version: 66.06
glider: 148
mission: 9
dive: 141
start: 11 28 110 23 40 38
data:
$ID,148
$MISSION,9
$DIVE,141
$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,-860646.81
$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,50
$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
$GPS1,233258,2249.780,-15757.741,28,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.3
$GPS2,233944,2249.785,-15757.758,36,1.1,36,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.159,0.070
$KALMAN_X,-61476.2,134.1,-240.8,82413.9,-171.8
$KALMAN_Y,15622.9,221.4,-12.6,113609.1,-248.3
$MHEAD_RNG_PITCHd_Wd,56.2,1354,-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,18,-1.78,-63.4,0.0,0.0,0,103,0.00,0.00,-82.70,0.000,2,0.000,0.000,406,1853,3374,0,0,0,0,0,0
$GC,107,-1.82,-95.3,3.8,-6.6,11,132,11.10,2.70,-2.42,0.000,4,0.166,0.044,2454,206,3512,0,0,0,0,0,0
$GC,248,-1.75,-95.3,46.7,-25.4,28,257,0.08,2.47,0.00,0.000,6,0.110,0.021,2473,1776,3513,0,0,0,0,0,0
$GC,516,-1.75,-95.3,106.9,-19.3,53,520,0.00,2.53,0.00,0.000,4,0.000,0.035,2473,202,3514,0,0,0,0,0,0
$GC,572,-1.75,-95.3,119.5,-19.7,58,576,0.00,2.45,0.00,0.000,6,0.000,0.020,2473,1784,3514,0,0,0,0,0,0
$GC,839,-1.81,-95.3,163.8,-16.3,82,844,0.00,2.55,0.00,0.000,4,0.000,0.035,2473,205,3515,0,0,0,0,0,0
$GC,926,-1.81,-95.3,180.9,-18.2,90,934,0.00,2.47,0.00,0.000,6,0.000,0.020,2473,1783,3516,0,0,0,0,0,0
$GC,1183,-1.92,-95.3,219.2,-14.5,106,1188,0.12,2.55,0.00,0.000,4,0.068,0.038,2426,207,3516,0,0,0,0,0,0
$GC,1257,-1.92,-95.3,233.1,-18.0,107,1262,0.00,2.42,0.00,0.000,6,0.000,0.019,2427,1780,3516,0,0,0,0,0,0
$GC,1511,-1.92,-95.3,277.1,-17.2,114,1516,0.00,2.55,0.00,0.000,4,0.000,0.038,2426,197,3517,0,0,0,0,0,0
$GC,1659,-1.92,-95.3,304.4,-19.2,117,1664,0.00,2.42,0.00,0.000,6,0.000,0.021,2426,1752,3517,0,0,0,0,0,0
$GC,1932,-1.92,-95.3,349.7,-16.7,124,1936,0.00,2.55,0.00,0.000,4,0.000,0.048,2426,204,3517,0,0,0,0,0,0
$GC,2073,-1.92,-95.3,373.1,-15.9,127,2078,0.00,2.42,0.00,0.000,6,0.000,0.025,2426,1748,3517,0,0,0,0,0,0
$GC,2355,-1.92,-95.3,414.0,-14.3,134,2359,0.00,2.60,0.00,0.000,4,0.000,0.055,2426,209,3516,0,0,0,0,0,0
$GC,2393,-1.92,-95.3,420.0,-16.0,134,2399,0.00,2.45,0.00,0.000,6,0.000,0.030,2426,1742,3516,0,0,0,0,0,0
$GC,2643,-1.98,-95.3,456.3,-14.4,141,2648,0.00,2.58,0.00,0.000,4,0.000,0.058,2426,214,3514,0,0,0,0,0,0
$GC,2732,-1.98,-95.3,470.6,-16.7,143,2736,0.00,2.45,0.00,0.000,6,0.000,0.034,2426,1736,3514,0,0,0,0,0,0
$STATE,2935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2935,begin apogee
$GC,2942,-0.31,0.0,501.6,15.0,148,3025,1.65,0.00,78.72,0.853,6,0.090,0.000,2788,1662,3119,0,0,0,0,0,0
$STATE,3026,end apogee,CONTROL_FINISHED_OK
$STATE,3026,begin climb
$GC,3028,1.82,95.3,505.2,0.0,150,3120,1.90,2.58,78.53,0.842,4,0.027,0.060,3284,187,2729,0,0,0,0,0,0
$GC,3298,1.39,110.9,498.0,8.4,156,3319,0.60,2.45,13.62,0.765,6,0.127,0.028,3165,1693,2666,0,0,0,0,0,0
$GC,3591,1.41,128.5,475.0,8.2,163,3611,0.00,2.62,15.35,0.780,4,0.000,0.058,3165,184,2596,0,0,0,0,0,0
$GC,3682,1.29,128.5,465.3,10.9,165,3688,0.12,2.42,0.00,0.000,6,0.156,0.027,3144,1677,2593,0,0,0,0,0,0
$GC,3967,1.31,147.4,440.9,8.0,172,3991,0.00,2.58,16.95,0.782,4,0.000,0.056,3144,190,2518,0,0,0,0,0,0
$GC,4210,1.32,150.5,416.6,9.7,177,4215,0.00,2.38,0.00,0.000,6,0.000,0.025,3144,1677,2513,0,0,0,0,0,0
$GC,4484,1.42,161.5,391.9,8.9,184,4502,0.10,2.58,11.98,0.737,4,0.083,0.054,3183,182,2461,0,0,0,0,0,0
$GC,4582,1.30,161.5,379.5,13.1,186,4587,0.20,2.40,0.00,0.000,6,0.135,0.025,3146,1670,2459,0,0,0,0,0,0
$GC,4861,1.40,166.5,351.9,9.5,193,4873,0.00,2.53,5.20,0.583,4,0.000,0.054,3146,187,2441,0,0,0,0,0,0
$GC,5139,1.40,170.3,324.2,9.6,199,5151,0.00,2.35,4.70,0.548,6,0.000,0.025,3146,1665,2425,0,0,0,0,0,0
$GC,5432,1.54,187.7,300.3,8.2,206,5456,0.20,2.53,16.58,0.716,4,0.051,0.052,3214,188,2353,0,0,0,0,0,0
$GC,5544,1.38,187.7,286.9,11.9,208,5549,0.28,2.35,0.00,0.000,6,0.127,0.024,3162,1659,2350,0,0,0,0,0,0
$GC,5810,1.49,202.0,263.4,8.5,215,5830,0.10,2.53,12.55,0.667,4,0.083,0.051,3203,180,2296,0,0,0,0,0,0
$GC,5918,1.38,202.0,250.4,12.8,217,5924,0.20,2.35,0.00,0.000,6,0.132,0.023,3165,1655,2294,0,0,0,0,0,0
$GC,6189,1.49,202.0,220.8,10.9,224,6193,0.00,2.45,0.00,0.000,4,0.000,0.048,3164,180,2291,0,0,0,0,0,0
$GC,6337,1.49,202.0,201.6,12.7,227,6341,0.00,2.30,0.00,0.000,6,0.000,0.022,3164,1650,2291,0,0,0,0,0,0
$GC,6606,1.61,202.0,173.5,10.5,250,6611,0.20,2.42,0.00,0.000,4,0.049,0.045,3235,182,2289,0,0,0,0,0,0
$GC,6706,1.46,202.0,160.0,13.9,259,6711,0.28,2.25,0.00,0.000,6,0.123,0.021,3180,1636,2289,0,0,0,0,0,0
$GC,6970,1.56,202.0,130.5,10.9,283,6974,0.00,2.40,0.00,0.000,4,0.000,0.045,3180,183,2289,0,0,0,0,0,0
$GC,7130,1.56,203.9,112.1,9.8,298,7134,0.00,2.25,0.00,0.000,6,0.000,0.021,3181,1632,2289,0,0,0,0,0,0
$GC,7392,1.73,219.8,90.6,8.4,322,7415,0.22,2.62,15.40,0.536,4,0.045,0.031,3260,3247,2222,0,0,0,0,0,0
$GC,7555,1.73,219.8,76.1,10.1,337,7560,0.10,2.60,0.00,0.000,6,0.137,0.027,3240,1634,2220,0,0,0,0,0,0
$GC,7819,1.74,223.8,51.4,9.6,361,7832,0.00,2.42,4.60,0.380,4,0.000,0.042,3240,173,2208,0,0,0,0,0,0
$GC,7880,1.63,223.8,44.7,11.9,366,7885,0.12,2.22,0.00,0.000,6,0.139,0.019,3216,1630,2207,0,0,0,0,0,0
$GC,8166,1.63,223.8,13.3,12.8,401,8174,0.00,2.40,0.00,0.000,4,0.000,0.041,3216,176,2207,0,0,0,0,0,0
$GC,8185,1.63,223.8,10.7,13.0,403,8193,0.00,2.25,0.00,0.000,6,0.000,0.019,3216,1617,2207,0,0,0,0,0,0
$STATE,8243,end climb,SURFACE_DEPTH_REACHED
$STATE,8243,begin surface coast
$FINISH,0.8,1.023541
$STATE,8282,end surface coast,CONTROL_FINISHED_OK
$STATE,8282,begin surface
$SM_CCo,8304,108.20,0.061,0,0,1285,450.13
$SM_GC,1.46,0.00,0.00,108.20,0.000,0.000,0.061,408,1809,1285,-11.28,0.51,450.13
$IRIDIUM_FIX,2241.69,-15757.16,220200,202028
$TT8_MAMPS,0.026845
$HUMID,41.02
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.6,21.884
$10V_AH,10.4,18.359
$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,28.900,103.725,274.175,108.200,0.000,29.323,34.546,187.576,0.000,0.000,37.522,957.818,4908.959,435.374,2004.760,513.108,33.358,1239.470,0.000,1970.614,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,89.739,852.904,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,282.720,255.651,326.369,501.824,887.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355376
$DATA_FILE_SIZE,31982,418
$CAP_FILE_SIZE,104352,0
$CFSIZE,260165632,164098048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,020231,2250.266,-15757.005,61,1.0,61,10.1