version: 66.06
glider: 148
mission: 9
dive: 279
start: 12 15 110 3 46 8
data:
$ID,148
$MISSION,9
$DIVE,279
$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,-863860.88
$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,51
$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
$GPS1,033037,2247.529,-15757.400,27,1.4,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.5
$GPS2,034514,2247.615,-15757.275,19,1.4,19,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.160,-0.068
$KALMAN_X,-56165.9,114.3,-85.6,77788.5,476.0
$KALMAN_Y,1402.5,79.5,587.3,123351.2,-552.7
$MHEAD_RNG_PITCHd_Wd,236.8,1450,-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,19,-1.78,-63.4,0.0,0.0,0,104,0.00,0.00,-82.75,0.000,2,0.000,0.000,409,1871,3372,0,0,0,0,0,0
$GC,108,-1.82,-97.3,3.7,-6.4,11,133,10.88,2.72,-2.65,0.000,4,0.157,0.042,2454,204,3520,0,0,0,0,0,0
$GC,218,-1.73,-97.3,35.3,-23.5,26,223,0.15,2.50,0.00,0.000,6,0.128,0.020,2483,1793,3520,0,0,0,0,0,0
$GC,482,-1.66,-97.3,94.5,-23.0,50,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1793,3521,0,0,0,0,0,0
$GC,735,-1.66,-97.3,137.6,-16.9,74,739,0.00,2.58,0.00,0.000,4,0.000,0.035,2483,203,3522,0,0,0,0,0,0
$GC,754,-1.66,-97.3,140.4,-18.1,75,759,0.00,2.47,0.00,0.000,6,0.000,0.018,2483,1803,3522,0,0,0,0,0,0
$GC,1017,-1.75,-97.3,182.8,-16.6,99,1021,0.00,2.60,0.00,0.000,4,0.000,0.037,2483,205,3523,0,0,0,0,0,0
$GC,1052,-1.87,-97.3,188.9,-16.7,102,1057,0.12,2.45,0.00,0.000,6,0.068,0.019,2435,1777,3523,0,0,0,0,0,0
$GC,1326,-1.87,-97.3,235.1,-17.0,113,1330,0.00,2.55,0.00,0.000,4,0.000,0.036,2434,205,3523,0,0,0,0,0,0
$GC,1377,-1.87,-97.3,244.8,-18.7,114,1381,0.00,2.47,0.00,0.000,6,0.000,0.020,2434,1789,3523,0,0,0,0,0,0
$GC,1656,-1.87,-97.3,289.8,-15.5,121,1660,0.00,2.58,0.00,0.000,4,0.000,0.041,2435,203,3524,0,0,0,0,0,0
$GC,1679,-1.87,-97.3,293.9,-16.4,121,1683,0.00,2.47,0.00,0.000,6,0.000,0.020,2435,1790,3524,0,0,0,0,0,0
$GC,1937,-1.87,-97.3,332.7,-15.0,128,1942,0.00,2.62,0.00,0.000,4,0.000,0.048,2435,204,3524,0,0,0,0,0,0
$GC,2042,-1.87,-97.3,349.4,-17.0,130,2047,0.00,2.47,0.00,0.000,6,0.000,0.024,2435,1764,3524,0,0,0,0,0,0
$GC,2316,-1.94,-97.3,389.4,-14.3,137,2320,0.00,2.60,0.00,0.000,4,0.000,0.054,2435,211,3523,0,0,0,0,0,0
$GC,2408,-1.94,-97.3,402.6,-14.8,139,2412,0.00,2.47,0.00,0.000,6,0.000,0.028,2435,1760,3523,0,0,0,0,0,0
$GC,2695,-2.01,-97.3,443.9,-14.6,146,2699,0.00,2.62,0.00,0.000,4,0.000,0.058,2435,215,3520,0,0,0,0,0,0
$GC,2718,-2.01,-97.3,447.9,-15.8,146,2723,0.00,2.50,0.00,0.000,6,0.000,0.030,2435,1764,3521,0,0,0,0,0,0
$GC,2979,-2.09,-97.3,484.8,-13.9,153,2984,0.12,2.67,0.00,0.000,4,0.067,0.061,2388,211,3518,0,0,0,0,0,0
$GC,3003,-2.09,-97.3,489.0,-16.6,153,3007,0.00,2.53,0.00,0.000,6,0.000,0.034,2388,1755,3518,0,0,0,0,0,0
$STATE,3097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3097,begin apogee
$GC,3103,-0.31,0.0,504.4,16.2,156,3187,1.83,0.00,79.95,0.852,6,0.091,0.000,2788,1664,3120,0,0,0,0,0,0
$STATE,3188,end apogee,CONTROL_FINISHED_OK
$STATE,3188,begin climb
$GC,3190,1.82,97.3,506.8,0.0,158,3282,1.92,2.62,80.85,0.839,4,0.028,0.061,3292,188,2723,0,0,0,0,0,0
$GC,3298,1.49,173.9,508.4,1.9,160,3374,0.52,2.45,65.07,0.831,6,0.126,0.028,3189,1682,2409,0,0,0,0,0,0
$GC,3651,1.49,173.9,465.8,13.1,169,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1682,2402,0,0,0,0,0,0
$GC,3896,1.49,173.9,435.7,12.1,175,3901,0.00,2.55,0.00,0.000,4,0.000,0.055,3188,187,2399,0,0,0,0,0,0
$GC,4165,1.36,173.9,397.9,13.1,180,4171,0.15,2.42,0.00,0.000,6,0.141,0.026,3160,1683,2396,0,0,0,0,0,0
$GC,4416,1.43,173.9,369.8,11.2,187,4420,0.00,2.55,0.00,0.000,4,0.000,0.056,3159,193,2394,0,0,0,0,0,0
$GC,4671,1.43,173.9,335.7,13.2,192,4676,0.00,2.40,0.00,0.000,6,0.000,0.025,3159,1684,2392,0,0,0,0,0,0
$GC,4931,1.51,173.9,308.3,10.3,199,4936,0.12,2.53,0.00,0.000,4,0.070,0.054,3209,190,2391,0,0,0,0,0,0
$GC,5200,1.36,173.9,272.6,13.0,204,5206,0.25,2.35,0.00,0.000,6,0.123,0.024,3160,1663,2389,0,0,0,0,0,0
$GC,5450,1.47,186.7,250.0,8.7,211,5463,0.00,2.53,8.18,0.615,4,0.000,0.053,3160,191,2357,0,0,0,0,0,0
$GC,5484,1.47,186.9,246.7,10.0,211,5488,0.00,2.38,0.00,0.000,6,0.000,0.023,3160,1675,2357,0,0,0,0,0,0
$GC,5734,1.58,190.7,222.8,9.6,217,5747,0.17,2.50,4.93,0.508,4,0.054,0.051,3220,191,2341,0,0,0,0,0,0
$GC,5754,1.58,194.7,220.9,9.6,217,5765,0.00,2.33,5.00,0.508,6,0.000,0.023,3220,1662,2326,0,0,0,0,0,0
$GC,6021,1.58,194.7,191.5,10.5,229,6025,0.00,2.47,0.00,0.000,4,0.000,0.050,3220,189,2323,0,0,0,0,0,0
$GC,6305,1.46,194.7,155.3,14.0,257,6312,0.20,2.30,0.00,0.000,6,0.121,0.021,3181,1651,2321,0,0,0,0,0,0
$GC,6570,1.59,230.7,132.5,6.2,282,6607,0.10,2.47,30.85,0.599,4,0.080,0.046,3226,187,2178,0,0,0,0,0,0
$GC,6817,1.59,230.7,100.1,16.7,305,6823,0.00,2.30,0.00,0.000,6,0.000,0.021,3226,1650,2174,0,0,0,0,0,0
$GC,7083,1.62,249.9,70.0,8.0,330,7107,0.00,2.47,17.02,0.522,4,0.000,0.042,3226,190,2100,0,0,0,0,0,0
$GC,7234,1.62,249.9,50.8,13.8,343,7242,0.00,2.30,0.00,0.000,6,0.000,0.020,3226,1642,2098,0,0,0,0,0,0
$GC,7514,1.62,249.9,15.4,12.0,377,7523,0.00,2.42,0.00,0.000,4,0.000,0.042,3226,184,2097,0,0,0,0,0,0
$STATE,7598,end climb,SURFACE_DEPTH_REACHED
$STATE,7598,begin surface coast
$FINISH,0.6,1.013165
$STATE,7645,end surface coast,CONTROL_FINISHED_OK
$STATE,7646,begin surface
$SM_CCo,7669,98.25,0.062,0,0,1285,450.13
$SM_GC,1.58,0.00,0.00,98.25,0.000,0.000,0.062,410,1814,1285,-11.27,0.68,450.13
$IRIDIUM_FIX,2241.69,-15757.16,100300,000011
$TT8_MAMPS,0.026845
$HUMID,45.66
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.6,38.562
$10V_AH,10.3,32.612
$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,28.025,94.925,291.850,98.250,0.000,52.781,114.629,499.489,0.000,0.000,21.148,865.118,4667.866,426.599,1763.567,920.753,33.358,1138.278,0.000,1753.979,0.000,0.539,0.000
$DEVICE_MAMPS,157.235,79.001,852.137,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.169,245.090,314.624,487.727,859.686,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,32118,397
$CAP_FILE_SIZE,97364,0
$CFSIZE,260165632,156594176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151210,055646,2247.013,-15758.009,10,99.0,29,10.1