version: 66.06
glider: 148
mission: 9
dive: 13
start: 1 14 110 9 42 8
data:
$ID,148
$MISSION,9
$DIVE,13
$D_SURF,5
$D_FLARE,4
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$D_BOOST,5
$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,71
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,730
$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,-856008.31
$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
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3506
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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
$GPS1,093531,4806.176,-12222.060,71,1.6,77,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.6
$GPS2,094113,4806.247,-12222.101,15,1.5,32,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.189
$KALMAN_X,210.2,25.3,154.0,665.2,-53.3
$KALMAN_Y,73.3,41.0,-120.8,-2023.7,42.4
$MHEAD_RNG_PITCHd_Wd,307.3,4007,-12.2,-7.042
$D_GRID,108
$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,-0.94,-146.0,0.0,0.0,0,73,0.00,0.00,-53.62,0.000,2,0.000,0.000,418,1811,1874,0,0,0,0,0,0
$GC,78,-0.94,-146.0,4.3,-6.5,7,163,12.23,2.62,-61.22,0.000,4,0.171,0.053,2645,3366,3953,0,0,0,0,0,0
$GC,359,-0.94,-146.0,22.3,-7.3,49,368,0.00,2.62,0.00,0.000,6,0.000,0.034,2645,1794,3953,0,0,0,0,0,0
$GC,446,-0.94,-146.0,28.5,-7.1,62,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1794,3953,0,0,0,0,0,0
$GC,531,-0.94,-146.0,34.6,-7.1,75,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1794,3953,0,0,0,0,0,0
$GC,615,-0.94,-146.0,41.0,-7.7,88,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1794,3953,0,0,0,0,0,0
$GC,773,-0.94,-146.0,52.5,-7.3,113,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1794,3953,0,0,0,0,0,0
$GC,924,-0.94,-146.0,63.0,-6.7,138,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1794,3953,0,0,0,0,0,0
$GC,1084,-0.94,-146.0,73.2,-6.2,163,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1794,3953,0,0,0,0,0,0
$GC,1236,-0.94,-146.0,83.5,-6.6,188,1245,0.00,2.65,0.00,0.000,4,0.000,0.042,2645,3364,3953,0,0,0,0,0,0
$GC,1272,-0.94,-146.0,85.6,-6.7,193,1277,0.00,2.58,0.00,0.000,6,0.000,0.038,2645,1798,3953,0,0,0,0,0,0
$GC,1425,-0.94,-146.0,96.1,-6.6,218,1434,0.00,2.67,0.00,0.000,4,0.000,0.051,2645,224,3953,0,0,0,0,0,0
$GC,1449,-0.94,-146.0,97.5,-6.9,221,1454,0.00,2.55,0.00,0.000,6,0.000,0.035,2645,1798,3953,0,0,0,0,0,0
$GC,1601,-0.94,-146.0,107.8,-6.6,246,1610,0.00,2.62,0.00,0.000,4,0.000,0.047,2645,3376,3953,0,0,0,0,0,0
$STATE,1614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1615,begin apogee
$GC,1622,-0.31,0.0,108.7,6.5,248,1714,0.62,0.00,88.12,0.694,6,0.091,0.000,2783,1750,3506,0,0,0,0,0,0
$STATE,1714,end apogee,CONTROL_FINISHED_OK
$STATE,1715,begin climb
$GC,1719,0.94,146.0,110.9,0.0,262,1848,1.20,2.78,115.68,0.671,4,0.057,0.060,3061,173,2908,0,0,0,0,0,0
$GC,1897,0.94,146.0,99.3,10.5,291,1903,0.00,2.60,0.00,0.000,6,0.000,0.031,3061,1754,2906,0,0,0,0,0,0
$GC,2049,0.94,146.0,85.0,9.1,316,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1756,2905,0,0,0,0,0,0
$GC,2208,0.94,146.0,71.1,8.8,341,2214,0.00,2.70,0.00,0.000,4,0.000,0.058,3061,176,2905,0,0,0,0,0,0
$GC,2234,0.94,146.0,68.4,9.4,345,2240,0.00,2.58,0.00,0.000,6,0.000,0.035,3061,1751,2904,0,0,0,0,0,0
$GC,2385,0.94,146.0,54.6,9.1,370,2394,0.00,2.72,0.00,0.000,4,0.000,0.053,3061,176,2905,0,0,0,0,0,0
$GC,2401,0.94,146.0,53.2,9.2,372,2410,0.00,2.60,0.00,0.000,6,0.000,0.034,3061,1751,2905,0,0,0,0,0,0
$GC,2560,0.94,146.0,39.7,8.6,397,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1751,2905,0,0,0,0,0,0
$GC,2646,0.94,146.0,32.2,8.6,410,2654,0.00,2.72,0.00,0.000,4,0.000,0.053,3061,176,2905,0,0,0,0,0,0
$GC,2665,0.94,146.0,30.7,8.6,412,2673,0.00,2.60,0.00,0.000,6,0.000,0.031,3061,1748,2905,0,0,0,0,0,0
$GC,2751,0.94,146.0,23.1,8.2,425,2759,0.00,2.75,0.00,0.000,4,0.000,0.054,3061,174,2905,0,0,0,0,0,0
$GC,2768,0.94,146.0,21.6,8.3,427,2777,0.00,2.60,0.00,0.000,6,0.000,0.035,3061,1751,2905,0,0,0,0,0,0
$GC,2857,0.94,146.0,15.1,7.5,440,2866,0.00,2.65,0.00,0.000,4,0.000,0.046,3061,3324,2905,0,0,0,0,0,0
$GC,2881,0.94,146.0,13.1,7.6,443,2890,0.00,2.62,0.00,0.000,6,0.000,0.035,3061,1755,2905,0,0,0,0,0,0
$GC,2967,1.05,236.3,9.0,4.1,456,3045,0.12,0.00,74.50,0.611,2,0.073,0.000,3105,1755,2544,0,0,0,0,0,0
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FINISH,4.8,1.016783
$STATE,3163,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3184,414.15,0.583,1,0,529,730.01
$SM_GC,1.39,0.00,0.00,414.15,0.000,0.000,0.583,417,1829,529,-11.24,0.82,730.01
$IRIDIUM_FIX,4748.51,-12224.57,100499,080834
$TT8_MAMPS,0.026845
$HUMID,32.00
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,13.40
$XPDR_PINGS,10
$24V_AH,23.5,2.079
$10V_AH,10.3,1.577
$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,25.725,53.025,278.300,414.150,0.000,28.715,22.340,160.291,4.750,0.000,34.132,756.542,313.350,686.850,1803.030,398.247,33.330,1329.041,0.000,1799.653,0.000,20.313,0.000
$DEVICE_MAMPS,171.041,102.778,694.135,582.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.295,263.608,336.611,840.067,1480.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324856
$DATA_FILE_SIZE,41735,484
$CAP_FILE_SIZE,62303,0
$CFSIZE,260165632,171806720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,104326,4806.671,-12222.446,14,1.7,32,18.3