version: 66.06
glider: 148
mission: 9
dive: 226
start: 12 9 110 0 26 41
data:
$ID,148
$MISSION,9
$DIVE,226
$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,-862703.5
$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,2860
$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,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$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
$GPS1,001936,2247.291,-15803.039,33,0.9,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-66.7
$GPS2,002544,2247.302,-15803.002,10,1.7,10,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.001,0.777
$KALMAN_X,-73830.8,267.7,233.9,85130.9,-7.3
$KALMAN_Y,8186.5,134.3,496.8,116020.1,-691.5
$MHEAD_RNG_PITCHd_Wd,350.0,4997,0.3,-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,-0.16,-146.0,0.0,0.0,0,103,0.00,0.00,-82.78,0.000,2,0.000,0.000,411,1849,3353,0,0,0,0,0,0
$GC,107,-0.16,-146.0,3.9,-6.8,11,132,12.65,2.70,-6.47,0.000,4,0.153,0.049,2818,201,3718,0,0,0,0,0,0
$GC,315,-0.16,-146.0,29.1,-9.5,43,324,0.00,2.50,0.00,0.000,6,0.000,0.018,2818,1824,3720,0,0,0,0,0,0
$GC,591,-0.24,-146.0,57.8,-10.9,69,596,0.00,2.65,0.00,0.000,4,0.000,0.040,2818,200,3721,0,0,0,0,0,0
$GC,710,-0.24,-146.0,71.3,-11.1,79,715,0.00,2.40,0.00,0.000,6,0.000,0.018,2818,1789,3721,0,0,0,0,0,0
$GC,979,-0.32,-146.0,99.1,-9.6,103,984,0.12,2.45,0.00,0.000,4,0.077,0.027,2780,3347,3721,0,0,0,0,0,0
$GC,1080,-0.32,-146.0,109.2,-9.3,112,1090,0.00,2.50,0.00,0.000,6,0.000,0.021,2780,1772,3722,0,0,0,0,0,0
$GC,1348,-0.40,-146.0,132.0,-8.7,137,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1772,3722,0,0,0,0,0,0
$GC,1611,-0.48,-146.0,155.5,-9.2,162,1616,0.12,2.50,0.00,0.000,4,0.081,0.028,2741,3345,3723,0,0,0,0,0,0
$GC,1648,-0.48,-146.0,158.9,-9.1,165,1653,0.00,2.42,0.00,0.000,6,0.000,0.022,2741,1791,3723,0,0,0,0,0,0
$GC,1911,-0.59,-146.0,181.7,-8.9,189,1915,0.00,2.58,0.00,0.000,4,0.000,0.044,2741,211,3723,0,0,0,0,0,0
$GC,1980,-0.59,-146.0,188.5,-9.7,195,1989,0.00,2.42,0.00,0.000,6,0.000,0.018,2741,1784,3723,0,0,0,0,0,0
$GC,2265,-0.67,-146.0,217.5,-10.5,211,2270,0.12,2.58,0.00,0.000,4,0.085,0.045,2706,215,3723,0,0,0,0,0,0
$GC,2327,-0.67,-146.0,224.3,-11.1,212,2332,0.00,2.42,0.00,0.000,6,0.000,0.018,2706,1788,3724,0,0,0,0,0,0
$GC,2596,-0.67,-146.0,246.8,-7.8,219,2600,0.00,2.60,0.00,0.000,4,0.000,0.047,2706,220,3723,0,0,0,0,0,0
$GC,2866,-0.84,-146.0,267.9,-7.8,224,2872,0.12,2.38,0.00,0.000,6,0.078,0.019,2669,1777,3723,0,0,0,0,0,0
$GC,3118,-0.69,-146.0,285.5,-7.1,231,3123,0.17,2.50,0.00,0.000,4,0.063,0.031,2721,3349,3723,0,0,0,0,0,0
$GC,3387,-0.69,-146.0,309.9,-9.2,236,3393,0.00,2.45,0.00,0.000,6,0.000,0.025,2722,1800,3722,0,0,0,0,0,0
$GC,3639,-0.77,-146.0,330.5,-8.2,243,3644,0.12,2.67,0.00,0.000,4,0.077,0.056,2681,217,3721,0,0,0,0,0,0
$GC,3854,-0.84,-146.0,346.9,-8.0,247,3859,0.00,2.40,0.00,0.000,6,0.000,0.020,2681,1779,3720,0,0,0,0,0,0
$GC,4109,-0.84,-146.0,364.8,-7.1,254,4113,0.00,2.62,0.00,0.000,4,0.000,0.054,2681,218,3719,0,0,0,0,0,0
$GC,4378,-0.84,-146.0,385.5,-8.6,259,4383,0.00,2.45,0.00,0.000,6,0.000,0.021,2681,1788,3718,0,0,0,0,0,0
$GC,4628,-0.84,-146.0,403.7,-7.2,266,4632,0.00,2.65,0.00,0.000,4,0.000,0.056,2681,219,3716,0,0,0,0,0,0
$GC,4811,-0.93,-146.0,417.7,-7.6,270,4816,0.10,2.40,0.00,0.000,6,0.088,0.022,2652,1765,3715,0,0,0,0,0,0
$GC,5100,-0.75,-146.0,436.8,-6.7,277,5105,0.20,2.62,0.00,0.000,4,0.064,0.057,2706,217,3713,0,0,0,0,0,0
$GC,5342,-0.84,-146.0,455.7,-7.8,282,5347,0.12,2.50,0.00,0.000,6,0.081,0.025,2670,1798,3712,0,0,0,0,0,0
$GC,5618,-0.73,-146.0,474.3,-6.7,289,5623,0.12,2.55,0.00,0.000,4,0.076,0.045,2711,3354,3710,0,0,0,0,0,0
$GC,5851,-0.73,-146.0,496.7,-11.8,294,5855,0.00,2.47,0.00,0.000,6,0.000,0.032,2712,1818,3709,0,0,0,0,0,0
$STATE,5881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5887,-0.31,0.0,500.5,11.6,294,6007,0.30,0.00,117.75,0.881,6,0.036,0.000,2813,1674,3120,0,0,0,0,0,0
$STATE,6008,end apogee,CONTROL_FINISHED_OK
$STATE,6008,begin climb
$GC,6010,0.16,146.0,509.2,0.0,297,6141,0.32,2.67,121.20,0.866,4,0.040,0.042,2906,3244,2522,0,0,0,0,0,0
$GC,6258,2.68,2473.2,513.9,2.6,302,6729,2.15,2.60,441.90,0.808,6,0.018,0.036,3461,1679,510,0,0,0,0,3,0
$GC,7007,1.23,2473.2,195.1,48.4,321,7021,1.60,2.67,0.00,0.000,4,0.114,0.051,3132,3242,470,0,0,0,0,0,0
$GC,7115,0.56,2473.2,167.2,19.0,331,7124,0.68,2.60,0.00,0.000,6,0.086,0.031,2985,1672,464,0,0,0,0,0,0
$GC,7379,0.56,2473.2,136.4,11.2,356,7384,0.00,2.60,0.00,0.000,4,0.000,0.034,2985,3254,458,0,0,0,0,0,0
$GC,7440,0.63,2533.8,130.4,9.8,361,7445,0.00,2.55,0.00,0.000,6,0.000,0.028,2985,1690,457,0,0,0,0,0,0
$GC,7706,1.20,2996.0,105.0,8.6,385,7716,0.52,2.55,0.00,0.000,4,0.025,0.031,3139,3252,455,0,0,0,0,0,0
$GC,7752,1.20,2996.0,97.9,19.3,389,7756,0.00,2.50,0.00,0.000,6,0.000,0.028,3139,1713,454,0,0,0,0,0,0
$GC,8019,1.20,2996.0,46.7,19.1,413,8024,0.00,2.50,0.00,0.000,4,0.000,0.037,3139,3250,453,0,0,0,0,0,0
$GC,8074,1.20,2996.0,35.8,19.5,417,8078,0.00,2.45,0.00,0.000,6,0.000,0.026,3139,1729,452,0,0,0,0,0,0
$STATE,8233,end climb,SURFACE_DEPTH_REACHED
$STATE,8234,begin surface coast
$FINISH,0.7,1.023268
$STATE,8261,end surface coast,CONTROL_FINISHED_OK
$STATE,8261,begin surface
$SM_CCo,8341,0.00,0.000,0,0,450,654.71
$SM_GC,1.40,11.15,0.00,0.00,0.029,0.000,0.000,412,1834,450,-11.17,1.24,654.71
$IRIDIUM_FIX,2239.35,-15800.20,030300,212152
$TT8_MAMPS,0.026845
$HUMID,47.32
$INTERNAL_PRESSURE,9.67221
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.6,32.372
$10V_AH,10.4,27.209
$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,30.725,91.400,680.850,0.000,0.000,28.064,33.452,175.614,0.000,0.000,11.977,967.194,4436.024,597.727,2212.820,498.833,33.363,1552.057,0.000,2197.580,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,97.409,880.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,298.445,282.405,361.954,555.376,981.336,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,35255,444
$CAP_FILE_SIZE,107029,0
$CFSIZE,260165632,159449088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,091210,024651,2247.237,-15802.931,10,1.9,29,10.1