version: 66.06
glider: 148
mission: 9
dive: 162
start: 12 1 110 10 44 58
data:
$ID,148
$MISSION,9
$DIVE,162
$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,-861103.19
$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,28
$R_STBD_OVSHOOT,53
$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
$GPS1,103506,2249.186,-15802.711,56,0.9,56,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.2
$GPS2,104403,2249.172,-15802.768,14,1.1,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.022,0.172
$KALMAN_X,-67132.4,-76.3,-69.0,79480.9,-236.0
$KALMAN_Y,11052.4,-274.0,-311.3,117834.7,267.4
$MHEAD_RNG_PITCHd_Wd,342.6,1584,-27.3,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.78,-63.4,0.0,0.0,0,103,0.00,0.00,-82.60,0.000,3,0.000,0.000,409,1879,3380,0,0,0,0,0,0
$GC,106,-1.83,-102.5,3.8,-5.9,11,123,10.85,0.00,-2.92,0.000,6,0.156,0.000,2451,1879,3541,0,0,0,0,0,0
$GC,396,-1.67,-102.5,83.0,-26.8,43,405,0.20,2.70,0.00,0.000,4,0.121,0.039,2491,204,3544,0,0,0,0,0,0
$GC,548,-1.75,-102.5,116.8,-18.4,58,553,0.00,2.42,0.00,0.000,6,0.000,0.018,2491,1786,3544,0,0,0,0,0,0
$GC,817,-1.85,-102.5,158.2,-16.4,82,822,0.15,2.60,0.00,0.000,4,0.061,0.038,2439,195,3545,0,0,0,0,0,0
$GC,842,-1.85,-102.5,163.8,-18.1,84,846,0.00,2.42,0.00,0.000,6,0.000,0.018,2439,1771,3545,0,0,0,0,0,0
$GC,1132,-1.85,-102.5,215.3,-17.0,105,1136,0.00,2.53,0.00,0.000,4,0.000,0.037,2439,197,3546,0,0,0,0,0,0
$GC,1254,-1.85,-102.5,239.0,-19.3,107,1258,0.00,2.40,0.00,0.000,6,0.000,0.019,2439,1753,3546,0,0,0,0,0,0
$GC,1509,-1.85,-102.5,282.3,-17.2,114,1514,0.00,2.53,0.00,0.000,4,0.000,0.039,2439,203,3546,0,0,0,0,0,0
$GC,1546,-1.85,-102.5,289.2,-17.7,114,1552,0.00,2.42,0.00,0.000,6,0.000,0.021,2439,1754,3546,0,0,0,0,0,0
$GC,1795,-1.85,-102.5,330.4,-16.1,121,1800,0.00,2.55,0.00,0.000,4,0.000,0.053,2439,200,3546,0,0,0,0,0,0
$GC,1919,-1.92,-102.5,351.2,-17.2,123,1923,0.00,2.40,0.00,0.000,6,0.000,0.025,2439,1728,3547,0,0,0,0,0,0
$GC,2173,-2.00,-102.5,393.2,-16.3,130,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1728,3546,0,0,0,0,0,0
$GC,2417,-2.09,-102.5,428.3,-14.3,136,2422,0.15,2.60,0.00,0.000,4,0.063,0.058,2389,207,3545,0,0,0,0,0,0
$GC,2498,-2.03,-102.5,441.9,-17.7,137,2503,0.12,2.42,0.00,0.000,6,0.129,0.032,2415,1719,3545,0,0,0,0,0,0
$GC,2747,-2.03,-102.5,478.9,-14.5,143,2751,0.00,2.58,0.00,0.000,4,0.000,0.061,2415,204,3544,0,0,0,0,0,0
$GC,2785,-2.03,-102.5,484.9,-16.7,143,2791,0.00,2.45,0.00,0.000,6,0.000,0.035,2415,1720,3543,0,0,0,0,0,0
$STATE,2911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2911,begin apogee
$GC,2916,-0.31,0.0,504.8,15.5,147,3005,1.70,0.00,84.28,0.846,6,0.089,0.000,2789,1664,3120,0,0,0,0,0,0
$STATE,3006,end apogee,CONTROL_FINISHED_OK
$STATE,3006,begin climb
$GC,3008,1.83,102.5,507.9,0.0,149,3098,1.95,0.00,85.30,0.834,6,0.025,0.000,3305,1664,2702,0,0,0,0,0,0
$GC,3319,1.50,111.6,494.5,9.1,157,3330,0.57,0.00,7.90,0.689,6,0.120,0.000,3190,1664,2665,0,0,0,0,0,0
$GC,3561,1.45,127.8,474.3,8.3,163,3581,0.00,2.60,14.65,0.771,4,0.000,0.060,3189,192,2599,0,0,0,0,0,0
$GC,3847,1.27,127.8,444.4,10.1,169,3852,0.25,2.38,0.00,0.000,6,0.135,0.026,3140,1662,2594,0,0,0,0,0,0
$GC,4127,1.36,146.2,421.8,8.1,176,4149,0.00,2.55,16.02,0.771,4,0.000,0.055,3140,190,2523,0,0,0,0,0,0
$GC,4301,1.36,146.2,403.9,10.6,179,4307,0.00,2.40,0.00,0.000,6,0.000,0.026,3140,1676,2519,0,0,0,0,0,0
$GC,4553,1.48,159.5,382.1,8.6,186,4571,0.17,2.60,11.80,0.728,4,0.057,0.056,3198,180,2468,0,0,0,0,0,0
$GC,4794,1.32,159.5,353.7,11.7,191,4799,0.25,2.38,0.00,0.000,6,0.127,0.025,3151,1657,2465,0,0,0,0,0,0
$GC,5068,1.43,171.8,328.7,8.7,198,5085,0.00,2.58,10.88,0.695,4,0.000,0.054,3151,190,2418,0,0,0,0,0,0
$GC,5274,1.43,171.8,307.2,10.4,202,5279,0.00,2.33,0.00,0.000,6,0.000,0.024,3150,1663,2416,0,0,0,0,0,0
$GC,5538,1.55,184.3,284.8,8.7,209,5556,0.20,2.55,11.73,0.673,4,0.052,0.054,3218,183,2367,0,0,0,0,0,0
$GC,5798,1.41,184.3,251.1,13.2,214,5803,0.25,2.30,0.00,0.000,6,0.123,0.023,3170,1645,2364,0,0,0,0,0,0
$GC,6055,1.51,199.9,228.1,8.4,221,6071,0.00,0.00,14.07,0.644,6,0.000,0.000,3170,1645,2305,0,0,0,0,0,0
$GC,6297,1.62,205.7,205.3,9.4,227,6310,0.17,2.50,6.00,0.528,4,0.054,0.049,3236,189,2280,0,0,0,0,0,0
$GC,6486,1.45,205.7,178.6,13.8,242,6492,0.30,2.30,0.00,0.000,6,0.117,0.022,3176,1657,2278,0,0,0,0,0,0
$GC,6748,1.55,205.7,151.4,11.1,267,6753,0.10,2.45,0.00,0.000,4,0.081,0.046,3218,177,2278,0,0,0,0,0,0
$GC,6925,1.46,205.7,125.2,13.4,283,6930,0.20,2.28,0.00,0.000,6,0.120,0.021,3179,1646,2277,0,0,0,0,0,0
$GC,7189,1.64,245.3,100.9,5.8,307,7234,0.15,2.50,34.10,0.563,4,0.060,0.044,3240,183,2118,0,0,0,0,0,0
$GC,7372,1.55,245.3,80.1,13.2,324,7381,0.17,2.28,0.00,0.000,6,0.098,0.020,3201,1622,2115,0,0,0,0,0,0
$GC,7639,1.66,245.3,51.6,11.7,349,7643,0.00,2.35,0.00,0.000,4,0.000,0.044,3201,183,2113,0,0,0,0,0,0
$GC,7802,1.66,245.3,30.9,11.9,363,7806,0.00,2.22,0.00,0.000,6,0.000,0.018,3201,1626,2113,0,0,0,0,0,0
$STATE,8025,end climb,SURFACE_DEPTH_REACHED
$STATE,8025,begin surface coast
$FINISH,0.6,1.010808
$STATE,8058,end surface coast,CONTROL_FINISHED_OK
$STATE,8058,begin surface
$SM_CCo,8079,96.30,0.061,0,0,1285,450.13
$SM_GC,1.51,0.00,0.00,96.30,0.000,0.000,0.061,412,1874,1285,-11.26,2.37,450.13
$IRIDIUM_FIX,2241.69,-15802.37,250200,070758
$TT8_MAMPS,0.026845
$HUMID,42.04
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,24.412
$10V_AH,10.4,20.540
$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,29.225,78.850,296.725,96.300,0.000,40.766,31.562,330.281,0.500,0.000,16.100,905.091,4893.625,461.681,1816.203,639.977,33.359,1157.196,0.000,1812.428,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,110.448,846.001,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,272.326,242.864,312.173,481.700,851.863,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,32133,403
$CAP_FILE_SIZE,96011,0
$CFSIZE,260165632,162951168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011210,130222,2250.176,-15803.149,7,99.0,26,10.1