version: 66.06
glider: 148
mission: 9
dive: 129
start: 11 27 110 14 0 35
data:
$ID,148
$MISSION,9
$DIVE,129
$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,-860292.69
$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,30
$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
$GPS1,135253,2247.912,-15757.990,40,3.5,59,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.9
$GPS2,135940,2247.905,-15758.013,10,3.0,29,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.070,-0.162
$KALMAN_X,-57751.0,-95.3,-183.5,78422.7,-340.2
$KALMAN_Y,19033.6,-464.4,621.6,106762.8,-56.6
$MHEAD_RNG_PITCHd_Wd,146.4,1714,-26.8,-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,-1.76,-65.3,0.0,0.0,0,95,0.00,0.00,-75.60,0.000,2,0.000,0.000,409,1857,3158,0,0,0,0,0,0
$GC,100,-1.82,-118.0,3.1,-4.6,10,125,10.80,2.72,-9.00,0.000,4,0.155,0.051,2456,205,3603,0,0,0,0,0,0
$GC,159,-1.70,-118.0,20.2,-26.7,18,168,0.12,2.50,0.00,0.000,6,0.111,0.019,2485,1794,3604,0,0,0,0,0,0
$GC,433,-1.63,-118.0,83.4,-22.6,46,437,0.00,2.58,0.00,0.000,4,0.000,0.032,2485,197,3604,0,0,0,0,0,0
$GC,454,-1.63,-118.0,88.8,-23.8,47,460,0.00,2.47,0.00,0.000,6,0.000,0.020,2485,1788,3604,0,0,0,0,0,0
$GC,717,-1.73,-118.0,140.4,-15.1,72,721,0.00,2.55,0.00,0.000,4,0.000,0.035,2485,197,3606,0,0,0,0,0,0
$GC,764,-1.84,-118.0,147.8,-15.2,76,769,0.12,2.47,0.00,0.000,6,0.070,0.018,2440,1794,3606,0,0,0,0,0,0
$GC,1030,-1.84,-118.0,196.9,-19.9,100,1034,0.00,2.55,0.00,0.000,4,0.000,0.036,2440,204,3607,0,0,0,0,0,0
$GC,1146,-1.84,-118.0,222.0,-20.6,103,1151,0.00,2.45,0.00,0.000,6,0.000,0.020,2440,1777,3607,0,0,0,0,0,0
$GC,1405,-1.84,-118.0,268.9,-17.8,110,1410,0.00,2.55,0.00,0.000,4,0.000,0.039,2440,198,3608,0,0,0,0,0,0
$GC,1539,-1.84,-118.0,293.0,-17.4,112,1545,0.00,2.42,0.00,0.000,6,0.000,0.021,2440,1762,3609,0,0,0,0,0,0
$GC,1789,-1.90,-118.0,335.3,-16.3,119,1793,0.00,2.58,0.00,0.000,4,0.000,0.047,2439,210,3608,0,0,0,0,0,0
$GC,1839,-1.90,-118.0,344.2,-17.0,120,1844,0.00,2.45,0.00,0.000,6,0.000,0.024,2440,1758,3609,0,0,0,0,0,0
$GC,2119,-1.98,-118.0,389.9,-16.4,127,2123,0.00,2.62,0.00,0.000,4,0.000,0.054,2440,203,3609,0,0,0,0,0,0
$GC,2165,-2.07,-118.0,398.1,-17.0,128,2170,0.12,2.47,0.00,0.000,6,0.071,0.029,2395,1760,3609,0,0,0,0,0,0
$GC,2449,-2.07,-118.0,446.7,-17.0,135,2454,0.00,2.62,0.00,0.000,4,0.000,0.058,2394,204,3608,0,0,0,0,0,0
$GC,2625,-2.07,-118.0,479.5,-19.4,138,2630,0.00,2.50,0.00,0.000,6,0.000,0.037,2395,1743,3606,0,0,0,0,0,0
$STATE,2750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2750,begin apogee
$GC,2757,-0.31,0.0,500.9,17.0,142,2858,1.80,0.00,96.95,0.850,6,0.093,0.000,2789,1667,3120,0,0,0,0,0,0
$STATE,2859,end apogee,CONTROL_FINISHED_OK
$STATE,2859,begin climb
$GC,2861,1.82,118.0,504.3,0.0,144,2968,1.92,2.80,97.95,0.837,4,0.025,0.048,3303,3267,2637,0,0,0,0,0,0
$GC,3036,1.51,118.0,502.1,11.6,148,3046,0.57,2.60,0.00,0.000,6,0.141,0.035,3193,1702,2633,0,0,0,0,0,0
$GC,3290,1.45,133.1,479.5,8.5,155,3310,0.00,2.72,12.88,0.756,4,0.000,0.072,3193,164,2576,0,0,0,0,0,0
$GC,3575,1.23,133.1,449.0,10.5,161,3581,0.32,2.45,0.00,0.000,6,0.133,0.026,3131,1682,2571,0,0,0,0,0,0
$GC,3856,1.33,141.8,424.0,9.1,168,3869,0.00,2.65,7.90,0.689,4,0.000,0.057,3130,161,2540,0,0,0,0,0,0
$GC,4134,1.36,164.9,398.1,7.7,174,4162,0.10,2.40,20.50,0.778,6,0.085,0.026,3166,1665,2446,0,0,0,0,0,0
$GC,4418,1.39,183.4,374.4,8.1,181,4442,0.00,2.60,16.83,0.752,4,0.000,0.054,3166,160,2371,0,0,0,0,0,0
$GC,4540,1.31,183.4,360.4,12.6,183,4544,0.00,2.40,0.00,0.000,6,0.000,0.025,3166,1656,2368,0,0,0,0,0,0
$GC,4794,1.31,183.4,329.6,12.3,190,4798,0.00,2.53,0.00,0.000,4,0.000,0.054,3166,162,2365,0,0,0,0,0,0
$GC,4984,1.31,183.4,304.0,12.0,194,4988,0.00,2.38,0.00,0.000,6,0.000,0.024,3166,1651,2363,0,0,0,0,0,0
$GC,5261,1.31,183.4,275.0,10.1,201,5265,0.00,2.53,0.00,0.000,4,0.000,0.054,3167,163,2360,0,0,0,0,0,0
$GC,5530,1.31,183.4,241.9,11.9,206,5536,0.00,2.33,0.00,0.000,6,0.000,0.022,3166,1648,2360,0,0,0,0,0,0
$GC,5782,1.40,197.3,219.9,8.6,213,5798,0.00,2.53,11.05,0.624,4,0.000,0.052,3166,166,2314,0,0,0,0,0,0
$GC,5955,1.40,197.3,201.4,11.3,216,5959,0.00,2.30,0.00,0.000,6,0.000,0.022,3167,1633,2312,0,0,0,0,0,0
$GC,6224,1.50,197.3,174.4,10.6,238,6229,0.00,2.42,0.00,0.000,4,0.000,0.046,3167,162,2311,0,0,0,0,0,0
$GC,6336,1.50,197.3,160.1,11.2,249,6341,0.00,2.30,0.00,0.000,6,0.000,0.021,3166,1631,2311,0,0,0,0,0,0
$GC,6604,1.62,197.9,131.5,10.0,273,6609,0.17,2.45,0.00,0.000,4,0.055,0.046,3225,161,2310,0,0,0,0,0,0
$GC,6715,1.49,207.2,120.0,9.1,283,6737,0.20,2.25,9.15,0.524,6,0.120,0.021,3186,1610,2274,0,0,0,0,0,0
$GC,6995,1.63,234.5,99.5,7.2,309,7025,0.12,2.45,24.35,0.557,4,0.070,0.043,3235,157,2162,0,0,0,0,0,0
$GC,7238,1.55,234.5,71.5,13.1,332,7247,0.15,2.28,0.00,0.000,6,0.104,0.020,3201,1597,2159,0,0,0,0,0,0
$GC,7506,1.68,234.5,44.2,10.4,357,7511,0.10,2.38,0.00,0.000,4,0.082,0.043,3243,163,2158,0,0,0,0,0,0
$GC,7687,1.55,234.5,19.0,12.0,378,7696,0.17,2.22,0.00,0.000,6,0.107,0.021,3204,1577,2158,0,0,0,0,0,0
$STATE,7808,end climb,SURFACE_DEPTH_REACHED
$STATE,7808,begin surface coast
$FINISH,0.8,1.023538
$STATE,7850,end surface coast,CONTROL_FINISHED_OK
$STATE,7850,begin surface
$SM_CCo,7870,105.88,0.061,0,0,1284,450.13
$SM_GC,1.54,0.00,0.00,105.88,0.000,0.000,0.061,411,1866,1284,-11.27,2.18,450.13
$IRIDIUM_FIX,2239.35,-15759.32,210200,111146
$TT8_MAMPS,0.026845
$HUMID,40.98
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,23.6,20.458
$10V_AH,10.4,17.126
$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,28.175,94.875,297.550,105.875,0.000,28.815,35.858,192.173,0.750,0.000,33.518,917.666,4557.334,468.186,1952.434,491.080,33.359,1229.882,0.000,1921.061,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,92.040,849.836,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,272.322,244.939,316.558,489.119,865.324,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355376
$DATA_FILE_SIZE,32215,403
$CAP_FILE_SIZE,98013,0
$CFSIZE,260165632,164745216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271110,161456,2246.958,-15757.770,24,99.0,43,10.1