version: 66.06
glider: 148
mission: 9
dive: 14
start: 1 14 110 10 50 41
data:
$ID,148
$MISSION,9
$DIVE,14
$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,-856043.19
$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,25
$R_STBD_OVSHOOT,59
$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
$GPS1,104326,4806.671,-12222.446,14,1.7,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.6
$GPS2,104946,4806.763,-12222.510,12,3.3,31,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.151,0.172
$KALMAN_X,86.4,2.9,189.7,263.0,-163.5
$KALMAN_Y,433.2,85.2,-174.7,-1414.8,254.2
$MHEAD_RNG_PITCHd_Wd,300.3,2940,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.94,-146.0,0.0,0.0,0,81,0.00,0.00,-61.03,0.000,2,0.000,0.000,417,1829,2109,0,0,0,0,0,0
$GC,85,-0.94,-146.0,5.0,-6.6,8,163,12.32,2.55,-58.42,0.000,4,0.174,0.054,2647,3356,3951,0,0,0,0,0,0
$GC,229,-0.94,-146.0,8.9,-4.9,28,238,0.00,2.62,0.00,0.000,6,0.000,0.035,2647,1792,3952,0,0,0,0,0,0
$GC,317,-0.94,-146.0,14.5,-6.6,41,326,0.00,2.70,0.00,0.000,4,0.000,0.051,2647,216,3952,0,0,0,0,0,0
$GC,459,-0.94,-146.0,25.7,-7.7,63,467,0.00,2.55,0.00,0.000,6,0.000,0.028,2647,1771,3952,0,0,0,0,0,0
$GC,549,-0.94,-146.0,32.1,-6.9,76,558,0.00,2.70,0.00,0.000,4,0.000,0.042,2647,3377,3952,0,0,0,0,0,0
$GC,573,-0.94,-146.0,34.0,-7.0,79,582,0.00,2.62,0.00,0.000,6,0.000,0.032,2647,1803,3952,0,0,0,0,0,0
$GC,659,-0.94,-146.0,39.9,-6.9,92,668,0.00,2.70,0.00,0.000,4,0.000,0.051,2647,220,3952,0,0,0,0,0,0
$GC,683,-0.94,-146.0,41.5,-6.9,95,689,0.00,2.55,0.00,0.000,6,0.000,0.034,2647,1805,3952,0,0,0,0,0,0
$GC,838,-0.94,-146.0,53.0,-7.3,120,847,0.00,2.62,0.00,0.000,4,0.000,0.042,2647,3373,3952,0,0,0,0,0,0
$GC,872,-0.94,-146.0,55.3,-7.3,125,877,0.00,2.58,0.00,0.000,6,0.000,0.036,2647,1797,3952,0,0,0,0,0,0
$GC,1028,-0.94,-146.0,66.2,-6.4,150,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1797,3951,0,0,0,0,0,0
$GC,1185,-0.94,-146.0,76.6,-6.7,175,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1797,3952,0,0,0,0,0,0
$GC,1339,-0.94,-146.0,87.1,-6.7,200,1348,0.00,2.67,0.00,0.000,4,0.000,0.044,2647,3381,3952,0,0,0,0,0,0
$GC,1374,-0.94,-146.0,89.4,-6.8,205,1380,0.00,2.60,0.00,0.000,6,0.000,0.038,2647,1796,3952,0,0,0,0,0,0
$GC,1533,-0.94,-146.0,100.1,-6.8,230,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1796,3952,0,0,0,0,0,0
$STATE,1639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1640,begin apogee
$GC,1645,-0.31,0.0,107.1,6.4,247,1739,0.62,0.00,87.85,0.692,6,0.095,0.000,2784,1723,3506,0,0,0,0,0,0
$STATE,1740,end apogee,CONTROL_FINISHED_OK
$STATE,1740,begin climb
$GC,1745,0.94,146.0,109.4,0.0,261,1870,1.20,2.65,115.88,0.670,4,0.056,0.056,3062,197,2909,0,0,0,0,0,0
$GC,1913,0.94,146.0,99.1,10.2,289,1921,0.00,2.53,0.00,0.000,6,0.000,0.035,3062,1741,2907,0,0,0,0,0,0
$GC,2069,0.94,146.0,84.5,9.0,314,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1743,2905,0,0,0,0,0,0
$GC,2228,0.94,146.0,70.5,9.1,339,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1743,2905,0,0,0,0,0,0
$GC,2381,0.94,146.0,56.5,9.2,364,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1743,2905,0,0,0,0,0,0
$GC,2539,0.94,146.0,42.6,9.0,389,2544,0.00,2.65,0.00,0.000,4,0.000,0.053,3062,194,2905,0,0,0,0,0,0
$GC,2576,0.94,146.0,38.9,9.5,395,2587,0.00,2.58,0.00,0.000,6,0.000,0.035,3062,1751,2905,0,0,0,0,0,0
$GC,2666,0.94,146.0,30.9,8.8,408,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1752,2905,0,0,0,0,0,0
$GC,2751,0.94,146.0,23.8,8.1,421,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1753,2905,0,0,0,0,0,0
$GC,2836,0.94,146.0,17.2,7.4,434,2845,0.00,2.67,0.00,0.000,4,0.000,0.053,3062,200,2904,0,0,0,0,0,0
$GC,2881,0.94,146.0,13.6,8.1,440,2890,0.00,2.58,0.00,0.000,6,0.000,0.032,3062,1754,2905,0,0,0,0,0,0
$GC,2967,1.02,209.0,8.4,5.0,453,3029,0.00,2.75,52.38,0.611,4,0.000,0.054,3062,201,2651,0,0,0,0,0,0
$STATE,3043,end climb,SURFACE_DEPTH_REACHED
$STATE,3043,begin surface coast
$FINISH,4.5,1.019234
$STATE,3197,end surface coast,CONTROL_FINISHED_OK
$STATE,3197,begin surface
$SM_CCo,3220,435.50,0.586,1,0,529,730.01
$SM_GC,1.51,0.00,0.00,435.50,0.000,0.000,0.586,422,1816,529,-11.22,0.45,730.01
$IRIDIUM_FIX,4748.51,-12219.12,100499,090903
$TT8_MAMPS,0.026845
$HUMID,31.80
$INTERNAL_PRESSURE,9.23274
$TCM_TEMP,13.30
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,95.3,29.4
$24V_AH,23.5,2.213
$10V_AH,10.3,1.698
$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,25.500,52.600,256.100,435.500,0.000,25.666,30.472,184.056,3.250,0.000,34.222,767.398,320.549,699.159,1820.255,444.579,33.328,1331.077,0.000,1830.386,0.000,10.437,0.000
$DEVICE_MAMPS,174.109,115.817,691.834,585.988,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.261,274.087,344.755,857.940,1512.021,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324776
$DATA_FILE_SIZE,41599,487
$CAP_FILE_SIZE,62415,0
$CFSIZE,260165632,171769856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140110,115306,4807.189,-12222.938,37,1.0,42,18.3