version: 66.06
glider: 148
mission: 9
dive: 432
start: 1 3 111 8 52 10
data:
$ID,148
$MISSION,9
$DIVE,432
$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,185
$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,420
$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,-867339
$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,32
$R_STBD_OVSHOOT,49
$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
$GPS1,084310,2249.028,-15802.950,31,1.5,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.4
$GPS2,085114,2249.096,-15803.024,12,1.4,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.103,0.174
$KALMAN_X,-45727.7,-264.5,381.3,57375.0,-1106.7
$KALMAN_Y,-84451.9,-661.4,113.6,213165.5,-254.4
$MHEAD_RNG_PITCHd_Wd,20.7,1674,-20.6,-9.009
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.40,-90.9,0.0,0.0,0,96,0.00,0.00,-75.72,0.000,2,0.000,0.000,414,1859,3337,0,0,0,0,0,0
$GC,101,-1.46,-139.6,4.1,-5.8,10,126,11.27,2.40,-6.20,0.000,4,0.156,0.038,2534,3365,3691,0,0,0,0,0,0
$GC,172,-1.22,-139.6,26.4,-21.7,20,181,0.22,2.55,0.00,0.000,6,0.084,0.021,2588,1780,3692,0,0,0,0,0,0
$GC,450,-1.22,-139.6,68.6,-14.4,46,455,0.00,2.53,0.00,0.000,4,0.000,0.031,2588,3361,3694,0,0,0,0,0,0
$GC,527,-1.30,-139.6,80.0,-13.0,52,531,0.00,2.47,0.00,0.000,6,0.000,0.022,2588,1794,3694,0,0,0,0,0,0
$GC,791,-1.41,-139.6,117.1,-12.0,76,796,0.15,2.53,0.00,0.000,4,0.057,0.029,2523,3363,3694,0,0,0,0,0,0
$GC,830,-1.41,-139.6,122.4,-14.2,79,835,0.12,2.45,0.00,0.000,6,0.110,0.022,2549,1809,3694,0,0,0,0,0,0
$GC,1097,-1.41,-139.6,158.9,-12.5,103,1101,0.00,2.47,0.00,0.000,4,0.000,0.030,2549,3367,3695,0,0,0,0,0,0
$GC,1154,-1.51,-139.6,167.0,-11.9,108,1163,0.00,2.47,0.00,0.000,6,0.000,0.022,2549,1819,3695,0,0,0,0,0,0
$GC,1421,-1.51,-139.6,196.6,-11.3,133,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1819,3696,0,0,0,0,0,0
$GC,1692,-1.58,-139.6,229.9,-12.2,142,1697,0.15,2.50,0.00,0.000,4,0.058,0.031,2486,3367,3696,0,0,0,0,0,0
$GC,1736,-1.58,-139.6,236.1,-15.2,143,1741,0.12,2.42,0.00,0.000,6,0.111,0.023,2514,1823,3696,0,0,0,0,0,0
$GC,2025,-1.58,-139.6,274.2,-13.1,150,2029,0.00,2.47,0.00,0.000,4,0.000,0.034,2514,3362,3696,0,0,0,0,0,0
$GC,2057,-1.58,-139.6,278.9,-13.6,150,2061,0.00,2.40,0.00,0.000,6,0.000,0.024,2514,1839,3696,0,0,0,0,0,0
$GC,2306,-1.58,-139.6,309.5,-12.3,156,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1839,3696,0,0,0,0,0,0
$GC,2550,-1.58,-139.6,339.0,-12.2,162,2554,0.00,2.47,0.00,0.000,4,0.000,0.038,2514,3364,3696,0,0,0,0,0,0
$GC,2594,-1.58,-139.6,344.1,-11.4,163,2598,0.00,2.45,0.00,0.000,6,0.000,0.026,2514,1837,3695,0,0,0,0,0,0
$GC,2881,-1.58,-139.6,377.8,-11.9,170,2885,0.00,2.70,0.00,0.000,4,0.000,0.054,2514,214,3694,0,0,0,0,0,0
$GC,2904,-1.58,-139.6,380.9,-13.3,170,2908,0.00,2.55,0.00,0.000,6,0.000,0.026,2514,1823,3694,0,0,0,0,0,0
$GC,3164,-1.58,-139.6,410.8,-11.5,177,3169,0.00,2.53,0.00,0.000,4,0.000,0.044,2514,3367,3692,0,0,0,0,0,0
$GC,3207,-1.65,-139.6,415.7,-10.9,178,3212,0.00,2.45,0.00,0.000,6,0.000,0.027,2514,1836,3692,0,0,0,0,0,0
$GC,3495,-1.65,-139.6,447.4,-11.3,185,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1836,3690,0,0,0,0,0,0
$GC,3737,-1.65,-139.6,475.4,-11.5,191,3742,0.00,2.58,0.00,0.000,4,0.000,0.049,2514,3370,3689,0,0,0,0,0,0
$GC,3756,-1.65,-139.6,477.9,-12.7,191,3760,0.00,2.47,0.00,0.000,6,0.000,0.028,2514,1841,3689,0,0,0,0,0,0
$STATE,3976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3976,begin apogee
$GC,3984,-0.31,0.0,504.5,12.0,197,4101,1.25,0.00,113.45,0.867,6,0.079,0.000,2794,1673,3120,0,0,0,0,0,0
$STATE,4102,end apogee,CONTROL_FINISHED_OK
$STATE,4102,begin climb
$GC,4104,1.46,139.6,510.1,0.0,200,4228,1.58,2.62,115.55,0.852,4,0.028,0.067,3183,188,2549,0,0,0,0,0,0
$GC,4396,1.05,139.6,495.5,11.5,206,4403,0.45,2.42,0.00,0.000,6,0.116,0.028,3092,1684,2542,0,0,0,0,0,0
$GC,4659,1.09,169.6,476.0,7.0,213,4691,0.00,2.65,25.05,0.811,4,0.000,0.059,3092,184,2426,0,0,0,0,0,0
$GC,4821,0.97,169.6,460.6,9.9,216,4826,0.00,2.40,0.00,0.000,6,0.000,0.027,3092,1672,2423,0,0,0,0,0,0
$GC,5082,0.97,174.8,438.0,8.7,223,5094,0.00,2.58,4.75,0.580,4,0.000,0.057,3092,177,2406,0,0,0,0,0,0
$GC,5251,0.86,174.8,420.3,10.4,226,5256,0.20,2.40,0.00,0.000,6,0.110,0.025,3049,1672,2405,0,0,0,0,0,0
$GC,5508,1.01,214.7,403.0,6.3,233,5551,0.12,2.62,35.20,0.802,4,0.067,0.057,3102,184,2243,0,0,0,0,0,0
$GC,5626,0.92,214.7,391.0,11.8,235,5631,0.20,2.38,0.00,0.000,6,0.107,0.025,3062,1651,2241,0,0,0,0,0,0
$GC,5888,1.03,226.6,369.4,8.2,242,5904,0.10,2.58,10.75,0.709,4,0.082,0.058,3107,180,2196,0,0,0,0,0,0
$GC,6078,0.94,226.6,346.5,12.7,246,6083,0.20,2.33,0.00,0.000,6,0.107,0.025,3066,1643,2193,0,0,0,0,0,0
$GC,6361,1.04,228.3,320.7,8.9,253,6365,0.00,2.50,0.00,0.000,4,0.000,0.054,3066,179,2190,0,0,0,0,0,0
$GC,6418,1.04,228.3,315.1,9.7,254,6422,0.00,2.33,0.00,0.000,6,0.000,0.024,3066,1643,2191,0,0,0,0,0,0
$GC,6696,1.15,236.1,291.0,8.5,261,6712,0.17,2.53,9.02,0.652,4,0.053,0.054,3136,183,2156,0,0,0,0,0,0
$GC,6839,1.02,236.1,274.5,11.8,264,6844,0.25,2.30,0.00,0.000,6,0.104,0.024,3083,1622,2155,0,0,0,0,0,0
$GC,7123,1.12,254.9,251.5,7.8,271,7147,0.00,2.53,17.50,0.680,4,0.000,0.054,3082,186,2080,0,0,0,0,0,0
$GC,7195,1.12,254.9,244.5,11.0,272,7199,0.00,2.28,0.00,0.000,6,0.000,0.023,3083,1620,2079,0,0,0,0,0,0
$GC,7458,1.23,254.9,220.0,9.2,279,7463,0.17,2.45,0.00,0.000,4,0.052,0.051,3149,182,2076,0,0,0,0,0,0
$GC,7529,1.10,254.9,210.3,14.5,280,7534,0.22,2.25,0.00,0.000,6,0.107,0.023,3102,1612,2076,0,0,0,0,0,0
$GC,7800,1.10,254.9,182.6,9.7,299,7804,0.00,2.40,0.00,0.000,4,0.000,0.049,3101,183,2074,0,0,0,0,0,0
$GC,7844,1.10,254.9,177.5,11.4,303,7848,0.00,2.25,0.00,0.000,6,0.000,0.022,3101,1618,2074,0,0,0,0,0,0
$GC,8109,1.19,262.6,153.8,8.5,327,8122,0.00,2.40,7.38,0.528,4,0.000,0.048,3102,183,2048,0,0,0,0,0,0
$GC,8162,1.19,262.6,148.3,10.4,332,8166,0.00,2.25,0.00,0.000,6,0.000,0.022,3102,1617,2047,0,0,0,0,0,0
$GC,8426,1.28,262.6,124.5,9.1,356,8435,0.15,0.00,0.00,0.000,6,0.058,0.000,3165,1620,2046,0,0,0,0,0,0
$GC,8692,1.28,262.6,92.8,11.6,381,8697,0.12,0.00,0.00,0.000,6,0.118,0.000,3141,1621,2046,0,0,0,0,0,0
$GC,8958,1.29,268.0,67.4,8.7,406,8971,0.00,2.42,5.88,0.431,4,0.000,0.045,3140,184,2027,0,0,0,0,0,0
$GC,9029,1.29,268.0,59.9,11.8,412,9033,0.00,2.25,0.00,0.000,6,0.000,0.021,3140,1621,2027,0,0,0,0,0,0
$GC,9295,1.29,268.0,33.6,10.0,436,9299,0.00,2.38,0.00,0.000,4,0.000,0.044,3140,171,2026,0,0,0,0,0,0
$GC,9331,1.29,268.0,29.4,12.0,439,9340,0.00,2.28,0.00,0.000,6,0.000,0.021,3140,1617,2026,0,0,0,0,0,0
$STATE,9590,end climb,SURFACE_DEPTH_REACHED
$STATE,9590,begin surface coast
$FINISH,0.9,1.023882
$STATE,9641,end surface coast,CONTROL_FINISHED_OK
$STATE,9641,begin surface
$SM_CCo,9664,71.38,0.061,0,0,1406,420.20
$SM_GC,1.69,0.00,0.00,71.38,0.000,0.000,0.061,414,1826,1406,-11.25,1.02,420.20
$IRIDIUM_FIX,2239.35,-15800.20,290300,050519
$TT8_MAMPS,0.026845
$HUMID,48.11
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,56.576
$10V_AH,10.2,49.613
$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,28.250,113.125,344.525,71.375,0.000,22.603,45.483,275.092,0.250,0.000,14.319,1043.994,6060.432,459.877,2032.568,622.862,33.369,1266.468,0.000,2023.252,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,67.496,866.710,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.238,297.592,379.307,580.393,1026.711,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,38316,488
$CAP_FILE_SIZE,109688,0
$CFSIZE,260165632,147869696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030111,113554,2249.716,-15802.768,33,0.9,49,10.1