version: 66.06
glider: 148
mission: 9
dive: 99
start: 11 24 110 3 3 20
data:
$ID,148
$MISSION,9
$DIVE,99
$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,-859521.25
$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,46
$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
$GPS1,025607,2250.740,-15756.827,24,1.7,24,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.0
$GPS2,030225,2250.760,-15756.866,10,1.5,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.075,-0.157
$KALMAN_X,-52853.2,112.8,-142.0,75246.2,-840.0
$KALMAN_Y,18468.4,241.9,-29.9,112555.2,-118.5
$MHEAD_RNG_PITCHd_Wd,144.5,1425,-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,18,-1.78,-63.4,0.0,0.0,0,102,0.00,0.00,-82.50,0.000,6,0.000,0.000,414,1852,3380,0,0,0,0,0,0
$GC,107,-1.82,-94.4,3.9,-6.7,11,132,11.30,2.70,-2.28,0.000,4,0.175,0.051,2455,205,3508,0,0,0,0,0,0
$GC,236,-1.73,-94.4,42.8,-24.8,27,241,0.12,2.47,0.00,0.000,6,0.133,0.020,2479,1800,3509,0,0,0,0,0,0
$GC,504,-1.73,-94.4,101.7,-20.1,51,509,0.00,2.58,0.00,0.000,4,0.000,0.035,2479,207,3511,0,0,0,0,0,0
$GC,541,-1.73,-94.4,110.0,-19.3,54,545,0.00,2.47,0.00,0.000,6,0.000,0.018,2479,1805,3511,0,0,0,0,0,0
$GC,803,-1.82,-94.4,154.8,-16.0,78,807,0.00,2.58,0.00,0.000,4,0.000,0.036,2479,204,3512,0,0,0,0,0,0
$GC,862,-1.93,-94.4,165.9,-18.1,83,868,0.17,2.45,0.00,0.000,6,0.056,0.019,2421,1780,3512,0,0,0,0,0,0
$GC,1130,-1.93,-94.4,215.9,-18.0,103,1134,0.00,2.55,0.00,0.000,4,0.000,0.037,2421,205,3512,0,0,0,0,0,0
$GC,1301,-1.93,-94.4,249.6,-19.2,106,1306,0.00,2.42,0.00,0.000,6,0.000,0.020,2421,1781,3513,0,0,0,0,0,0
$GC,1551,-1.93,-94.4,289.6,-15.6,112,1555,0.00,2.55,0.00,0.000,4,0.000,0.038,2421,200,3513,0,0,0,0,0,0
$GC,1748,-1.93,-94.4,322.7,-16.9,116,1752,0.00,2.45,0.00,0.000,6,0.000,0.027,2421,1757,3513,0,0,0,0,0,0
$GC,2022,-1.93,-94.4,364.6,-15.7,123,2026,0.00,2.58,0.00,0.000,4,0.000,0.050,2421,212,3513,0,0,0,0,0,0
$GC,2215,-1.93,-94.4,399.0,-16.1,127,2220,0.00,2.47,0.00,0.000,6,0.000,0.028,2421,1754,3513,0,0,0,0,0,0
$GC,2489,-1.93,-94.4,441.0,-15.2,134,2494,0.00,2.62,0.00,0.000,4,0.000,0.058,2421,210,3513,0,0,0,0,0,0
$GC,2509,-1.93,-94.4,444.2,-15.4,134,2514,0.00,2.47,0.00,0.000,6,0.000,0.032,2421,1749,3513,0,0,0,0,0,0
$GC,2773,-1.99,-94.4,480.9,-13.4,141,2778,0.00,2.62,0.00,0.000,4,0.000,0.060,2421,208,3511,0,0,0,0,0,0
$GC,2821,-1.99,-94.4,488.2,-15.8,142,2825,0.00,2.50,0.00,0.000,6,0.000,0.036,2421,1748,3511,0,0,0,0,0,0
$STATE,2938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2938,begin apogee
$GC,2944,-0.31,0.0,505.3,14.0,145,3026,1.67,0.00,78.40,0.855,6,0.092,0.000,2788,1662,3120,0,0,0,0,0,0
$STATE,3027,end apogee,CONTROL_FINISHED_OK
$STATE,3027,begin climb
$GC,3029,1.82,94.4,507.3,0.0,147,3119,1.92,2.58,78.25,0.843,4,0.028,0.061,3273,186,2734,0,0,0,0,0,0
$GC,3134,1.54,176.2,509.4,1.4,149,3214,0.40,2.45,70.45,0.836,6,0.138,0.029,3198,1695,2400,0,0,0,0,0,0
$GC,3487,1.54,176.2,463.6,14.5,158,3492,0.00,2.60,0.00,0.000,4,0.000,0.057,3197,184,2391,0,0,0,0,0,0
$GC,3757,1.39,176.2,421.0,15.5,163,3763,0.17,2.40,0.00,0.000,6,0.145,0.028,3167,1663,2388,0,0,0,0,0,0
$GC,4006,1.39,176.2,390.4,11.8,170,4010,0.00,2.50,0.00,0.000,4,0.000,0.056,3166,187,2385,0,0,0,0,0,0
$GC,4192,1.33,176.2,369.0,11.1,174,4197,0.00,2.38,0.00,0.000,6,0.000,0.026,3166,1665,2384,0,0,0,0,0,0
$GC,4474,1.39,176.2,339.7,11.1,181,4479,0.00,2.50,0.00,0.000,4,0.000,0.054,3166,179,2381,0,0,0,0,0,0
$GC,4628,1.39,176.2,318.3,14.1,184,4632,0.00,2.35,0.00,0.000,6,0.000,0.025,3166,1662,2380,0,0,0,0,0,0
$GC,4896,1.47,176.2,289.0,10.3,191,4900,0.00,2.50,0.00,0.000,4,0.000,0.053,3166,180,2378,0,0,0,0,0,0
$GC,5091,1.47,176.7,268.9,10.0,195,5096,0.00,2.33,0.00,0.000,6,0.000,0.024,3166,1658,2377,0,0,0,0,0,0
$GC,5366,1.59,198.3,247.6,7.7,202,5388,0.17,2.53,15.50,0.671,4,0.057,0.050,3228,181,2310,0,0,0,0,0,0
$GC,5522,1.44,198.3,226.8,14.8,205,5527,0.28,2.30,0.00,0.000,6,0.127,0.023,3174,1643,2307,0,0,0,0,0,0
$GC,5788,1.52,198.3,199.5,10.5,212,5792,0.00,2.42,0.00,0.000,4,0.000,0.048,3174,180,2305,0,0,0,0,0,0
$GC,6072,1.52,198.3,164.5,12.5,240,6081,0.00,2.30,0.00,0.000,6,0.000,0.022,3174,1630,2305,0,0,0,0,0,0
$GC,6338,1.64,206.1,138.6,9.2,265,6351,0.17,2.45,7.15,0.512,4,0.056,0.045,3237,184,2279,0,0,0,0,0,0
$GC,6364,1.64,206.1,135.3,11.9,267,6370,0.00,2.28,0.00,0.000,6,0.000,0.022,3236,1630,2279,0,0,0,0,0,0
$GC,6626,1.64,206.1,105.8,12.0,292,6630,0.00,2.38,0.00,0.000,4,0.000,0.046,3237,176,2277,0,0,0,0,0,0
$GC,6925,1.53,206.9,72.2,10.0,320,6933,0.17,2.28,0.00,0.000,6,0.108,0.020,3198,1625,2277,0,0,0,0,0,0
$GC,7196,1.66,222.3,50.4,8.4,345,7222,0.10,2.42,15.07,0.499,4,0.081,0.044,3241,185,2212,0,0,0,0,0,0
$STATE,7560,end climb,SURFACE_DEPTH_REACHED
$STATE,7560,begin surface coast
$FINISH,0.6,1.023491
$STATE,7605,end surface coast,CONTROL_FINISHED_OK
$STATE,7605,begin surface
$SM_CCo,7628,111.93,0.446,1,0,1284,450.13
$SM_GC,1.42,0.00,0.00,111.93,0.000,0.000,0.446,411,1830,1284,-11.27,1.13,450.13
$IRIDIUM_FIX,2244.02,-15756.28,180200,000017
$TT8_MAMPS,0.026845
$HUMID,40.58
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,23.6,17.003
$10V_AH,10.4,14.069
$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,28.250,89.100,264.825,111.925,0.000,24.313,35.865,182.527,0.750,0.000,17.138,899.540,4400.077,427.256,1927.166,471.525,33.347,1180.765,0.000,1910.283,0.000,0.538,0.000
$DEVICE_MAMPS,174.876,78.234,855.205,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.562,245.732,316.676,493.958,873.295,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,31979,398
$CAP_FILE_SIZE,93662,0
$CFSIZE,260165632,166367232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241110,051334,2250.310,-15756.781,8,99.0,27,10.1