version: 66.06
glider: 148
mission: 9
dive: 316
start: 12 19 110 18 17 48
data:
$ID,148
$MISSION,9
$DIVE,316
$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,-864640
$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,64
$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
$GPS1,180530,2247.843,-15757.838,53,1.5,53,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.3
$GPS2,181652,2247.861,-15757.821,11,3.7,30,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.076,-0.136
$KALMAN_X,-48668.1,204.8,-62.5,69247.2,352.4
$KALMAN_Y,-3299.9,641.7,703.5,127834.1,-1028.5
$MHEAD_RNG_PITCHd_Wd,199.2,1596,-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,16,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,-75.03,0.000,2,0.000,0.000,402,1812,3312,0,0,0,0,0,0
$GC,98,-1.79,-82.2,3.9,-5.8,10,123,10.93,2.65,-2.70,0.000,4,0.156,0.046,2462,205,3459,0,0,0,0,0,0
$GC,198,-1.70,-82.2,33.5,-23.2,24,208,0.10,2.47,0.00,0.000,6,0.107,0.019,2486,1777,3459,0,0,0,0,0,0
$GC,466,-1.70,-82.2,90.3,-22.8,49,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1780,3460,0,0,0,0,0,0
$GC,727,-1.80,-82.2,136.8,-13.4,74,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1780,3461,0,0,0,0,0,0
$GC,982,-1.92,-82.2,174.7,-14.8,98,987,0.17,2.53,0.00,0.000,4,0.055,0.028,2426,3376,3461,0,0,0,0,0,0
$GC,1012,-1.92,-82.2,178.8,-16.9,100,1016,0.00,2.50,0.00,0.000,6,0.000,0.023,2426,1783,3461,0,0,0,0,0,0
$GC,1299,-1.92,-82.2,229.8,-17.5,115,1303,0.00,2.53,0.00,0.000,4,0.000,0.038,2425,204,3462,0,0,0,0,0,0
$GC,1321,-1.92,-82.2,234.8,-19.6,115,1326,0.00,2.47,0.00,0.000,6,0.000,0.018,2425,1799,3462,0,0,0,0,0,0
$GC,1582,-1.92,-82.2,275.5,-15.3,122,1586,0.00,2.58,0.00,0.000,4,0.000,0.041,2425,214,3463,0,0,0,0,0,0
$GC,1637,-1.92,-82.2,285.6,-16.8,123,1642,0.00,2.42,0.00,0.000,6,0.000,0.020,2425,1767,3463,0,0,0,0,0,0
$GC,1912,-1.92,-82.2,326.4,-15.0,130,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1768,3463,0,0,0,0,0,0
$GC,2153,-1.92,-82.2,363.4,-15.0,136,2158,0.00,2.58,0.00,0.000,4,0.000,0.037,2425,3360,3462,0,0,0,0,0,0
$GC,2167,-1.92,-82.2,365.6,-14.5,136,2172,0.00,2.53,0.00,0.000,6,0.000,0.025,2426,1768,3463,0,0,0,0,0,0
$GC,2435,-1.92,-82.2,404.1,-14.4,143,2440,0.00,2.60,0.00,0.000,4,0.000,0.057,2425,208,3461,0,0,0,0,0,0
$GC,2548,-1.92,-82.2,421.3,-14.9,145,2552,0.00,2.47,0.00,0.000,6,0.000,0.028,2426,1750,3461,0,0,0,0,0,0
$GC,2811,-1.92,-82.2,458.8,-13.9,152,2816,0.00,2.60,0.00,0.000,4,0.000,0.058,2425,214,3459,0,0,0,0,0,0
$GC,2856,-1.92,-82.2,464.9,-15.3,153,2860,0.00,2.50,0.00,0.000,6,0.000,0.031,2425,1754,3459,0,0,0,0,0,0
$STATE,3140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3140,begin apogee
$GC,3146,-0.31,0.0,503.1,13.4,160,3221,1.65,0.00,67.70,0.846,6,0.086,0.000,2790,1670,3120,0,0,0,0,0,0
$STATE,3222,end apogee,CONTROL_FINISHED_OK
$STATE,3222,begin climb
$GC,3224,1.79,82.2,504.8,0.0,162,3305,1.88,2.80,67.65,0.834,4,0.028,0.051,3279,3261,2783,0,0,0,0,0,0
$GC,3312,1.62,189.3,506.9,-3.0,164,3413,0.32,2.65,90.03,0.831,6,0.133,0.037,3217,1691,2347,0,0,0,0,0,0
$GC,3686,1.53,189.3,453.6,16.7,173,3691,0.12,2.70,0.00,0.000,4,0.156,0.073,3195,162,2338,0,0,0,0,0,0
$GC,3956,1.39,189.3,410.3,14.6,178,3962,0.17,2.45,0.00,0.000,6,0.138,0.026,3164,1680,2334,0,0,0,0,0,0
$GC,4205,1.39,189.3,380.8,11.6,185,4209,0.00,2.60,0.00,0.000,4,0.000,0.055,3164,160,2332,0,0,0,0,0,0
$GC,4442,1.39,189.3,347.2,13.7,190,4446,0.00,2.42,0.00,0.000,6,0.000,0.026,3163,1667,2330,0,0,0,0,0,0
$GC,4722,1.46,189.3,312.7,12.4,197,4726,0.00,2.55,0.00,0.000,4,0.000,0.054,3164,167,2328,0,0,0,0,0,0
$GC,4745,1.46,189.3,309.1,13.4,197,4749,0.00,2.38,0.00,0.000,6,0.000,0.025,3164,1660,2328,0,0,0,0,0,0
$GC,5004,1.54,189.3,279.7,10.8,204,5009,0.12,2.55,0.00,0.000,4,0.070,0.054,3213,163,2326,0,0,0,0,0,0
$GC,5130,1.39,189.3,264.0,12.2,206,5135,0.25,2.38,0.00,0.000,6,0.123,0.025,3164,1663,2325,0,0,0,0,0,0
$GC,5380,1.50,189.3,234.7,11.5,212,5384,0.00,2.53,0.00,0.000,4,0.000,0.054,3164,162,2324,0,0,0,0,0,0
$GC,5503,1.50,189.3,220.1,11.4,214,5507,0.00,2.33,0.00,0.000,6,0.000,0.022,3164,1648,2323,0,0,0,0,0,0
$GC,5759,1.61,192.2,195.7,8.7,224,5764,0.20,2.50,0.00,0.000,4,0.050,0.048,3233,160,2322,0,0,0,0,0,0
$GC,6045,1.46,192.2,159.6,13.6,252,6055,0.25,2.35,0.00,0.000,6,0.112,0.022,3179,1638,2321,0,0,0,0,0,0
$GC,6313,1.57,194.9,133.5,8.7,277,6317,0.00,2.45,0.00,0.000,4,0.000,0.047,3179,162,2321,0,0,0,0,0,0
$GC,6462,1.58,201.7,121.3,8.2,291,6475,0.10,2.28,6.90,0.492,6,0.082,0.021,3220,1621,2296,0,0,0,0,0,0
$GC,6740,1.58,207.2,97.4,8.4,317,6752,0.00,2.47,6.10,0.456,4,0.000,0.044,3220,162,2275,0,0,0,0,0,0
$GC,7036,1.51,207.2,69.8,9.3,345,7041,0.15,2.25,0.00,0.000,6,0.123,0.020,3191,1623,2274,0,0,0,0,0,0
$GC,7305,1.64,213.3,48.8,8.3,369,7320,0.10,2.42,6.90,0.430,4,0.079,0.041,3237,160,2249,0,0,0,0,0,0
$GC,7346,1.54,213.3,44.7,10.0,372,7351,0.20,2.28,0.00,0.000,6,0.118,0.019,3198,1626,2248,0,0,0,0,0,0
$GC,7627,1.66,225.8,21.2,7.6,404,7645,0.10,2.42,12.02,0.452,4,0.077,0.041,3245,159,2199,0,0,0,0,0,0
$STATE,7771,end climb,SURFACE_DEPTH_REACHED
$STATE,7771,begin surface coast
$FINISH,0.7,1.023617
$STATE,7836,end surface coast,CONTROL_FINISHED_OK
$STATE,7836,begin surface
$SM_CCo,7860,91.38,0.060,0,0,1406,420.20
$SM_GC,1.55,0.00,0.00,91.38,0.000,0.000,0.060,415,1828,1406,-11.25,1.07,420.20
$IRIDIUM_FIX,2239.35,-15759.32,140300,151514
$TT8_MAMPS,0.026845
$HUMID,44.48
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,43.019
$10V_AH,10.3,36.627
$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,28.250,89.900,257.300,91.375,0.000,22.853,39.378,453.764,0.250,0.000,36.007,924.864,4640.472,393.049,1905.783,770.909,33.372,1101.733,0.000,1886.795,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,77.467,846.001,59.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.636,282.220,356.819,567.666,1004.331,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,35285,436
$CAP_FILE_SIZE,96361,0
$CFSIZE,260165632,154525696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,203134,2247.010,-15758.245,13,99.0,32,10.1