version: 66.06
glider: 148
mission: 9
dive: 429
start: 1 2 111 23 34 16
data:
$ID,148
$MISSION,9
$DIVE,429
$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,-867235.12
$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,20
$R_STBD_OVSHOOT,47
$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
$GPS1,232528,2247.393,-15802.376,30,6.1,49,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.0
$GPS2,233319,2247.402,-15802.485,12,1.9,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.097,-0.122
$KALMAN_X,-43113.8,448.4,166.6,55180.2,-1229.1
$KALMAN_Y,-83954.3,300.8,-421.2,209095.7,-293.0
$MHEAD_RNG_PITCHd_Wd,131.6,1151,-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,17,-1.76,-53.9,0.0,0.0,0,95,0.00,0.00,-75.72,0.000,2,0.000,0.000,412,1867,3310,0,0,0,0,0,0
$GC,100,-1.80,-89.3,3.8,-5.0,10,125,11.25,2.78,-3.25,0.000,4,0.171,0.044,2456,191,3489,0,0,0,0,0,0
$GC,190,-1.72,-89.3,30.5,-23.1,23,199,0.10,2.53,0.00,0.000,6,0.111,0.021,2480,1780,3490,0,0,0,0,0,0
$GC,453,-1.72,-89.3,84.5,-18.9,48,457,0.00,2.53,0.00,0.000,4,0.000,0.028,2480,3380,3491,0,0,0,0,0,0
$GC,473,-1.72,-89.3,88.5,-19.6,49,477,0.00,2.55,0.00,0.000,6,0.000,0.022,2480,1776,3491,0,0,0,0,0,0
$GC,742,-1.82,-89.3,131.8,-14.1,73,746,0.00,2.55,0.00,0.000,4,0.000,0.038,2480,204,3492,0,0,0,0,0,0
$GC,773,-1.91,-89.3,138.0,-16.0,75,780,0.15,2.50,0.00,0.000,6,0.061,0.018,2428,1812,3492,0,0,0,0,0,0
$GC,1039,-1.91,-89.3,184.4,-19.2,100,1043,0.00,2.60,0.00,0.000,4,0.000,0.037,2428,214,3493,0,0,0,0,0,0
$GC,1069,-1.83,-89.3,191.1,-20.0,102,1078,0.10,2.47,0.00,0.000,6,0.100,0.019,2453,1790,3493,0,0,0,0,0,0
$GC,1332,-1.83,-89.3,233.3,-15.7,113,1336,0.00,2.58,0.00,0.000,4,0.000,0.038,2453,213,3494,0,0,0,0,0,0
$GC,1369,-1.89,-89.3,239.6,-16.7,113,1375,0.00,2.45,0.00,0.000,6,0.000,0.019,2453,1798,3494,0,0,0,0,0,0
$GC,1621,-1.96,-89.3,276.6,-15.1,120,1625,0.00,2.58,0.00,0.000,4,0.000,0.040,2453,215,3494,0,0,0,0,0,0
$GC,1649,-2.02,-89.3,281.2,-15.6,120,1654,0.15,2.42,0.00,0.000,6,0.062,0.020,2399,1781,3494,0,0,0,0,0,0
$GC,1906,-2.02,-89.3,323.1,-16.3,127,1911,0.10,2.60,0.00,0.000,4,0.137,0.045,2418,211,3494,0,0,0,0,0,0
$GC,1999,-2.02,-89.3,339.1,-16.3,129,2003,0.00,2.45,0.00,0.000,6,0.000,0.023,2418,1764,3495,0,0,0,0,0,0
$GC,2281,-2.02,-89.3,381.9,-15.5,136,2285,0.00,2.60,0.00,0.000,4,0.000,0.039,2418,3373,3494,0,0,0,0,0,0
$GC,2310,-2.02,-89.3,386.6,-16.5,136,2315,0.00,2.55,0.00,0.000,6,0.000,0.026,2418,1774,3494,0,0,0,0,0,0
$GC,2565,-2.02,-89.3,425.1,-15.0,143,2569,0.00,2.62,0.00,0.000,4,0.000,0.058,2418,215,3493,0,0,0,0,0,0
$GC,2638,-2.02,-89.3,437.0,-15.3,144,2643,0.00,2.50,0.00,0.000,6,0.000,0.030,2418,1764,3493,0,0,0,0,0,0
$GC,2894,-2.02,-89.3,474.0,-14.6,151,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1764,3491,0,0,0,0,0,0
$STATE,3094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3094,begin apogee
$GC,3099,-0.31,0.0,504.8,15.1,156,3178,1.70,0.00,74.68,0.852,6,0.089,0.000,2790,1663,3120,0,0,0,0,0,0
$STATE,3179,end apogee,CONTROL_FINISHED_OK
$STATE,3179,begin climb
$GC,3181,1.80,89.3,507.9,0.0,158,3263,1.90,0.00,74.62,0.838,6,0.027,0.000,3273,1663,2754,0,0,0,0,0,0
$GC,3510,1.58,121.1,500.3,5.4,166,3543,0.30,2.62,26.67,0.813,4,0.120,0.065,3209,187,2625,0,0,0,0,0,0
$GC,3808,1.34,122.7,474.2,8.8,172,3813,0.28,2.42,0.00,0.000,6,0.124,0.028,3155,1685,2620,0,0,0,0,0,0
$GC,4074,1.36,141.1,455.8,7.0,179,4098,0.00,2.67,17.50,0.784,4,0.000,0.057,3155,183,2543,0,0,0,0,0,0
$GC,4366,1.29,142.0,428.1,8.9,185,4370,0.00,2.40,0.00,0.000,6,0.000,0.025,3155,1679,2538,0,0,0,0,0,0
$GC,4639,1.31,163.0,409.2,6.7,192,4663,0.00,2.65,18.60,0.772,4,0.000,0.057,3155,183,2455,0,0,0,0,0,0
$GC,4889,1.31,163.0,383.6,10.6,197,4893,0.00,2.40,0.00,0.000,6,0.000,0.025,3155,1672,2450,0,0,0,0,0,0
$GC,5153,1.40,163.0,359.3,9.1,204,5157,0.00,2.70,0.00,0.000,4,0.000,0.054,3155,3256,2448,0,0,0,0,0,0
$GC,5174,1.49,164.1,357.5,8.9,204,5179,0.12,2.60,0.00,0.000,6,0.070,0.035,3203,1694,2448,0,0,0,0,0,0
$GC,5438,1.49,164.1,330.5,9.8,211,5443,0.00,2.65,0.00,0.000,4,0.000,0.068,3203,164,2446,0,0,0,0,0,0
$GC,5708,1.35,164.1,299.6,11.1,216,5714,0.22,2.38,0.00,0.000,6,0.123,0.023,3159,1660,2446,0,0,0,0,0,0
$GC,5958,1.47,179.9,280.3,7.2,223,5979,0.00,2.62,14.52,0.684,4,0.000,0.056,3158,170,2385,0,0,0,0,0,0
$GC,6244,1.47,179.9,254.3,10.4,229,6248,0.00,2.33,0.00,0.000,6,0.000,0.022,3159,1648,2381,0,0,0,0,0,0
$GC,6523,1.59,179.9,226.9,9.7,236,6529,0.20,2.50,0.00,0.000,4,0.049,0.051,3227,165,2380,0,0,0,0,0,0
$GC,6795,1.43,179.9,195.7,10.5,241,6801,0.28,2.35,0.00,0.000,6,0.116,0.022,3172,1648,2379,0,0,0,0,0,0
$GC,7057,1.53,182.9,173.7,8.7,266,7062,0.00,2.47,0.00,0.000,4,0.000,0.048,3172,164,2378,0,0,0,0,0,0
$GC,7343,1.53,182.9,145.1,10.0,294,7352,0.00,2.35,0.00,0.000,6,0.000,0.022,3172,1642,2378,0,0,0,0,0,0
$GC,7611,1.67,196.0,124.3,7.5,319,7633,0.20,2.53,13.80,0.557,4,0.048,0.044,3245,159,2319,0,0,0,0,0,0
$GC,7929,1.54,196.0,91.1,9.2,349,7935,0.25,2.33,0.00,0.000,6,0.115,0.021,3195,1635,2318,0,0,0,0,0,0
$GC,8198,1.67,217.4,74.1,6.6,374,8224,0.12,2.47,19.25,0.527,4,0.066,0.043,3249,156,2231,0,0,0,0,0,0
$GC,8534,1.56,217.4,33.9,14.5,404,8542,0.20,2.33,0.00,0.000,6,0.099,0.021,3203,1625,2229,0,0,0,0,0,0
$GC,8837,1.68,230.2,8.1,7.6,450,8855,0.10,2.40,12.05,0.449,4,0.078,0.039,3253,160,2179,0,0,0,0,0,0
$STATE,8876,end climb,SURFACE_DEPTH_REACHED
$STATE,8876,begin surface coast
$FINISH,0.8,1.010630
$STATE,8938,end surface coast,CONTROL_FINISHED_OK
$STATE,8938,begin surface
$SM_CCo,8962,99.10,0.438,1,0,1406,420.20
$SM_GC,1.83,0.00,0.00,99.10,0.000,0.000,0.438,417,1814,1406,-11.24,0.68,420.20
$IRIDIUM_FIX,2239.35,-15728.92,280300,202055
$TT8_MAMPS,0.026845
$HUMID,47.48
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,56.196
$10V_AH,10.1,49.261
$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,29.400,100.775,271.700,99.100,0.000,25.876,35.777,277.599,0.250,0.000,14.402,1033.060,5298.774,437.100,2166.385,606.435,33.377,1268.270,0.000,2151.440,0.000,0.538,0.000
$DEVICE_MAMPS,171.041,70.564,852.137,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.890,287.475,366.578,569.605,1006.863,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,35273,464
$CAP_FILE_SIZE,106709,0
$CFSIZE,260165632,148049920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030111,020637,2246.404,-15802.685,33,0.9,33,10.1