version: 66.06
glider: 148
mission: 9
dive: 250
start: 12 11 110 17 52 34
data:
$ID,148
$MISSION,9
$DIVE,250
$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,-863191.69
$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,51
$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
$GPS1,174536,2249.517,-15758.241,23,1.9,23,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.7
$GPS2,175138,2249.469,-15758.206,11,1.9,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.155,0.078
$KALMAN_X,-62141.2,-485.7,-14.0,82696.8,744.4
$KALMAN_Y,2043.3,109.2,-509.5,127218.0,308.9
$MHEAD_RNG_PITCHd_Wd,53.2,2283,-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,16,begin dive
$GC,18,-1.78,-63.4,0.0,0.0,0,103,0.00,0.00,-82.30,0.000,2,0.000,0.000,404,1863,3326,0,0,0,0,0,0
$GC,107,-1.84,-109.9,3.5,-5.1,11,131,11.57,0.00,-4.47,0.000,6,0.182,0.000,2455,1864,3570,0,0,0,0,0,0
$GC,398,-1.73,-109.9,78.7,-22.7,43,403,0.12,2.70,0.00,0.000,4,0.131,0.041,2480,203,3572,0,0,0,0,0,0
$GC,476,-1.73,-109.9,96.9,-22.4,50,481,0.00,2.47,0.00,0.000,6,0.000,0.020,2480,1786,3572,0,0,0,0,0,0
$GC,738,-1.82,-109.9,144.0,-15.6,74,743,0.00,2.58,0.00,0.000,4,0.000,0.044,2480,202,3573,0,0,0,0,0,0
$GC,799,-1.92,-109.9,153.9,-16.5,79,804,0.17,2.45,0.00,0.000,6,0.056,0.018,2422,1795,3574,0,0,0,0,0,0
$GC,1070,-1.92,-109.9,209.2,-19.7,101,1074,0.00,2.55,0.00,0.000,4,0.000,0.036,2422,207,3575,0,0,0,0,0,0
$GC,1149,-1.92,-109.9,225.3,-18.9,102,1153,0.00,2.45,0.00,0.000,6,0.000,0.019,2422,1777,3575,0,0,0,0,0,0
$GC,1399,-1.92,-109.9,270.6,-18.0,108,1404,0.00,2.55,0.00,0.000,4,0.000,0.038,2422,208,3576,0,0,0,0,0,0
$GC,1427,-1.92,-109.9,276.4,-19.6,108,1431,0.00,2.45,0.00,0.000,6,0.000,0.020,2422,1777,3576,0,0,0,0,0,0
$GC,1683,-1.92,-109.9,321.3,-17.7,115,1687,0.00,2.58,0.00,0.000,4,0.000,0.044,2422,211,3576,0,0,0,0,0,0
$GC,1783,-1.92,-109.9,339.2,-17.4,117,1787,0.00,2.47,0.00,0.000,6,0.000,0.024,2422,1771,3576,0,0,0,0,0,0
$GC,2060,-1.92,-109.9,385.1,-16.4,124,2064,0.00,2.60,0.00,0.000,4,0.000,0.054,2422,214,3576,0,0,0,0,0,0
$GC,2104,-1.92,-109.9,392.9,-18.0,125,2109,0.00,2.50,0.00,0.000,6,0.000,0.028,2422,1774,3576,0,0,0,0,0,0
$GC,2391,-1.92,-109.9,440.3,-16.0,132,2395,0.00,2.62,0.00,0.000,4,0.000,0.058,2422,215,3575,0,0,0,0,0,0
$GC,2418,-1.92,-109.9,445.6,-18.7,132,2423,0.00,2.53,0.00,0.000,6,0.000,0.031,2422,1769,3575,0,0,0,0,0,0
$GC,2674,-1.92,-109.9,487.1,-16.3,139,2679,0.00,2.65,0.00,0.000,4,0.000,0.060,2422,211,3573,0,0,0,0,0,0
$GC,2717,-1.92,-109.9,494.6,-17.3,140,2721,0.00,2.55,0.00,0.000,6,0.000,0.035,2422,1774,3573,0,0,0,0,0,0
$STATE,2747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2747,begin apogee
$GC,2753,-0.31,0.0,500.2,16.6,140,2847,1.65,0.00,90.40,0.848,6,0.090,0.000,2786,1668,3120,0,0,0,0,0,0
$STATE,2848,end apogee,CONTROL_FINISHED_OK
$STATE,2848,begin climb
$GC,2852,1.84,109.9,504.1,0.0,143,2949,1.95,0.00,90.12,0.837,6,0.028,0.000,3282,1668,2672,0,0,0,0,0,0
$GC,3178,1.56,109.9,486.8,10.4,151,3185,0.38,2.55,0.00,0.000,4,0.125,0.059,3204,184,2664,0,0,0,0,0,0
$GC,3302,1.32,111.6,473.7,9.9,153,3307,0.28,2.42,0.00,0.000,6,0.125,0.028,3150,1677,2662,0,0,0,0,0,0
$GC,3557,1.35,136.8,454.2,7.4,160,3586,0.00,2.62,22.17,0.793,4,0.000,0.058,3150,195,2561,0,0,0,0,0,0
$GC,3707,1.29,142.5,440.2,9.4,163,3719,0.00,2.38,6.18,0.636,6,0.000,0.025,3150,1673,2538,0,0,0,0,0,0
$GC,3985,1.36,152.8,416.2,8.9,170,4001,0.00,2.55,9.77,0.714,4,0.000,0.054,3150,188,2496,0,0,0,0,0,0
$GC,4267,1.37,155.8,386.7,9.7,176,4271,0.00,2.35,0.00,0.000,6,0.000,0.025,3150,1646,2492,0,0,0,0,0,0
$GC,4553,1.46,162.8,359.8,9.3,183,4570,0.12,2.50,9.00,0.685,4,0.071,0.054,3198,184,2456,0,0,0,0,0,0
$GC,4705,1.31,162.8,341.4,12.7,186,4710,0.25,2.33,0.00,0.000,6,0.127,0.025,3150,1645,2453,0,0,0,0,0,0
$GC,4979,1.42,173.2,316.3,8.9,193,4995,0.00,2.55,9.88,0.673,4,0.000,0.053,3149,185,2412,0,0,0,0,0,0
$GC,5048,1.42,173.2,309.0,10.2,194,5052,0.00,2.35,0.00,0.000,6,0.000,0.024,3150,1650,2410,0,0,0,0,0,0
$GC,5316,1.53,178.2,283.1,9.5,201,5329,0.17,2.47,5.55,0.564,4,0.054,0.052,3216,194,2392,0,0,0,0,0,0
$GC,5456,1.37,178.2,267.4,12.0,204,5461,0.28,2.30,0.00,0.000,6,0.122,0.024,3162,1633,2390,0,0,0,0,0,0
$GC,5744,1.50,206.4,245.9,7.0,211,5776,0.10,2.47,24.85,0.686,4,0.083,0.052,3203,190,2276,0,0,0,0,0,0
$GC,5798,1.40,206.4,241.0,11.1,212,5803,0.17,2.30,0.00,0.000,6,0.129,0.022,3170,1640,2275,0,0,0,0,0,0
$GC,6077,1.51,206.4,211.8,10.6,219,6081,0.00,2.42,0.00,0.000,4,0.000,0.048,3170,182,2271,0,0,0,0,0,0
$GC,6266,1.51,206.4,188.5,12.6,227,6271,0.00,2.28,0.00,0.000,6,0.000,0.022,3169,1628,2270,0,0,0,0,0,0
$GC,6528,1.62,208.1,162.0,9.9,252,6533,0.17,2.42,0.00,0.000,4,0.054,0.047,3235,181,2269,0,0,0,0,0,0
$GC,6549,1.62,208.1,160.0,10.5,253,6553,0.10,2.25,0.00,0.000,6,0.146,0.021,3216,1627,2269,0,0,0,0,0,0
$GC,6816,1.62,208.1,127.7,12.1,278,6820,0.00,2.40,0.00,0.000,4,0.000,0.051,3216,179,2268,0,0,0,0,0,0
$GC,7109,1.56,208.1,91.4,10.2,306,7119,0.00,2.25,0.00,0.000,6,0.000,0.020,3216,1612,2268,0,0,0,0,0,0
$GC,7376,1.56,213.9,68.3,9.4,331,7388,0.00,2.35,6.18,0.439,4,0.000,0.041,3216,184,2247,0,0,0,0,0,0
$GC,7698,1.56,213.9,29.7,13.1,360,7707,0.00,2.22,0.00,0.000,6,0.000,0.019,3216,1610,2247,0,0,0,0,0,0
$STATE,7937,end climb,SURFACE_DEPTH_REACHED
$STATE,7937,begin surface coast
$FINISH,0.7,1.002404
$STATE,7976,end surface coast,CONTROL_FINISHED_OK
$STATE,7976,begin surface
$SM_CCo,7998,110.65,0.061,0,0,1285,450.13
$SM_GC,1.50,0.00,0.00,110.65,0.000,0.000,0.061,414,1865,1285,-11.25,2.12,450.13
$IRIDIUM_FIX,2241.69,-15759.32,060300,151507
$TT8_MAMPS,0.026845
$HUMID,43.06
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.60
$XPDR_PINGS,3
$24V_AH,23.6,35.026
$10V_AH,10.3,29.615
$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,28.875,93.850,274.100,110.650,0.000,28.457,34.492,167.454,0.750,0.000,12.789,907.620,4788.430,435.142,1869.899,473.298,33.350,1179.286,0.000,1855.101,0.000,0.537,0.000
$DEVICE_MAMPS,181.779,72.098,847.535,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,273.810,240.160,314.882,491.395,868.680,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,32114,404
$CAP_FILE_SIZE,96255,0
$CFSIZE,260165632,158167040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111210,200901,2249.870,-15757.084,37,1.3,37,10.1