version: 66.06
glider: 148
mission: 9
dive: 175
start: 12 3 110 1 22 50
data:
$ID,148
$MISSION,9
$DIVE,175
$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,-861455.62
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,010804,2248.990,-15803.293,42,2.0,51,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-60.1
$GPS2,012155,2249.046,-15803.438,10,1.4,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.101,0.141
$KALMAN_X,-73441.6,-99.4,-313.7,84909.2,-253.1
$KALMAN_Y,9302.8,-72.3,-501.5,119341.0,370.6
$MHEAD_RNG_PITCHd_Wd,25.5,1919,-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,16,begin dive
$GC,18,-1.78,-63.4,0.0,0.0,0,132,0.00,0.00,-111.82,0.000,6,0.000,0.000,408,1867,3380,0,0,0,0,0,0
$GC,135,-1.81,-86.6,3.9,-7.6,15,153,10.98,2.42,-1.73,0.000,4,0.160,0.038,2457,3363,3476,0,0,0,0,0,0
$GC,164,-0.61,-86.6,15.8,-34.6,18,173,1.20,2.55,0.00,0.000,6,0.095,0.022,2719,1777,3478,0,0,0,0,0,0
$GC,456,-1.30,-94.3,42.2,-9.2,54,469,0.55,2.55,-0.28,0.000,4,0.022,0.039,2509,3369,3506,0,0,0,0,0,0
$GC,487,-1.59,-94.3,46.9,-15.6,56,491,0.00,2.47,0.00,0.000,6,0.000,0.021,2509,1788,3505,0,0,0,0,0,0
$GC,749,-1.59,-94.3,102.1,-20.8,80,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1786,3505,0,0,0,0,0,0
$GC,1004,-1.76,-94.3,140.8,-14.7,104,1009,0.12,2.53,0.00,0.000,4,0.067,0.039,2456,217,3506,0,0,0,0,0,0
$GC,1093,-1.76,-94.3,155.3,-16.7,112,1097,0.00,2.45,0.00,0.000,6,0.000,0.018,2457,1801,3506,0,0,0,0,0,0
$GC,1359,-1.76,-94.3,194.2,-14.2,136,1365,0.10,2.60,0.00,0.000,4,0.135,0.041,2477,215,3507,0,0,0,0,0,0
$GC,1516,-1.86,-94.3,219.0,-16.4,142,1520,0.00,2.42,0.00,0.000,6,0.000,0.019,2476,1777,3507,0,0,0,0,0,0
$GC,1784,-1.98,-94.3,257.3,-14.2,149,1789,0.20,2.53,0.00,0.000,4,0.050,0.038,2392,215,3507,0,0,0,0,0,0
$GC,1810,-1.98,-94.3,261.6,-17.0,149,1815,0.17,2.40,0.00,0.000,6,0.120,0.020,2426,1774,3507,0,0,0,0,0,0
$GC,2071,-1.98,-94.3,303.3,-15.7,156,2075,0.00,2.58,0.00,0.000,4,0.000,0.043,2426,207,3507,0,0,0,0,0,0
$GC,2089,-1.98,-94.3,306.9,-17.3,156,2093,0.00,2.45,0.00,0.000,6,0.000,0.021,2427,1769,3507,0,0,0,0,0,0
$GC,2352,-1.98,-94.3,348.7,-15.7,163,2357,0.00,2.58,0.00,0.000,4,0.000,0.050,2427,221,3507,0,0,0,0,0,0
$GC,2446,-1.98,-94.3,364.0,-15.6,165,2451,0.00,2.42,0.00,0.000,6,0.000,0.026,2427,1750,3507,0,0,0,0,0,0
$GC,2728,-1.98,-94.3,405.8,-14.5,172,2733,0.00,2.60,0.00,0.000,4,0.000,0.057,2427,212,3506,0,0,0,0,0,0
$GC,2808,-1.98,-94.3,418.7,-16.6,173,2812,0.00,2.47,0.00,0.000,6,0.000,0.030,2427,1749,3505,0,0,0,0,0,0
$GC,3057,-1.98,-94.3,453.8,-13.7,179,3062,0.00,2.60,0.00,0.000,4,0.000,0.058,2426,217,3503,0,0,0,0,0,0
$GC,3214,-1.98,-94.3,476.9,-14.9,182,3219,0.00,2.47,0.00,0.000,6,0.000,0.034,2426,1751,3502,0,0,0,0,0,0
$STATE,3394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3394,begin apogee
$GC,3401,-0.31,0.0,500.2,12.7,187,3481,1.65,0.00,75.93,0.850,6,0.089,0.000,2789,1677,3120,0,0,0,0,0,0
$STATE,3482,end apogee,CONTROL_FINISHED_OK
$STATE,3482,begin climb
$GC,3484,1.82,94.3,501.7,0.0,189,3573,1.90,2.60,77.45,0.836,4,0.025,0.061,3274,189,2734,0,0,0,0,0,0
$GC,3593,1.49,163.7,503.2,2.7,191,3658,0.45,2.45,59.00,0.827,6,0.122,0.027,3185,1695,2452,0,0,0,0,0,0
$GC,3948,1.49,163.7,461.2,12.4,200,3952,0.00,2.60,0.00,0.000,4,0.000,0.057,3185,181,2442,0,0,0,0,0,0
$GC,4157,1.36,163.7,434.0,13.5,204,4162,0.15,2.40,0.00,0.000,6,0.139,0.028,3158,1674,2439,0,0,0,0,0,0
$GC,4417,1.36,163.7,406.1,10.4,211,4421,0.00,2.53,0.00,0.000,4,0.000,0.056,3157,183,2437,0,0,0,0,0,0
$GC,4686,1.36,163.7,371.1,13.3,216,4692,0.00,2.40,0.00,0.000,6,0.000,0.026,3157,1677,2434,0,0,0,0,0,0
$GC,4936,1.43,163.7,341.5,11.6,223,4940,0.00,2.50,0.00,0.000,4,0.000,0.054,3158,188,2432,0,0,0,0,0,0
$GC,5059,1.43,163.7,327.7,10.8,225,5063,0.00,2.35,0.00,0.000,6,0.000,0.025,3158,1672,2431,0,0,0,0,0,0
$GC,5314,1.55,186.8,307.3,7.6,232,5339,0.17,2.60,17.42,0.717,4,0.057,0.054,3218,191,2357,0,0,0,0,0,0
$GC,5525,1.38,186.8,280.7,12.1,236,5530,0.28,2.35,0.00,0.000,6,0.121,0.024,3164,1674,2353,0,0,0,0,0,0
$GC,5785,1.48,190.9,255.0,9.6,243,5791,0.00,0.00,3.97,0.465,6,0.000,0.000,3164,1674,2341,0,0,0,0,0,0
$GC,6030,1.59,190.9,229.7,10.9,249,6035,0.17,2.50,0.00,0.000,4,0.055,0.051,3226,186,2339,0,0,0,0,0,0
$GC,6301,1.42,190.9,189.6,14.9,258,6311,0.22,2.38,0.00,0.000,6,0.110,0.022,3176,1679,2338,0,0,0,0,0,0
$GC,6566,1.51,193.4,162.2,9.8,283,6570,0.00,2.47,0.00,0.000,4,0.000,0.047,3176,177,2337,0,0,0,0,0,0
$GC,6855,1.51,193.4,129.2,11.1,311,6862,0.00,2.30,0.00,0.000,6,0.000,0.021,3175,1648,2337,0,0,0,0,0,0
$GC,7119,1.72,251.5,111.2,3.9,336,7180,0.22,2.47,51.03,0.581,4,0.044,0.044,3254,175,2092,0,0,0,0,0,0
$GC,7482,1.62,251.5,58.5,17.7,370,7490,0.17,2.33,0.00,0.000,6,0.104,0.021,3215,1644,2085,0,0,0,0,0,0
$GC,7751,1.68,251.5,27.9,11.8,396,7760,0.00,2.42,0.00,0.000,4,0.000,0.043,3214,185,2084,0,0,0,0,0,0
$STATE,7930,end climb,SURFACE_DEPTH_REACHED
$STATE,7930,begin surface coast
$FINISH,0.6,1.023595
$STATE,7976,end surface coast,CONTROL_FINISHED_OK
$STATE,7976,begin surface
$SM_CCo,7999,91.78,0.061,0,0,1284,450.13
$SM_GC,1.55,0.00,0.00,91.78,0.000,0.000,0.061,413,1816,1284,-11.26,0.76,450.13
$IRIDIUM_FIX,2239.35,-15802.37,270200,010155
$TT8_MAMPS,0.026845
$HUMID,42.79
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,26.247
$10V_AH,10.4,21.954
$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,29.975,89.375,284.800,91.775,0.000,58.265,71.000,499.100,0.250,0.000,17.418,930.910,4699.644,424.450,1999.768,871.987,33.363,1212.937,0.000,1985.089,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,88.972,849.836,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,289.561,268.798,346.905,551.883,976.320,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,35154,431
$CAP_FILE_SIZE,103245,0
$CFSIZE,260165632,162213888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031210,033910,2249.657,-15803.181,38,1.6,46,10.1