version: 66.06
glider: 148
mission: 9
dive: 292
start: 12 16 110 15 42 19
data:
$ID,148
$MISSION,9
$DIVE,292
$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,-864151.94
$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
$GPS1,153536,2247.831,-15757.336,32,0.8,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.9
$GPS2,154125,2247.837,-15757.291,14,1.5,19,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.149,-0.123
$KALMAN_X,-52796.0,-8.1,-30.9,74462.1,610.3
$KALMAN_Y,725.6,132.4,485.4,124487.5,-325.1
$MHEAD_RNG_PITCHd_Wd,220.4,1777,-24.5,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.63,-77.6,0.0,0.0,0,104,0.00,0.00,-82.25,0.000,2,0.000,0.000,406,1854,3310,0,0,0,0,0,0
$GC,106,-1.71,-143.3,3.3,-4.3,11,132,10.90,2.67,-7.55,0.000,4,0.152,0.042,2482,196,3706,0,0,0,0,0,0
$GC,282,-1.62,-143.3,49.4,-23.2,32,287,0.12,2.50,0.00,0.000,6,0.127,0.020,2506,1794,3708,0,0,0,0,0,0
$GC,546,-1.62,-143.3,110.8,-18.6,56,550,0.00,2.53,0.00,0.000,4,0.000,0.030,2506,3378,3709,0,0,0,0,0,0
$GC,573,-1.62,-143.3,115.9,-17.1,58,578,0.00,2.55,0.00,0.000,6,0.000,0.022,2506,1775,3709,0,0,0,0,0,0
$GC,839,-1.62,-143.3,163.6,-17.2,82,843,0.00,2.55,0.00,0.000,4,0.000,0.028,2506,3369,3710,0,0,0,0,0,0
$GC,868,-1.62,-143.3,168.3,-14.0,84,877,0.00,2.50,0.00,0.000,6,0.000,0.022,2506,1803,3711,0,0,0,0,0,0
$GC,1126,-1.62,-143.3,207.2,-15.0,106,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1802,3711,0,0,0,0,0,0
$GC,1370,-1.62,-143.3,242.7,-14.6,112,1374,0.00,2.53,0.00,0.000,4,0.000,0.031,2506,3372,3712,0,0,0,0,0,0
$GC,1418,-1.74,-143.3,249.8,-14.3,113,1423,0.12,2.50,0.00,0.000,6,0.065,0.023,2451,1795,3712,0,0,0,0,0,0
$GC,1700,-1.74,-143.3,300.2,-18.3,120,1706,0.12,2.60,0.00,0.000,4,0.120,0.043,2477,208,3712,0,0,0,0,0,0
$GC,1721,-1.74,-143.3,303.7,-17.3,120,1726,0.00,2.53,0.00,0.000,6,0.000,0.021,2477,1813,3712,0,0,0,0,0,0
$GC,1985,-1.74,-143.3,346.7,-16.5,127,1989,0.00,2.67,0.00,0.000,4,0.000,0.047,2477,207,3712,0,0,0,0,0,0
$GC,1998,-1.74,-143.3,349.3,-15.8,127,2003,0.00,2.53,0.00,0.000,6,0.000,0.023,2478,1806,3712,0,0,0,0,0,0
$GC,2268,-1.80,-143.3,386.1,-13.3,134,2273,0.00,2.67,0.00,0.000,4,0.000,0.053,2477,219,3712,0,0,0,0,0,0
$GC,2306,-1.89,-143.3,391.9,-14.5,134,2312,0.12,2.53,0.00,0.000,6,0.067,0.027,2428,1798,3712,0,0,0,0,0,0
$GC,2555,-1.89,-143.3,435.0,-17.6,141,2557,0.10,0.00,0.00,0.000,6,0.132,0.000,2448,1798,3711,0,0,0,0,0,0
$GC,2801,-1.89,-143.3,475.4,-16.0,147,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1798,3709,0,0,0,0,0,0
$STATE,2959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2959,begin apogee
$GC,2965,-0.31,0.0,500.0,15.2,151,3086,1.55,0.00,117.15,0.849,6,0.084,0.000,2791,1675,3120,0,0,0,0,0,0
$STATE,3087,end apogee,CONTROL_FINISHED_OK
$STATE,3087,begin climb
$GC,3089,1.71,143.3,503.2,0.0,154,3222,1.80,2.72,118.88,0.835,4,0.026,0.049,3249,3253,2533,0,0,0,0,0,0
$GC,3232,1.41,143.3,501.2,10.4,157,3239,0.43,2.62,0.00,0.000,6,0.132,0.037,3168,1695,2531,0,0,0,0,0,0
$GC,3503,1.30,143.3,469.7,11.1,164,3508,0.12,2.70,0.00,0.000,4,0.153,0.074,3146,161,2526,0,0,0,0,0,0
$GC,3636,1.13,143.3,456.1,10.2,166,3642,0.20,2.45,0.00,0.000,6,0.133,0.028,3109,1662,2523,0,0,0,0,0,0
$GC,3885,1.18,184.3,438.9,6.5,173,3925,0.00,0.00,34.22,0.801,6,0.000,0.000,3109,1663,2367,0,0,0,0,0,0
$GC,4171,1.27,184.3,408.1,11.6,180,4173,0.12,0.00,0.00,0.000,6,0.067,0.000,3158,1663,2362,0,0,0,0,0,0
$GC,4413,1.27,184.3,379.3,12.0,186,4418,0.12,2.55,0.00,0.000,4,0.130,0.056,3135,166,2359,0,0,0,0,0,0
$GC,4682,1.20,184.3,345.4,12.7,191,4688,0.00,2.40,0.00,0.000,6,0.000,0.025,3135,1663,2357,0,0,0,0,0,0
$GC,4931,1.20,184.3,319.0,10.4,198,4936,0.00,2.55,0.00,0.000,4,0.000,0.056,3135,166,2355,0,0,0,0,0,0
$GC,4961,1.13,184.3,316.1,10.9,198,4966,0.15,2.38,0.00,0.000,6,0.134,0.025,3108,1662,2355,0,0,0,0,0,0
$GC,5217,1.25,189.4,292.0,9.6,205,5222,0.10,2.55,0.00,0.000,4,0.081,0.056,3153,166,2354,0,0,0,0,0,0
$GC,5356,1.16,189.4,275.5,11.5,208,5361,0.20,2.35,0.00,0.000,6,0.122,0.024,3114,1641,2352,0,0,0,0,0,0
$GC,5640,1.30,211.9,252.2,8.1,215,5669,0.12,2.60,21.77,0.686,4,0.068,0.061,3165,167,2255,0,0,0,0,0,0
$GC,5869,1.22,211.9,226.2,11.9,220,5874,0.20,2.35,0.00,0.000,6,0.121,0.023,3126,1642,2251,0,0,0,0,0,0
$GC,6158,1.33,211.9,197.3,10.3,227,6160,0.10,0.00,0.00,0.000,6,0.081,0.000,3170,1642,2249,0,0,0,0,0,0
$GC,6411,1.33,211.9,168.6,11.0,251,6415,0.00,2.47,0.00,0.000,4,0.000,0.047,3170,163,2248,0,0,0,0,0,0
$GC,6576,1.26,211.9,147.8,12.2,267,6581,0.17,2.33,0.00,0.000,6,0.124,0.021,3137,1642,2247,0,0,0,0,0,0
$GC,6841,1.40,229.5,125.3,8.5,291,6862,0.12,2.50,15.10,0.561,4,0.067,0.044,3191,155,2184,0,0,0,0,0,0
$GC,6930,1.30,229.5,116.9,10.3,299,6935,0.22,2.33,0.00,0.000,6,0.122,0.021,3146,1632,2183,0,0,0,0,0,0
$GC,7197,1.49,251.5,90.4,8.1,323,7227,0.15,2.67,20.27,0.541,4,0.058,0.031,3223,3262,2092,0,0,0,0,0,0
$GC,7380,1.49,251.5,71.6,11.3,340,7385,0.17,2.65,0.00,0.000,6,0.111,0.032,3188,1626,2089,0,0,0,0,0,0
$GC,7648,1.49,251.5,43.3,11.5,364,7652,0.00,2.40,0.00,0.000,4,0.000,0.044,3187,161,2089,0,0,0,0,0,0
$GC,7759,1.49,251.5,27.6,14.9,374,7768,0.00,2.33,0.00,0.000,6,0.000,0.020,3187,1642,2088,0,0,0,0,0,0
$STATE,7956,end climb,SURFACE_DEPTH_REACHED
$STATE,7956,begin surface coast
$FINISH,0.7,1.023679
$STATE,7995,end surface coast,CONTROL_FINISHED_OK
$STATE,7995,begin surface
$SM_CCo,8016,96.93,0.061,0,0,1285,450.13
$SM_GC,1.48,0.00,0.00,96.93,0.000,0.000,0.061,414,1869,1285,-11.26,2.23,450.13
$IRIDIUM_FIX,2241.69,-15757.16,110300,131333
$TT8_MAMPS,0.026845
$HUMID,44.36
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,23.6,40.008
$10V_AH,10.3,33.902
$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,28.825,86.125,327.400,96.925,0.000,28.422,32.800,148.046,0.750,0.000,20.763,872.993,4969.212,489.168,1680.432,453.199,33.360,1138.127,0.000,1671.482,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,73.632,849.069,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,277.892,251.077,321.999,494.323,872.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,32113,411
$CAP_FILE_SIZE,90129,0
$CFSIZE,260165632,155906048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161210,175826,2246.999,-15758.043,12,2.0,12,10.1