version: 66.06
glider: 148
mission: 9
dive: 195
start: 12 5 110 11 28 16
data:
$ID,148
$MISSION,9
$DIVE,195
$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,-862101.88
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,111558,2247.768,-15757.729,9,99.0,28,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.6
$GPS2,112721,2247.711,-15757.773,18,4.0,37,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.051,-0.166
$KALMAN_X,-80939.0,-248.2,202.0,101787.5,-380.3
$KALMAN_Y,6894.3,-1.6,122.8,118582.8,-241.8
$MHEAD_RNG_PITCHd_Wd,152.7,1318,-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,16,begin dive
$GC,18,-1.78,-63.4,0.0,0.0,0,103,0.00,0.00,-82.38,0.000,2,0.000,0.000,406,1869,3360,0,0,0,0,0,0
$GC,107,-1.83,-105.9,3.6,-5.5,11,132,10.80,2.75,-3.55,0.000,4,0.155,0.047,2452,207,3555,0,0,0,0,0,0
$GC,280,-1.75,-105.9,53.7,-25.6,31,285,0.12,2.47,0.00,0.000,6,0.131,0.021,2476,1798,3556,0,0,0,0,0,0
$GC,548,-1.75,-105.9,113.5,-19.8,55,552,0.00,2.58,0.00,0.000,4,0.000,0.035,2476,197,3556,0,0,0,0,0,0
$GC,671,-1.82,-105.9,137.3,-17.7,66,680,0.00,2.50,0.00,0.000,6,0.000,0.019,2476,1788,3557,0,0,0,0,0,0
$GC,938,-1.93,-105.9,180.5,-15.4,91,943,0.15,0.00,0.00,0.000,6,0.061,0.000,2423,1791,3559,0,0,0,0,0,0
$GC,1203,-1.93,-105.9,231.3,-19.3,105,1207,0.00,2.58,0.00,0.000,4,0.000,0.038,2422,205,3559,0,0,0,0,0,0
$GC,1343,-1.93,-105.9,260.7,-19.6,108,1347,0.00,2.45,0.00,0.000,6,0.000,0.020,2422,1777,3559,0,0,0,0,0,0
$GC,1625,-1.93,-105.9,310.1,-16.8,115,1629,0.00,2.58,0.00,0.000,4,0.000,0.043,2422,200,3559,0,0,0,0,0,0
$GC,1638,-1.93,-105.9,312.7,-16.7,115,1643,0.00,2.45,0.00,0.000,6,0.000,0.021,2422,1780,3560,0,0,0,0,0,0
$GC,1908,-1.93,-105.9,355.6,-15.9,122,1912,0.00,2.60,0.00,0.000,4,0.000,0.050,2422,210,3559,0,0,0,0,0,0
$GC,2079,-1.93,-105.9,386.9,-17.8,125,2083,0.00,2.45,0.00,0.000,6,0.000,0.027,2422,1760,3559,0,0,0,0,0,0
$GC,2330,-1.93,-105.9,426.8,-15.8,131,2334,0.00,2.60,0.00,0.000,4,0.000,0.055,2422,208,3558,0,0,0,0,0,0
$GC,2348,-1.93,-105.9,430.3,-16.3,131,2353,0.00,2.50,0.00,0.000,6,0.000,0.028,2422,1764,3558,0,0,0,0,0,0
$GC,2612,-1.99,-105.9,469.0,-14.3,138,2616,0.00,2.62,0.00,0.000,4,0.000,0.059,2422,214,3556,0,0,0,0,0,0
$GC,2664,-1.99,-105.9,476.8,-14.9,139,2669,0.00,2.50,0.00,0.000,6,0.000,0.034,2422,1757,3556,0,0,0,0,0,0
$STATE,2858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2858,begin apogee
$GC,2864,-0.31,0.0,504.0,13.8,144,2955,1.67,0.00,86.53,0.853,6,0.091,0.000,2789,1670,3120,0,0,0,0,0,0
$STATE,2955,end apogee,CONTROL_FINISHED_OK
$STATE,2956,begin climb
$GC,2959,1.83,105.9,505.6,0.0,146,3058,1.98,2.80,87.12,0.840,4,0.029,0.049,3268,3267,2686,0,0,0,0,0,0
$GC,3146,1.60,105.9,499.4,10.2,150,3155,0.30,2.62,0.00,0.000,6,0.125,0.035,3210,1698,2681,0,0,0,0,0,0
$GC,3401,1.48,118.3,476.4,8.7,157,3418,0.15,2.75,10.38,0.734,4,0.137,0.071,3182,170,2637,0,0,0,0,0,0
$GC,3685,1.31,126.4,449.7,9.2,163,3699,0.17,2.45,7.70,0.691,6,0.142,0.026,3149,1684,2604,0,0,0,0,0,0
$GC,3970,1.34,153.0,428.8,7.2,170,3999,0.00,2.67,23.65,0.797,4,0.000,0.057,3149,162,2495,0,0,0,0,0,0
$GC,4018,1.35,164.1,424.6,8.9,171,4034,0.00,2.45,10.98,0.728,6,0.000,0.026,3149,1667,2449,0,0,0,0,0,0
$GC,4299,1.44,170.5,397.7,9.4,178,4311,0.10,2.62,5.70,0.617,4,0.084,0.055,3188,167,2425,0,0,0,0,0,0
$GC,4522,1.31,170.5,372.0,11.4,182,4527,0.20,2.38,0.00,0.000,6,0.137,0.025,3150,1661,2422,0,0,0,0,0,0
$GC,4773,1.40,175.0,348.0,9.6,188,4785,0.00,2.58,4.97,0.572,4,0.000,0.054,3150,164,2405,0,0,0,0,0,0
$GC,5052,1.40,175.0,314.0,11.0,194,5056,0.00,2.38,0.00,0.000,6,0.000,0.024,3150,1655,2402,0,0,0,0,0,0
$GC,5343,1.52,182.5,287.1,9.2,201,5357,0.17,2.67,7.60,0.630,4,0.056,0.048,3214,3251,2375,0,0,0,0,0,0
$GC,5420,1.52,182.5,278.6,11.9,202,5425,0.12,2.62,0.00,0.000,6,0.130,0.032,3191,1651,2373,0,0,0,0,0,0
$GC,5675,1.52,182.5,252.0,10.2,209,5680,0.00,2.53,0.00,0.000,4,0.000,0.061,3191,167,2372,0,0,0,0,0,0
$GC,5946,1.44,182.5,223.1,11.0,214,5952,0.00,2.33,0.00,0.000,6,0.000,0.022,3191,1657,2369,0,0,0,0,0,0
$GC,6196,1.45,188.6,198.7,9.4,221,6209,0.00,2.58,5.88,0.532,4,0.000,0.049,3191,164,2349,0,0,0,0,0,0
$GC,6492,1.38,188.6,165.5,10.3,251,6497,0.15,2.28,0.00,0.000,6,0.131,0.021,3163,1629,2348,0,0,0,0,0,0
$GC,6757,1.52,197.1,142.2,9.1,275,6771,0.12,2.42,8.32,0.537,4,0.069,0.044,3217,168,2316,0,0,0,0,0,0
$GC,6916,1.41,197.1,121.4,12.0,290,6921,0.25,2.25,0.00,0.000,6,0.120,0.021,3168,1622,2314,0,0,0,0,0,0
$GC,7177,1.57,215.3,98.9,8.1,314,7200,0.15,2.65,16.58,0.548,4,0.059,0.031,3227,3256,2240,0,0,0,0,0,0
$GC,7217,1.58,224.3,95.9,9.1,317,7239,0.10,2.65,9.05,0.499,6,0.134,0.028,3207,1616,2204,0,0,0,0,0,0
$GC,7493,1.71,254.1,72.0,6.9,343,7532,0.10,2.42,26.12,0.535,4,0.081,0.044,3251,164,2082,0,0,0,0,0,0
$GC,7796,1.60,254.1,30.0,15.0,370,7801,0.20,2.28,0.00,0.000,6,0.118,0.019,3211,1631,2079,0,0,0,0,0,0
$STATE,7983,end climb,SURFACE_DEPTH_REACHED
$STATE,7984,begin surface coast
$FINISH,0.5,1.010226
$STATE,8016,end surface coast,CONTROL_FINISHED_OK
$STATE,8016,begin surface
$SM_CCo,8037,97.38,0.439,1,0,1284,450.13
$SM_GC,1.58,0.00,0.00,97.38,0.000,0.000,0.439,411,1845,1284,-11.27,1.55,450.13
$IRIDIUM_FIX,2237.01,-15910.50,290200,111148
$TT8_MAMPS,0.026845
$HUMID,42.87
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.6,28.855
$10V_AH,10.4,24.067
$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,28.550,91.325,310.575,97.375,0.000,47.886,80.673,329.460,0.500,0.000,39.921,922.501,4809.712,453.785,1937.696,704.197,33.368,1234.137,0.000,1892.087,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,78.234,852.904,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,271.935,240.958,315.362,471.554,833.930,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,32075,404
$CAP_FILE_SIZE,103258,0
$CFSIZE,260165632,161116160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,134535,2246.911,-15757.445,47,1.3,57,10.1