version: 66.06
glider: 148
mission: 9
dive: 205
start: 12 6 110 15 17 31
data:
$ID,148
$MISSION,9
$DIVE,205
$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,-862282.94
$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,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
$GPS1,151016,2249.801,-15758.198,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.2
$GPS2,151636,2249.801,-15758.190,16,0.9,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.174,0.004
$KALMAN_X,-79552.3,-25.9,-127.9,99788.2,468.3
$KALMAN_Y,6790.2,333.1,-445.7,122791.8,329.2
$MHEAD_RNG_PITCHd_Wd,78.4,2065,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.78,-63.4,0.0,0.0,0,103,0.00,0.00,-82.25,0.000,2,0.000,0.000,406,1828,3349,0,0,0,0,0,0
$GC,107,-1.83,-103.4,3.6,-5.8,11,132,10.98,2.42,-3.60,0.000,4,0.162,0.038,2452,3330,3545,0,0,0,0,0,0
$GC,142,-0.77,-103.4,17.3,-35.2,15,151,1.08,2.50,0.00,0.000,6,0.097,0.022,2686,1775,3546,0,0,0,0,0,0
$GC,419,-1.37,-134.1,45.7,-6.8,45,433,0.47,2.47,-1.23,0.000,4,0.025,0.041,2516,3317,3671,0,0,0,0,0,0
$GC,451,-1.54,-134.1,50.6,-14.7,47,460,0.00,2.42,0.00,0.000,6,0.000,0.021,2516,1796,3671,0,0,0,0,0,0
$GC,712,-1.54,-134.1,105.6,-19.8,72,716,0.00,2.55,0.00,0.000,4,0.000,0.036,2515,209,3673,0,0,0,0,0,0
$GC,772,-1.72,-134.1,115.6,-15.9,77,777,0.12,2.38,0.00,0.000,6,0.066,0.018,2465,1753,3672,0,0,0,0,0,0
$GC,1034,-1.72,-134.1,166.1,-17.9,101,1039,0.10,2.50,0.00,0.000,4,0.133,0.037,2484,204,3674,0,0,0,0,0,0
$GC,1081,-1.83,-134.1,174.9,-18.6,105,1086,0.10,2.42,0.00,0.000,6,0.082,0.020,2443,1776,3674,0,0,0,0,0,0
$GC,1366,-1.83,-134.1,231.0,-18.8,120,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1777,3675,0,0,0,0,0,0
$GC,1610,-1.83,-134.1,274.6,-17.9,126,1614,0.00,2.55,0.00,0.000,4,0.000,0.039,2443,212,3675,0,0,0,0,0,0
$GC,1685,-1.83,-134.1,288.5,-18.2,127,1689,0.00,2.45,0.00,0.000,6,0.000,0.021,2443,1783,3676,0,0,0,0,0,0
$GC,1944,-1.90,-134.1,331.4,-16.3,134,1948,0.00,2.53,0.00,0.000,4,0.000,0.036,2443,3364,3676,0,0,0,0,0,0
$GC,1967,-1.90,-134.1,335.5,-16.9,134,1971,0.00,2.53,0.00,0.000,6,0.000,0.028,2443,1780,3676,0,0,0,0,0,0
$GC,2228,-1.98,-134.1,376.0,-15.7,141,2232,0.00,2.60,0.00,0.000,4,0.000,0.054,2443,213,3676,0,0,0,0,0,0
$GC,2265,-2.05,-134.1,382.6,-16.0,141,2272,0.12,2.47,0.00,0.000,6,0.067,0.028,2393,1774,3676,0,0,0,0,0,0
$GC,2516,-2.05,-134.1,428.3,-18.1,148,2521,0.00,2.62,0.00,0.000,4,0.000,0.054,2393,215,3675,0,0,0,0,0,0
$GC,2657,-2.05,-134.1,455.7,-18.7,151,2661,0.00,2.50,0.00,0.000,6,0.000,0.032,2393,1765,3674,0,0,0,0,0,0
$STATE,2939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2939,begin apogee
$GC,2944,-0.31,0.0,507.4,18.3,158,3059,1.83,0.00,109.72,0.853,6,0.097,0.000,2788,1662,3120,0,0,0,0,0,0
$STATE,3060,end apogee,CONTROL_FINISHED_OK
$STATE,3060,begin climb
$GC,3062,1.87,134.1,513.2,0.0,161,3181,1.95,2.80,109.57,0.843,4,0.023,0.051,3319,3274,2572,0,0,0,0,0,0
$GC,3316,1.55,134.1,498.5,14.2,165,3322,0.62,2.65,0.00,0.000,6,0.135,0.037,3198,1699,2566,0,0,0,0,0,0
$GC,3567,1.46,134.1,470.0,11.4,172,3572,0.00,2.67,0.00,0.000,4,0.000,0.071,3198,167,2564,0,0,0,0,0,0
$GC,3835,1.25,134.1,436.6,12.2,177,3842,0.32,2.45,0.00,0.000,6,0.134,0.025,3137,1688,2560,0,0,0,0,0,0
$GC,4087,1.36,151.7,415.5,8.2,184,4107,0.00,2.70,13.90,0.753,4,0.000,0.057,3136,167,2500,0,0,0,0,0,0
$GC,4340,1.36,151.7,390.9,10.5,189,4344,0.00,2.42,0.00,0.000,6,0.000,0.024,3137,1680,2496,0,0,0,0,0,0
$GC,4604,1.49,170.9,369.3,8.0,196,4629,0.20,2.62,16.48,0.749,4,0.051,0.055,3204,162,2423,0,0,0,0,0,0
$GC,4773,1.33,170.9,348.0,12.6,199,4778,0.28,2.40,0.00,0.000,6,0.127,0.025,3153,1670,2419,0,0,0,0,0,0
$GC,5029,1.42,174.1,322.9,9.7,206,5033,0.00,2.58,0.00,0.000,4,0.000,0.054,3152,159,2417,0,0,0,0,0,0
$GC,5152,1.42,174.1,309.4,10.6,208,5156,0.00,2.40,0.00,0.000,6,0.000,0.024,3152,1670,2416,0,0,0,0,0,0
$GC,5406,1.56,198.1,289.3,7.5,215,5435,0.20,0.00,23.50,0.721,6,0.051,0.000,3220,1671,2311,0,0,0,0,0,0
$GC,5695,1.56,198.1,258.4,11.1,222,5700,0.10,2.55,0.00,0.000,4,0.143,0.054,3201,166,2306,0,0,0,0,0,0
$GC,5966,1.45,198.1,223.0,12.1,227,5972,0.12,2.35,0.00,0.000,6,0.147,0.022,3180,1665,2304,0,0,0,0,0,0
$GC,6217,1.53,198.1,195.2,10.9,237,6221,0.00,2.50,0.00,0.000,4,0.000,0.050,3179,159,2303,0,0,0,0,0,0
$GC,6254,1.53,198.1,190.9,11.7,240,6258,0.00,2.35,0.00,0.000,6,0.000,0.022,3179,1663,2303,0,0,0,0,0,0
$GC,6518,1.60,200.7,164.7,9.8,264,6523,0.12,2.50,0.00,0.000,4,0.069,0.048,3227,161,2302,0,0,0,0,0,0
$GC,6726,1.48,200.7,137.7,11.6,284,6736,0.17,2.38,0.00,0.000,6,0.114,0.022,3189,1654,2302,0,0,0,0,0,0
$GC,6992,1.60,222.7,117.8,7.7,309,7017,0.00,0.00,20.35,0.572,6,0.000,0.000,3188,1655,2211,0,0,0,0,0,0
$GC,7276,1.77,241.7,93.6,8.0,336,7298,0.22,2.58,17.17,0.538,4,0.044,0.044,3268,157,2133,0,0,0,0,0,0
$GC,7570,1.59,241.7,50.7,15.5,363,7575,0.30,2.35,0.00,0.000,6,0.117,0.019,3208,1668,2130,0,0,0,0,0,0
$GC,7851,1.67,241.7,18.7,11.7,395,7859,0.00,2.53,0.00,0.000,4,0.000,0.046,3208,161,2129,0,0,0,0,0,0
$GC,7943,1.61,241.7,5.6,13.1,409,7951,0.00,2.33,0.00,0.000,6,0.000,0.019,3208,1655,2129,0,0,0,0,0,0
$STATE,7958,end climb,SURFACE_DEPTH_REACHED
$STATE,7958,begin surface coast
$FINISH,0.8,1.023683
$STATE,7991,end surface coast,CONTROL_FINISHED_OK
$STATE,7991,begin surface
$SM_CCo,8013,102.12,0.438,1,0,1284,450.13
$SM_GC,1.52,0.00,0.00,102.12,0.000,0.000,0.438,411,1833,1284,-11.27,1.22,450.13
$IRIDIUM_FIX,2241.69,-15801.49,010300,121258
$TT8_MAMPS,0.026845
$HUMID,42.40
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,30.005
$10V_AH,10.4,25.093
$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,30.800,90.350,310.700,102.125,0.000,25.013,35.951,166.729,0.500,0.000,33.936,906.724,4776.877,465.488,1889.908,464.946,33.362,1216.165,0.000,1864.003,0.000,0.538,0.000
$DEVICE_MAMPS,161.837,70.564,852.904,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,280.936,258.783,330.400,517.192,914.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,32187,416
$CAP_FILE_SIZE,96134,0
$CFSIZE,260165632,160583680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,173344,2249.977,-15756.985,11,2.0,11,10.1