version: 66.06
glider: 148
mission: 9
dive: 51
start: 11 18 110 5 21 41
data:
$ID,148
$MISSION,9
$DIVE,51
$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,320
$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,-858502.69
$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,2870
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,3090
$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
$GPS1,051458,2256.960,-15742.830,8,2.2,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.8
$GPS2,052044,2256.963,-15742.835,14,2.0,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,INT2
$TGT_LATLONG,2257.000,-15743.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.146,-0.095
$KALMAN_X,-32577.5,154.1,-28.5,78965.2,-776.6
$KALMAN_Y,16079.8,-10.9,354.5,126307.8,392.5
$MHEAD_RNG_PITCHd_Wd,113.0,289,-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,15,begin dive
$GC,17,-1.78,-63.4,0.0,0.0,0,102,0.00,0.00,-82.55,0.000,2,0.000,0.000,416,1839,3321,0,0,0,0,0,0
$GC,106,-1.85,-118.4,3.2,-4.2,11,131,10.93,2.42,-4.75,0.000,4,0.160,0.038,2458,3349,3575,0,0,0,0,0,0
$GC,141,-0.81,-118.4,16.5,-34.2,15,150,1.05,2.53,0.00,0.000,6,0.100,0.021,2685,1770,3576,0,0,0,0,0,0
$GC,428,-1.37,-134.2,45.5,-8.4,48,441,0.43,2.53,-0.62,0.000,4,0.028,0.039,2544,3347,3641,0,0,0,0,0,0
$GC,469,-1.53,-134.2,50.8,-14.9,51,474,0.00,2.47,0.00,0.000,6,0.000,0.023,2543,1774,3640,0,0,0,0,0,0
$GC,738,-1.66,-134.2,97.5,-17.7,75,743,0.15,2.58,0.00,0.000,4,0.059,0.039,2489,194,3641,0,0,0,0,0,0
$GC,814,-1.78,-134.2,113.1,-19.2,82,819,0.00,2.45,0.00,0.000,6,0.000,0.021,2489,1757,3642,0,0,0,0,0,0
$GC,1083,-1.87,-134.2,157.8,-16.4,106,1088,0.10,2.55,0.00,0.000,4,0.082,0.045,2447,185,3643,0,0,0,0,0,0
$GC,1150,-1.87,-134.2,171.5,-19.4,112,1154,0.00,2.47,0.00,0.000,6,0.000,0.021,2446,1770,3644,0,0,0,0,0,0
$GC,1427,-1.87,-134.2,222.5,-17.2,129,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1770,3644,0,0,0,0,0,0
$GC,1671,-1.87,-134.2,264.4,-17.1,135,1675,0.00,2.58,0.00,0.000,4,0.000,0.040,2447,189,3645,0,0,0,0,0,0
$GC,1755,-1.94,-134.2,280.2,-18.2,136,1760,0.00,2.45,0.00,0.000,6,0.000,0.022,2446,1754,3645,0,0,0,0,0,0
$GC,2004,-2.02,-134.2,318.1,-15.3,143,2009,0.00,2.55,0.00,0.000,4,0.000,0.044,2447,194,3645,0,0,0,0,0,0
$GC,2057,-2.11,-134.2,327.2,-16.9,144,2062,0.15,2.42,0.00,0.000,6,0.060,0.024,2390,1737,3645,0,0,0,0,0,0
$GC,2335,-2.11,-134.2,381.5,-19.6,151,2339,0.00,2.58,0.00,0.000,4,0.000,0.053,2390,198,3645,0,0,0,0,0,0
$GC,2452,-2.11,-134.2,405.5,-20.9,153,2456,0.00,2.45,0.00,0.000,6,0.000,0.030,2390,1722,3645,0,0,0,0,0,0
$GC,2711,-2.11,-134.2,449.2,-16.3,160,2716,0.10,2.60,0.00,0.000,4,0.144,0.058,2408,196,3644,0,0,0,0,0,0
$GC,2859,-2.11,-134.2,473.8,-16.2,163,2864,0.00,2.47,0.00,0.000,6,0.000,0.038,2408,1709,3643,0,0,0,0,0,0
$STATE,3048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3048,begin apogee
$GC,3054,-0.31,0.0,503.3,15.2,168,3171,1.80,0.00,109.53,0.859,6,0.097,0.000,2798,1648,3089,0,0,0,0,0,0
$STATE,3172,end apogee,CONTROL_FINISHED_OK
$STATE,3172,begin climb
$GC,3174,1.87,134.2,507.0,0.0,171,3291,1.95,0.00,111.90,0.848,6,0.026,0.000,3301,1648,2541,0,0,0,0,0,0
$GC,3503,1.56,134.2,475.1,15.9,179,3510,0.43,2.50,0.00,0.000,4,0.137,0.058,3215,186,2535,0,0,0,0,0,0
$GC,3714,1.34,134.2,443.1,15.0,183,3719,0.28,2.38,0.00,0.000,6,0.137,0.029,3164,1641,2531,0,0,0,0,0,0
$GC,3974,1.34,136.5,416.4,9.8,190,3978,0.00,2.50,0.00,0.000,4,0.000,0.058,3164,183,2528,0,0,0,0,0,0
$GC,4244,1.25,138.1,387.6,9.9,195,4250,0.12,2.35,0.00,0.000,6,0.162,0.027,3143,1642,2526,0,0,0,0,0,0
$GC,4495,1.38,166.0,369.0,7.1,202,4528,0.10,2.53,25.00,0.777,4,0.087,0.060,3177,183,2412,0,0,0,0,0,0
$GC,4725,1.29,166.0,342.0,12.4,207,4730,0.12,2.33,0.00,0.000,6,0.150,0.026,3154,1628,2407,0,0,0,0,0,0
$GC,5013,1.40,180.4,315.8,8.5,214,5032,0.00,2.47,12.52,0.706,4,0.000,0.054,3154,184,2354,0,0,0,0,0,0
$GC,5171,1.40,180.4,299.4,11.9,217,5175,0.00,2.28,0.00,0.000,6,0.000,0.025,3154,1622,2352,0,0,0,0,0,0
$GC,5434,1.51,180.4,272.7,10.1,224,5436,0.17,0.00,0.00,0.000,6,0.059,0.000,3209,1623,2349,0,0,0,0,0,0
$GC,5678,1.51,180.4,242.7,12.6,230,5682,0.00,2.42,0.00,0.000,4,0.000,0.050,3209,177,2348,0,0,0,0,0,0
$GC,5735,1.37,180.4,234.9,13.8,231,5740,0.20,2.28,0.00,0.000,6,0.138,0.024,3172,1619,2347,0,0,0,0,0,0
$GC,6010,1.45,180.4,203.8,10.7,238,6014,0.00,2.38,0.00,0.000,4,0.000,0.049,3172,183,2346,0,0,0,0,0,0
$GC,6117,1.46,186.2,193.2,9.4,245,6133,0.00,2.25,4.97,0.502,6,0.000,0.023,3172,1616,2330,0,0,0,0,0,0
$GC,6388,1.55,186.2,168.4,10.1,271,6393,0.15,2.40,0.00,0.000,4,0.063,0.048,3225,182,2329,0,0,0,0,0,0
$GC,6464,1.41,186.2,157.3,15.7,278,6469,0.22,2.22,0.00,0.000,6,0.131,0.022,3180,1605,2328,0,0,0,0,0,0
$GC,6727,1.51,195.6,128.7,9.0,302,6743,0.00,2.40,9.38,0.546,4,0.000,0.045,3180,187,2292,0,0,0,0,0,0
$GC,6790,1.53,212.3,123.1,8.3,308,6812,0.10,2.20,15.38,0.573,6,0.087,0.021,3218,1597,2224,0,0,0,0,0,0
$GC,7068,1.57,240.3,99.8,7.1,334,7101,0.00,2.40,24.60,0.567,4,0.000,0.044,3218,188,2109,0,0,0,0,0,0
$GC,7404,1.57,240.3,61.1,13.3,365,7413,0.00,2.17,0.00,0.000,6,0.000,0.021,3218,1574,2105,0,0,0,0,0,0
$GC,7675,1.64,240.3,25.4,13.4,392,7684,0.00,2.30,0.00,0.000,4,0.000,0.043,3218,184,2105,0,0,0,0,0,0
$GC,7799,1.64,240.3,7.7,14.8,411,7807,0.00,2.17,0.00,0.000,6,0.000,0.020,3218,1582,2105,0,0,0,0,0,0
$STATE,7820,end climb,SURFACE_DEPTH_REACHED
$STATE,7821,begin surface coast
$FINISH,0.6,1.011576
$STATE,7853,end surface coast,CONTROL_FINISHED_OK
$STATE,7853,begin surface
$SM_CCo,7874,104.38,0.450,1,0,1254,450.13
$SM_GC,1.52,0.00,0.00,104.38,0.000,0.000,0.450,414,1862,1254,-11.30,2.60,450.13
$IRIDIUM_FIX,2251.04,-15742.79,120200,030336
$TT8_MAMPS,0.026845
$HUMID,38.62
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,10.489
$10V_AH,10.5,8.825
$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,29.825,87.375,313.275,104.375,0.000,23.748,34.864,165.986,0.500,0.000,15.594,912.791,4637.620,493.076,1835.873,458.185,33.341,1215.691,0.000,1837.118,0.000,0.538,0.000
$DEVICE_MAMPS,161.837,109.681,859.040,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,282.956,265.823,339.081,524.812,928.122,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,32133,419
$CAP_FILE_SIZE,94287,0
$CFSIZE,260165632,169058304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181110,073606,2256.570,-15742.238,37,1.0,40,10.1