version: 66.06
glider: 148
mission: 9
dive: 143
start: 11 29 110 5 14 40
data:
$ID,148
$MISSION,9
$DIVE,143
$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,-860697.25
$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,33
$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
$GPS1,050704,2248.627,-15757.669,9,2.2,28,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-63.5
$GPS2,051346,2248.594,-15757.709,13,2.2,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.074,-0.181
$KALMAN_X,-62951.6,112.5,145.7,83607.8,-892.6
$KALMAN_Y,15172.1,-47.7,358.9,111748.6,-1151.2
$MHEAD_RNG_PITCHd_Wd,147.7,2956,-24.3,-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,17,-1.62,-79.2,0.0,0.0,0,103,0.00,0.00,-83.10,0.000,2,0.000,0.000,409,1857,3401,0,0,0,0,0,0
$GC,107,-1.64,-100.9,4.2,-8.2,11,132,11.00,2.72,-2.28,0.000,4,0.155,0.047,2494,208,3535,0,0,0,0,0,0
$GC,301,-1.56,-100.9,57.3,-22.1,33,307,0.12,2.45,0.00,0.000,6,0.128,0.021,2519,1783,3536,0,0,0,0,0,0
$GC,569,-1.56,-100.9,110.8,-18.2,57,574,0.00,2.58,0.00,0.000,4,0.000,0.038,2519,203,3537,0,0,0,0,0,0
$GC,618,-1.56,-100.9,119.5,-15.4,61,623,0.00,2.45,0.00,0.000,6,0.000,0.018,2519,1797,3537,0,0,0,0,0,0
$GC,886,-1.65,-100.9,154.4,-11.9,85,890,0.00,2.45,0.00,0.000,4,0.000,0.028,2518,3362,3538,0,0,0,0,0,0
$GC,900,-1.65,-100.9,157.1,-11.8,86,905,0.00,2.50,0.00,0.000,6,0.000,0.021,2519,1775,3539,0,0,0,0,0,0
$GC,1164,-1.75,-100.9,189.3,-12.8,110,1170,0.17,0.00,0.00,0.000,6,0.052,0.000,2452,1775,3539,0,0,0,0,0,0
$GC,1437,-1.68,-100.9,234.7,-16.4,122,1442,0.20,2.55,0.00,0.000,4,0.107,0.039,2494,207,3539,0,0,0,0,0,0
$GC,1605,-1.75,-100.9,261.2,-14.8,125,1609,0.00,2.45,0.00,0.000,6,0.000,0.020,2494,1795,3539,0,0,0,0,0,0
$GC,1859,-1.82,-100.9,297.5,-14.3,132,1864,0.12,2.58,0.00,0.000,4,0.070,0.041,2446,217,3540,0,0,0,0,0,0
$GC,1874,-1.82,-100.9,300.0,-14.7,132,1878,0.00,2.45,0.00,0.000,6,0.000,0.020,2446,1793,3540,0,0,0,0,0,0
$GC,2143,-1.82,-100.9,342.9,-15.9,139,2147,0.00,2.60,0.00,0.000,4,0.000,0.045,2445,210,3540,0,0,0,0,0,0
$GC,2217,-1.76,-100.9,355.0,-16.3,140,2223,0.15,2.45,0.00,0.000,6,0.116,0.023,2476,1779,3540,0,0,0,0,0,0
$GC,2474,-1.82,-100.9,386.8,-12.2,147,2479,0.00,2.60,0.00,0.000,4,0.000,0.051,2477,221,3539,0,0,0,0,0,0
$GC,2567,-1.89,-100.9,399.5,-13.2,149,2572,0.12,2.47,0.00,0.000,6,0.070,0.026,2431,1776,3538,0,0,0,0,0,0
$GC,2851,-1.89,-100.9,439.6,-14.2,156,2856,0.00,2.62,0.00,0.000,4,0.000,0.058,2430,219,3537,0,0,0,0,0,0
$GC,2909,-1.82,-100.9,448.5,-16.5,157,2914,0.15,2.47,0.00,0.000,6,0.120,0.031,2461,1765,3537,0,0,0,0,0,0
$GC,3182,-1.82,-100.9,485.6,-13.5,164,3186,0.00,2.65,0.00,0.000,4,0.000,0.061,2460,217,3535,0,0,0,0,0,0
$GC,3257,-1.82,-100.9,496.7,-15.5,165,3262,0.00,2.53,0.00,0.000,6,0.000,0.035,2460,1764,3535,0,0,0,0,0,0
$STATE,3306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3306,begin apogee
$GC,3312,-0.31,0.0,503.7,13.6,167,3399,1.48,0.00,82.72,0.860,6,0.084,0.000,2789,1675,3120,0,0,0,0,0,0
$STATE,3399,end apogee,CONTROL_FINISHED_OK
$STATE,3399,begin climb
$GC,3402,1.64,100.9,506.9,0.0,169,3498,1.75,2.72,82.88,0.848,4,0.027,0.047,3220,3265,2708,0,0,0,0,0,0
$GC,3532,1.47,174.2,510.2,3.8,172,3605,0.20,2.60,62.22,0.839,6,0.138,0.035,3183,1698,2408,0,0,0,0,0,0
$GC,3864,1.34,174.2,470.5,12.8,180,3869,0.15,2.65,0.00,0.000,4,0.140,0.069,3154,166,2400,0,0,0,0,0,0
$GC,3986,1.16,174.2,454.1,13.3,182,3991,0.20,2.45,0.00,0.000,6,0.137,0.027,3117,1677,2398,0,0,0,0,0,0
$GC,4241,1.16,174.2,427.0,10.6,189,4245,0.00,2.60,0.00,0.000,4,0.000,0.058,3117,162,2396,0,0,0,0,0,0
$GC,4450,1.16,174.2,402.8,12.3,193,4454,0.00,2.42,0.00,0.000,6,0.000,0.025,3117,1667,2394,0,0,0,0,0,0
$GC,4709,1.18,187.0,379.2,9.0,200,4725,0.00,2.62,9.48,0.700,4,0.000,0.057,3117,173,2356,0,0,0,0,0,0
$GC,4820,1.18,187.9,368.2,10.0,202,4825,0.00,2.38,0.00,0.000,6,0.000,0.025,3117,1664,2353,0,0,0,0,0,0
$GC,5089,1.28,208.5,345.5,8.3,209,5113,0.00,2.62,19.12,0.749,4,0.000,0.056,3117,163,2268,0,0,0,0,0,0
$GC,5273,1.28,208.5,324.8,11.6,213,5277,0.00,2.38,0.00,0.000,6,0.000,0.023,3117,1649,2264,0,0,0,0,0,0
$GC,5560,1.38,213.9,295.9,9.6,220,5573,0.17,2.70,5.10,0.553,4,0.054,0.045,3188,3254,2246,0,0,0,0,0,0
$GC,5602,1.38,213.9,291.1,12.3,220,5609,0.12,2.67,0.00,0.000,6,0.127,0.033,3164,1637,2244,0,0,0,0,0,0
$GC,5852,1.38,213.9,262.8,10.6,227,5856,0.00,2.47,0.00,0.000,4,0.000,0.060,3164,166,2243,0,0,0,0,0,0
$GC,5898,1.28,213.9,257.2,12.4,228,5903,0.12,2.35,0.00,0.000,6,0.145,0.022,3142,1655,2243,0,0,0,0,0,0
$GC,6182,1.28,213.9,226.3,11.5,235,6186,0.00,2.50,0.00,0.000,4,0.000,0.049,3141,164,2242,0,0,0,0,0,0
$GC,6368,1.28,213.9,202.3,13.9,239,6372,0.00,2.33,0.00,0.000,6,0.000,0.022,3141,1640,2241,0,0,0,0,0,0
$GC,6643,1.28,214.8,171.2,10.0,262,6648,0.00,2.42,0.00,0.000,4,0.000,0.048,3141,170,2240,0,0,0,0,0,0
$GC,6671,1.28,214.8,167.8,12.0,264,6680,0.00,2.33,0.00,0.000,6,0.000,0.022,3141,1636,2241,0,0,0,0,0,0
$GC,6939,1.36,217.7,142.1,9.8,289,6943,0.00,2.58,0.00,0.000,4,0.000,0.034,3141,3252,2240,0,0,0,0,0,0
$GC,6954,1.45,224.7,140.0,9.4,290,6971,0.15,2.60,10.02,0.551,6,0.058,0.028,3207,1626,2202,0,0,0,0,0,0
$GC,7232,1.45,224.7,103.9,14.2,316,7237,0.15,2.42,0.00,0.000,4,0.121,0.045,3178,160,2200,0,0,0,0,0,0
$GC,7532,1.46,233.5,74.5,9.3,344,7554,0.00,2.33,8.40,0.482,6,0.000,0.020,3178,1645,2168,0,0,0,0,0,0
$GC,7809,1.48,248.4,51.2,8.8,370,7834,0.00,2.50,14.15,0.496,4,0.000,0.043,3178,168,2106,0,0,0,0,0,0
$GC,7948,1.48,248.4,35.9,13.6,382,7952,0.00,2.25,0.00,0.000,6,0.000,0.019,3178,1623,2105,0,0,0,0,0,0
$STATE,8191,end climb,SURFACE_DEPTH_REACHED
$STATE,8191,begin surface coast
$FINISH,0.7,1.007417
$STATE,8229,end surface coast,CONTROL_FINISHED_OK
$STATE,8230,begin surface
$SM_CCo,8250,93.95,0.061,0,0,1284,450.13
$SM_GC,1.39,0.00,0.00,93.95,0.000,0.000,0.061,410,1837,1284,-11.27,1.33,450.13
$IRIDIUM_FIX,2244.02,-15748.90,230200,020213
$TT8_MAMPS,0.026845
$HUMID,41.49
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.6,22.093
$10V_AH,10.4,18.567
$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,27.775,105.825,294.100,93.950,0.000,31.513,32.151,187.316,0.000,0.000,35.073,944.866,4950.444,431.846,1924.485,496.350,33.361,1204.258,0.000,1891.480,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,78.234,859.807,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,285.726,257.507,332.260,507.046,896.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355364
$DATA_FILE_SIZE,32064,423
$CAP_FILE_SIZE,102175,0
$CFSIZE,260165632,163995648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,073507,2247.356,-15757.568,43,0.9,43,10.1