version: 66.06
glider: 148
mission: 9
dive: 233
start: 12 9 110 19 51 58
data:
$ID,148
$MISSION,9
$DIVE,233
$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,-862834.88
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,194451,2249.450,-15757.710,17,2.1,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.8
$GPS2,195102,2249.511,-15757.650,14,1.4,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.150,0.088
$KALMAN_X,-70308.7,-20.1,81.3,91262.5,329.5
$KALMAN_Y,-856.8,1844.7,-199.5,128155.0,435.3
$MHEAD_RNG_PITCHd_Wd,49.6,1433,-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,16,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,-82.43,0.000,2,0.000,0.000,409,1856,3356,0,0,0,0,0,0
$GC,107,-1.83,-101.3,3.6,-6.0,11,132,10.75,2.45,-3.33,0.000,4,0.153,0.040,2452,3374,3537,0,0,0,0,0,0
$GC,249,-1.75,-101.3,41.4,-22.5,29,254,0.12,2.53,0.00,0.000,6,0.129,0.025,2476,1782,3539,0,0,0,0,0,0
$GC,517,-1.75,-101.3,102.9,-20.5,53,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1782,3539,0,0,0,0,0,0
$GC,778,-1.75,-101.3,151.2,-16.5,78,782,0.00,2.53,0.00,0.000,4,0.000,0.038,2476,200,3540,0,0,0,0,0,0
$GC,807,-1.75,-101.3,156.7,-18.1,80,813,0.00,2.47,0.00,0.000,6,0.000,0.018,2476,1798,3540,0,0,0,0,0,0
$GC,1071,-1.83,-101.3,195.2,-15.7,105,1075,0.00,2.58,0.00,0.000,4,0.000,0.038,2476,200,3541,0,0,0,0,0,0
$GC,1100,-1.83,-101.3,200.8,-17.2,107,1106,0.00,2.47,0.00,0.000,6,0.000,0.019,2476,1796,3541,0,0,0,0,0,0
$GC,1351,-1.92,-101.3,238.0,-14.7,114,1353,0.15,0.00,0.00,0.000,6,0.061,0.000,2423,1799,3541,0,0,0,0,0,0
$GC,1593,-1.92,-101.3,279.1,-17.0,120,1598,0.00,2.60,0.00,0.000,4,0.000,0.039,2423,203,3542,0,0,0,0,0,0
$GC,1764,-1.92,-101.3,311.3,-18.7,123,1768,0.00,2.45,0.00,0.000,6,0.000,0.022,2423,1780,3542,0,0,0,0,0,0
$GC,2015,-1.92,-101.3,353.8,-16.9,129,2019,0.00,2.60,0.00,0.000,4,0.000,0.049,2423,209,3542,0,0,0,0,0,0
$GC,2089,-1.92,-101.3,367.6,-18.5,130,2093,0.00,2.47,0.00,0.000,6,0.000,0.026,2423,1768,3542,0,0,0,0,0,0
$GC,2344,-1.92,-101.3,409.4,-16.2,137,2349,0.00,2.62,0.00,0.000,4,0.000,0.057,2423,207,3541,0,0,0,0,0,0
$GC,2404,-1.92,-101.3,420.0,-17.2,138,2409,0.00,2.50,0.00,0.000,6,0.000,0.031,2422,1768,3541,0,0,0,0,0,0
$GC,2672,-1.92,-101.3,458.9,-14.5,145,2677,0.00,2.62,0.00,0.000,4,0.000,0.061,2423,218,3540,0,0,0,0,0,0
$GC,2780,-1.92,-101.3,475.8,-16.7,147,2785,0.00,2.50,0.00,0.000,6,0.000,0.035,2423,1752,3540,0,0,0,0,0,0
$STATE,2965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2965,begin apogee
$GC,2971,-0.31,0.0,503.2,14.4,152,3059,1.67,0.00,84.12,0.852,6,0.088,0.000,2791,1662,3120,0,0,0,0,0,0
$STATE,3060,end apogee,CONTROL_FINISHED_OK
$STATE,3060,begin climb
$GC,3062,1.83,101.3,505.8,0.0,154,3152,1.92,0.00,84.80,0.839,6,0.025,0.000,3261,1662,2706,0,0,0,0,0,0
$GC,3375,1.60,116.2,492.6,8.5,162,3391,0.25,0.00,13.05,0.759,6,0.130,0.000,3212,1662,2646,0,0,0,0,0,0
$GC,3616,1.50,129.5,472.0,8.6,168,3636,0.12,2.58,12.27,0.755,4,0.143,0.061,3189,193,2591,0,0,0,0,0,0
$GC,3906,1.31,139.7,445.0,9.0,174,3923,0.22,2.42,9.80,0.726,6,0.133,0.027,3147,1689,2549,0,0,0,0,0,0
$GC,4188,1.41,165.4,423.6,7.3,181,4217,0.00,2.65,22.65,0.792,4,0.000,0.057,3147,193,2446,0,0,0,0,0,0
$GC,4383,1.41,165.4,401.9,12.5,185,4388,0.00,2.40,0.00,0.000,6,0.000,0.026,3147,1679,2440,0,0,0,0,0,0
$GC,4656,1.50,165.4,372.5,10.9,192,4662,0.15,2.55,0.00,0.000,4,0.062,0.057,3203,184,2438,0,0,0,0,0,0
$GC,4782,1.33,165.4,355.8,13.1,194,4788,0.25,2.38,0.00,0.000,6,0.127,0.026,3154,1674,2436,0,0,0,0,0,0
$GC,5032,1.43,178.0,333.0,8.7,200,5049,0.00,2.58,10.95,0.700,4,0.000,0.056,3154,191,2394,0,0,0,0,0,0
$GC,5225,1.43,178.0,313.0,10.5,204,5229,0.00,2.35,0.00,0.000,6,0.000,0.025,3154,1664,2391,0,0,0,0,0,0
$GC,5503,1.54,190.4,288.9,8.7,211,5520,0.17,2.55,11.60,0.679,4,0.056,0.062,3214,187,2342,0,0,0,0,0,0
$GC,5698,1.40,190.4,263.4,12.1,215,5703,0.25,2.35,0.00,0.000,6,0.126,0.024,3165,1664,2339,0,0,0,0,0,0
$GC,5973,1.49,192.2,236.5,9.9,222,5977,0.00,2.50,0.00,0.000,4,0.000,0.052,3165,185,2337,0,0,0,0,0,0
$GC,6167,1.49,192.2,213.7,11.1,226,6171,0.00,2.30,0.00,0.000,6,0.000,0.022,3165,1648,2337,0,0,0,0,0,0
$GC,6427,1.61,199.5,189.7,9.3,240,6441,0.17,2.45,8.25,0.571,4,0.053,0.048,3235,184,2305,0,0,0,0,0,0
$GC,6723,1.43,199.5,149.2,11.8,269,6729,0.30,2.28,0.00,0.000,6,0.123,0.021,3176,1641,2303,0,0,0,0,0,0
$GC,6986,1.53,199.5,122.4,10.5,294,6991,0.00,2.40,0.00,0.000,4,0.000,0.044,3176,186,2303,0,0,0,0,0,0
$GC,7085,1.53,199.5,111.1,11.4,303,7090,0.00,2.25,0.00,0.000,6,0.000,0.021,3176,1632,2303,0,0,0,0,0,0
$GC,7353,1.73,237.0,92.6,6.1,327,7395,0.25,2.47,32.33,0.561,4,0.038,0.044,3283,185,2151,0,0,0,0,0,0
$GC,7703,1.51,237.0,44.0,16.0,359,7712,0.40,2.25,0.00,0.000,6,0.110,0.020,3197,1614,2147,0,0,0,0,0,0
$GC,7992,1.63,237.0,12.6,10.7,397,8001,0.00,2.38,0.00,0.000,4,0.000,0.043,3197,187,2146,0,0,0,0,0,0
$GC,8047,1.63,237.0,6.0,11.8,405,8055,0.00,2.25,0.00,0.000,6,0.000,0.021,3196,1618,2146,0,0,0,0,0,0
$STATE,8062,end climb,SURFACE_DEPTH_REACHED
$STATE,8063,begin surface coast
$FINISH,0.6,1.007206
$STATE,8101,end surface coast,CONTROL_FINISHED_OK
$STATE,8101,begin surface
$SM_CCo,8122,104.88,0.443,1,0,1284,450.13
$SM_GC,1.52,0.00,0.00,104.88,0.000,0.000,0.443,416,1849,1284,-11.24,1.67,450.13
$IRIDIUM_FIX,2241.69,-15757.16,040300,171701
$TT8_MAMPS,0.026845
$HUMID,43.46
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.6,33.143
$10V_AH,10.4,27.916
$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,28.575,84.075,289.825,104.875,0.000,29.896,37.297,166.656,0.500,0.000,15.547,917.322,4857.542,459.120,1887.142,485.843,33.370,1199.075,0.000,1879.151,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,78.234,852.137,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,279.277,246.847,323.546,491.831,869.768,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,32077,413
$CAP_FILE_SIZE,95025,0
$CFSIZE,260165632,159080448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091210,221036,2250.273,-15756.515,39,1.0,44,10.1