version: 66.06
glider: 148
mission: 9
dive: 329
start: 12 21 110 9 34 33
data:
$ID,148
$MISSION,9
$DIVE,329
$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,-864924.56
$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,86
$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
$GPS1,092704,2248.097,-15757.683,15,2.1,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.8
$GPS2,093338,2248.112,-15757.652,13,1.1,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039,-0.151
$KALMAN_X,-46303.3,-245.0,133.1,67424.2,155.7
$KALMAN_Y,-2822.0,-799.7,315.6,129645.1,-483.9
$MHEAD_RNG_PITCHd_Wd,184.5,2074,-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,15,begin dive
$GC,18,-1.76,-53.9,0.0,0.0,0,95,0.00,0.00,-75.32,0.000,2,0.000,0.000,413,1843,3281,0,0,0,0,0,0
$GC,100,-1.81,-94.6,3.4,-4.5,10,125,10.75,2.70,-4.28,0.000,4,0.153,0.048,2456,210,3509,0,0,0,0,0,0
$GC,153,-1.43,-94.6,22.1,-32.3,17,162,0.38,2.42,0.00,0.000,6,0.097,0.019,2540,1746,3509,0,0,0,0,0,0
$GC,429,-1.51,-94.6,72.6,-17.4,44,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1749,3510,0,0,0,0,0,0
$GC,694,-1.65,-94.6,114.4,-14.3,69,699,0.17,2.58,0.00,0.000,4,0.053,0.027,2474,3370,3511,0,0,0,0,0,0
$GC,722,-1.65,-94.6,118.9,-15.4,71,727,0.12,2.53,0.00,0.000,6,0.117,0.023,2499,1777,3511,0,0,0,0,0,0
$GC,986,-1.77,-94.6,160.8,-14.5,95,991,0.12,0.00,0.00,0.000,6,0.069,0.000,2452,1776,3512,0,0,0,0,0,0
$GC,1256,-1.77,-94.6,207.7,-18.7,118,1261,0.10,2.53,0.00,0.000,4,0.130,0.038,2472,206,3513,0,0,0,0,0,0
$GC,1279,-1.77,-94.6,212.3,-18.3,118,1284,0.00,2.47,0.00,0.000,6,0.000,0.019,2472,1806,3513,0,0,0,0,0,0
$GC,1539,-1.86,-94.6,251.8,-15.3,125,1543,0.00,2.45,0.00,0.000,4,0.000,0.030,2471,3360,3514,0,0,0,0,0,0
$GC,1573,-1.95,-94.6,257.0,-14.8,125,1578,0.15,2.50,0.00,0.000,6,0.058,0.024,2412,1787,3513,0,0,0,0,0,0
$GC,1822,-1.95,-94.6,298.0,-16.4,131,1827,0.10,2.58,0.00,0.000,4,0.132,0.044,2431,208,3513,0,0,0,0,0,0
$GC,1846,-1.95,-94.6,301.8,-15.6,131,1850,0.00,2.45,0.00,0.000,6,0.000,0.021,2431,1786,3513,0,0,0,0,0,0
$GC,2111,-1.95,-94.6,340.3,-14.9,138,2115,0.00,2.62,0.00,0.000,4,0.000,0.048,2431,210,3513,0,0,0,0,0,0
$GC,2222,-1.95,-94.6,360.0,-16.3,140,2226,0.00,2.47,0.00,0.000,6,0.000,0.024,2431,1780,3513,0,0,0,0,0,0
$GC,2485,-1.95,-94.6,400.0,-15.0,147,2489,0.00,2.62,0.00,0.000,4,0.000,0.053,2431,218,3512,0,0,0,0,0,0
$GC,2556,-1.95,-94.6,411.8,-17.2,148,2560,0.00,2.47,0.00,0.000,6,0.000,0.028,2431,1774,3512,0,0,0,0,0,0
$GC,2815,-1.95,-94.6,449.9,-14.3,155,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1774,3511,0,0,0,0,0,0
$GC,3059,-2.02,-94.6,485.4,-14.9,161,3063,0.00,2.67,0.00,0.000,4,0.000,0.061,2431,212,3509,0,0,0,0,0,0
$GC,3116,-2.02,-94.6,494.6,-16.5,162,3121,0.00,2.53,0.00,0.000,6,0.000,0.034,2431,1774,3509,0,0,0,0,0,0
$STATE,3183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3184,begin apogee
$GC,3189,-0.31,0.0,505.4,15.3,164,3272,1.62,0.00,78.20,0.848,6,0.088,0.000,2789,1672,3120,0,0,0,0,0,0
$STATE,3272,end apogee,CONTROL_FINISHED_OK
$STATE,3272,begin climb
$GC,3276,1.81,94.6,508.4,0.0,166,3365,1.92,2.72,78.93,0.836,4,0.025,0.048,3280,3265,2732,0,0,0,0,0,0
$GC,3436,1.57,125.9,509.1,5.5,170,3470,0.40,2.62,26.85,0.805,6,0.131,0.036,3204,1698,2606,0,0,0,0,0,0
$GC,3723,1.47,125.9,483.6,9.8,177,3728,0.12,2.72,0.00,0.000,4,0.162,0.075,3182,161,2599,0,0,0,0,0,0
$GC,3832,1.29,125.9,472.2,10.2,179,3837,0.20,2.45,0.00,0.000,6,0.143,0.028,3146,1680,2597,0,0,0,0,0,0
$GC,4103,1.30,135.7,450.2,7.9,186,4116,0.00,2.62,7.95,0.691,4,0.000,0.058,3146,166,2566,0,0,0,0,0,0
$GC,4381,1.30,135.7,422.6,10.5,192,4385,0.00,2.42,0.00,0.000,6,0.000,0.026,3146,1678,2563,0,0,0,0,0,0
$GC,4668,1.38,140.2,397.9,8.5,199,4680,0.00,2.60,4.82,0.574,4,0.000,0.055,3146,166,2547,0,0,0,0,0,0
$GC,4907,1.38,143.4,376.0,8.7,204,4916,0.00,2.42,4.03,0.510,6,0.000,0.025,3146,1677,2535,0,0,0,0,0,0
$GC,5187,1.49,158.2,355.4,7.4,211,5208,0.15,2.65,13.70,0.728,4,0.063,0.055,3197,171,2475,0,0,0,0,0,0
$GC,5388,1.32,158.2,334.2,10.2,215,5394,0.25,2.40,0.00,0.000,6,0.127,0.025,3150,1670,2471,0,0,0,0,0,0
$GC,5660,1.44,175.8,314.5,7.0,222,5681,0.10,2.62,15.82,0.711,4,0.082,0.054,3188,158,2402,0,0,0,0,0,0
$GC,5950,1.34,175.8,280.0,12.0,228,5956,0.17,2.40,0.00,0.000,6,0.131,0.025,3156,1662,2398,0,0,0,0,0,0
$GC,6225,1.46,183.2,255.3,8.2,235,6237,0.00,2.60,6.85,0.585,4,0.000,0.054,3156,166,2373,0,0,0,0,0,0
$GC,6502,1.46,187.8,230.4,8.5,241,6515,0.10,2.33,5.72,0.536,6,0.084,0.022,3194,1642,2353,0,0,0,0,0,0
$GC,6796,1.46,187.8,201.1,10.4,248,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1642,2351,0,0,0,0,0,0
$GC,7046,1.46,189.1,178.8,8.9,269,7050,0.00,2.47,0.00,0.000,4,0.000,0.048,3194,160,2350,0,0,0,0,0,0
$GC,7173,1.40,189.1,165.7,10.7,281,7178,0.15,2.30,0.00,0.000,6,0.125,0.021,3166,1643,2350,0,0,0,0,0,0
$GC,7440,1.51,189.2,143.9,9.0,305,7445,0.10,2.47,0.00,0.000,4,0.081,0.047,3209,162,2350,0,0,0,0,0,0
$GC,7594,1.41,189.2,126.8,9.9,319,7599,0.20,2.28,0.00,0.000,6,0.123,0.021,3170,1636,2350,0,0,0,0,0,0
$GC,7859,1.58,215.1,108.3,6.1,343,7889,0.15,2.47,23.67,0.562,4,0.058,0.044,3231,160,2241,0,0,0,0,0,0
$GC,8187,1.50,215.1,74.2,10.0,374,8195,0.17,2.28,0.00,0.000,6,0.102,0.020,3192,1606,2238,0,0,0,0,0,0
$GC,8457,1.64,226.2,55.2,7.8,399,8473,0.10,2.45,10.20,0.470,4,0.078,0.044,3240,160,2197,0,0,0,0,0,0
$GC,8808,1.53,226.2,13.5,11.6,440,8817,0.20,2.25,0.00,0.000,6,0.100,0.019,3196,1600,2197,0,0,0,0,0,0
$STATE,8904,end climb,SURFACE_DEPTH_REACHED
$STATE,8904,begin surface coast
$FINISH,0.6,1.008275
$STATE,8957,end surface coast,CONTROL_FINISHED_OK
$STATE,8957,begin surface
$SM_CCo,8977,96.88,0.061,0,0,1406,420.20
$SM_GC,1.64,0.00,0.00,96.88,0.000,0.000,0.061,412,1841,1406,-11.27,1.44,420.20
$IRIDIUM_FIX,2241.69,-15756.28,160300,060626
$TT8_MAMPS,0.026845
$HUMID,44.56
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.6,44.611
$10V_AH,10.3,38.094
$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,29.425,95.600,276.750,96.875,0.000,30.602,33.425,182.605,0.000,0.000,15.197,1038.399,5343.739,439.794,2116.817,531.678,33.371,1245.769,0.000,2111.072,0.000,0.537,0.000
$DEVICE_MAMPS,161.837,75.166,848.302,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.031,290.296,366.786,564.915,998.699,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355304
$DATA_FILE_SIZE,35304,463
$CAP_FILE_SIZE,107348,0
$CFSIZE,260165632,153776128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,120727,2246.796,-15758.147,39,5.0,58,10.1