version: 66.06
glider: 148
mission: 9
dive: 322
start: 12 20 110 12 48 30
data:
$ID,148
$MISSION,9
$DIVE,322
$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,185
$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,420
$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,-864752.62
$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,31
$R_STBD_OVSHOOT,48
$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
$GPS1,123231,2249.358,-15802.991,39,1.4,39,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.7
$GPS2,124732,2249.411,-15802.898,13,1.5,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.155,0.017
$KALMAN_X,-47116.0,10.7,-76.0,59161.3,358.8
$KALMAN_Y,-2780.5,-246.5,-646.7,132421.0,1034.8
$MHEAD_RNG_PITCHd_Wd,266.0,1104,-27.1,-9.009
$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,-1.76,-53.9,0.0,0.0,0,95,0.00,0.00,-75.12,0.000,2,0.000,0.000,411,1867,3264,0,0,0,0,0,0
$GC,98,-1.82,-106.8,3.2,-3.1,10,123,10.77,2.42,-5.80,0.000,4,0.153,0.037,2452,3371,3558,0,0,0,0,0,0
$GC,264,-1.74,-106.8,47.1,-23.6,30,269,0.12,2.53,0.00,0.000,6,0.124,0.024,2478,1785,3559,0,0,0,0,0,0
$GC,525,-1.74,-106.8,106.9,-22.1,54,530,0.00,2.50,0.00,0.000,4,0.000,0.025,2478,3370,3560,0,0,0,0,0,0
$GC,536,-1.74,-106.8,109.8,-21.3,54,545,0.00,2.53,0.00,0.000,6,0.000,0.021,2478,1784,3560,0,0,0,0,0,0
$GC,803,-1.74,-106.8,154.9,-16.6,79,807,0.00,2.53,0.00,0.000,4,0.000,0.037,2478,215,3561,0,0,0,0,0,0
$GC,822,-1.81,-106.8,159.0,-16.3,80,828,0.00,2.45,0.00,0.000,6,0.000,0.018,2478,1800,3560,0,0,0,0,0,0
$GC,1086,-1.90,-106.8,201.7,-15.4,105,1091,0.15,2.47,0.00,0.000,4,0.061,0.028,2425,3368,3561,0,0,0,0,0,0
$GC,1105,-1.90,-106.8,205.8,-17.2,105,1109,0.00,2.50,0.00,0.000,6,0.000,0.021,2425,1783,3561,0,0,0,0,0,0
$GC,1370,-1.90,-106.8,255.2,-19.4,112,1372,0.10,0.00,0.00,0.000,6,0.134,0.000,2444,1782,3561,0,0,0,0,0,0
$GC,1612,-1.90,-106.8,295.3,-16.0,118,1616,0.00,2.55,0.00,0.000,4,0.000,0.041,2445,215,3562,0,0,0,0,0,0
$GC,1630,-1.90,-106.8,298.6,-17.3,118,1635,0.00,2.42,0.00,0.000,6,0.000,0.021,2444,1781,3562,0,0,0,0,0,0
$GC,1896,-1.98,-106.8,340.0,-15.5,125,1900,0.00,2.60,0.00,0.000,4,0.000,0.048,2444,221,3562,0,0,0,0,0,0
$GC,1919,-1.98,-106.8,344.0,-15.9,125,1923,0.00,2.45,0.00,0.000,6,0.000,0.023,2444,1773,3562,0,0,0,0,0,0
$GC,2178,-2.07,-106.8,381.3,-14.3,132,2183,0.15,2.62,0.00,0.000,4,0.061,0.054,2390,221,3562,0,0,0,0,0,0
$GC,2271,-1.98,-106.8,397.8,-19.2,134,2277,0.17,2.45,0.00,0.000,6,0.112,0.028,2426,1756,3562,0,0,0,0,0,0
$GC,2559,-1.98,-106.8,444.1,-15.8,141,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1757,3560,0,0,0,0,0,0
$GC,2802,-1.98,-106.8,482.6,-15.7,147,2807,0.00,2.62,0.00,0.000,4,0.000,0.060,2426,225,3558,0,0,0,0,0,0
$GC,2847,-1.98,-106.8,489.5,-16.0,148,2851,0.00,2.47,0.00,0.000,6,0.000,0.034,2426,1758,3558,0,0,0,0,0,0
$STATE,2928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2928,begin apogee
$GC,2934,-0.31,0.0,501.4,13.8,150,3026,1.65,0.00,87.65,0.841,6,0.084,0.000,2791,1668,3120,0,0,0,0,0,0
$STATE,3026,end apogee,CONTROL_FINISHED_OK
$STATE,3026,begin climb
$GC,3030,1.82,106.8,503.0,0.0,152,3124,1.90,0.00,88.80,0.828,6,0.024,0.000,3292,1668,2684,0,0,0,0,0,0
$GC,3358,1.52,106.8,482.4,10.8,160,3365,0.47,2.53,0.00,0.000,4,0.128,0.057,3194,190,2676,0,0,0,0,0,0
$GC,3386,1.31,106.8,479.6,9.5,160,3392,0.25,2.42,0.00,0.000,6,0.133,0.029,3148,1678,2675,0,0,0,0,0,0
$GC,3646,1.35,136.1,463.0,5.7,167,3678,0.00,2.60,24.25,0.792,4,0.000,0.055,3148,191,2564,0,0,0,0,0,0
$GC,3717,1.28,141.5,458.0,8.4,168,3730,0.00,2.42,6.15,0.630,6,0.000,0.027,3148,1675,2542,0,0,0,0,0,0
$GC,3982,1.34,141.5,434.6,9.2,175,3986,0.00,2.53,0.00,0.000,4,0.000,0.055,3148,190,2538,0,0,0,0,0,0
$GC,4032,1.34,141.5,429.1,10.4,176,4037,0.00,2.40,0.00,0.000,6,0.000,0.026,3148,1671,2537,0,0,0,0,0,0
$GC,4312,1.42,142.8,404.6,8.9,183,4316,0.00,2.53,0.00,0.000,4,0.000,0.055,3148,190,2535,0,0,0,0,0,0
$GC,4582,1.42,145.1,379.7,8.8,188,4587,0.00,2.35,0.00,0.000,6,0.000,0.025,3148,1656,2533,0,0,0,0,0,0
$GC,4832,1.51,154.4,359.4,8.0,195,4849,0.17,2.58,10.30,0.696,4,0.056,0.054,3203,186,2489,0,0,0,0,0,0
$GC,5116,1.34,154.4,329.0,11.6,201,5121,0.25,2.35,0.00,0.000,6,0.125,0.025,3155,1653,2486,0,0,0,0,0,0
$GC,5399,1.45,174.0,307.9,6.8,208,5423,0.00,2.53,17.08,0.710,4,0.000,0.053,3155,184,2410,0,0,0,0,0,0
$GC,5690,1.45,174.0,284.0,9.2,214,5694,0.00,2.33,0.00,0.000,6,0.000,0.024,3155,1644,2406,0,0,0,0,0,0
$GC,5963,1.58,183.8,261.7,7.9,221,5980,0.20,2.53,9.43,0.626,4,0.051,0.052,3222,194,2369,0,0,0,0,0,0
$GC,6247,1.43,183.8,230.3,12.9,227,6251,0.25,2.30,0.00,0.000,6,0.120,0.022,3173,1643,2366,0,0,0,0,0,0
$GC,6529,1.52,183.8,202.7,9.5,234,6534,0.00,2.42,0.00,0.000,4,0.000,0.048,3173,184,2364,0,0,0,0,0,0
$GC,6817,1.52,183.8,175.4,9.2,259,6822,0.00,2.28,0.00,0.000,6,0.000,0.021,3173,1642,2364,0,0,0,0,0,0
$GC,7085,1.64,196.7,154.0,7.6,283,7104,0.17,2.45,11.38,0.558,4,0.053,0.045,3235,185,2317,0,0,0,0,0,0
$GC,7400,1.51,196.7,117.1,12.0,313,7406,0.22,2.28,0.00,0.000,6,0.123,0.021,3191,1638,2317,0,0,0,0,0,0
$GC,7664,1.64,207.3,95.9,7.8,338,7681,0.10,2.45,10.55,0.496,4,0.078,0.044,3238,188,2273,0,0,0,0,0,0
$GC,7990,1.53,207.3,67.8,9.7,368,7995,0.22,2.22,0.00,0.000,6,0.120,0.020,3194,1640,2272,0,0,0,0,0,0
$GC,8255,1.66,217.6,46.9,7.9,392,8271,0.12,2.45,10.05,0.459,4,0.066,0.042,3250,186,2231,0,0,0,0,0,0
$GC,8418,1.53,217.6,29.0,11.3,407,8427,0.25,2.25,0.00,0.000,6,0.105,0.019,3196,1619,2230,0,0,0,0,0,0
$STATE,8704,end climb,SURFACE_DEPTH_REACHED
$STATE,8704,begin surface coast
$FINISH,0.6,1.017653
$STATE,8755,end surface coast,CONTROL_FINISHED_OK
$STATE,8755,begin surface
$SM_CCo,8777,98.50,0.061,0,0,1405,420.20
$SM_GC,1.40,0.00,0.00,98.50,0.000,0.000,0.061,412,1842,1405,-11.26,1.47,420.20
$IRIDIUM_FIX,2239.35,-15802.37,150300,121225
$TT8_MAMPS,0.026845
$HUMID,44.01
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.6,43.858
$10V_AH,10.3,37.313
$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,29.075,93.650,275.625,98.500,0.000,57.626,74.973,553.180,0.000,0.000,15.275,1014.977,5259.557,435.427,2075.902,993.958,33.374,1219.249,0.000,2075.114,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,78.234,840.632,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.575,291.882,369.766,570.361,1008.772,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,35166,460
$CAP_FILE_SIZE,110297,0
$CFSIZE,260165632,154177536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201210,151734,2250.139,-15803.715,8,2.2,27,10.1