version: 66.06
glider: 148
mission: 9
dive: 102
start: 11 24 110 10 50 0
data:
$ID,148
$MISSION,9
$DIVE,102
$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,-859633.44
$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,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,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
$GPS1,104316,2248.460,-15757.082,9,2.8,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.9
$GPS2,104906,2248.447,-15757.046,13,1.0,29,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.091,-0.243
$KALMAN_X,-53332.7,-396.1,289.7,75490.2,-248.0
$KALMAN_Y,20497.9,287.6,295.5,105883.2,33.9
$MHEAD_RNG_PITCHd_Wd,190.4,2974,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-82.72,0.000,2,0.000,0.000,409,1868,3385,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.9,-6.5,11,132,11.40,2.70,-5.88,0.000,4,0.154,0.049,2573,203,3716,0,0,0,0,0,0
$GC,251,-1.28,-146.0,36.9,-15.7,30,255,0.00,2.50,0.00,0.000,6,0.000,0.021,2573,1797,3717,0,0,0,0,0,0
$GC,515,-1.10,-146.0,83.3,-17.9,54,520,0.22,2.53,0.00,0.000,4,0.100,0.031,2621,3374,3717,0,0,0,0,0,0
$GC,583,-1.10,-146.0,93.9,-12.4,60,588,0.00,2.47,0.00,0.000,6,0.000,0.021,2621,1789,3718,0,0,0,0,0,0
$GC,845,-1.10,-146.0,124.8,-11.7,84,849,0.00,2.53,0.00,0.000,4,0.000,0.029,2621,3368,3719,0,0,0,0,0,0
$GC,867,-1.16,-146.0,127.1,-10.9,85,873,0.00,2.45,0.00,0.000,6,0.000,0.021,2621,1798,3719,0,0,0,0,0,0
$GC,1130,-1.27,-146.0,153.9,-9.7,110,1135,0.15,2.50,0.00,0.000,4,0.056,0.031,2555,3367,3719,0,0,0,0,0,0
$GC,1201,-1.27,-146.0,162.4,-12.2,116,1207,0.12,2.42,0.00,0.000,6,0.105,0.022,2583,1814,3719,0,0,0,0,0,0
$GC,1463,-1.27,-146.0,191.0,-10.6,141,1467,0.00,2.47,0.00,0.000,4,0.000,0.031,2583,3374,3721,0,0,0,0,0,0
$GC,1499,-1.27,-146.0,194.9,-10.7,144,1504,0.00,2.42,0.00,0.000,6,0.000,0.022,2583,1819,3720,0,0,0,0,0,0
$GC,1750,-1.27,-146.0,222.2,-10.8,153,1755,0.00,2.47,0.00,0.000,4,0.000,0.031,2583,3373,3720,0,0,0,0,0,0
$GC,1764,-1.27,-146.0,223.8,-10.4,153,1768,0.00,2.40,0.00,0.000,6,0.000,0.021,2583,1829,3721,0,0,0,0,0,0
$GC,2038,-1.27,-146.0,252.8,-10.6,160,2042,0.00,2.45,0.00,0.000,4,0.000,0.032,2583,3370,3720,0,0,0,0,0,0
$GC,2056,-1.27,-146.0,255.1,-10.6,160,2061,0.00,2.40,0.00,0.000,6,0.000,0.021,2583,1836,3720,0,0,0,0,0,0
$GC,2325,-1.27,-146.0,281.9,-9.7,167,2329,0.00,2.45,0.00,0.000,4,0.000,0.032,2582,3366,3720,0,0,0,0,0,0
$GC,2349,-1.27,-146.0,284.3,-10.3,167,2353,0.00,2.42,0.00,0.000,6,0.000,0.023,2583,1834,3720,0,0,0,0,0,0
$GC,2608,-1.27,-146.0,309.9,-10.0,174,2612,0.00,2.62,0.00,0.000,4,0.000,0.044,2583,215,3721,0,0,0,0,0,0
$GC,2645,-1.38,-146.0,314.1,-11.2,174,2652,0.10,2.55,0.00,0.000,6,0.075,0.022,2525,1837,3720,0,0,0,0,0,0
$GC,2897,-1.30,-146.0,347.5,-13.3,181,2899,0.22,0.00,0.00,0.000,6,0.094,0.000,2575,1839,3720,0,0,0,0,0,0
$GC,3139,-1.37,-146.0,371.6,-9.5,187,3143,0.00,2.47,0.00,0.000,4,0.000,0.040,2575,3364,3720,0,0,0,0,0,0
$GC,3158,-1.44,-146.0,373.6,-9.5,187,3163,0.12,2.42,0.00,0.000,6,0.064,0.026,2496,1834,3720,0,0,0,0,0,0
$GC,3424,-1.27,-146.0,409.3,-13.7,194,3432,0.40,2.70,0.00,0.000,4,0.091,0.055,2577,218,3719,0,0,0,0,0,0
$GC,3474,-1.44,-146.0,415.0,-9.6,195,3479,0.12,2.58,0.00,0.000,6,0.064,0.028,2524,1825,3719,0,0,0,0,0,0
$GC,3759,-1.44,-146.0,447.6,-11.7,202,3764,0.10,2.58,0.00,0.000,4,0.123,0.050,2545,3369,3717,0,0,0,0,0,0
$GC,3782,-1.44,-146.0,450.6,-10.9,202,3787,0.00,2.47,0.00,0.000,6,0.000,0.029,2545,1822,3717,0,0,0,0,0,0
$GC,4041,-1.44,-146.0,476.9,-10.2,209,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1822,3715,0,0,0,0,0,0
$STATE,4283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4283,begin apogee
$GC,4290,-0.31,0.0,502.2,10.5,215,4412,1.10,0.00,118.07,0.867,6,0.079,0.000,2792,1670,3120,0,0,0,0,0,0
$STATE,4412,end apogee,CONTROL_FINISHED_OK
$STATE,4413,begin climb
$GC,4415,1.28,146.0,508.2,0.0,218,4545,1.40,2.67,121.62,0.854,4,0.025,0.071,3143,178,2523,0,0,0,0,0,0
$GC,4599,0.83,146.0,507.2,10.2,222,4607,0.50,2.45,0.00,0.000,6,0.114,0.030,3042,1674,2519,0,0,0,0,0,0
$GC,4875,0.91,215.7,488.1,6.8,229,4937,0.00,0.00,59.40,0.838,6,0.000,0.000,3042,1674,2239,0,0,0,0,0,0
$GC,5202,0.91,215.7,456.0,10.6,237,5207,0.00,2.58,0.00,0.000,4,0.000,0.058,3042,181,2230,0,0,0,0,0,0
$GC,5272,0.91,215.7,447.4,12.0,238,5276,0.00,2.45,0.00,0.000,6,0.000,0.027,3042,1687,2230,0,0,0,0,0,0
$GC,5532,0.93,228.4,422.3,9.5,245,5544,0.00,0.00,10.40,0.730,6,0.000,0.000,3042,1687,2188,0,0,0,0,0,0
$GC,5774,0.96,255.8,400.6,8.8,251,5807,0.12,2.65,25.12,0.786,4,0.067,0.058,3099,177,2075,0,0,0,0,0,0
$GC,5874,0.79,255.8,388.5,13.1,253,5879,0.32,2.40,0.00,0.000,6,0.102,0.026,3032,1674,2072,0,0,0,0,0,0
$GC,6153,0.89,286.2,364.1,8.6,260,6183,0.10,0.00,27.23,0.767,6,0.079,0.000,3085,1675,1954,0,0,0,0,0,0
$GC,6396,0.89,286.2,335.3,12.3,266,6398,0.15,0.00,0.00,0.000,6,0.114,0.000,3055,1675,1946,0,0,0,0,0,0
$GC,6641,0.89,286.2,307.3,11.4,272,6645,0.00,2.55,0.00,0.000,4,0.000,0.054,3055,175,1944,0,0,0,0,0,0
$GC,6668,0.89,286.2,303.9,12.5,272,6673,0.00,2.38,0.00,0.000,6,0.000,0.024,3055,1677,1944,0,0,0,0,0,0
$GC,6923,0.89,288.1,277.8,10.0,279,6927,0.00,2.53,0.00,0.000,4,0.000,0.053,3055,183,1943,0,0,0,0,0,0
$GC,6975,0.89,288.1,272.1,10.8,280,6979,0.00,2.33,0.00,0.000,6,0.000,0.023,3055,1662,1942,0,0,0,0,0,0
$GC,7252,0.91,304.0,246.0,9.3,287,7273,0.00,2.67,15.48,0.665,4,0.000,0.040,3055,3256,1879,0,0,0,0,0,0
$GC,7305,1.01,310.2,241.1,9.8,288,7318,0.10,2.60,6.38,0.560,6,0.078,0.031,3106,1666,1856,0,0,0,0,0,0
$GC,7588,0.94,310.2,205.0,13.2,295,7593,0.20,2.50,0.00,0.000,4,0.107,0.048,3065,167,1853,0,0,0,0,0,0
$GC,7616,0.94,310.2,201.0,13.2,295,7621,0.00,2.33,0.00,0.000,6,0.000,0.021,3065,1661,1852,0,0,0,0,0,0
$GC,7884,0.94,310.2,172.5,10.5,320,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1665,1852,0,0,0,0,0,0
$GC,8136,0.94,310.2,145.6,10.5,344,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1664,1851,0,0,0,0,0,0
$GC,8394,1.02,320.8,120.6,9.5,368,8410,0.00,2.62,10.27,0.537,4,0.000,0.033,3065,3254,1811,0,0,0,0,0,0
$GC,8461,1.17,320.8,113.5,10.7,374,8470,0.17,2.60,0.00,0.000,6,0.025,0.028,3138,1668,1809,0,0,0,0,0,0
$GC,8727,1.09,320.8,82.2,10.8,399,8733,0.20,0.00,0.00,0.000,6,0.108,0.000,3097,1668,1809,0,0,0,0,0,0
$GC,8993,1.12,338.2,58.1,9.2,424,9011,0.00,0.00,15.88,0.509,6,0.000,0.000,3097,1668,1740,0,0,0,0,0,0
$GC,9271,1.12,338.2,30.1,10.2,450,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1668,1738,0,0,0,0,0,0
$STATE,9517,end climb,SURFACE_DEPTH_REACHED
$STATE,9517,begin surface coast
$FINISH,0.7,1.023476
$STATE,9555,end surface coast,CONTROL_FINISHED_OK
$STATE,9555,begin surface
$SM_CCo,9577,53.33,0.061,0,0,1285,450.13
$SM_GC,1.53,0.00,0.00,53.33,0.000,0.000,0.061,411,1827,1285,-11.27,1.05,450.13
$IRIDIUM_FIX,2244.02,-15754.11,180200,080815
$TT8_MAMPS,0.026845
$HUMID,41.73
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,17.336
$10V_AH,10.4,14.374
$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,28.175,100.700,409.850,53.325,0.000,22.523,32.015,145.547,0.250,0.000,31.155,997.935,6181.871,503.725,1828.691,471.389,33.358,1207.654,0.000,1824.770,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,70.564,867.477,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.024,303.710,386.687,590.723,1044.676,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38339,495
$CAP_FILE_SIZE,101243,0
$CFSIZE,260165632,166191104
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241110,133136,2246.871,-15757.624,10,1.6,26,10.1