version: 66.06
glider: 148
mission: 9
dive: 81
start: 11 21 110 20 53 39
data:
$ID,148
$MISSION,9
$DIVE,81
$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,-859113.19
$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,2900
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3070
$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
$GPS1,203824,2249.976,-15742.935,24,1.2,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.0
$GPS2,205244,2249.982,-15742.785,13,1.5,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,-0.160
$KALMAN_X,-47119.7,56.4,349.5,93305.7,-9.7
$KALMAN_Y,21849.4,461.7,543.4,106956.0,-234.8
$MHEAD_RNG_PITCHd_Wd,129.2,2260,-22.4,-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,-1.51,-92.6,0.0,0.0,0,103,0.00,0.00,-82.85,0.000,2,0.000,0.000,412,1849,3323,0,0,0,0,0,0
$GC,106,-1.58,-146.0,3.3,-5.0,11,130,11.73,2.72,-6.50,0.000,4,0.171,0.053,2545,178,3667,0,0,0,0,0,0
$GC,141,-0.34,-146.0,15.3,-33.2,15,150,1.25,2.50,0.00,0.000,6,0.093,0.019,2818,1774,3668,0,0,0,0,0,0
$GC,441,-1.32,-146.0,40.9,-10.7,55,454,0.85,2.50,0.00,0.000,4,0.058,0.028,2613,3349,3669,0,0,0,0,0,0
$GC,471,-1.98,-146.0,44.2,-11.0,57,484,0.57,2.50,0.00,0.000,6,0.021,0.021,2429,1760,3669,0,0,0,0,0,0
$GC,737,-1.60,-146.0,117.4,-27.4,82,750,0.52,2.50,0.00,0.000,4,0.104,0.034,2545,191,3669,0,0,0,0,0,0
$GC,834,-1.71,-146.0,133.5,-14.9,91,838,0.00,2.42,0.00,0.000,6,0.000,0.020,2545,1760,3670,0,0,0,0,0,0
$GC,1101,-1.78,-146.0,167.6,-12.3,115,1106,0.15,2.53,0.00,0.000,4,0.061,0.031,2488,3352,3670,0,0,0,0,0,0
$GC,1151,-1.71,-146.0,176.9,-16.8,119,1158,0.17,2.53,0.00,0.000,6,0.109,0.022,2525,1756,3670,0,0,0,0,0,0
$GC,1438,-1.71,-146.0,217.7,-14.6,138,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1755,3671,0,0,0,0,0,0
$GC,1683,-1.71,-146.0,252.0,-13.9,144,1687,0.00,2.58,0.00,0.000,4,0.000,0.031,2525,3358,3671,0,0,0,0,0,0
$GC,1708,-1.71,-146.0,255.7,-15.0,144,1712,0.00,2.53,0.00,0.000,6,0.000,0.023,2525,1760,3671,0,0,0,0,0,0
$GC,1966,-1.71,-146.0,289.8,-12.8,151,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1760,3670,0,0,0,0,0,0
$GC,2212,-1.79,-146.0,316.8,-11.0,157,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1760,3670,0,0,0,0,0,0
$GC,2454,-1.88,-146.0,343.3,-10.8,163,2459,0.15,2.58,0.00,0.000,4,0.059,0.048,2468,193,3670,0,0,0,0,0,0
$GC,2492,-1.88,-146.0,348.5,-13.7,163,2498,0.10,2.47,0.00,0.000,6,0.131,0.025,2487,1766,3670,0,0,0,0,0,0
$GC,2743,-1.88,-146.0,381.0,-13.2,170,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1766,3670,0,0,0,0,0,0
$GC,2985,-1.88,-146.0,411.7,-12.6,176,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1766,3669,0,0,0,0,0,0
$GC,3229,-1.88,-146.0,441.5,-11.9,182,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1766,3667,0,0,0,0,0,0
$GC,3472,-1.88,-146.0,470.3,-11.7,188,3477,0.00,2.65,0.00,0.000,4,0.000,0.061,2487,203,3665,0,0,0,0,0,0
$GC,3502,-1.88,-146.0,474.0,-13.3,188,3506,0.00,2.55,0.00,0.000,6,0.000,0.036,2487,1760,3665,0,0,0,0,0,0
$STATE,3754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3754,begin apogee
$GC,3760,-0.31,0.0,503.9,11.6,195,3882,1.55,0.00,118.28,0.870,6,0.089,0.000,2829,1642,3070,0,0,0,0,0,0
$STATE,3883,end apogee,CONTROL_FINISHED_OK
$STATE,3883,begin climb
$GC,3885,1.58,146.0,508.6,0.0,198,4014,1.70,0.00,121.65,0.854,6,0.028,0.000,3265,1642,2474,0,0,0,0,0,0
$GC,4252,1.17,146.0,475.3,14.7,207,4259,0.52,2.53,0.00,0.000,4,0.130,0.058,3159,182,2465,0,0,0,0,0,0
$GC,4523,0.90,146.0,440.6,12.5,212,4529,0.30,2.38,0.00,0.000,6,0.137,0.028,3099,1641,2461,0,0,0,0,0,0
$GC,4772,0.92,160.7,417.5,9.0,219,4789,0.00,2.53,11.52,0.742,4,0.000,0.057,3099,190,2413,0,0,0,0,0,0
$GC,4893,0.83,160.7,405.0,11.5,221,4897,0.00,2.33,0.00,0.000,6,0.000,0.026,3100,1629,2410,0,0,0,0,0,0
$GC,5147,0.84,170.5,381.3,9.3,228,5164,0.00,2.55,9.48,0.709,4,0.000,0.056,3099,186,2373,0,0,0,0,0,0
$GC,5202,0.84,170.5,375.5,11.0,229,5206,0.00,2.30,0.00,0.000,6,0.000,0.026,3099,1611,2371,0,0,0,0,0,0
$GC,5479,0.85,174.1,348.5,9.8,236,5483,0.00,2.42,0.00,0.000,4,0.000,0.055,3099,187,2368,0,0,0,0,0,0
$GC,5523,0.85,174.1,343.6,11.6,237,5527,0.00,2.28,0.00,0.000,6,0.000,0.025,3100,1614,2368,0,0,0,0,0,0
$GC,5810,0.86,181.5,316.4,9.5,244,5826,0.00,2.50,9.90,0.683,4,0.000,0.055,3100,187,2328,0,0,0,0,0,0
$GC,6002,0.86,181.5,295.1,12.3,248,6006,0.00,2.25,0.00,0.000,6,0.000,0.024,3100,1600,2325,0,0,0,0,0,0
$GC,6279,0.94,200.2,269.3,8.7,255,6298,0.00,0.00,16.62,0.700,6,0.000,0.000,3100,1600,2253,0,0,0,0,0,0
$GC,6524,1.04,219.4,248.6,8.6,261,6550,0.12,2.50,17.38,0.680,4,0.068,0.052,3150,178,2174,0,0,0,0,0,0
$GC,6584,0.91,219.4,241.9,13.0,262,6589,0.25,2.25,0.00,0.000,6,0.124,0.023,3101,1594,2172,0,0,0,0,0,0
$GC,6859,1.01,227.4,214.9,9.5,269,6869,0.00,0.00,7.88,0.582,6,0.000,0.000,3101,1594,2142,0,0,0,0,0,0
$GC,7107,1.11,227.4,190.9,10.1,281,7112,0.17,2.38,0.00,0.000,4,0.053,0.048,3166,182,2139,0,0,0,0,0,0
$GC,7185,0.96,227.4,179.7,14.1,288,7194,0.25,2.25,0.00,0.000,6,0.115,0.023,3113,1594,2138,0,0,0,0,0,0
$GC,7453,1.04,228.2,153.1,10.0,313,7457,0.00,2.33,0.00,0.000,4,0.000,0.046,3112,180,2138,0,0,0,0,0,0
$GC,7468,1.11,228.2,150.9,10.1,314,7473,0.12,2.20,0.00,0.000,6,0.071,0.021,3162,1592,2138,0,0,0,0,0,0
$GC,7728,1.11,228.2,121.5,11.8,338,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1592,2138,0,0,0,0,0,0
$GC,7983,1.11,228.2,93.0,10.2,362,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1592,2138,0,0,0,0,0,0
$GC,8243,1.12,242.4,70.0,9.0,386,8268,0.00,2.70,13.98,0.518,4,0.000,0.033,3162,3230,2079,0,0,0,0,0,0
$GC,8273,1.14,256.7,66.8,9.0,388,8294,0.00,2.70,13.18,0.509,6,0.000,0.027,3162,1581,2024,0,0,0,0,0,0
$GC,8548,1.14,256.7,37.7,11.1,414,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1581,2021,0,0,0,0,0,0
$GC,8834,1.14,256.7,5.0,11.5,455,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1581,2021,0,0,0,0,0,0
$STATE,8849,end climb,SURFACE_DEPTH_REACHED
$STATE,8849,begin surface coast
$FINISH,0.6,1.023397
$STATE,8888,end surface coast,CONTROL_FINISHED_OK
$STATE,8888,begin surface
$SM_CCo,8910,97.90,0.443,1,0,1234,450.13
$SM_GC,1.45,0.00,0.00,97.90,0.000,0.000,0.443,411,1870,1234,-11.45,2.83,450.13
$IRIDIUM_FIX,2239.35,-15739.35,150200,202022
$TT8_MAMPS,0.026845
$HUMID,39.64
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.6,14.467
$10V_AH,10.4,12.072
$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,31.500,79.375,339.850,97.900,0.000,59.978,76.155,523.300,0.250,0.000,15.326,936.834,5759.705,506.019,1762.973,910.787,33.358,1180.356,0.000,1769.591,0.000,0.539,0.000
$DEVICE_MAMPS,171.041,66.729,869.778,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.914,288.504,361.803,577.569,1020.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,35329,463
$CAP_FILE_SIZE,101220,0
$CFSIZE,260165632,167387136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211110,232443,2248.756,-15742.110,7,1.6,12,10.1