version: 66.06
glider: 148
mission: 9
dive: 418
start: 1 1 111 14 3 2
data:
$ID,148
$MISSION,9
$DIVE,418
$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,-866966.25
$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,32
$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
$GPS1,135358,2248.747,-15802.922,9,2.3,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.0
$GPS2,140207,2248.781,-15802.983,38,1.2,38,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.061,0.167
$KALMAN_X,-38047.8,-78.5,-303.3,50263.7,652.5
$KALMAN_Y,-78199.0,123.5,-85.2,205741.9,403.8
$MHEAD_RNG_PITCHd_Wd,329.7,2259,-23.7,-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,-1.57,-69.8,0.0,0.0,0,95,0.00,0.00,-74.53,0.000,2,0.000,0.000,414,1801,3251,0,0,0,0,0,0
$GC,98,-1.64,-127.5,3.3,-4.0,10,123,10.93,2.42,-7.62,0.000,4,0.152,0.041,2493,3322,3642,0,0,0,0,0,0
$GC,221,-1.51,-127.5,33.5,-21.0,27,226,0.17,2.45,0.00,0.000,6,0.113,0.021,2529,1780,3643,0,0,0,0,0,0
$GC,489,-1.51,-127.5,81.1,-16.8,51,493,0.00,2.45,0.00,0.000,4,0.000,0.031,2529,3320,3644,0,0,0,0,0,0
$GC,538,-1.51,-127.5,90.3,-16.4,55,542,0.00,2.40,0.00,0.000,6,0.000,0.022,2529,1798,3644,0,0,0,0,0,0
$GC,806,-1.59,-127.5,128.0,-13.1,79,810,0.00,2.42,0.00,0.000,4,0.000,0.028,2529,3317,3645,0,0,0,0,0,0
$GC,835,-1.66,-127.5,133.6,-15.5,81,841,0.12,2.40,0.00,0.000,6,0.065,0.021,2465,1801,3645,0,0,0,0,0,0
$GC,1103,-1.59,-127.5,180.6,-18.8,106,1108,0.22,0.00,0.00,0.000,6,0.104,0.000,2513,1800,3646,0,0,0,0,0,0
$GC,1388,-1.65,-127.5,226.4,-15.3,122,1392,0.00,2.40,0.00,0.000,4,0.000,0.030,2512,3312,3646,0,0,0,0,0,0
$GC,1431,-1.77,-127.5,232.4,-12.7,123,1436,0.17,2.38,0.00,0.000,6,0.051,0.022,2442,1802,3646,0,0,0,0,0,0
$GC,1720,-1.68,-127.5,280.8,-16.5,130,1725,0.25,2.55,0.00,0.000,4,0.102,0.037,2499,214,3646,0,0,0,0,0,0
$GC,1739,-1.68,-127.5,284.6,-17.3,130,1744,0.00,2.38,0.00,0.000,6,0.000,0.021,2499,1750,3646,0,0,0,0,0,0
$GC,2005,-1.75,-127.5,320.1,-13.7,137,2009,0.00,2.50,0.00,0.000,4,0.000,0.043,2499,218,3646,0,0,0,0,0,0
$GC,2024,-1.83,-127.5,323.1,-13.9,137,2029,0.17,2.47,0.00,0.000,6,0.053,0.021,2437,1809,3646,0,0,0,0,0,0
$GC,2288,-1.76,-127.5,364.6,-16.1,144,2293,0.17,2.55,0.00,0.000,4,0.107,0.041,2474,3364,3646,0,0,0,0,0,0
$GC,2314,-1.76,-127.5,368.7,-15.8,144,2318,0.00,2.50,0.00,0.000,6,0.000,0.024,2474,1801,3646,0,0,0,0,0,0
$GC,2573,-1.76,-127.5,406.0,-14.5,151,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1801,3645,0,0,0,0,0,0
$GC,2818,-1.76,-127.5,439.4,-13.6,157,2822,0.00,2.60,0.00,0.000,4,0.000,0.044,2474,3363,3645,0,0,0,0,0,0
$GC,2834,-1.76,-127.5,441.9,-13.5,157,2838,0.00,2.50,0.00,0.000,6,0.000,0.027,2474,1814,3645,0,0,0,0,0,0
$GC,3101,-1.76,-127.5,479.0,-14.0,164,3106,0.00,2.72,0.00,0.000,4,0.000,0.061,2474,212,3643,0,0,0,0,0,0
$GC,3144,-1.76,-127.5,485.0,-13.9,165,3149,0.00,2.58,0.00,0.000,6,0.000,0.033,2474,1792,3642,0,0,0,0,0,0
$STATE,3266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3266,begin apogee
$GC,3274,-0.31,0.0,502.3,13.6,168,3382,1.42,0.00,104.60,0.848,6,0.082,0.000,2790,1657,3120,0,0,0,0,0,0
$STATE,3383,end apogee,CONTROL_FINISHED_OK
$STATE,3383,begin climb
$GC,3385,1.64,127.5,505.7,0.0,170,3501,1.75,2.53,105.43,0.835,4,0.026,0.063,3229,183,2598,0,0,0,0,0,0
$GC,3516,1.27,170.0,510.5,5.3,173,3561,0.47,2.45,36.53,0.811,6,0.127,0.030,3138,1685,2425,0,0,0,0,0,0
$GC,3845,1.27,170.0,475.2,11.1,181,3849,0.00,2.60,0.00,0.000,4,0.000,0.058,3138,187,2418,0,0,0,0,0,0
$GC,4076,1.14,170.0,444.8,13.4,186,4081,0.15,2.42,0.00,0.000,6,0.131,0.027,3109,1677,2415,0,0,0,0,0,0
$GC,4361,1.21,170.0,414.8,10.6,193,4365,0.00,2.55,0.00,0.000,4,0.000,0.056,3109,187,2413,0,0,0,0,0,0
$GC,4630,1.21,170.0,383.2,11.5,198,4636,0.00,2.38,0.00,0.000,6,0.000,0.025,3109,1665,2410,0,0,0,0,0,0
$GC,4880,1.28,172.0,360.4,8.8,205,4885,0.12,2.53,0.00,0.000,4,0.069,0.054,3156,181,2409,0,0,0,0,0,0
$GC,4909,1.11,172.0,357.1,11.5,205,4914,0.25,2.38,0.00,0.000,6,0.117,0.025,3106,1663,2408,0,0,0,0,0,0
$GC,5167,1.21,175.8,334.8,8.7,212,5171,0.00,2.50,0.00,0.000,4,0.000,0.054,3106,183,2408,0,0,0,0,0,0
$GC,5245,1.21,175.8,326.9,10.3,213,5249,0.00,2.35,0.00,0.000,6,0.000,0.024,3106,1656,2407,0,0,0,0,0,0
$GC,5497,1.32,189.8,306.3,7.8,219,5518,0.17,2.55,14.77,0.700,4,0.055,0.054,3164,190,2346,0,0,0,0,0,0
$GC,5766,1.18,189.8,277.9,10.7,224,5771,0.22,2.33,0.00,0.000,6,0.120,0.024,3120,1645,2342,0,0,0,0,0,0
$GC,6016,1.28,203.6,258.0,7.8,230,6036,0.00,2.50,12.77,0.657,4,0.000,0.054,3119,190,2288,0,0,0,0,0,0
$GC,6300,1.28,203.6,229.3,10.4,236,6304,0.00,2.25,0.00,0.000,6,0.000,0.021,3119,1633,2285,0,0,0,0,0,0
$GC,6580,1.41,210.5,205.7,8.4,243,6593,0.20,2.47,6.30,0.535,4,0.051,0.051,3186,194,2262,0,0,0,0,0,0
$GC,6812,1.26,210.5,177.5,12.8,259,6817,0.25,2.22,0.00,0.000,6,0.124,0.021,3138,1611,2260,0,0,0,0,0,0
$GC,7077,1.34,213.6,155.1,8.7,283,7087,0.00,2.38,4.05,0.413,4,0.000,0.048,3137,187,2248,0,0,0,0,0,0
$GC,7313,1.34,213.6,128.5,12.0,306,7322,0.00,2.22,0.00,0.000,6,0.000,0.021,3138,1592,2248,0,0,0,0,0,0
$GC,7580,1.46,222.9,103.5,8.2,331,7599,0.17,0.00,9.82,0.512,6,0.053,0.000,3201,1595,2210,0,0,0,0,0,0
$GC,7853,1.46,222.9,78.3,9.7,357,7858,0.12,2.35,0.00,0.000,4,0.121,0.045,3176,177,2209,0,0,0,0,0,0
$GC,7986,1.46,222.9,65.2,10.7,368,7995,0.00,2.22,0.00,0.000,6,0.000,0.020,3176,1593,2209,0,0,0,0,0,0
$GC,8251,1.46,222.9,42.2,9.4,393,8255,0.00,2.33,0.00,0.000,4,0.000,0.044,3176,181,2209,0,0,0,0,0,0
$GC,8374,1.46,222.9,29.1,11.1,404,8382,0.00,2.17,0.00,0.000,6,0.000,0.020,3176,1578,2209,0,0,0,0,0,0
$STATE,8659,end climb,SURFACE_DEPTH_REACHED
$STATE,8659,begin surface coast
$FINISH,0.8,1.017963
$STATE,8729,end surface coast,CONTROL_FINISHED_OK
$STATE,8729,begin surface
$SM_CCo,8751,94.20,0.061,0,0,1407,420.20
$SM_GC,1.57,0.00,0.00,94.20,0.000,0.000,0.061,413,1871,1407,-11.26,2.32,420.20
$IRIDIUM_FIX,2237.01,-15809.75,270300,101018
$TT8_MAMPS,0.026845
$HUMID,47.51
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,54.906
$10V_AH,10.1,48.003
$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,28.775,97.850,294.275,94.200,0.000,29.315,31.737,264.859,0.000,0.000,39.797,1000.096,5208.898,441.212,2087.341,597.771,33.375,1223.262,0.000,2053.577,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,62.894,848.302,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.832,291.316,368.687,588.071,1040.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,35178,460
$CAP_FILE_SIZE,104079,0
$CFSIZE,260165632,148684800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010111,163134,2249.901,-15802.848,7,2.3,26,10.1