version: 66.06
glider: 148
mission: 9
dive: 52
start: 11 18 110 7 44 40
data:
$ID,148
$MISSION,9
$DIVE,52
$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,-858515.31
$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,41
$R_STBD_OVSHOOT,44
$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
$GPS1,073606,2256.570,-15742.238,37,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.5
$GPS2,074344,2256.568,-15742.245,10,1.3,10,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.180,-0.188
$KALMAN_X,-33157.8,117.9,141.0,80422.6,-920.6
$KALMAN_Y,16606.9,-137.7,175.9,125358.7,253.6
$MHEAD_RNG_PITCHd_Wd,213.7,25404,-17.6,-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,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.70,0.000,2,0.000,0.000,413,1863,3306,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.1,-4.1,11,132,11.65,2.72,-7.15,0.000,4,0.162,0.052,2582,188,3687,0,0,0,0,0,0
$GC,202,-1.28,-146.0,26.1,-15.2,25,211,0.00,2.50,0.00,0.000,6,0.000,0.021,2582,1766,3689,0,0,0,0,0,0
$GC,481,-1.09,-146.0,73.5,-16.2,52,487,0.22,2.53,0.00,0.000,4,0.107,0.030,2628,3360,3689,0,0,0,0,0,0
$GC,535,-1.09,-146.0,82.6,-12.8,56,544,0.00,2.53,0.00,0.000,6,0.000,0.023,2629,1780,3689,0,0,0,0,0,0
$GC,802,-1.17,-146.0,112.8,-10.1,81,806,0.00,2.55,0.00,0.000,4,0.000,0.039,2628,190,3690,0,0,0,0,0,0
$GC,833,-1.30,-146.0,116.7,-10.4,83,839,0.17,2.50,0.00,0.000,6,0.050,0.019,2544,1807,3690,0,0,0,0,0,0
$GC,1096,-1.16,-146.0,153.9,-13.1,108,1101,0.30,2.42,0.00,0.000,4,0.094,0.029,2613,3349,3691,0,0,0,0,0,0
$GC,1147,-1.27,-146.0,159.3,-8.5,112,1153,0.00,2.47,0.00,0.000,6,0.000,0.023,2613,1780,3691,0,0,0,0,0,0
$GC,1411,-1.35,-146.0,183.1,-9.7,137,1416,0.15,2.50,0.00,0.000,4,0.058,0.031,2551,3340,3691,0,0,0,0,0,0
$GC,1441,-1.35,-146.0,186.1,-11.8,139,1446,0.12,2.42,0.00,0.000,6,0.110,0.023,2578,1789,3691,0,0,0,0,0,0
$GC,1715,-1.35,-146.0,217.9,-10.8,153,1719,0.00,2.47,0.00,0.000,4,0.000,0.030,2578,3343,3691,0,0,0,0,0,0
$GC,1744,-1.35,-146.0,221.2,-11.6,153,1748,0.00,2.45,0.00,0.000,6,0.000,0.023,2578,1788,3691,0,0,0,0,0,0
$GC,1998,-1.35,-146.0,249.5,-11.1,160,2002,0.00,2.58,0.00,0.000,4,0.000,0.041,2578,189,3692,0,0,0,0,0,0
$GC,2017,-1.35,-146.0,251.8,-11.8,160,2021,0.00,2.47,0.00,0.000,6,0.000,0.021,2578,1794,3692,0,0,0,0,0,0
$GC,2282,-1.35,-146.0,275.8,-8.9,167,2286,0.00,2.45,0.00,0.000,4,0.000,0.033,2578,3343,3692,0,0,0,0,0,0
$GC,2333,-1.43,-146.0,280.5,-8.4,168,2338,0.00,2.40,0.00,0.000,6,0.000,0.025,2578,1816,3692,0,0,0,0,0,0
$GC,2616,-1.43,-146.0,310.1,-10.9,175,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1816,3692,0,0,0,0,0,0
$GC,2859,-1.43,-146.0,332.2,-8.7,181,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1816,3691,0,0,0,0,0,0
$GC,3103,-1.49,-146.0,355.7,-9.8,187,3108,0.15,2.50,0.00,0.000,4,0.059,0.038,2514,3343,3690,0,0,0,0,0,0
$GC,3118,-1.49,-146.0,357.5,-9.8,187,3123,0.12,2.45,0.00,0.000,6,0.114,0.025,2542,1808,3690,0,0,0,0,0,0
$GC,3388,-1.49,-146.0,384.5,-9.9,194,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1808,3689,0,0,0,0,0,0
$GC,3630,-1.49,-146.0,409.8,-10.4,200,3634,0.00,2.53,0.00,0.000,4,0.000,0.044,2542,3340,3688,0,0,0,0,0,0
$GC,3653,-1.49,-146.0,412.1,-10.2,200,3657,0.00,2.45,0.00,0.000,6,0.000,0.028,2542,1815,3688,0,0,0,0,0,0
$GC,3914,-1.49,-146.0,437.4,-9.9,207,3918,0.00,2.72,0.00,0.000,4,0.000,0.059,2542,187,3687,0,0,0,0,0,0
$GC,3933,-1.49,-146.0,439.5,-9.7,207,3937,0.00,2.58,0.00,0.000,6,0.000,0.028,2542,1801,3686,0,0,0,0,0,0
$GC,4197,-1.49,-146.0,462.1,-8.2,214,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1801,3685,0,0,0,0,0,0
$GC,4442,-1.49,-146.0,481.0,-7.9,220,4446,0.00,2.55,0.00,0.000,4,0.000,0.049,2542,3347,3682,0,0,0,0,0,0
$GC,4460,-1.49,-146.0,482.9,-9.2,220,4465,0.00,2.50,0.00,0.000,6,0.000,0.031,2542,1808,3682,0,0,0,0,0,0
$STATE,4681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4681,begin apogee
$GC,4687,-0.31,0.0,503.7,9.5,226,4808,1.15,0.00,117.28,0.880,6,0.084,0.000,2800,1642,3090,0,0,0,0,0,0
$STATE,4808,end apogee,CONTROL_FINISHED_OK
$STATE,4808,begin climb
$GC,4812,1.28,146.0,509.2,0.0,229,4944,1.45,2.60,121.53,0.865,4,0.024,0.069,3164,184,2492,0,0,0,0,0,0
$GC,4959,0.83,184.0,509.2,8.3,232,5000,0.55,2.40,32.92,0.830,6,0.120,0.031,3055,1641,2339,0,0,0,0,0,0
$GC,5255,0.78,200.3,482.0,9.3,240,5276,0.00,2.60,13.93,0.777,4,0.000,0.061,3054,189,2273,0,0,0,0,0,0
$GC,5304,0.66,200.3,476.9,10.4,241,5309,0.20,2.40,0.00,0.000,6,0.110,0.030,3014,1649,2271,0,0,0,0,0,0
$GC,5589,0.73,260.6,455.1,7.2,248,5643,0.00,0.00,52.70,0.836,6,0.000,0.000,3014,1650,2027,0,0,0,0,0,0
$GC,5871,0.85,288.1,431.3,8.8,255,5899,0.17,0.00,24.88,0.802,6,0.055,0.000,3077,1650,1915,0,0,0,0,0,0
$GC,6116,0.77,288.1,402.9,11.9,261,6118,0.17,0.00,0.00,0.000,6,0.110,0.000,3040,1650,1908,0,0,0,0,0,0
$GC,6358,0.77,288.1,377.6,10.4,267,6362,0.00,2.67,0.00,0.000,4,0.000,0.050,3040,3236,1905,0,0,0,0,0,0
$GC,6372,0.77,288.1,376.0,10.3,267,6377,0.00,2.60,0.00,0.000,6,0.000,0.033,3040,1653,1904,0,0,0,0,0,0
$GC,6642,0.77,288.1,344.2,12.6,274,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1653,1904,0,0,0,0,0,0
$GC,6884,0.77,288.1,315.5,11.1,280,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1652,1902,0,0,0,0,0,0
$GC,7128,0.91,343.5,296.0,7.5,286,7182,0.12,2.67,46.88,0.751,4,0.069,0.041,3093,3231,1688,0,0,0,0,0,0
$GC,7209,0.91,343.5,286.9,12.4,287,7216,0.12,2.62,0.00,0.000,6,0.118,0.033,3067,1648,1684,0,0,0,0,0,0
$GC,7459,0.91,343.5,257.3,11.9,294,7463,0.00,2.62,0.00,0.000,4,0.000,0.038,3067,3241,1681,0,0,0,0,0,0
$GC,7510,0.98,343.5,250.6,12.3,295,7515,0.00,2.60,0.00,0.000,6,0.000,0.031,3067,1661,1679,0,0,0,0,0,0
$GC,7789,0.98,343.5,213.5,13.7,302,7793,0.00,2.47,0.00,0.000,4,0.000,0.050,3067,173,1678,0,0,0,0,0,0
$GC,7812,0.98,343.5,210.1,13.3,302,7816,0.00,2.38,0.00,0.000,6,0.000,0.024,3067,1678,1678,0,0,0,0,0,0
$GC,8080,0.98,343.5,178.6,11.7,321,8085,0.00,2.47,0.00,0.000,4,0.000,0.035,3067,3222,1678,0,0,0,0,0,0
$GC,8139,1.08,343.5,171.2,12.1,326,8146,0.15,2.53,0.00,0.000,6,0.061,0.028,3134,1662,1676,0,0,0,0,0,0
$GC,8408,0.95,343.5,131.2,13.9,351,8413,0.25,0.00,0.00,0.000,6,0.104,0.000,3077,1662,1676,0,0,0,0,0,0
$GC,8670,1.03,343.5,101.9,10.2,376,8674,0.00,2.45,0.00,0.000,4,0.000,0.053,3077,174,1676,0,0,0,0,0,0
$GC,8709,1.11,343.5,97.6,12.6,379,8714,0.15,2.33,0.00,0.000,6,0.059,0.021,3143,1677,1676,0,0,0,0,0,0
$GC,8973,1.02,343.5,61.3,13.1,403,8982,0.22,0.00,0.00,0.000,6,0.102,0.000,3094,1680,1676,0,0,0,0,0,0
$GC,9238,1.02,343.5,32.0,11.0,428,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1680,1676,0,0,0,0,0,0
$STATE,9505,end climb,SURFACE_DEPTH_REACHED
$STATE,9505,begin surface coast
$FINISH,0.8,1.010289
$STATE,9550,end surface coast,CONTROL_FINISHED_OK
$STATE,9550,begin surface
$SM_CCo,9570,55.70,0.417,1,0,1254,450.13
$SM_GC,1.49,0.00,0.00,55.70,0.000,0.000,0.417,411,1838,1254,-11.31,1.92,450.13
$IRIDIUM_FIX,2248.70,-15740.63,120200,050532
$TT8_MAMPS,0.026845
$HUMID,40.39
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,10.613
$10V_AH,10.4,8.924
$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,28.425,101.025,410.100,55.700,0.000,23.082,34.074,282.650,0.500,0.000,12.028,959.688,6350.255,546.393,1650.328,588.489,33.350,1187.128,0.000,1668.470,0.000,0.538,0.000
$DEVICE_MAMPS,161.837,79.768,879.749,417.248,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.734,290.299,364.031,552.691,976.551,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,35366,477
$CAP_FILE_SIZE,99432,0
$CFSIZE,260165632,169000960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181110,102630,2255.598,-15743.598,38,1.2,38,10.1