version: 66.06
glider: 148
mission: 9
dive: 147
start: 11 29 110 16 29 57
data:
$ID,148
$MISSION,9
$DIVE,147
$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,-860768.88
$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,48
$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
$GPS1,161400,2246.935,-15802.342,33,1.4,39,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.7
$GPS2,162902,2246.854,-15802.346,11,1.4,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.106,0.138
$KALMAN_X,-64015.1,19.0,163.2,76763.1,-276.6
$KALMAN_Y,14837.2,141.3,419.3,108619.5,-840.8
$MHEAD_RNG_PITCHd_Wd,312.4,1150,-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,-82.20,0.000,2,0.000,0.000,415,1878,3380,0,0,0,0,0,0
$GC,105,-1.82,-92.1,3.9,-7.0,11,131,10.88,2.42,-2.17,0.000,4,0.159,0.041,2456,3371,3499,0,0,0,0,0,0
$GC,159,-1.60,-92.1,23.1,-31.8,18,168,0.20,2.55,0.00,0.000,6,0.097,0.025,2503,1791,3500,0,0,0,0,0,0
$GC,434,-1.60,-92.1,80.5,-19.4,45,438,0.00,2.58,0.00,0.000,4,0.000,0.039,2503,203,3500,0,0,0,0,0,0
$GC,470,-1.60,-92.1,89.0,-21.7,48,474,0.00,2.47,0.00,0.000,6,0.000,0.019,2503,1793,3501,0,0,0,0,0,0
$GC,734,-1.72,-92.1,131.7,-14.8,72,738,0.00,2.58,0.00,0.000,4,0.000,0.038,2503,203,3501,0,0,0,0,0,0
$GC,815,-1.89,-92.1,144.6,-15.1,79,821,0.22,2.45,0.00,0.000,6,0.047,0.018,2431,1787,3501,0,0,0,0,0,0
$GC,1082,-1.89,-92.1,193.0,-19.4,103,1087,0.00,2.60,0.00,0.000,4,0.000,0.044,2431,198,3502,0,0,0,0,0,0
$GC,1106,-1.89,-92.1,198.8,-19.7,105,1111,0.00,2.42,0.00,0.000,6,0.000,0.018,2431,1783,3502,0,0,0,0,0,0
$GC,1366,-1.89,-92.1,245.1,-17.7,112,1371,0.00,2.53,0.00,0.000,4,0.000,0.038,2431,211,3503,0,0,0,0,0,0
$GC,1543,-1.89,-92.1,277.8,-17.5,115,1550,0.00,2.40,0.00,0.000,6,0.000,0.020,2431,1760,3503,0,0,0,0,0,0
$GC,1792,-1.89,-92.1,318.6,-16.6,122,1797,0.00,2.58,0.00,0.000,4,0.000,0.035,2431,3364,3503,0,0,0,0,0,0
$GC,1807,-1.89,-92.1,321.0,-16.0,122,1812,0.00,2.55,0.00,0.000,6,0.000,0.025,2431,1768,3503,0,0,0,0,0,0
$GC,2075,-1.89,-92.1,361.5,-14.5,129,2080,0.00,2.60,0.00,0.000,4,0.000,0.052,2432,207,3503,0,0,0,0,0,0
$GC,2215,-1.89,-92.1,383.3,-16.6,132,2219,0.00,2.45,0.00,0.000,6,0.000,0.026,2431,1748,3502,0,0,0,0,0,0
$GC,2497,-1.97,-92.1,427.9,-16.1,139,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1752,3502,0,0,0,0,0,0
$GC,2741,-2.04,-92.1,465.9,-15.2,145,2745,0.00,2.62,0.00,0.000,4,0.000,0.061,2431,215,3501,0,0,0,0,0,0
$GC,2757,-2.10,-92.1,468.2,-14.7,145,2762,0.12,2.47,0.00,0.000,6,0.071,0.032,2388,1753,3500,0,0,0,0,0,0
$STATE,2983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2983,begin apogee
$GC,2988,-0.31,0.0,502.5,14.6,151,3068,1.85,0.00,75.57,0.849,6,0.097,0.000,2788,1666,3120,0,0,0,0,0,0
$STATE,3069,end apogee,CONTROL_FINISHED_OK
$STATE,3069,begin climb
$GC,3071,1.82,92.1,503.6,0.0,153,3160,1.90,2.80,75.65,0.835,4,0.028,0.048,3266,3264,2743,0,0,0,0,0,0
$GC,3207,1.62,126.5,501.7,6.4,156,3246,0.28,2.60,30.02,0.808,6,0.140,0.035,3215,1699,2603,0,0,0,0,0,0
$GC,3492,1.50,126.5,473.7,10.3,163,3497,0.15,2.67,0.00,0.000,4,0.150,0.072,3188,167,2596,0,0,0,0,0,0
$GC,3763,1.32,137.3,447.4,8.9,168,3779,0.20,2.42,8.73,0.704,6,0.140,0.025,3151,1675,2560,0,0,0,0,0,0
$GC,4058,1.34,150.3,422.6,8.7,176,4078,0.00,2.60,12.30,0.746,4,0.000,0.056,3151,169,2506,0,0,0,0,0,0
$GC,4343,1.34,150.3,390.8,12.2,182,4347,0.00,2.38,0.00,0.000,6,0.000,0.025,3151,1666,2501,0,0,0,0,0,0
$GC,4622,1.43,158.7,364.6,9.1,189,4635,0.00,2.58,7.47,0.662,4,0.000,0.057,3151,168,2471,0,0,0,0,0,0
$GC,4900,1.44,168.7,337.2,9.0,195,4917,0.10,2.38,9.40,0.686,6,0.086,0.024,3189,1663,2432,0,0,0,0,0,0
$GC,5187,1.44,168.7,308.2,10.3,202,5191,0.00,2.53,0.00,0.000,4,0.000,0.054,3189,166,2428,0,0,0,0,0,0
$GC,5336,1.33,168.7,290.8,11.1,205,5341,0.20,2.38,0.00,0.000,6,0.130,0.023,3152,1660,2426,0,0,0,0,0,0
$GC,5610,1.47,195.9,269.8,7.1,212,5640,0.12,2.60,23.62,0.706,4,0.071,0.053,3200,164,2320,0,0,0,0,0,0
$GC,5904,1.38,195.9,233.7,13.9,218,5909,0.20,2.33,0.00,0.000,6,0.129,0.022,3163,1648,2315,0,0,0,0,0,0
$GC,6170,1.50,195.9,205.3,10.9,225,6175,0.10,2.50,0.00,0.000,4,0.083,0.049,3203,160,2313,0,0,0,0,0,0
$GC,6393,1.41,195.9,176.0,12.7,244,6398,0.17,2.30,0.00,0.000,6,0.133,0.022,3171,1626,2313,0,0,0,0,0,0
$GC,6658,1.54,195.9,149.2,10.2,268,6667,0.10,0.00,0.00,0.000,6,0.082,0.000,3212,1628,2312,0,0,0,0,0,0
$GC,6925,1.54,195.9,119.4,13.6,293,6929,0.00,2.40,0.00,0.000,4,0.000,0.047,3212,163,2313,0,0,0,0,0,0
$GC,7222,1.58,231.6,82.9,6.2,321,7260,0.00,2.25,29.65,0.551,6,0.000,0.019,3212,1626,2173,0,0,0,0,0,0
$GC,7515,1.68,234.2,56.6,9.8,349,7519,0.00,2.40,0.00,0.000,4,0.000,0.043,3212,164,2170,0,0,0,0,0,0
$GC,7846,1.68,234.6,16.4,10.0,387,7855,0.00,2.28,0.00,0.000,6,0.000,0.019,3212,1617,2169,0,0,0,0,0,0
$STATE,7960,end climb,SURFACE_DEPTH_REACHED
$STATE,7961,begin surface coast
$FINISH,0.7,1.010959
$STATE,8004,end surface coast,CONTROL_FINISHED_OK
$STATE,8004,begin surface
$SM_CCo,8024,104.85,0.060,0,0,1284,450.13
$SM_GC,1.46,0.00,0.00,104.85,0.000,0.000,0.060,412,1873,1284,-11.26,2.37,450.13
$IRIDIUM_FIX,2239.35,-15802.37,230200,161644
$TT8_MAMPS,0.026845
$HUMID,41.53
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,23.6,22.590
$10V_AH,10.4,18.992
$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,28.125,85.025,272.425,104.850,0.000,87.714,148.664,395.277,0.500,0.000,12.769,920.378,4843.056,417.066,1967.861,885.935,33.358,1195.377,0.000,1954.438,0.000,0.538,0.000
$DEVICE_MAMPS,158.769,76.700,849.069,59.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,276.876,247.186,322.488,504.352,892.232,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,32098,411
$CAP_FILE_SIZE,101989,0
$CFSIZE,260165632,163774464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,184634,2247.139,-15802.750,7,2.2,26,10.1