version: 66.06
glider: 148
mission: 9
dive: 108
start: 11 25 110 3 49 46
data:
$ID,148
$MISSION,9
$DIVE,108
$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,-859766.69
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,033946,2249.587,-15802.468,10,4.4,29,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.7
$GPS2,034852,2249.533,-15802.503,11,2.6,30,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.108,0.137
$KALMAN_X,-53737.2,-86.6,265.6,66210.9,-232.8
$KALMAN_Y,20528.9,176.5,-358.1,108632.7,77.8
$MHEAD_RNG_PITCHd_Wd,311.7,1212,-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,15,begin dive
$GC,17,-1.78,-63.4,0.0,0.0,0,102,0.00,0.00,-82.35,0.000,6,0.000,0.000,411,1852,3379,0,0,0,0,0,0
$GC,107,-1.82,-95.8,3.9,-6.6,11,132,11.25,2.45,-2.35,0.000,4,0.173,0.038,2453,3374,3514,0,0,0,0,0,0
$GC,224,-1.82,-95.8,39.2,-23.3,26,228,0.00,2.53,0.00,0.000,6,0.000,0.023,2454,1786,3516,0,0,0,0,0,0
$GC,488,-1.74,-95.8,102.7,-25.1,50,493,0.12,2.58,0.00,0.000,4,0.130,0.045,2478,204,3516,0,0,0,0,0,0
$GC,577,-1.81,-95.8,121.9,-20.7,58,581,0.00,2.42,0.00,0.000,6,0.000,0.019,2478,1781,3516,0,0,0,0,0,0
$GC,844,-1.90,-95.8,167.8,-17.8,82,849,0.12,2.55,0.00,0.000,4,0.071,0.038,2433,207,3517,0,0,0,0,0,0
$GC,889,-1.90,-95.8,178.4,-21.3,86,893,0.00,2.45,0.00,0.000,6,0.000,0.019,2433,1788,3517,0,0,0,0,0,0
$GC,1165,-1.90,-95.8,229.9,-18.4,100,1169,0.00,2.58,0.00,0.000,4,0.000,0.038,2433,212,3518,0,0,0,0,0,0
$GC,1243,-1.90,-95.8,245.0,-19.0,101,1247,0.00,2.42,0.00,0.000,6,0.000,0.019,2433,1784,3518,0,0,0,0,0,0
$GC,1492,-1.90,-95.8,287.5,-16.9,107,1497,0.00,2.58,0.00,0.000,4,0.000,0.039,2434,204,3518,0,0,0,0,0,0
$GC,1563,-1.90,-95.8,300.3,-19.3,108,1568,0.00,2.45,0.00,0.000,6,0.000,0.021,2433,1777,3518,0,0,0,0,0,0
$GC,1822,-1.90,-95.8,341.3,-15.6,115,1826,0.00,2.55,0.00,0.000,4,0.000,0.044,2434,217,3518,0,0,0,0,0,0
$GC,1905,-1.90,-95.8,355.4,-16.7,116,1910,0.00,2.42,0.00,0.000,6,0.000,0.022,2434,1774,3518,0,0,0,0,0,0
$GC,2156,-1.96,-95.8,391.8,-14.3,123,2161,0.00,2.60,0.00,0.000,4,0.000,0.052,2433,217,3518,0,0,0,0,0,0
$GC,2199,-1.96,-95.8,398.0,-14.3,124,2203,0.00,2.45,0.00,0.000,6,0.000,0.026,2433,1763,3519,0,0,0,0,0,0
$GC,2487,-2.05,-95.8,437.8,-14.1,131,2492,0.00,2.62,0.00,0.000,4,0.000,0.059,2434,219,3518,0,0,0,0,0,0
$GC,2530,-2.12,-95.8,444.3,-14.8,132,2536,0.15,2.50,0.00,0.000,6,0.061,0.032,2385,1763,3518,0,0,0,0,0,0
$GC,2818,-2.12,-95.8,488.8,-15.4,139,2822,0.00,2.65,0.00,0.000,4,0.000,0.061,2384,214,3516,0,0,0,0,0,0
$STATE,2882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2882,begin apogee
$GC,2892,-0.31,0.0,500.1,17.3,140,2975,1.83,0.00,79.15,0.848,6,0.101,0.000,2789,1680,3120,0,0,0,0,0,0
$STATE,2976,end apogee,CONTROL_FINISHED_OK
$STATE,2976,begin climb
$GC,2978,1.82,95.8,502.9,0.0,142,3062,1.92,0.00,79.75,0.835,6,0.027,0.000,3266,1680,2729,0,0,0,0,0,0
$GC,3279,1.59,122.7,491.1,7.2,150,3309,0.25,2.65,23.15,0.798,4,0.138,0.061,3215,178,2618,0,0,0,0,0,0
$GC,3563,1.34,122.7,460.6,10.6,156,3569,0.32,2.45,0.00,0.000,6,0.137,0.028,3154,1694,2612,0,0,0,0,0,0
$GC,3837,1.36,144.9,439.0,7.7,163,3861,0.00,2.62,18.90,0.782,4,0.000,0.056,3154,183,2529,0,0,0,0,0,0
$GC,4056,1.30,144.9,417.1,11.4,167,4060,0.00,2.40,0.00,0.000,6,0.000,0.026,3154,1672,2524,0,0,0,0,0,0
$GC,4306,1.39,166.4,396.8,7.8,173,4331,0.00,2.62,18.70,0.769,4,0.000,0.056,3154,187,2440,0,0,0,0,0,0
$GC,4419,1.39,166.4,385.3,10.8,175,4423,0.00,2.40,0.00,0.000,6,0.000,0.026,3154,1677,2437,0,0,0,0,0,0
$GC,4682,1.49,172.8,360.4,9.4,182,4695,0.12,2.60,5.93,0.613,4,0.071,0.054,3201,183,2415,0,0,0,0,0,0
$GC,4782,1.35,172.8,347.9,14.5,184,4787,0.22,2.40,0.00,0.000,6,0.140,0.025,3159,1680,2413,0,0,0,0,0,0
$GC,5067,1.46,188.8,321.0,8.3,191,5087,0.00,2.58,14.88,0.716,4,0.000,0.054,3158,183,2350,0,0,0,0,0,0
$GC,5309,1.46,188.8,293.4,10.8,196,5313,0.00,2.38,0.00,0.000,6,0.000,0.023,3158,1674,2346,0,0,0,0,0,0
$GC,5583,1.57,188.8,264.7,10.7,203,5588,0.17,2.50,0.00,0.000,4,0.054,0.051,3223,181,2344,0,0,0,0,0,0
$GC,5743,1.42,188.8,242.5,13.8,206,5748,0.25,2.35,0.00,0.000,6,0.130,0.023,3174,1665,2343,0,0,0,0,0,0
$GC,6007,1.51,188.8,214.0,10.7,213,6012,0.00,2.47,0.00,0.000,4,0.000,0.048,3174,181,2342,0,0,0,0,0,0
$GC,6202,1.51,188.8,190.9,11.8,222,6206,0.00,2.28,0.00,0.000,6,0.000,0.022,3174,1652,2341,0,0,0,0,0,0
$GC,6464,1.61,188.8,164.1,10.5,246,6469,0.15,2.40,0.00,0.000,4,0.061,0.045,3231,180,2341,0,0,0,0,0,0
$GC,6595,1.47,188.8,145.8,14.3,258,6605,0.22,2.33,0.00,0.000,6,0.115,0.022,3183,1647,2341,0,0,0,0,0,0
$GC,6861,1.61,216.7,123.6,7.1,283,6891,0.10,2.45,23.25,0.576,4,0.081,0.044,3229,179,2234,0,0,0,0,0,0
$GC,7130,1.54,216.7,95.1,10.6,309,7135,0.15,2.30,0.00,0.000,6,0.136,0.020,3200,1656,2232,0,0,0,0,0,0
$GC,7395,1.69,238.7,73.5,7.7,333,7420,0.12,2.45,19.38,0.525,4,0.066,0.041,3257,178,2146,0,0,0,0,0,0
$GC,7447,1.59,238.7,67.9,13.2,337,7452,0.25,2.30,0.00,0.000,6,0.124,0.020,3209,1647,2145,0,0,0,0,0,0
$GC,7711,1.70,238.7,38.9,10.6,361,7715,0.00,2.40,0.00,0.000,4,0.000,0.041,3209,178,2143,0,0,0,0,0,0
$GC,7803,1.70,238.7,27.0,13.0,370,7812,0.00,2.28,0.00,0.000,6,0.000,0.020,3209,1635,2143,0,0,0,0,0,0
$STATE,8005,end climb,SURFACE_DEPTH_REACHED
$STATE,8005,begin surface coast
$FINISH,0.8,1.023496
$STATE,8044,end surface coast,CONTROL_FINISHED_OK
$STATE,8044,begin surface
$SM_CCo,8065,98.47,0.059,0,0,1284,450.13
$SM_GC,1.51,0.00,0.00,98.47,0.000,0.000,0.059,412,1870,1284,-11.26,2.26,450.13
$IRIDIUM_FIX,2241.69,-15804.53,190200,030333
$TT8_MAMPS,0.026845
$HUMID,40.15
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.6,18.008
$10V_AH,10.4,14.974
$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,29.050,99.025,283.075,98.475,0.000,58.709,116.219,165.281,0.250,0.000,32.699,924.942,4870.573,441.554,1902.292,574.652,33.361,1181.263,0.000,1875.811,0.000,0.537,0.000
$DEVICE_MAMPS,173.342,61.360,848.302,59.059,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.284,248.671,319.853,499.395,882.842,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,31971,408
$CAP_FILE_SIZE,99424,0
$CFSIZE,260165632,165879808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251110,060706,2250.027,-15803.021,34,1.4,34,10.1