version: 66.06
glider: 148
mission: 9
dive: 192
start: 12 5 110 3 25 51
data:
$ID,148
$MISSION,9
$DIVE,192
$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,-862026.81
$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,31
$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
$GPS1,031506,2249.534,-15757.647,25,1.6,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.7
$GPS2,032457,2249.485,-15757.688,10,3.0,29,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.154,0.081
$KALMAN_X,-80144.1,-51.8,-235.4,101384.3,-192.0
$KALMAN_Y,6771.3,-329.9,-376.0,122825.6,226.9
$MHEAD_RNG_PITCHd_Wd,52.2,1512,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.78,-63.4,0.0,0.0,0,104,0.00,0.00,-82.50,0.000,2,0.000,0.000,414,1874,3361,0,0,0,0,0,0
$GC,107,-1.83,-103.1,3.7,-5.8,11,132,11.18,2.42,-3.38,0.000,4,0.170,0.041,2452,3371,3544,0,0,0,0,0,0
$GC,173,-1.70,-103.1,25.0,-25.8,20,183,0.12,2.55,0.00,0.000,6,0.100,0.025,2483,1788,3546,0,0,0,0,0,0
$GC,442,-1.64,-103.1,87.7,-23.2,46,447,0.00,2.53,0.00,0.000,4,0.000,0.037,2483,208,3546,0,0,0,0,0,0
$GC,504,-1.64,-103.1,101.8,-22.2,51,510,0.00,2.42,0.00,0.000,6,0.000,0.021,2483,1782,3546,0,0,0,0,0,0
$GC,768,-1.74,-103.1,147.4,-15.3,76,772,0.00,2.55,0.00,0.000,4,0.000,0.038,2483,204,3547,0,0,0,0,0,0
$GC,845,-1.85,-103.1,159.9,-16.2,83,851,0.12,2.45,0.00,0.000,6,0.069,0.018,2439,1781,3547,0,0,0,0,0,0
$GC,1105,-1.85,-103.1,209.0,-18.3,104,1110,0.00,2.53,0.00,0.000,4,0.000,0.035,2438,205,3548,0,0,0,0,0,0
$GC,1131,-1.85,-103.1,214.0,-20.7,104,1136,0.00,2.42,0.00,0.000,6,0.000,0.018,2438,1774,3548,0,0,0,0,0,0
$GC,1390,-1.85,-103.1,262.6,-18.4,111,1394,0.00,2.53,0.00,0.000,4,0.000,0.038,2438,209,3548,0,0,0,0,0,0
$GC,1501,-1.85,-103.1,283.7,-19.6,113,1505,0.00,2.42,0.00,0.000,6,0.000,0.020,2438,1760,3548,0,0,0,0,0,0
$GC,1766,-1.85,-103.1,325.3,-15.5,120,1770,0.00,2.55,0.00,0.000,4,0.000,0.043,2438,203,3548,0,0,0,0,0,0
$GC,1896,-1.85,-103.1,345.8,-15.5,122,1902,0.00,2.45,0.00,0.000,6,0.000,0.023,2438,1755,3548,0,0,0,0,0,0
$GC,2148,-1.92,-103.1,381.7,-14.3,129,2152,0.00,2.58,0.00,0.000,4,0.000,0.053,2437,211,3548,0,0,0,0,0,0
$GC,2222,-1.99,-103.1,393.4,-16.0,130,2226,0.00,2.45,0.00,0.000,6,0.000,0.027,2438,1743,3548,0,0,0,0,0,0
$GC,2477,-2.08,-103.1,431.5,-15.0,137,2482,0.15,2.58,0.00,0.000,4,0.062,0.056,2388,215,3547,0,0,0,0,0,0
$GC,2571,-2.08,-103.1,448.9,-18.3,139,2576,0.00,2.45,0.00,0.000,6,0.000,0.032,2388,1738,3547,0,0,0,0,0,0
$GC,2853,-2.08,-103.1,496.8,-16.7,146,2857,0.00,2.58,0.00,0.000,4,0.000,0.059,2388,215,3546,0,0,0,0,0,0
$STATE,2869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2870,begin apogee
$GC,2879,-0.31,0.0,500.2,17.4,146,2968,1.80,0.00,84.50,0.844,6,0.097,0.000,2788,1672,3120,0,0,0,0,0,0
$STATE,2969,end apogee,CONTROL_FINISHED_OK
$STATE,2969,begin climb
$GC,2971,1.83,103.1,503.3,0.0,148,3065,1.95,2.75,85.25,0.833,4,0.030,0.051,3263,3273,2699,0,0,0,0,0,0
$GC,3103,1.63,142.6,505.0,5.8,151,3144,0.25,2.65,34.15,0.808,6,0.139,0.035,3217,1693,2537,0,0,0,0,0,0
$GC,3394,1.51,142.6,472.1,11.6,159,3400,0.15,2.67,0.00,0.000,4,0.143,0.069,3190,168,2531,0,0,0,0,0,0
$GC,3553,1.33,142.6,452.5,11.7,162,3558,0.20,2.45,0.00,0.000,6,0.134,0.026,3154,1680,2528,0,0,0,0,0,0
$GC,3819,1.35,153.1,428.1,8.9,169,3834,0.00,2.62,8.38,0.692,4,0.000,0.054,3153,160,2494,0,0,0,0,0,0
$GC,3886,1.27,153.1,421.0,10.8,170,3890,0.00,2.45,0.00,0.000,6,0.000,0.026,3153,1678,2492,0,0,0,0,0,0
$GC,4150,1.35,163.0,396.3,9.0,177,4166,0.00,2.60,9.20,0.700,4,0.000,0.054,3153,164,2454,0,0,0,0,0,0
$GC,4430,1.35,163.0,364.0,11.1,183,4434,0.00,2.40,0.00,0.000,6,0.000,0.025,3153,1662,2450,0,0,0,0,0,0
$GC,4714,1.44,167.4,336.7,9.6,190,4723,0.00,2.55,4.10,0.507,4,0.000,0.054,3153,160,2437,0,0,0,0,0,0
$GC,4861,1.44,167.4,318.0,13.0,193,4866,0.00,2.40,0.00,0.000,6,0.000,0.024,3153,1663,2435,0,0,0,0,0,0
$GC,5136,1.54,170.3,290.8,9.7,200,5146,0.17,2.58,3.85,0.470,4,0.055,0.054,3218,159,2425,0,0,0,0,0,0
$GC,5151,1.55,177.1,288.9,9.3,200,5164,0.00,2.40,7.90,0.632,6,0.000,0.024,3218,1662,2397,0,0,0,0,0,0
$GC,5420,1.55,177.1,260.6,10.1,207,5424,0.00,2.55,0.00,0.000,4,0.000,0.054,3218,160,2394,0,0,0,0,0,0
$GC,5690,1.39,177.1,228.7,12.0,212,5696,0.28,2.35,0.00,0.000,6,0.121,0.022,3164,1645,2392,0,0,0,0,0,0
$GC,5940,1.50,186.6,205.4,9.0,219,5956,0.10,2.50,8.73,0.590,4,0.082,0.048,3209,157,2358,0,0,0,0,0,0
$GC,6239,1.39,186.6,168.2,13.0,245,6245,0.22,2.33,0.00,0.000,6,0.122,0.021,3165,1648,2355,0,0,0,0,0,0
$GC,6503,1.54,210.5,145.6,7.5,270,6530,0.12,2.50,21.00,0.593,4,0.068,0.046,3217,164,2260,0,0,0,0,0,0
$GC,6736,1.47,210.5,119.7,11.1,292,6746,0.15,2.33,0.00,0.000,6,0.103,0.022,3183,1622,2256,0,0,0,0,0,0
$GC,7002,1.65,239.1,101.1,7.0,317,7033,0.15,2.45,24.38,0.553,4,0.057,0.051,3248,162,2146,0,0,0,0,0,0
$GC,7335,1.52,239.1,56.3,16.4,348,7344,0.22,2.28,0.00,0.000,6,0.100,0.020,3197,1604,2142,0,0,0,0,0,0
$GC,7603,1.64,244.2,29.2,9.5,373,7620,0.00,2.42,5.70,0.396,4,0.000,0.043,3196,164,2124,0,0,0,0,0,0
$GC,7697,1.64,244.2,15.4,14.8,387,7706,0.00,2.25,0.00,0.000,6,0.000,0.019,3197,1599,2123,0,0,0,0,0,0
$STATE,7780,end climb,SURFACE_DEPTH_REACHED
$STATE,7780,begin surface coast
$FINISH,0.8,1.023671
$STATE,7813,end surface coast,CONTROL_FINISHED_OK
$STATE,7813,begin surface
$SM_CCo,7835,100.55,0.436,1,0,1285,450.13
$SM_GC,1.59,0.00,0.00,100.55,0.000,0.000,0.436,412,1885,1285,-11.27,2.69,450.13
$IRIDIUM_FIX,2241.69,-15757.16,290200,030357
$TT8_MAMPS,0.026845
$HUMID,42.67
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,28.514
$10V_AH,10.4,23.766
$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,28.475,99.600,297.125,100.550,0.000,48.916,78.328,243.957,0.250,0.000,31.907,901.457,4673.551,454.716,1872.616,630.760,33.354,1212.755,0.000,1851.438,0.000,0.538,0.000
$DEVICE_MAMPS,170.274,69.030,844.467,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,272.802,245.039,318.986,479.153,847.395,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,32026,405
$CAP_FILE_SIZE,101381,0
$CFSIZE,260165632,161280000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,053936,2250.006,-15757.018,37,1.1,43,10.1