,8.2,249,5465,0.00,2.60,33.47,0.818,4,0.000,0.057,3062,184,2313,0,0,0,0,0,0
$GC,5596,0.54,185.7,425.0,11.5,252,5601,0.22,2.35,0.00,0.000,6,0.110,0.027,3016,1648,2308,0,0,0,0,0,0
$GC,5846,0.60,235.2,404.7,7.7,258,5891,0.00,0.00,43.28,0.809,6,0.000,0.000,3016,1647,2111,0,0,0,0,0,0
$GC,6130,0.73,271.0,381.2,8.4,265,6166,0.17,0.00,31.30,0.782,6,0.054,0.000,3079,1648,1964,0,0,0,0,0,0
$GC,6417,0.73,271.0,346.5,12.3,272,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1648,1957,0,0,0,0,0,0
$GC,6659,0.73,271.0,318.9,11.1,278,6664,0.00,2.50,0.00,0.000,4,0.000,0.054,3079,176,1954,0,0,0,0,0,0
$GC,6702,0.64,271.0,313.6,13.1,279,6707,0.20,2.33,0.00,0.000,6,0.107,0.025,3038,1645,1954,0,0,0,0,0,0
$GC,6992,0.75,300.7,287.8,8.7,286,7025,0.10,2.53,25.12,0.718,4,0.079,0.053,3082,176,1842,0,0,0,0,0,0
$GC,7036,0.68,300.7,283.1,11.0,287,7041,0.17,2.35,0.00,0.000,6,0.107,0.023,3047,1643,1841,0,0,0,0,0,0
$GC,7325,0.74,300.7,254.3,10.3,294,7329,0.00,2.60,0.00,0.000,4,0.000,0.041,3047,3221,1836,0,0,0,0,0,0
$GC,7368,0.86,300.7,249.1,11.6,295,7373,0.17,2.58,0.00,0.000,6,0.052,0.031,3115,1645,1834,0,0,0,0,0,0
$GC,7657,0.75,300.7,206.9,14.4,302,7659,0.25,0.00,0.00,0.000,6,0.101,0.000,3063,1645,1833,0,0,0,0,0,0
$GC,7906,0.75,300.7,181.8,10.4,320,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1645,1832,0,0,0,0,0,0
$GC,8163,0.76,315.4,155.9,9.4,344,8184,0.00,0.00,11.98,0.575,6,0.000,0.000,3063,1645,1783,0,0,0,0,0,0
$GC,8437,0.83,315.4,127.7,11.0,370,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1645,1781,0,0,0,0,0,0
$GC,8692,0.91,315.4,102.1,11.2,394,8698,0.15,2.58,0.00,0.000,4,0.059,0.034,3126,3236,1781,0,0,0,0,0,0
$GC,8731,0.91,315.4,97.2,13.3,397,8737,0.12,2.58,0.00,0.000,6,0.114,0.029,3100,1630,1779,0,0,0,0,0,0
$GC,8997,0.96,350.7,73.5,8.4,421,9040,0.00,2.62,31.17,0.545,4,0.000,0.032,3100,3229,1638,0,0,0,0,0,0
$GC,9045,0.96,350.7,68.5,10.1,425,9054,0.00,2.60,0.00,0.000,6,0.000,0.025,3100,1639,1637,0,0,0,0,0,0
$GC,9310,1.01,393.7,41.7,8.0,450,9353,0.00,2.62,36.40,0.514,4,0.000,0.031,3100,3235,1464,0,0,0,0,0,0
$GC,9370,1.05,424.0,36.2,8.6,455,9406,0.12,2.53,26.45,0.499,6,0.067,0.021,3156,1639,1340,0,0,0,0,0,0
$STATE,9559,end climb,SURFACE_DEPTH_REACHED
$STATE,9559,begin surface coast
$FINISH,0.6,1.023652
$STATE,9586,end surface coast,CONTROL_FINISHED_OK
$STATE,9586,begin surface
$SM_CCo,9608,24.52,0.317,1,0,1234,450.13
$SM_GC,1.58,0.00,0.00,24.52,0.000,0.000,0.317,410,1864,1234,-11.45,2.66,450.13
$IRIDIUM_FIX,2244.02,-15738.46,160200,121214
$TT8_MAMPS,0.027612
$HUMID,41.41
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,15.242
$10V_AH,10.4,12.664
$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,30.500,96.300,479.900,24.525,0.000,60.973,85.845,546.454,0.250,0.000,14.203,979.985,6214.243,521.992,1863.897,959.701,33.364,1322.000,0.000,1862.126,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,71.331,875.914,316.771,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.965,292.493,378.303,566.932,1003.257,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,38576,486
$CAP_FILE_SIZE,112971,0
$CFSIZE,260165632,167075840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221110,152558,2254.582,-15742.063,12,2.8,31,10.1