version: 66.06
glider: 148
mission: 9
dive: 116
start: 11 26 110 1 40 31
data:
$ID,148
$MISSION,9
$DIVE,116
$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,-859944.12
$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,38
$R_STBD_OVSHOOT,37
$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
$GPS1,012416,2247.968,-15757.625,10,5.4,29,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.8
$GPS2,013936,2247.896,-15757.647,9,2.0,25,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.028,-0.172
$KALMAN_X,-54827.1,-1.5,-74.1,75922.5,-66.8
$KALMAN_Y,20289.5,183.6,278.5,105194.0,-466.0
$MHEAD_RNG_PITCHd_Wd,179.3,1681,-27.3,-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,-1.78,-63.4,0.0,0.0,0,102,0.00,0.00,-81.75,0.000,6,0.000,0.000,405,1857,3380,0,0,0,0,0,0
$GC,107,-1.82,-93.1,4.0,-6.9,11,132,11.02,2.70,-2.12,0.000,4,0.163,0.049,2456,204,3503,0,0,0,0,0,0
$GC,300,-1.74,-93.1,59.3,-24.2,32,305,0.12,2.50,0.00,0.000,6,0.133,0.021,2480,1808,3504,0,0,0,0,0,0
$GC,563,-1.74,-93.1,112.1,-16.4,56,568,0.00,2.58,0.00,0.000,4,0.000,0.038,2480,209,3505,0,0,0,0,0,0
$GC,623,-1.80,-93.1,122.9,-18.1,61,628,0.00,2.42,0.00,0.000,6,0.000,0.019,2480,1782,3505,0,0,0,0,0,0
$GC,891,-1.92,-93.1,164.9,-14.7,85,896,0.17,2.55,0.00,0.000,4,0.056,0.038,2420,208,3506,0,0,0,0,0,0
$GC,949,-1.86,-93.1,176.9,-19.8,90,958,0.12,2.45,0.00,0.000,6,0.100,0.021,2450,1767,3506,0,0,0,0,0,0
$GC,1205,-1.86,-93.1,221.2,-16.4,106,1209,0.00,2.53,0.00,0.000,4,0.000,0.038,2450,208,3506,0,0,0,0,0,0
$GC,1248,-1.86,-93.1,229.0,-18.2,107,1252,0.00,2.42,0.00,0.000,6,0.000,0.020,2450,1786,3506,0,0,0,0,0,0
$GC,1535,-1.93,-93.1,278.9,-16.8,114,1539,0.00,2.58,0.00,0.000,4,0.000,0.041,2450,209,3506,0,0,0,0,0,0
$GC,1748,-2.02,-93.1,314.4,-14.9,118,1754,0.12,2.38,0.00,0.000,6,0.071,0.021,2401,1743,3506,0,0,0,0,0,0
$GC,2005,-2.02,-93.1,354.6,-15.9,125,2009,0.00,2.55,0.00,0.000,4,0.000,0.051,2401,211,3506,0,0,0,0,0,0
$GC,2131,-2.02,-93.1,376.3,-17.0,127,2135,0.00,2.40,0.00,0.000,6,0.000,0.026,2402,1733,3506,0,0,0,0,0,0
$GC,2380,-2.02,-93.1,414.7,-15.3,133,2384,0.00,2.55,0.00,0.000,4,0.000,0.057,2402,218,3505,0,0,0,0,0,0
$GC,2460,-2.02,-93.1,427.8,-16.1,134,2464,0.00,2.42,0.00,0.000,6,0.000,0.031,2401,1722,3505,0,0,0,0,0,0
$GC,2709,-2.02,-93.1,469.8,-17.4,140,2714,0.00,2.58,0.00,0.000,4,0.000,0.061,2401,214,3504,0,0,0,0,0,0
$GC,2858,-2.02,-93.1,497.0,-18.2,143,2862,0.00,2.40,0.00,0.000,6,0.000,0.036,2401,1697,3502,0,0,0,0,0,0
$STATE,2874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2874,begin apogee
$GC,2879,-0.31,0.0,500.2,16.6,143,2960,1.75,0.00,76.75,0.846,6,0.093,0.000,2787,1697,3120,0,0,0,0,0,0
$STATE,2961,end apogee,CONTROL_FINISHED_OK
$STATE,2961,begin climb
$GC,2963,1.82,93.1,502.4,0.0,145,3053,1.92,2.70,76.97,0.834,4,0.032,0.051,3258,3246,2740,0,0,0,0,0,0
$GC,3104,1.63,125.7,502.0,6.6,148,3140,0.22,2.58,28.38,0.805,6,0.140,0.035,3216,1697,2607,0,0,0,0,0,0
$GC,3385,1.52,125.7,468.8,12.9,155,3390,0.12,2.70,0.00,0.000,4,0.153,0.071,3194,166,2601,0,0,0,0,0,0
$GC,3489,1.32,125.7,454.4,12.3,157,3495,0.22,2.40,0.00,0.000,6,0.140,0.027,3153,1662,2598,0,0,0,0,0,0
$GC,3765,1.34,137.5,429.8,8.8,164,3781,0.00,2.62,9.85,0.713,4,0.000,0.057,3153,167,2558,0,0,0,0,0,0
$GC,4019,1.27,137.5,404.0,10.0,169,4023,0.00,2.42,0.00,0.000,6,0.000,0.027,3153,1669,2554,0,0,0,0,0,0
$GC,4282,1.29,151.4,381.6,8.6,176,4302,0.00,2.58,12.45,0.728,4,0.000,0.055,3153,169,2501,0,0,0,0,0,0
$GC,4364,1.29,151.4,373.2,11.2,177,4368,0.00,2.40,0.00,0.000,6,0.000,0.025,3153,1675,2500,0,0,0,0,0,0
$GC,4614,1.38,159.4,349.7,9.2,183,4626,0.00,2.60,7.45,0.650,4,0.000,0.056,3152,169,2470,0,0,0,0,0,0
$GC,4858,1.38,164.2,325.0,9.5,188,4870,0.00,2.38,5.47,0.581,6,0.000,0.025,3153,1670,2450,0,0,0,0,0,0
$GC,5130,1.49,176.4,301.4,8.7,195,5147,0.12,2.60,11.85,0.687,4,0.071,0.054,3201,170,2400,0,0,0,0,0,0
$GC,5163,1.39,176.4,297.8,10.9,195,5168,0.20,2.38,0.00,0.000,6,0.133,0.024,3164,1664,2398,0,0,0,0,0,0
$GC,5413,1.47,176.4,272.3,10.1,201,5418,0.00,2.55,0.00,0.000,4,0.000,0.054,3164,160,2396,0,0,0,0,0,0
$GC,5608,1.47,177.5,252.3,9.9,205,5613,0.00,2.38,0.00,0.000,6,0.000,0.022,3164,1663,2395,0,0,0,0,0,0
$GC,5882,1.58,191.2,228.8,8.6,212,5902,0.17,2.55,13.23,0.644,4,0.058,0.050,3226,166,2339,0,0,0,0,0,0
$GC,6061,1.43,191.2,203.7,15.5,215,6068,0.25,2.35,0.00,0.000,6,0.130,0.022,3176,1650,2336,0,0,0,0,0,0
$GC,6322,1.53,194.8,178.5,9.7,237,6335,0.00,2.53,3.90,0.419,4,0.000,0.048,3176,162,2325,0,0,0,0,0,0
$GC,6379,1.53,194.8,171.1,13.5,242,6385,0.00,2.35,0.00,0.000,6,0.000,0.022,3176,1653,2324,0,0,0,0,0,0
$GC,6646,1.64,204.5,143.1,9.0,267,6669,0.17,2.53,9.62,0.552,4,0.056,0.045,3238,164,2285,0,0,0,0,0,0
$GC,6696,1.48,204.5,137.1,11.5,271,6702,0.28,2.38,0.00,0.000,6,0.136,0.021,3186,1673,2284,0,0,0,0,0,0
$GC,6960,1.60,204.5,112.1,10.3,296,6965,0.10,2.50,0.00,0.000,4,0.079,0.044,3229,164,2283,0,0,0,0,0,0
$GC,7257,1.54,227.0,81.4,7.7,324,7287,0.12,2.35,19.92,0.538,6,0.121,0.020,3201,1658,2194,0,0,0,0,0,0
$GC,7543,1.65,227.0,55.4,10.5,351,7547,0.00,2.45,0.00,0.000,4,0.000,0.043,3200,163,2191,0,0,0,0,0,0
$GC,7860,1.65,227.0,19.5,10.2,386,7868,0.00,2.33,0.00,0.000,6,0.000,0.020,3201,1648,2190,0,0,0,0,0,0
$STATE,8038,end climb,SURFACE_DEPTH_REACHED
$STATE,8039,begin surface coast
$FINISH,0.6,1.016118
$STATE,8077,end surface coast,CONTROL_FINISHED_OK
$STATE,8078,begin surface
$SM_CCo,8098,112.45,0.061,0,0,1285,450.13
$SM_GC,1.69,0.00,0.00,112.45,0.000,0.000,0.061,407,1878,1285,-11.28,2.49,450.13
$IRIDIUM_FIX,2239.35,-15800.20,200200,010146
$TT8_MAMPS,0.026845
$HUMID,40.31
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,23.6,18.910
$10V_AH,10.4,15.788
$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,28.600,99.750,275.850,112.450,0.000,105.864,242.015,241.434,0.500,0.000,26.677,947.944,4883.013,437.571,2022.336,843.537,33.358,1234.465,0.000,1993.905,0.000,0.537,0.000
$DEVICE_MAMPS,163.371,71.331,846.001,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,283.615,260.038,338.490,527.151,932.663,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,32156,420
$CAP_FILE_SIZE,106833,0
$CFSIZE,260165632,165445632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261110,035836,2246.740,-15757.782,32,1.2,32,10.1