version: 66.06
glider: 148
mission: 9
dive: 9
start: 1 14 110 4 51 50
data:
$ID,148
$MISSION,9
$DIVE,9
$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,734.67346
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-855865.88
$T_RSLEEP,15
$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,49
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$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,0
$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,2
$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
$GPS1,042458,4806.241,-12222.229,58,2.9,78,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.6
$GPS2,042458,4806.241,-12222.229,301,99.0,301,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.145,-0.178
$KALMAN_X,-35.5,84.1,-204.6,919.5,-97.7
$KALMAN_Y,-48.5,-119.3,219.5,-2022.6,113.7
$MHEAD_RNG_PITCHd_Wd,122.5,529,-12.2,-7.042
$D_GRID,107
$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,-0.94,-146.0,0.0,0.0,0,97,0.00,0.00,-76.35,0.000,2,0.000,0.000,418,1842,2643,0,0,0,0,0,0
$GC,100,-0.94,-146.0,4.4,-4.6,10,155,12.52,2.55,-32.55,0.000,4,0.183,0.058,2647,3344,3953,0,0,0,0,0,0
$GC,297,-0.94,-146.0,16.7,-6.0,39,306,0.00,2.55,0.00,0.000,6,0.000,0.035,2647,1819,3954,0,0,0,0,0,0
$GC,384,-0.94,-146.0,22.3,-6.2,52,392,0.00,2.58,0.00,0.000,4,0.000,0.045,2647,3341,3954,0,0,0,0,0,0
$GC,403,-0.94,-146.0,23.6,-6.5,54,412,0.00,2.53,0.00,0.000,6,0.000,0.033,2647,1828,3954,0,0,0,0,0,0
$GC,491,-0.94,-146.0,29.5,-6.8,67,499,0.00,2.75,0.00,0.000,4,0.000,0.053,2647,221,3954,0,0,0,0,0,0
$GC,509,-0.94,-146.0,30.9,-7.0,69,517,0.00,2.60,0.00,0.000,6,0.000,0.036,2647,1798,3954,0,0,0,0,0,0
$GC,596,-0.94,-146.0,37.4,-7.3,82,605,0.00,2.65,0.00,0.000,4,0.000,0.044,2647,3376,3954,0,0,0,0,0,0
$GC,614,-0.94,-146.0,38.8,-7.4,84,622,0.00,2.58,0.00,0.000,6,0.000,0.033,2647,1831,3954,0,0,0,0,0,0
$GC,700,-0.94,-146.0,44.4,-7.1,97,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1831,3954,0,0,0,0,0,0
$GC,851,-0.94,-146.0,55.6,-6.9,122,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1830,3954,0,0,0,0,0,0
$GC,1009,-0.94,-146.0,66.6,-7.1,147,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1830,3954,0,0,0,0,0,0
$GC,1160,-0.94,-146.0,77.6,-6.9,172,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1830,3954,0,0,0,0,0,0
$GC,1320,-0.94,-146.0,88.0,-6.9,197,1326,0.00,2.60,0.00,0.000,4,0.000,0.044,2647,3386,3954,0,0,0,0,0,0
$GC,1335,-0.94,-146.0,89.3,-7.2,199,1341,0.00,2.53,0.00,0.000,6,0.000,0.034,2647,1835,3954,0,0,0,0,0,0
$GC,1491,-0.94,-146.0,99.7,-6.4,224,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1835,3955,0,0,0,0,0,0
$STATE,1601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1606,-0.31,0.0,107.3,7.0,242,1699,0.62,0.00,88.03,0.697,6,0.091,0.000,2785,1731,3505,0,0,0,0,0,0
$STATE,1699,end apogee,CONTROL_FINISHED_OK
$STATE,1699,begin climb
$GC,1704,0.94,146.0,109.3,0.0,256,1833,1.20,2.70,115.55,0.677,4,0.057,0.056,3066,201,2909,0,0,0,0,0,0
$GC,1859,0.94,146.0,100.4,9.1,281,1865,0.00,2.55,0.00,0.000,6,0.000,0.033,3065,1747,2907,0,0,0,0,0,0
$GC,2012,0.94,146.0,85.9,9.1,306,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1747,2906,0,0,0,0,0,0
$GC,2170,0.94,146.0,71.6,8.9,331,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1747,2906,0,0,0,0,0,0
$GC,2321,0.94,146.0,57.9,9.0,356,2330,0.00,2.70,0.00,0.000,4,0.000,0.059,3066,191,2906,0,0,0,0,0,0
$GC,2345,0.94,146.0,55.8,9.2,359,2350,0.00,2.55,0.00,0.000,6,0.000,0.032,3066,1745,2906,0,0,0,0,0,0
$GC,2497,0.94,146.0,41.7,8.6,384,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1747,2906,0,0,0,0,0,0
$GC,2660,0.94,146.0,27.8,8.4,409,2669,0.00,2.70,0.00,0.000,4,0.000,0.056,3066,190,2905,0,0,0,0,0,0
$GC,2696,0.94,146.0,24.4,8.9,414,2705,0.00,2.58,0.00,0.000,6,0.000,0.036,3066,1740,2905,0,0,0,0,0,0
$GC,2784,0.94,146.0,17.5,7.5,427,2792,0.00,2.70,0.00,0.000,4,0.000,0.048,3066,3337,2906,0,0,0,0,0,0
$GC,2846,0.94,146.0,12.9,7.2,436,2855,0.00,2.58,0.00,0.000,6,0.000,0.043,3065,1803,2906,0,0,0,0,0,0
$GC,2932,1.15,317.4,9.9,1.4,449,3088,0.17,2.83,141.32,0.615,4,0.058,0.056,3132,201,2211,0,0,0,0,0,0
$STATE,3270,end climb,NO_VERTICAL_VELOCITY
$STATE,3272,begin surface
$SM_CCo,3274,347.95,0.597,0,0,510,734.67
$SM_GC,1.23,11.45,0.00,0.00,0.036,0.000,0.000,420,1817,503,-11.17,0.48,736.64
$IRIDIUM_FIX,4748.51,-12224.57,100499,040459
$TT8_MAMPS,0.026845
$HUMID,32.24
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,13.30
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,85.2,43.6
$24V_AH,23.5,1.478
$10V_AH,10.3,1.098
$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,25.975,52.575,344.900,347.950,0.000,136.790,173.522,469.863,4.000,0.000,303.211,764.566,648.849,636.203,2144.041,1106.145,33.336,1318.326,0.000,1878.351,0.000,9.951,0.000
$DEVICE_MAMPS,182.546,82.069,697.203,597.493,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.969,280.647,356.821,889.534,1565.133,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324524
$DATA_FILE_SIZE,41585,498
$CAP_FILE_SIZE,76145,0
$CFSIZE,260165632,171929600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140110,055554,4805.999,-12221.695,58,1.5,69,18.3