version: 66.06
glider: 148
mission: 9
dive: 335
start: 12 22 110 3 45 1
data:
$ID,148
$MISSION,9
$DIVE,335
$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,-865124
$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,83
$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
$GPS1,033343,2249.210,-15802.640,25,1.6,31,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.2
$GPS2,034407,2249.184,-15802.687,12,1.5,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.052,0.147
$KALMAN_X,-46832.4,72.9,-99.0,59201.0,-46.3
$KALMAN_Y,-4240.1,-87.3,-478.3,133134.1,131.2
$MHEAD_RNG_PITCHd_Wd,330.3,1603,-27.1,-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,18,-1.76,-53.9,0.0,0.0,0,95,0.00,0.00,-75.62,0.000,2,0.000,0.000,414,1836,3310,0,0,0,0,0,0
$GC,98,-1.81,-96.8,3.5,-4.2,10,123,10.88,2.42,-3.85,0.000,4,0.158,0.040,2456,3334,3518,0,0,0,0,0,0
$GC,230,-1.72,-96.8,41.6,-22.1,26,240,0.10,2.47,0.00,0.000,6,0.100,0.023,2481,1791,3520,0,0,0,0,0,0
$GC,496,-1.72,-96.8,97.9,-19.4,51,501,0.00,2.58,0.00,0.000,4,0.000,0.045,2481,208,3520,0,0,0,0,0,0
$GC,527,-1.72,-96.8,104.0,-19.7,53,531,0.00,2.38,0.00,0.000,6,0.000,0.018,2481,1753,3520,0,0,0,0,0,0
$GC,795,-1.79,-96.8,148.4,-15.9,77,799,0.00,2.53,0.00,0.000,4,0.000,0.028,2481,3366,3521,0,0,0,0,0,0
$GC,832,-1.87,-96.8,155.6,-17.8,80,837,0.12,2.53,0.00,0.000,6,0.067,0.022,2431,1771,3521,0,0,0,0,0,0
$GC,1113,-1.87,-96.8,208.8,-18.9,103,1118,0.10,2.53,0.00,0.000,4,0.132,0.038,2451,212,3522,0,0,0,0,0,0
$GC,1249,-1.87,-96.8,234.0,-17.9,106,1253,0.00,2.42,0.00,0.000,6,0.000,0.019,2451,1777,3522,0,0,0,0,0,0
$GC,1536,-1.87,-96.8,279.5,-15.7,113,1540,0.00,2.55,0.00,0.000,4,0.000,0.041,2451,215,3523,0,0,0,0,0,0
$GC,1591,-1.87,-96.8,288.6,-17.7,114,1595,0.00,2.42,0.00,0.000,6,0.000,0.020,2451,1769,3522,0,0,0,0,0,0
$GC,1865,-1.95,-96.8,330.4,-15.4,121,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1770,3522,0,0,0,0,0,0
$GC,2108,-2.04,-96.8,364.7,-13.7,127,2113,0.15,2.62,0.00,0.000,4,0.060,0.051,2393,211,3522,0,0,0,0,0,0
$GC,2184,-1.94,-96.8,377.9,-17.9,128,2190,0.20,2.45,0.00,0.000,6,0.110,0.025,2434,1751,3522,0,0,0,0,0,0
$GC,2440,-2.02,-96.8,415.6,-14.3,135,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1751,3522,0,0,0,0,0,0
$GC,2683,-2.10,-96.8,451.5,-14.8,141,2685,0.12,0.00,0.00,0.000,6,0.070,0.000,2387,1751,3520,0,0,0,0,0,0
$GC,2929,-2.10,-96.8,492.6,-17.2,147,2933,0.00,2.62,0.00,0.000,4,0.000,0.062,2387,211,3519,0,0,0,0,0,0
$STATE,2969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2969,begin apogee
$GC,2977,-0.31,0.0,500.4,18.1,148,3061,1.85,0.00,79.80,0.839,6,0.093,0.000,2789,1671,3120,0,0,0,0,0,0
$STATE,3062,end apogee,CONTROL_FINISHED_OK
$STATE,3062,begin climb
$GC,3064,1.81,96.8,504.3,0.0,150,3157,1.92,2.72,80.18,0.827,4,0.028,0.053,3272,3261,2723,0,0,0,0,0,0
$GC,3163,1.63,179.2,507.2,-0.2,152,3244,0.28,2.65,69.32,0.819,6,0.134,0.036,3220,1691,2388,0,0,0,0,0,0
$GC,3527,1.54,179.2,460.4,14.7,161,3532,0.12,2.67,0.00,0.000,4,0.160,0.073,3199,162,2380,0,0,0,0,0,0
$GC,3796,1.39,179.2,419.0,14.7,166,3802,0.17,2.47,0.00,0.000,6,0.139,0.027,3167,1682,2376,0,0,0,0,0,0
$GC,4045,1.39,179.2,389.4,11.8,173,4050,0.00,2.60,0.00,0.000,4,0.000,0.056,3166,159,2374,0,0,0,0,0,0
$GC,4093,1.39,179.2,383.7,12.9,174,4098,0.00,2.47,0.00,0.000,6,0.000,0.027,3166,1686,2374,0,0,0,0,0,0
$GC,4376,1.46,179.2,352.2,11.1,181,4380,0.00,2.60,0.00,0.000,4,0.000,0.055,3166,167,2371,0,0,0,0,0,0
$GC,4644,1.46,179.2,317.2,12.6,186,4650,0.00,2.42,0.00,0.000,6,0.000,0.026,3167,1676,2370,0,0,0,0,0,0
$GC,4894,1.53,179.2,291.5,10.1,193,4899,0.10,2.58,0.00,0.000,4,0.081,0.052,3211,160,2368,0,0,0,0,0,0
$GC,5163,1.39,179.2,256.7,12.6,198,5169,0.22,2.38,0.00,0.000,6,0.127,0.024,3167,1665,2366,0,0,0,0,0,0
$GC,5415,1.49,179.2,233.0,9.5,205,5419,0.00,2.55,0.00,0.000,4,0.000,0.052,3167,157,2364,0,0,0,0,0,0
$GC,5682,1.49,179.2,202.2,11.2,210,5688,0.00,2.35,0.00,0.000,6,0.000,0.022,3167,1663,2364,0,0,0,0,0,0
$GC,5948,1.59,179.8,177.5,9.0,232,5953,0.15,2.50,0.00,0.000,4,0.059,0.048,3224,154,2363,0,0,0,0,0,0
$GC,6241,1.44,179.8,139.9,12.3,260,6250,0.20,2.38,0.00,0.000,6,0.108,0.021,3181,1648,2363,0,0,0,0,0,0
$GC,6508,1.56,192.3,116.4,7.6,285,6518,0.00,0.00,7.72,0.499,6,0.000,0.000,3180,1649,2335,0,0,0,0,0,0
$GC,6770,1.71,214.7,98.5,6.5,310,6796,0.20,2.50,19.98,0.542,4,0.047,0.044,3258,158,2243,0,0,0,0,0,0
$GC,7095,1.55,214.7,64.8,11.6,340,7105,0.25,2.38,0.00,0.000,6,0.104,0.021,3203,1663,2240,0,0,0,0,0,0
$GC,7364,1.67,220.7,41.4,8.3,365,7373,0.00,0.00,6.12,0.411,6,0.000,0.000,3204,1664,2219,0,0,0,0,0,0
$GC,7652,1.78,221.4,18.0,8.9,402,7661,0.17,2.53,0.00,0.000,4,0.048,0.043,3290,158,2219,0,0,0,0,0,0
$GC,7708,1.55,221.4,11.0,14.3,410,7716,0.40,2.38,0.00,0.000,6,0.104,0.020,3202,1665,2219,0,0,0,0,0,0
$STATE,7766,end climb,SURFACE_DEPTH_REACHED
$STATE,7766,begin surface coast
$FINISH,0.8,1.023524
$STATE,7813,end surface coast,CONTROL_FINISHED_OK
$STATE,7813,begin surface
$SM_CCo,7834,106.55,0.435,1,0,1406,420.20
$SM_GC,1.47,0.00,0.00,106.55,0.000,0.000,0.435,414,1889,1406,-11.25,2.77,420.20
$IRIDIUM_FIX,2241.69,-15759.32,170300,030339
$TT8_MAMPS,0.026845
$HUMID,44.64
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,45.268
$10V_AH,10.3,38.753
$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,29.075,80.225,263.125,106.550,0.000,53.441,87.924,258.391,0.250,0.000,31.447,918.549,4625.744,419.651,1947.797,657.718,33.375,1151.077,0.000,1925.178,0.000,0.538,0.000
$DEVICE_MAMPS,160.303,72.865,839.098,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,286.725,276.278,346.604,550.724,970.676,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355284
$DATA_FILE_SIZE,32006,426
$CAP_FILE_SIZE,96104,0
$CFSIZE,260165632,153448448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221210,055836,2249.982,-15802.787,12,1.0,28,10.1