version: 66.06
glider: 148
mission: 9
dive: 154
start: 11 30 110 12 8 33
data:
$ID,148
$MISSION,9
$DIVE,154
$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,-860895.75
$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,33
$R_STBD_OVSHOOT,88
$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
$GPS1,115336,2249.702,-15758.118,9,1.2,25,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.1
$GPS2,120738,2249.716,-15758.138,10,1.3,10,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.202,0.015
$KALMAN_X,-64952.7,-350.3,-218.5,85698.5,-54.9
$KALMAN_Y,12189.8,-46.4,-239.8,117411.1,370.2
$MHEAD_RNG_PITCHd_Wd,75.5,2013,-23.4,-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,-1.56,-85.5,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,410,1834,3432,0,0,0,0,0,0
$GC,106,-1.60,-116.2,4.2,-7.6,11,123,11.12,0.00,-2.90,0.000,6,0.158,0.000,2501,1835,3595,0,0,0,0,0,0
$GC,389,-1.41,-116.2,78.2,-23.3,42,395,0.22,2.62,0.00,0.000,4,0.114,0.033,2549,203,3598,0,0,0,0,0,0
$GC,417,-1.33,-116.2,85.0,-21.2,44,422,0.10,2.38,0.00,0.000,6,0.131,0.019,2568,1747,3598,0,0,0,0,0,0
$GC,680,-1.46,-116.2,125.7,-13.1,68,686,0.12,2.58,0.00,0.000,4,0.067,0.031,2516,3367,3598,0,0,0,0,0,0
$GC,768,-1.46,-116.2,140.9,-16.5,76,773,0.12,2.50,0.00,0.000,6,0.111,0.023,2541,1790,3599,0,0,0,0,0,0
$GC,1036,-1.55,-116.2,174.8,-13.7,100,1040,0.00,2.55,0.00,0.000,4,0.000,0.038,2541,210,3599,0,0,0,0,0,0
$GC,1089,-1.71,-116.2,182.8,-13.0,105,1095,0.22,2.45,0.00,0.000,6,0.044,0.020,2462,1803,3600,0,0,0,0,0,0
$GC,1364,-1.62,-116.2,228.9,-17.2,119,1369,0.20,2.58,0.00,0.000,4,0.106,0.036,2504,212,3600,0,0,0,0,0,0
$GC,1416,-1.62,-116.2,237.2,-14.4,120,1420,0.00,2.45,0.00,0.000,6,0.000,0.020,2504,1802,3600,0,0,0,0,0,0
$GC,1695,-1.62,-116.2,277.2,-14.5,127,1699,0.00,2.58,0.00,0.000,4,0.000,0.041,2504,214,3600,0,0,0,0,0,0
$GC,1750,-1.69,-116.2,285.9,-15.2,128,1755,0.00,2.45,0.00,0.000,6,0.000,0.021,2504,1784,3600,0,0,0,0,0,0
$GC,2023,-1.75,-116.2,321.8,-13.3,135,2028,0.12,2.62,0.00,0.000,4,0.068,0.044,2454,207,3600,0,0,0,0,0,0
$GC,2068,-1.75,-116.2,328.5,-15.4,136,2073,0.10,2.45,0.00,0.000,6,0.133,0.022,2475,1783,3600,0,0,0,0,0,0
$GC,2356,-1.75,-116.2,365.9,-12.6,143,2360,0.00,2.60,0.00,0.000,4,0.000,0.051,2475,217,3600,0,0,0,0,0,0
$GC,2435,-1.75,-116.2,377.3,-14.3,144,2440,0.00,2.47,0.00,0.000,6,0.000,0.026,2475,1782,3599,0,0,0,0,0,0
$GC,2685,-1.75,-116.2,411.2,-13.7,150,2689,0.00,2.65,0.00,0.000,4,0.000,0.054,2475,212,3598,0,0,0,0,0,0
$GC,2708,-1.75,-116.2,414.9,-15.3,150,2712,0.00,2.50,0.00,0.000,6,0.000,0.028,2475,1786,3598,0,0,0,0,0,0
$GC,2968,-1.75,-116.2,449.3,-12.9,157,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1787,3596,0,0,0,0,0,0
$GC,3210,-1.75,-116.2,480.0,-12.7,163,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1787,3595,0,0,0,0,0,0
$STATE,3411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3411,begin apogee
$GC,3417,-0.31,0.0,503.9,11.7,168,3515,1.42,0.00,94.22,0.858,6,0.087,0.000,2789,1668,3120,0,0,0,0,0,0
$STATE,3516,end apogee,CONTROL_FINISHED_OK
$STATE,3516,begin climb
$GC,3518,1.60,116.2,505.7,0.0,170,3625,1.75,2.78,95.50,0.845,4,0.025,0.051,3221,3264,2645,0,0,0,0,0,0
$GC,3649,1.37,166.6,506.9,6.1,173,3700,0.30,2.60,42.92,0.824,6,0.134,0.035,3163,1700,2439,0,0,0,0,0,0
$GC,3943,1.25,166.6,472.8,12.2,181,3950,0.15,2.70,0.00,0.000,4,0.137,0.071,3134,166,2432,0,0,0,0,0,0
$GC,4022,1.09,166.6,463.3,11.9,182,4027,0.17,2.42,0.00,0.000,6,0.134,0.027,3100,1674,2430,0,0,0,0,0,0
$GC,4278,1.10,175.7,438.7,9.3,189,4291,0.00,2.60,7.28,0.671,4,0.000,0.058,3100,169,2402,0,0,0,0,0,0
$GC,4348,1.10,175.7,430.5,12.6,190,4352,0.00,2.42,0.00,0.000,6,0.000,0.026,3100,1669,2400,0,0,0,0,0,0
$GC,4613,1.11,184.3,405.2,9.4,197,4628,0.00,2.60,8.70,0.696,4,0.000,0.056,3101,160,2366,0,0,0,0,0,0
$GC,4652,1.11,184.3,400.9,10.6,197,4657,0.00,2.42,0.00,0.000,6,0.000,0.026,3100,1673,2365,0,0,0,0,0,0
$GC,4902,1.17,185.7,375.8,9.9,204,4906,0.00,2.58,0.00,0.000,4,0.000,0.057,3100,162,2362,0,0,0,0,0,0
$GC,5034,1.17,185.7,360.9,11.6,206,5040,0.00,2.40,0.00,0.000,6,0.000,0.025,3100,1660,2361,0,0,0,0,0,0
$GC,5284,1.26,194.5,336.9,9.3,213,5301,0.15,2.55,9.05,0.677,4,0.059,0.056,3159,169,2326,0,0,0,0,0,0
$GC,5501,1.10,194.5,311.2,11.3,217,5506,0.30,2.35,0.00,0.000,6,0.122,0.023,3100,1646,2324,0,0,0,0,0,0
$GC,5757,1.23,223.1,291.2,7.8,224,5790,0.12,2.55,25.05,0.723,4,0.067,0.054,3150,168,2208,0,0,0,0,0,0
$GC,5816,1.13,223.1,284.5,14.2,225,5821,0.22,2.38,0.00,0.000,6,0.120,0.023,3106,1651,2207,0,0,0,0,0,0
$GC,6090,1.24,223.1,254.0,11.1,232,6095,0.10,2.50,0.00,0.000,4,0.079,0.052,3150,167,2203,0,0,0,0,0,0
$GC,6211,1.15,223.1,237.3,15.8,234,6216,0.20,2.33,0.00,0.000,6,0.121,0.023,3111,1634,2203,0,0,0,0,0,0
$GC,6471,1.26,223.1,205.5,11.6,241,6473,0.10,0.00,0.00,0.000,6,0.080,0.000,3157,1637,2201,0,0,0,0,0,0
$GC,6726,1.26,223.1,175.4,11.3,259,6731,0.12,2.45,0.00,0.000,4,0.123,0.048,3133,161,2200,0,0,0,0,0,0
$GC,6883,1.26,223.1,157.6,12.3,274,6887,0.00,2.33,0.00,0.000,6,0.000,0.021,3133,1644,2200,0,0,0,0,0,0
$GC,7147,1.36,236.7,130.8,9.0,298,7164,0.10,2.50,11.25,0.551,4,0.081,0.046,3179,160,2154,0,0,0,0,0,0
$GC,7321,1.24,236.7,110.2,11.8,314,7326,0.25,2.25,0.00,0.000,6,0.117,0.020,3130,1620,2153,0,0,0,0,0,0
$GC,7584,1.43,266.1,88.0,7.7,338,7618,0.17,2.65,25.98,0.548,4,0.051,0.031,3204,3253,2033,0,0,0,0,0,0
$GC,7665,1.43,266.1,79.9,11.8,345,7670,0.15,2.62,0.00,0.000,6,0.112,0.028,3173,1625,2030,0,0,0,0,0,0
$GC,7933,1.43,266.1,51.2,10.4,369,7937,0.00,2.40,0.00,0.000,4,0.000,0.045,3173,164,2029,0,0,0,0,0,0
$GC,7964,1.43,266.1,46.3,13.0,371,7973,0.00,2.30,0.00,0.000,6,0.000,0.019,3173,1631,2030,0,0,0,0,0,0
$GC,8246,1.49,266.1,13.8,13.6,406,8254,0.00,2.45,0.00,0.000,4,0.000,0.044,3173,164,2030,0,0,0,0,0,0
$GC,8277,1.49,266.1,9.8,13.1,410,8286,0.00,2.30,0.00,0.000,6,0.000,0.020,3173,1631,2030,0,0,0,0,0,0
$STATE,8317,end climb,SURFACE_DEPTH_REACHED
$STATE,8318,begin surface coast
$FINISH,0.6,1.010508
$STATE,8356,end surface coast,CONTROL_FINISHED_OK
$STATE,8357,begin surface
$SM_CCo,8377,88.68,0.060,0,0,1285,450.13
$SM_GC,1.67,0.00,0.00,88.68,0.000,0.000,0.060,411,1858,1285,-11.27,1.92,450.13
$IRIDIUM_FIX,2239.35,-15754.99,240200,121211
$TT8_MAMPS,0.027612
$HUMID,41.53
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.6,23.423
$10V_AH,10.4,19.722
$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,29.275,105.250,319.950,88.675,0.000,87.591,198.369,302.748,0.000,0.000,12.141,915.433,5390.408,452.722,1717.124,836.475,33.359,1157.221,0.000,1719.179,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,70.564,857.506,59.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,284.962,257.958,329.477,496.900,878.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,32203,422
$CAP_FILE_SIZE,102906,0
$CFSIZE,260165632,163381248
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301110,143107,2249.955,-15757.073,47,1.2,47,10.1