version: 66.06
glider: 148
mission: 9
dive: 365
start: 12 25 110 21 14 35
data:
$ID,148
$MISSION,9
$DIVE,365
$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,-865769.38
$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,101
$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
$GPS1,210552,2249.655,-15757.809,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.0
$GPS2,211338,2249.668,-15757.746,12,1.2,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.043,0.159
$KALMAN_X,-42567.2,60.8,-120.7,63472.9,805.6
$KALMAN_Y,-27028.3,511.8,303.9,155440.0,-1158.7
$MHEAD_RNG_PITCHd_Wd,5.1,1414,-25.6,-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,-1.67,-60.2,0.0,0.0,0,95,0.00,0.00,-75.18,0.000,2,0.000,0.000,412,1841,3270,0,0,0,0,0,0
$GC,98,-1.73,-109.8,3.4,-4.0,10,123,10.85,2.38,-5.75,0.000,4,0.153,0.037,2473,3316,3569,0,0,0,0,0,0
$GC,229,-1.63,-109.8,37.5,-23.1,27,235,0.15,2.42,0.00,0.000,6,0.123,0.025,2503,1786,3571,0,0,0,0,0,0
$GC,498,-1.63,-109.8,93.7,-19.8,51,502,0.00,2.55,0.00,0.000,4,0.000,0.038,2503,208,3572,0,0,0,0,0,0
$GC,527,-1.63,-109.8,100.4,-20.2,53,531,0.00,2.38,0.00,0.000,6,0.000,0.019,2503,1733,3572,0,0,0,0,0,0
$GC,796,-1.63,-109.8,145.0,-15.6,77,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1736,3572,0,0,0,0,0,0
$GC,1057,-1.71,-109.8,184.1,-15.0,102,1061,0.00,2.47,0.00,0.000,4,0.000,0.027,2502,3315,3573,0,0,0,0,0,0
$GC,1109,-1.83,-109.8,191.8,-15.4,106,1115,0.17,2.45,0.00,0.000,6,0.053,0.023,2440,1772,3572,0,0,0,0,0,0
$GC,1371,-1.74,-109.8,238.0,-18.0,117,1373,0.20,0.00,0.00,0.000,6,0.107,0.000,2481,1771,3573,0,0,0,0,0,0
$GC,1614,-1.74,-109.8,272.3,-14.1,123,1618,0.00,2.45,0.00,0.000,4,0.000,0.032,2481,3310,3573,0,0,0,0,0,0
$GC,1667,-1.83,-109.8,280.0,-14.5,124,1671,0.00,2.40,0.00,0.000,6,0.000,0.025,2481,1790,3574,0,0,0,0,0,0
$GC,1945,-1.92,-109.8,316.2,-12.9,131,1950,0.17,2.60,0.00,0.000,4,0.054,0.048,2416,210,3574,0,0,0,0,0,0
$GC,1983,-1.84,-109.8,322.5,-16.9,131,1989,0.20,2.35,0.00,0.000,6,0.110,0.022,2457,1719,3574,0,0,0,0,0,0
$GC,2234,-1.84,-109.8,356.9,-13.3,138,2238,0.00,2.50,0.00,0.000,4,0.000,0.049,2457,208,3574,0,0,0,0,0,0
$GC,2252,-1.84,-109.8,360.0,-14.7,138,2256,0.00,2.35,0.00,0.000,6,0.000,0.022,2457,1716,3574,0,0,0,0,0,0
$GC,2515,-1.84,-109.8,395.1,-13.4,145,2519,0.00,2.60,0.00,0.000,4,0.000,0.040,2457,3312,3573,0,0,0,0,0,0
$GC,2535,-1.84,-109.8,397.8,-14.1,145,2539,0.00,2.45,0.00,0.000,6,0.000,0.027,2457,1780,3572,0,0,0,0,0,0
$GC,2803,-1.84,-109.8,432.6,-12.7,152,2807,0.00,2.62,0.00,0.000,4,0.000,0.060,2457,218,3571,0,0,0,0,0,0
$GC,2826,-1.84,-109.8,435.8,-13.6,152,2830,0.00,2.38,0.00,0.000,6,0.000,0.028,2458,1708,3571,0,0,0,0,0,0
$GC,3085,-1.91,-109.8,468.3,-12.3,159,3089,0.00,2.62,0.00,0.000,4,0.000,0.046,2457,3305,3569,0,0,0,0,0,0
$GC,3128,-1.99,-109.8,473.7,-12.4,160,3133,0.15,2.45,0.00,0.000,6,0.058,0.033,2395,1797,3569,0,0,0,0,0,0
$STATE,3332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3332,begin apogee
$GC,3339,-0.31,0.0,505.7,16.0,165,3433,1.80,0.00,89.62,0.851,6,0.091,0.000,2788,1661,3120,0,0,0,0,0,0
$STATE,3434,end apogee,CONTROL_FINISHED_OK
$STATE,3434,begin climb
$GC,3436,1.73,109.8,508.9,0.0,167,3538,1.83,2.67,90.65,0.838,4,0.027,0.051,3245,3190,2670,0,0,0,0,0,0
$GC,3644,1.51,114.5,505.7,8.5,171,3658,0.28,2.50,4.40,0.544,6,0.134,0.037,3193,1693,2653,0,0,0,0,0,0
$GC,3902,1.38,120.2,483.9,8.4,178,3914,0.15,2.75,5.80,0.629,4,0.136,0.074,3164,166,2629,0,0,0,0,0,0
$GC,4183,1.20,120.2,457.7,9.6,184,4188,0.20,2.30,0.00,0.000,6,0.130,0.027,3124,1603,2626,0,0,0,0,0,0
$GC,4472,1.21,132.5,435.0,7.8,191,4488,0.00,2.50,11.50,0.742,4,0.000,0.058,3124,167,2578,0,0,0,0,0,0
$GC,4518,1.14,137.7,431.1,8.5,192,4530,0.00,2.33,5.95,0.629,6,0.000,0.025,3124,1605,2557,0,0,0,0,0,0
$GC,4810,1.15,146.8,407.6,8.1,199,4825,0.00,2.50,8.95,0.703,4,0.000,0.058,3124,163,2521,0,0,0,0,0,0
$GC,5091,1.15,146.8,380.8,9.4,205,5094,0.00,2.30,0.00,0.000,6,0.000,0.025,3124,1605,2517,0,0,0,0,0,0
$GC,5377,1.24,155.4,357.7,8.1,212,5390,0.00,2.47,7.90,0.666,4,0.000,0.058,3124,166,2485,0,0,0,0,0,0
$GC,5512,1.24,158.0,345.0,8.7,215,5521,0.00,2.30,3.95,0.495,6,0.000,0.025,3124,1609,2474,0,0,0,0,0,0
$GC,5799,1.35,179.4,324.2,6.9,222,5824,0.12,2.53,19.35,0.731,4,0.069,0.056,3169,166,2388,0,0,0,0,0,0
$GC,6039,1.23,179.4,300.0,9.9,227,6044,0.20,2.28,0.00,0.000,6,0.121,0.024,3132,1604,2384,0,0,0,0,0,0
$GC,6315,1.35,189.0,278.3,8.0,234,6331,0.10,2.47,8.80,0.634,4,0.082,0.054,3172,160,2349,0,0,0,0,0,0
$GC,6574,1.25,189.0,247.0,12.5,239,6579,0.17,2.25,0.00,0.000,6,0.123,0.022,3137,1588,2347,0,0,0,0,0,0
$GC,6834,1.37,189.0,219.1,10.5,246,6838,0.00,2.40,0.00,0.000,4,0.000,0.053,3136,158,2345,0,0,0,0,0,0
$GC,6932,1.37,189.0,208.4,10.8,248,6937,0.10,2.25,0.00,0.000,6,0.083,0.022,3175,1588,2345,0,0,0,0,0,0
$GC,7201,1.37,189.0,181.5,9.3,265,7205,0.00,2.40,0.00,0.000,4,0.000,0.050,3175,160,2344,0,0,0,0,0,0
$GC,7346,1.30,189.0,165.3,10.7,279,7351,0.15,2.20,0.00,0.000,6,0.123,0.021,3147,1581,2344,0,0,0,0,0,0
$GC,7612,1.42,203.6,144.0,7.5,303,7631,0.10,0.00,13.48,0.571,6,0.082,0.000,3189,1584,2288,0,0,0,0,0,0
$GC,7886,1.42,203.6,117.7,9.5,329,7890,0.00,2.35,0.00,0.000,4,0.000,0.048,3189,160,2285,0,0,0,0,0,0
$GC,8183,1.43,208.9,90.8,8.5,357,8200,0.00,2.22,5.47,0.433,6,0.000,0.020,3189,1591,2267,0,0,0,0,0,0
$GC,8456,1.52,232.8,72.7,6.6,383,8484,0.00,2.45,21.45,0.524,4,0.000,0.045,3189,160,2169,0,0,0,0,0,0
$GC,8799,1.52,232.8,39.6,9.9,414,8803,0.00,2.20,0.00,0.000,6,0.000,0.019,3189,1587,2167,0,0,0,0,0,0
$GC,9094,1.62,232.8,11.9,9.7,453,9103,0.10,2.40,0.00,0.000,4,0.076,0.044,3240,159,2166,0,0,0,0,0,0
$STATE,9166,end climb,SURFACE_DEPTH_REACHED
$STATE,9166,begin surface coast
$FINISH,2.0,1.023457
$STATE,9180,end surface coast,CONTROL_FINISHED_OK
$STATE,9180,begin surface
$SM_CCo,9204,97.57,0.434,1,0,1406,420.20
$SM_GC,1.57,0.00,0.00,97.57,0.000,0.000,0.434,413,1741,1406,-11.26,-1.36,420.20
$IRIDIUM_FIX,2239.35,-15800.20,200300,181849
$TT8_MAMPS,0.026845
$HUMID,45.35
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.6,48.700
$10V_AH,10.3,42.035
$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,28.575,102.150,297.275,97.575,0.000,29.674,33.243,266.648,0.500,0.000,14.426,1036.061,5570.344,446.931,2126.637,595.855,33.369,1277.324,0.000,2108.769,0.000,0.538,0.000
$DEVICE_MAMPS,152.633,74.399,850.603,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.504,284.899,363.877,557.712,986.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,35337,466
$CAP_FILE_SIZE,108920,0
$CFSIZE,260165632,151748608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251210,235100,2250.399,-15756.468,38,2.0,38,10.1