version: 66.06
glider: 148
mission: 9
dive: 327
start: 12 21 110 3 44 46
data:
$ID,148
$MISSION,9
$DIVE,327
$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,185
$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,420
$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,-864893.56
$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,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
$GPS1,033646,2249.761,-15758.371,11,2.5,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.8
$GPS2,034352,2249.796,-15758.414,12,2.5,31,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.194,-0.010
$KALMAN_X,-46113.4,-188.7,-215.1,66217.6,280.8
$KALMAN_Y,-2397.6,-240.0,-275.1,132377.5,485.8
$MHEAD_RNG_PITCHd_Wd,82.9,2444,-21.6,-9.009
$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,-1.45,-83.4,0.0,0.0,0,95,0.00,0.00,-75.72,0.000,2,0.000,0.000,408,1877,3300,0,0,0,0,0,0
$GC,100,-1.52,-137.9,3.7,-5.0,10,124,11.30,2.72,-6.95,0.000,4,0.160,0.047,2518,197,3684,0,0,0,0,0,0
$GC,158,-1.23,-137.9,22.7,-26.0,18,167,0.30,2.53,0.00,0.000,6,0.084,0.021,2588,1791,3686,0,0,0,0,0,0
$GC,434,-1.23,-137.9,67.9,-15.6,46,438,0.00,2.50,0.00,0.000,4,0.000,0.030,2588,3368,3687,0,0,0,0,0,0
$GC,499,-1.31,-137.9,77.8,-14.5,51,504,0.00,2.50,0.00,0.000,6,0.000,0.022,2588,1793,3687,0,0,0,0,0,0
$GC,768,-1.42,-137.9,112.5,-11.9,75,773,0.15,2.58,0.00,0.000,4,0.055,0.038,2517,212,3688,0,0,0,0,0,0
$GC,784,-1.42,-137.9,115.3,-11.6,76,789,0.15,2.47,0.00,0.000,6,0.110,0.018,2549,1819,3688,0,0,0,0,0,0
$GC,1046,-1.42,-137.9,151.2,-13.4,100,1050,0.00,2.42,0.00,0.000,4,0.000,0.030,2549,3361,3688,0,0,0,0,0,0
$GC,1131,-1.52,-137.9,162.4,-12.2,108,1135,0.00,2.45,0.00,0.000,6,0.000,0.022,2549,1809,3689,0,0,0,0,0,0
$GC,1393,-1.58,-137.9,195.1,-12.5,132,1398,0.15,2.47,0.00,0.000,4,0.058,0.029,2482,3353,3689,0,0,0,0,0,0
$GC,1452,-1.58,-137.9,205.0,-16.6,136,1457,0.15,2.40,0.00,0.000,6,0.107,0.022,2513,1826,3690,0,0,0,0,0,0
$GC,1726,-1.58,-137.9,246.0,-14.6,143,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1825,3690,0,0,0,0,0,0
$GC,1969,-1.58,-137.9,281.8,-14.7,149,1973,0.00,2.45,0.00,0.000,4,0.000,0.031,2513,3353,3690,0,0,0,0,0,0
$GC,1994,-1.58,-137.9,285.1,-14.3,149,1998,0.00,2.38,0.00,0.000,6,0.000,0.023,2513,1838,3690,0,0,0,0,0,0
$GC,2252,-1.58,-137.9,319.6,-13.6,156,2257,0.00,2.45,0.00,0.000,4,0.000,0.035,2513,3349,3690,0,0,0,0,0,0
$GC,2284,-1.58,-137.9,324.2,-13.2,156,2289,0.00,2.38,0.00,0.000,6,0.000,0.025,2513,1848,3689,0,0,0,0,0,0
$GC,2535,-1.58,-137.9,358.2,-13.7,162,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1848,3690,0,0,0,0,0,0
$GC,2777,-1.58,-137.9,389.3,-12.4,168,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1848,3689,0,0,0,0,0,0
$GC,3021,-1.58,-137.9,416.9,-11.3,174,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1849,3688,0,0,0,0,0,0
$GC,3265,-1.65,-137.9,444.9,-11.3,180,3270,0.00,2.50,0.00,0.000,4,0.000,0.045,2513,3351,3687,0,0,0,0,0,0
$GC,3290,-1.65,-137.9,447.7,-12.1,180,3294,0.00,2.42,0.00,0.000,6,0.000,0.028,2513,1847,3687,0,0,0,0,0,0
$GC,3549,-1.72,-137.9,476.2,-10.9,187,3551,0.12,0.00,0.00,0.000,6,0.067,0.000,2460,1847,3685,0,0,0,0,0,0
$STATE,3749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3749,begin apogee
$GC,3755,-0.31,0.0,504.5,14.1,192,3872,1.48,0.00,112.55,0.855,6,0.082,0.000,2789,1680,3120,0,0,0,0,0,0
$STATE,3873,end apogee,CONTROL_FINISHED_OK
$STATE,3873,begin climb
$GC,3877,1.52,137.9,508.4,0.0,195,4001,1.62,2.65,113.60,0.841,4,0.024,0.069,3203,187,2556,0,0,0,0,0,0
$GC,4008,1.20,181.2,510.1,5.9,198,4054,0.40,2.38,37.45,0.814,6,0.128,0.030,3126,1647,2380,0,0,0,0,0,0
$GC,4336,1.11,181.2,474.8,11.1,206,4341,0.12,2.53,0.00,0.000,4,0.134,0.059,3102,183,2373,0,0,0,0,0,0
$GC,4403,0.99,181.2,467.1,11.7,207,4409,0.12,2.45,0.00,0.000,6,0.131,0.028,3078,1680,2372,0,0,0,0,0,0
$GC,4668,0.99,181.2,441.8,9.3,214,4672,0.00,2.58,0.00,0.000,4,0.000,0.057,3078,183,2369,0,0,0,0,0,0
$GC,4686,0.99,181.2,439.9,9.8,214,4690,0.00,2.42,0.00,0.000,6,0.000,0.027,3078,1687,2368,0,0,0,0,0,0
$GC,4951,0.99,181.2,415.9,9.0,221,4955,0.00,2.58,0.00,0.000,4,0.000,0.057,3078,184,2367,0,0,0,0,0,0
$GC,4969,0.99,181.2,413.8,9.6,221,4974,0.00,2.40,0.00,0.000,6,0.000,0.026,3078,1682,2366,0,0,0,0,0,0
$GC,5233,0.99,181.2,390.0,9.2,228,5237,0.00,2.58,0.00,0.000,4,0.000,0.057,3078,177,2365,0,0,0,0,0,0
$GC,5336,0.99,181.2,379.2,10.7,230,5341,0.00,2.38,0.00,0.000,6,0.000,0.025,3078,1669,2364,0,0,0,0,0,0
$GC,5610,1.06,185.1,354.5,8.7,237,5614,0.00,2.53,0.00,0.000,4,0.000,0.055,3078,185,2362,0,0,0,0,0,0
$GC,5759,1.06,186.5,340.1,8.9,240,5764,0.00,2.33,0.00,0.000,6,0.000,0.025,3078,1653,2361,0,0,0,0,0,0
$GC,6033,1.16,201.4,318.6,7.9,247,6052,0.15,0.00,14.88,0.714,6,0.058,0.000,3141,1655,2298,0,0,0,0,0,0
$GC,6322,1.10,201.4,287.9,10.9,254,6327,0.20,2.53,0.00,0.000,4,0.112,0.054,3100,177,2295,0,0,0,0,0,0
$GC,6346,1.10,201.4,284.9,11.7,254,6350,0.00,2.38,0.00,0.000,6,0.000,0.025,3100,1662,2294,0,0,0,0,0,0
$GC,6607,1.10,206.8,261.9,8.6,261,6619,0.00,2.58,5.53,0.547,4,0.000,0.055,3100,183,2276,0,0,0,0,0,0
$GC,6717,1.10,206.8,250.7,10.0,263,6722,0.00,2.30,0.00,0.000,6,0.000,0.023,3100,1652,2274,0,0,0,0,0,0
$GC,6985,1.12,221.9,229.1,7.9,270,7006,0.00,2.70,14.30,0.641,4,0.000,0.041,3100,3235,2214,0,0,0,0,0,0
$GC,7041,1.23,232.6,224.7,8.2,271,7058,0.12,2.58,10.68,0.608,6,0.066,0.031,3158,1659,2170,0,0,0,0,0,0
$GC,7319,1.16,232.6,194.0,11.4,280,7324,0.22,2.47,0.00,0.000,4,0.110,0.051,3113,174,2167,0,0,0,0,0,0
$GC,7469,1.16,232.6,175.0,12.3,294,7478,0.00,2.33,0.00,0.000,6,0.000,0.022,3112,1634,2166,0,0,0,0,0,0
$GC,7736,1.22,232.6,146.6,10.1,319,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1638,2165,0,0,0,0,0,0
$GC,7997,1.31,237.9,122.1,8.6,344,8011,0.12,2.47,5.47,0.457,4,0.067,0.046,3170,172,2148,0,0,0,0,0,0
$GC,8305,1.20,237.9,86.1,9.1,373,8311,0.22,2.30,0.00,0.000,6,0.111,0.020,3125,1648,2148,0,0,0,0,0,0
$GC,8574,1.34,273.3,67.9,6.4,398,8613,0.12,2.50,31.62,0.528,4,0.066,0.043,3182,163,2004,0,0,0,0,0,0
$GC,8673,1.23,273.3,57.9,11.9,406,8678,0.28,2.28,0.00,0.000,6,0.115,0.020,3129,1628,2003,0,0,0,0,0,0
$GC,8942,1.35,273.3,33.1,9.4,430,8947,0.10,2.60,0.00,0.000,4,0.078,0.031,3177,3251,2000,0,0,0,0,0,0
$GC,8997,1.35,273.3,26.3,11.7,436,9006,0.08,2.65,0.00,0.000,6,0.090,0.027,3156,1622,1999,0,0,0,0,0,0
$STATE,9189,end climb,SURFACE_DEPTH_REACHED
$STATE,9189,begin surface coast
$FINISH,0.8,1.023470
$STATE,9236,end surface coast,CONTROL_FINISHED_OK
$STATE,9236,begin surface
$SM_CCo,9256,69.35,0.061,0,0,1407,420.20
$SM_GC,1.59,0.00,0.00,69.35,0.000,0.000,0.061,404,1874,1407,-11.30,2.37,420.20
$IRIDIUM_FIX,2239.35,-15802.37,160300,000036
$TT8_MAMPS,0.026845
$HUMID,45.70
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,44.424
$10V_AH,10.3,37.873
$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,28.825,104.550,346.075,69.350,0.000,29.127,32.984,195.017,0.500,0.000,34.048,985.831,5897.555,446.643,1868.032,552.894,33.370,1181.598,0.000,1857.278,0.000,0.538,0.000
$DEVICE_MAMPS,160.303,69.030,855.205,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.551,294.460,372.393,567.815,1002.925,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355336
$DATA_FILE_SIZE,38317,473
$CAP_FILE_SIZE,102666,0
$CFSIZE,260165632,153894912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,062131,2249.571,-15757.251,38,1.5,38,10.1