version: 66.06
glider: 148
mission: 9
dive: 87
start: 11 22 110 15 37 30
data:
$ID,148
$MISSION,9
$DIVE,87
$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,-859250.62
$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,41
$R_STBD_OVSHOOT,39
$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
$GPS1,152558,2254.582,-15742.063,12,2.8,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.6
$GPS2,153636,2254.637,-15742.051,11,1.7,27,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,0.234
$KALMAN_X,-47944.5,-378.9,-363.2,96544.5,333.6
$KALMAN_Y,18965.9,-501.4,-1204.2,121156.2,1615.7
$MHEAD_RNG_PITCHd_Wd,343.2,6229,-19.7,-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,17,-1.38,-117.7,0.0,0.0,0,103,0.00,0.00,-83.12,0.000,2,0.000,0.000,410,1865,3342,0,0,0,0,0,0
$GC,107,-1.41,-146.0,3.5,-5.7,11,132,11.62,2.40,-5.85,0.000,4,0.159,0.038,2588,3379,3667,0,0,0,0,0,0
$GC,184,-1.41,-146.0,25.5,-16.3,22,193,0.00,2.58,0.00,0.000,6,0.000,0.025,2587,1780,3668,0,0,0,0,0,0
$GC,459,-1.32,-146.0,69.4,-17.5,49,464,0.10,2.53,0.00,0.000,4,0.132,0.031,2608,3353,3669,0,0,0,0,0,0
$GC,491,-1.26,-146.0,75.7,-16.9,51,496,0.00,2.50,0.00,0.000,6,0.000,0.022,2608,1772,3669,0,0,0,0,0,0
$GC,758,-1.36,-146.0,115.1,-12.1,75,762,0.00,2.53,0.00,0.000,4,0.000,0.041,2608,193,3669,0,0,0,0,0,0
$GC,807,-1.53,-146.0,121.1,-12.7,79,813,0.17,2.47,0.00,0.000,6,0.051,0.018,2536,1799,3670,0,0,0,0,0,0
$GC,1073,-1.45,-146.0,157.5,-14.3,103,1079,0.22,0.00,0.00,0.000,6,0.097,0.000,2585,1803,3670,0,0,0,0,0,0
$GC,1337,-1.52,-146.0,189.1,-11.3,128,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1803,3671,0,0,0,0,0,0
$GC,1603,-1.62,-146.0,214.5,-8.6,142,1605,0.15,0.00,0.00,0.000,6,0.059,0.000,2525,1803,3671,0,0,0,0,0,0
$GC,1848,-1.53,-146.0,247.5,-13.9,148,1850,0.17,0.00,0.00,0.000,6,0.107,0.000,2563,1803,3671,0,0,0,0,0,0
$GC,2089,-1.53,-146.0,277.5,-12.2,154,2094,0.00,2.42,0.00,0.000,4,0.000,0.030,2563,3343,3671,0,0,0,0,0,0
$GC,2112,-1.53,-146.0,280.6,-12.6,154,2117,0.00,2.50,0.00,0.000,6,0.000,0.024,2563,1769,3671,0,0,0,0,0,0
$GC,2373,-1.61,-146.0,308.4,-10.5,161,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1770,3671,0,0,0,0,0,0
$GC,2615,-1.69,-146.0,332.9,-10.2,167,2617,0.15,0.00,0.00,0.000,6,0.059,0.000,2505,1770,3671,0,0,0,0,0,0
$GC,2859,-1.62,-146.0,364.2,-12.7,173,2864,0.17,2.60,0.00,0.000,4,0.105,0.050,2544,197,3670,0,0,0,0,0,0
$GC,2912,-1.73,-146.0,370.1,-9.5,174,2917,0.00,2.45,0.00,0.000,6,0.000,0.025,2544,1757,3670,0,0,0,0,0,0
$GC,3190,-1.79,-146.0,398.5,-10.5,181,3195,0.15,2.60,0.00,0.000,4,0.060,0.041,2486,3358,3669,0,0,0,0,0,0
$GC,3209,-1.79,-146.0,401.0,-12.1,181,3214,0.10,2.53,0.00,0.000,6,0.124,0.028,2506,1779,3669,0,0,0,0,0,0
$GC,3475,-1.79,-146.0,433.5,-12.1,188,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1779,3667,0,0,0,0,0,0
$GC,3717,-1.79,-146.0,461.1,-10.9,194,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1779,3666,0,0,0,0,0,0
$GC,3961,-1.79,-146.0,490.0,-12.2,200,3965,0.00,2.72,0.00,0.000,4,0.000,0.066,2507,190,3664,0,0,0,0,0,0
$GC,3979,-1.79,-146.0,492.6,-13.3,200,3984,0.00,2.55,0.00,0.000,6,0.000,0.035,2507,1761,3664,0,0,0,0,0,0
$STATE,4037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4037,begin apogee
$GC,4044,-0.31,0.0,500.2,12.5,202,4167,1.45,0.00,118.22,0.868,6,0.084,0.000,2829,1641,3070,0,0,0,0,0,0
$STATE,4167,end apogee,CONTROL_FINISHED_OK
$STATE,4168,begin climb
$GC,4170,1.41,146.0,506.5,0.0,205,4301,1.52,2.60,121.90,0.851,4,0.024,0.064,3221,188,2473,0,0,0,0,0,0
$GC,4568,0.89,146.0,470.2,15.5,213,4574,0.62,2.40,0.00,0.000,6,0.127,0.029,3097,1657,2464,0,0,0,0,0,0
$GC,4818,0.79,147.8,445.0,9.9,220,4823,0.12,2.55,0.00,0.000,4,0.135,0.058,3073,183,2461,0,0,0,0,0,0
$GC,5064,0.66,147.8,420.2,10.5,225,5069,0.15,2.35,0.00,0.000,6,0.127,0.026,3044,1643,2460,0,0,0,0,0,0
$GC,5333,0.74,214.0,402.4,6.2,232,5397,0.00,2.53,56.70,0.811,4,0.000,0.056,3044,187,2195,0,0,0,0,0,0
$GC,5426,0.74,214.0,395.0,10.1,234,5430,0.00,2.35,0.00,0.000,6,0.000,0.026,3044,1645,2192,0,0,0,0,0,0
$GC,5703,0.84,226.3,368.9,9.3,241,5717,0.15,0.00,10.77,0.709,6,0.061,0.000,3102,1646,2146,0,0,0,0,0,0
$GC,5946,0.84,226.3,341.6,11.1,247,5950,0.00,2.50,0.00,0.000,4,0.000,0.054,3103,178,2142,0,0,0,0,0,0
$GC,6006,0.72,226.3,333.6,13.4,248,6011,0.22,2.33,0.00,0.000,6,0.111,0.025,3057,1642,2141,0,0,0,0,0,0
$GC,6277,0.80,226.3,305.1,10.6,255,6281,0.00,2.47,0.00,0.000,4,0.000,0.053,3057,185,2139,0,0,0,0,0,0
$GC,6408,0.80,226.3,290.8,10.1,257,6413,0.00,2.30,0.00,0.000,6,0.000,0.024,3057,1631,2139,0,0,0,0,0,0
$GC,6659,0.91,243.5,267.8,9.1,264,6677,0.17,0.00,14.82,0.682,6,0.054,0.000,3124,1632,2077,0,0,0,0,0,0
$GC,6901,0.85,243.5,240.3,11.4,270,6903,0.20,0.00,0.00,0.000,6,0.107,0.000,3083,1634,2072,0,0,0,0,0,0
$GC,7145,0.87,264.1,217.8,8.9,276,7169,0.00,2.50,18.40,0.653,4,0.000,0.050,3083,189,1992,0,0,0,0,0,0
$GC,7231,0.87,264.1,208.6,11.7,277,7237,0.00,2.25,0.00,0.000,6,0.000,0.023,3083,1625,1990,0,0,0,0,0,0
$GC,7488,0.87,264.1,182.8,10.2,296,7492,0.00,2.60,0.00,0.000,4,0.000,0.036,3083,3220,1987,0,0,0,0,0,0
$GC,7576,0.99,264.1,174.2,10.4,304,7581,0.12,2.58,0.00,0.000,6,0.065,0.030,3150,1635,1986,0,0,0,0,0,0
$GC,7837,0.88,264.1,140.0,13.7,328,7842,0.25,2.40,0.00,0.000,4,0.110,0.044,3095,171,1986,0,0,0,0,0,0
$GC,7898,0.88,264.1,133.0,12.0,333,7902,0.00,2.28,0.00,0.000,6,0.000,0.021,3094,1628,1985,0,0,0,0,0,0
$GC,8163,0.88,264.1,102.9,10.2,357,8167,0.00,2.55,0.00,0.000,4,0.000,0.034,3094,3225,1985,0,0,0,0,0,0
$GC,8235,1.04,286.3,95.7,8.8,363,8262,0.12,2.58,20.02,0.553,6,0.064,0.028,3162,1625,1901,0,0,0,0,0,0
$GC,8519,1.04,286.3,67.2,12.5,390,8523,0.17,2.40,0.00,0.000,4,0.114,0.045,3127,170,1898,0,0,0,0,0,0
$GC,8574,1.04,286.3,60.8,11.9,394,8578,0.00,2.30,0.00,0.000,6,0.000,0.020,3127,1650,1897,0,0,0,0,0,0
$GC,8841,1.04,286.3,29.6,13.0,418,8849,0.00,2.45,0.00,0.000,4,0.000,0.043,3127,177,1897,0,0,0,0,0,0
$GC,8877,1.04,286.3,24.8,12.1,423,8885,0.00,2.28,0.00,0.000,6,0.000,0.020,3127,1626,1897,0,0,0,0,0,0
$STATE,9065,end climb,SURFACE_DEPTH_REACHED
$STATE,9065,begin surface coast
$FINISH,0.7,1.003597
$STATE,9110,end surface coast,CONTROL_FINISHED_OK
$STATE,9110,begin surface
$SM_CCo,9130,81.60,0.437,1,0,1234,450.13
$SM_GC,1.67,0.00,0.00,81.60,0.000,0.000,0.437,412,1857,1234,-11.45,2.46,450.13
$IRIDIUM_FIX,2241.69,-15948.82,160200,121243
$TT8_MAMPS,0.026845
$HUMID,40.39
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,15.364
$10V_AH,10.4,12.765
$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,29.300,89.275,360.850,81.600,0.000,22.351,31.562,440.654,0.500,0.000,29.284,956.895,5885.917,485.257,1778.916,751.778,33.362,1190.427,0.000,1774.915,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,67.496,868.244,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.395,285.719,358.031,534.506,939.340,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,35224,459
$CAP_FILE_SIZE,103164,0
$CFSIZE,260165632,167030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221110,181245,2256.099,-15742.219,37,2.3,56,10.1