version: 66.06
glider: 148
mission: 9
dive: 283
start: 12 15 110 14 35 45
data:
$ID,148
$MISSION,9
$DIVE,283
$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,-863958.25
$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,26
$R_STBD_OVSHOOT,92
$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
$GPS1,142854,2247.139,-15802.224,23,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.7
$GPS2,143450,2247.165,-15802.180,17,2.0,17,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.187,-0.014
$KALMAN_X,-55321.3,-108.7,-135.1,68781.1,447.7
$KALMAN_Y,1922.5,100.3,543.8,122021.1,-166.1
$MHEAD_RNG_PITCHd_Wd,255.6,1434,-25.3,-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,17,begin dive
$GC,19,-1.67,-73.1,0.0,0.0,0,104,0.00,0.00,-82.43,0.000,2,0.000,0.000,411,1837,3357,0,0,0,0,0,0
$GC,107,-1.72,-109.9,3.9,-6.7,11,132,11.00,2.70,-3.95,0.000,4,0.158,0.047,2479,198,3571,0,0,0,0,0,0
$GC,315,-1.65,-109.9,57.5,-22.6,35,319,0.00,2.40,0.00,0.000,6,0.000,0.020,2479,1746,3572,0,0,0,0,0,0
$GC,583,-1.65,-109.9,115.0,-19.6,59,588,0.10,2.58,0.00,0.000,4,0.136,0.031,2499,3368,3573,0,0,0,0,0,0
$GC,613,-1.65,-109.9,121.3,-18.2,61,617,0.00,2.53,0.00,0.000,6,0.000,0.021,2499,1774,3573,0,0,0,0,0,0
$GC,880,-1.65,-109.9,161.8,-15.5,85,884,0.00,2.53,0.00,0.000,4,0.000,0.037,2498,206,3575,0,0,0,0,0,0
$GC,919,-1.74,-109.9,169.3,-15.1,88,925,0.00,2.47,0.00,0.000,6,0.000,0.019,2499,1799,3576,0,0,0,0,0,0
$GC,1178,-1.83,-109.9,207.4,-14.6,110,1183,0.15,2.60,0.00,0.000,4,0.060,0.038,2445,212,3576,0,0,0,0,0,0
$GC,1194,-1.83,-109.9,209.9,-14.6,110,1199,0.00,2.45,0.00,0.000,6,0.000,0.018,2445,1798,3576,0,0,0,0,0,0
$GC,1467,-1.83,-109.9,256.4,-16.9,117,1471,0.00,2.58,0.00,0.000,4,0.000,0.038,2444,214,3576,0,0,0,0,0,0
$GC,1522,-1.83,-109.9,266.2,-17.8,118,1527,0.00,2.42,0.00,0.000,6,0.000,0.021,2444,1761,3576,0,0,0,0,0,0
$GC,1796,-1.83,-109.9,307.6,-15.1,125,1801,0.00,2.55,0.00,0.000,4,0.000,0.044,2445,214,3577,0,0,0,0,0,0
$GC,1833,-1.83,-109.9,314.7,-18.4,125,1839,0.00,2.45,0.00,0.000,6,0.000,0.022,2445,1767,3577,0,0,0,0,0,0
$GC,2083,-1.83,-109.9,355.9,-16.3,132,2087,0.00,2.60,0.00,0.000,4,0.000,0.050,2445,212,3576,0,0,0,0,0,0
$GC,2135,-1.83,-109.9,364.2,-15.6,133,2139,0.00,2.45,0.00,0.000,6,0.000,0.024,2444,1758,3577,0,0,0,0,0,0
$GC,2412,-1.83,-109.9,404.1,-14.7,140,2417,0.00,2.60,0.00,0.000,4,0.000,0.054,2444,219,3576,0,0,0,0,0,0
$GC,2455,-1.83,-109.9,411.3,-16.3,141,2459,0.00,2.47,0.00,0.000,6,0.000,0.029,2445,1756,3575,0,0,0,0,0,0
$GC,2743,-1.83,-109.9,454.4,-14.5,148,2747,0.00,2.65,0.00,0.000,4,0.000,0.044,2445,3372,3574,0,0,0,0,0,0
$GC,2761,-1.83,-109.9,457.4,-14.0,148,2766,0.00,2.62,0.00,0.000,6,0.000,0.030,2444,1759,3574,0,0,0,0,0,0
$GC,3027,-1.83,-109.9,492.0,-13.0,155,3031,0.00,2.65,0.00,0.000,4,0.000,0.064,2444,210,3572,0,0,0,0,0,0
$STATE,3080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3080,begin apogee
$GC,3088,-0.31,0.0,500.1,14.2,156,3182,1.52,0.00,89.95,0.850,6,0.086,0.000,2784,1677,3120,0,0,0,0,0,0
$STATE,3183,end apogee,CONTROL_FINISHED_OK
$STATE,3183,begin climb
$GC,3186,1.72,109.9,502.2,0.0,158,3281,1.88,0.00,91.10,0.836,6,0.028,0.000,3262,1677,2672,0,0,0,0,0,0
$GC,3526,1.41,113.2,483.6,9.7,167,3533,0.45,2.60,0.00,0.000,4,0.127,0.058,3171,171,2663,0,0,0,0,0,0
$GC,3751,1.19,137.2,466.0,7.8,171,3781,0.25,2.47,22.85,0.797,6,0.142,0.028,3124,1689,2559,0,0,0,0,0,0
$GC,4047,1.21,150.7,441.7,8.8,179,4066,0.00,2.65,12.57,0.748,4,0.000,0.055,3124,170,2503,0,0,0,0,0,0
$GC,4196,1.21,150.7,425.4,10.7,182,4200,0.00,2.45,0.00,0.000,6,0.000,0.027,3124,1677,2500,0,0,0,0,0,0
$GC,4470,1.25,179.5,403.6,7.4,189,4502,0.00,2.78,24.80,0.782,4,0.000,0.056,3124,3265,2386,0,0,0,0,0,0
$GC,4514,1.36,206.4,400.3,7.6,190,4546,0.12,2.67,24.20,0.769,6,0.067,0.035,3174,1675,2277,0,0,0,0,0,0
$GC,4804,1.36,206.4,362.0,14.3,197,4808,0.00,2.60,0.00,0.000,4,0.000,0.068,3173,168,2271,0,0,0,0,0,0
$GC,5053,1.24,206.4,322.5,15.6,202,5058,0.22,2.42,0.00,0.000,6,0.132,0.025,3133,1672,2268,0,0,0,0,0,0
$GC,5320,1.33,206.4,294.5,10.2,209,5324,0.00,2.58,0.00,0.000,4,0.000,0.058,3132,167,2265,0,0,0,0,0,0
$GC,5447,1.33,206.4,280.4,11.5,211,5451,0.00,2.38,0.00,0.000,6,0.000,0.025,3132,1650,2265,0,0,0,0,0,0
$GC,5699,1.45,218.2,257.9,9.0,217,5711,0.17,0.00,9.05,0.626,6,0.054,0.000,3195,1653,2229,0,0,0,0,0,0
$GC,5989,1.45,218.2,223.0,11.6,224,5993,0.00,2.53,0.00,0.000,4,0.000,0.053,3195,164,2226,0,0,0,0,0,0
$GC,6264,1.31,218.2,183.9,13.9,237,6273,0.20,2.38,0.00,0.000,6,0.121,0.023,3154,1648,2225,0,0,0,0,0,0
$GC,6528,1.40,218.2,155.8,10.1,262,6532,0.00,2.47,0.00,0.000,4,0.000,0.046,3153,164,2224,0,0,0,0,0,0
$GC,6707,1.40,218.2,131.4,13.3,279,6713,0.00,2.35,0.00,0.000,6,0.000,0.022,3153,1652,2224,0,0,0,0,0,0
$GC,6972,1.54,231.7,106.9,8.8,304,6988,0.17,0.00,12.12,0.535,6,0.051,0.000,3236,1653,2174,0,0,0,0,0,0
$GC,7248,1.56,245.0,79.1,8.8,330,7273,0.17,2.50,12.73,0.514,4,0.116,0.044,3201,163,2120,0,0,0,0,0,0
$GC,7300,1.56,245.0,73.3,10.6,334,7309,0.00,2.35,0.00,0.000,6,0.000,0.021,3201,1642,2119,0,0,0,0,0,0
$GC,7567,1.56,245.0,46.3,10.5,359,7571,0.00,2.45,0.00,0.000,4,0.000,0.043,3201,162,2118,0,0,0,0,0,0
$GC,7686,1.56,245.0,31.5,12.3,369,7690,0.00,2.30,0.00,0.000,6,0.000,0.020,3201,1637,2118,0,0,0,0,0,0
$STATE,7915,end climb,SURFACE_DEPTH_REACHED
$STATE,7915,begin surface coast
$FINISH,0.7,1.010831
$STATE,7954,end surface coast,CONTROL_FINISHED_OK
$STATE,7954,begin surface
$SM_CCo,7976,101.55,0.061,0,0,1284,450.13
$SM_GC,1.65,0.00,0.00,101.55,0.000,0.000,0.061,411,1865,1284,-11.27,2.12,450.13
$IRIDIUM_FIX,2239.35,-15759.32,100300,111159
$TT8_MAMPS,0.027612
$HUMID,44.40
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.6,38.992
$10V_AH,10.4,33.002
$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,27.825,95.850,299.375,101.550,0.000,28.664,34.344,155.403,0.000,0.000,18.680,895.434,4815.854,450.333,1803.053,471.110,33.358,1169.915,0.000,1792.259,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,68.263,849.836,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,276.994,258.227,325.693,500.068,882.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,32033,410
$CAP_FILE_SIZE,93109,0
$CFSIZE,260165632,156389376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151210,165136,2247.171,-15803.092,28,1.0,32,10.1