version: 66.06
glider: 148
mission: 9
dive: 359
start: 12 25 110 2 45 38
data:
$ID,148
$MISSION,9
$DIVE,359
$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,-865639.81
$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,42
$R_STBD_OVSHOOT,67
$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
$GPS1,023722,2247.208,-15802.154,10,2.4,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.9
$GPS2,024443,2247.128,-15802.185,12,1.5,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.135
$KALMAN_X,-44928.2,362.6,82.6,57679.7,13.5
$KALMAN_Y,-20537.3,65.2,-270.5,145263.9,-1737.7
$MHEAD_RNG_PITCHd_Wd,306.7,1413,-22.7,-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,16,begin dive
$GC,18,-1.51,-75.7,0.0,0.0,0,95,0.00,0.00,-75.07,0.000,2,0.000,0.000,413,1815,3274,0,0,0,0,0,0
$GC,100,-1.58,-131.7,3.5,-4.5,10,125,11.00,2.42,-7.12,0.000,4,0.152,0.038,2507,3349,3660,0,0,0,0,0,0
$GC,243,-1.43,-131.7,40.9,-21.6,28,252,0.15,2.50,0.00,0.000,6,0.089,0.024,2544,1793,3661,0,0,0,0,0,0
$GC,511,-1.43,-131.7,87.2,-17.2,53,515,0.00,2.50,0.00,0.000,4,0.000,0.028,2544,3355,3662,0,0,0,0,0,0
$GC,563,-1.57,-131.7,95.9,-12.1,57,569,0.12,2.47,0.00,0.000,6,0.066,0.022,2475,1794,3663,0,0,0,0,0,0
$GC,827,-1.43,-131.7,144.4,-18.6,82,832,0.30,2.47,0.00,0.000,4,0.099,0.027,2544,3356,3663,0,0,0,0,0,0
$GC,912,-1.58,-131.7,157.2,-11.4,90,917,0.12,2.42,0.00,0.000,6,0.064,0.022,2471,1820,3663,0,0,0,0,0,0
$GC,1203,-1.43,-131.7,207.9,-18.4,114,1210,0.32,2.58,0.00,0.000,4,0.092,0.035,2545,211,3664,0,0,0,0,0,0
$GC,1220,-1.43,-131.7,210.8,-15.7,114,1224,0.00,2.45,0.00,0.000,6,0.000,0.018,2545,1808,3664,0,0,0,0,0,0
$GC,1490,-1.53,-131.7,243.5,-12.3,121,1494,0.00,2.45,0.00,0.000,4,0.000,0.030,2545,3356,3664,0,0,0,0,0,0
$GC,1522,-1.64,-131.7,247.4,-10.5,121,1527,0.17,2.42,0.00,0.000,6,0.048,0.022,2461,1825,3665,0,0,0,0,0,0
$GC,1778,-1.53,-131.7,286.7,-15.9,128,1783,0.25,2.45,0.00,0.000,4,0.095,0.031,2521,3356,3665,0,0,0,0,0,0
$GC,1823,-1.62,-131.7,292.8,-12.0,129,1827,0.00,2.42,0.00,0.000,6,0.000,0.025,2522,1832,3664,0,0,0,0,0,0
$GC,2110,-1.70,-131.7,330.7,-13.4,136,2112,0.12,0.00,0.00,0.000,6,0.064,0.000,2461,1832,3664,0,0,0,0,0,0
$GC,2354,-1.61,-131.7,368.4,-15.3,142,2359,0.20,2.47,0.00,0.000,4,0.098,0.038,2506,3353,3664,0,0,0,0,0,0
$GC,2370,-1.61,-131.7,370.7,-14.5,142,2374,0.00,2.42,0.00,0.000,6,0.000,0.025,2506,1834,3664,0,0,0,0,0,0
$GC,2638,-1.61,-131.7,405.0,-12.8,149,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1834,3664,0,0,0,0,0,0
$GC,2882,-1.69,-131.7,435.1,-12.1,155,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1834,3662,0,0,0,0,0,0
$GC,3126,-1.76,-131.7,464.1,-11.7,161,3128,0.12,0.00,0.00,0.000,6,0.065,0.000,2453,1834,3661,0,0,0,0,0,0
$GC,3369,-1.69,-131.7,498.3,-14.1,167,3371,0.17,0.00,0.00,0.000,6,0.102,0.000,2490,1834,3659,0,0,0,0,0,0
$STATE,3407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3407,begin apogee
$GC,3413,-0.31,0.0,503.7,14.0,168,3524,1.35,0.00,107.72,0.853,6,0.081,0.000,2791,1673,3120,0,0,0,0,0,0
$STATE,3525,end apogee,CONTROL_FINISHED_OK
$STATE,3525,begin climb
$GC,3529,1.58,131.7,506.6,0.0,170,3644,1.67,0.00,108.60,0.841,6,0.023,0.000,3215,1672,2583,0,0,0,0,0,0
$GC,3856,1.29,131.7,489.7,10.9,178,3863,0.32,2.67,0.00,0.000,4,0.116,0.048,3146,3240,2576,0,0,0,0,0,0
$GC,3870,1.06,131.7,488.2,11.2,178,3878,0.28,2.62,0.00,0.000,6,0.111,0.039,3091,1689,2576,0,0,0,0,0,0
$GC,4146,1.09,158.2,468.3,6.9,185,4174,0.00,2.78,22.15,0.795,4,0.000,0.074,3090,168,2474,0,0,0,0,0,0
$GC,4229,1.02,158.5,461.7,9.0,186,4233,0.00,2.40,0.00,0.000,6,0.000,0.026,3090,1650,2472,0,0,0,0,0,0
$GC,4483,1.03,171.3,440.7,8.0,193,4501,0.00,2.60,11.98,0.743,4,0.000,0.060,3091,164,2421,0,0,0,0,0,0
$GC,4692,1.03,171.3,419.6,11.5,197,4696,0.00,2.42,0.00,0.000,6,0.000,0.026,3091,1666,2417,0,0,0,0,0,0
$GC,4951,1.09,171.3,395.4,9.2,204,4955,0.00,2.55,0.00,0.000,4,0.000,0.058,3091,167,2415,0,0,0,0,0,0
$GC,5017,1.09,171.3,389.5,9.3,205,5022,0.00,2.40,0.00,0.000,6,0.000,0.025,3091,1660,2414,0,0,0,0,0,0
$GC,5281,1.18,183.7,367.7,8.0,212,5299,0.10,2.65,10.80,0.709,4,0.081,0.059,3135,162,2371,0,0,0,0,0,0
$GC,5453,1.03,183.7,346.9,12.4,215,5458,0.25,2.35,0.00,0.000,6,0.112,0.025,3084,1643,2369,0,0,0,0,0,0
$GC,5709,1.13,183.7,321.9,9.5,222,5714,0.10,2.55,0.00,0.000,4,0.081,0.057,3126,162,2367,0,0,0,0,0,0
$GC,5776,1.01,183.7,314.5,10.6,223,5781,0.22,2.38,0.00,0.000,6,0.111,0.025,3081,1647,2366,0,0,0,0,0,0
$GC,6041,1.16,208.8,294.2,7.0,230,6070,0.12,2.62,22.15,0.713,4,0.067,0.056,3132,166,2268,0,0,0,0,0,0
$GC,6251,1.08,208.8,272.9,10.2,234,6257,0.17,2.35,0.00,0.000,6,0.115,0.023,3097,1639,2264,0,0,0,0,0,0
$GC,6511,1.20,208.8,250.5,9.1,241,6516,0.10,2.50,0.00,0.000,4,0.084,0.054,3134,164,2261,0,0,0,0,0,0
$GC,6744,1.12,208.8,222.0,12.4,246,6749,0.15,2.30,0.00,0.000,6,0.120,0.022,3105,1633,2261,0,0,0,0,0,0
$GC,7029,1.24,220.3,196.9,8.1,253,7048,0.10,2.53,9.90,0.588,4,0.084,0.050,3142,170,2221,0,0,0,0,0,0
$GC,7301,1.17,220.3,166.7,11.5,280,7305,0.15,2.28,0.00,0.000,6,0.120,0.021,3114,1616,2220,0,0,0,0,0,0
$GC,7562,1.28,220.5,141.7,9.0,304,7567,0.10,2.45,0.00,0.000,4,0.078,0.052,3161,157,2219,0,0,0,0,0,0
$GC,7603,1.15,220.5,137.8,11.2,307,7608,0.25,2.28,0.00,0.000,6,0.112,0.021,3111,1621,2219,0,0,0,0,0,0
$GC,7868,1.32,265.5,118.7,5.4,331,7914,0.15,0.00,39.65,0.578,6,0.058,0.000,3173,1624,2036,0,0,0,0,0,0
$GC,8168,1.33,279.1,84.9,7.9,360,8190,0.10,2.45,12.48,0.507,4,0.130,0.044,3153,157,1981,0,0,0,0,0,0
$GC,8248,1.33,279.1,77.2,11.6,367,8252,0.00,2.30,0.00,0.000,6,0.000,0.020,3153,1621,1980,0,0,0,0,0,0
$GC,8515,1.42,279.1,49.7,9.8,391,8519,0.00,2.60,0.00,0.000,4,0.000,0.031,3153,3251,1978,0,0,0,0,0,0
$GC,8534,1.51,279.1,47.6,9.4,392,8539,0.15,2.67,0.00,0.000,6,0.058,0.027,3214,1597,1977,0,0,0,0,0,0
$GC,8818,1.42,279.1,12.6,13.5,426,8827,0.20,2.38,0.00,0.000,4,0.105,0.042,3172,164,1976,0,0,0,0,0,0
$STATE,8892,end climb,SURFACE_DEPTH_REACHED
$STATE,8892,begin surface coast
$FINISH,0.6,1.016875
$STATE,8947,end surface coast,CONTROL_FINISHED_OK
$STATE,8947,begin surface
$SM_CCo,8970,67.88,0.061,0,0,1407,420.20
$SM_GC,1.54,0.00,0.00,67.88,0.000,0.000,0.061,410,1825,1407,-11.27,0.99,420.20
$IRIDIUM_FIX,2241.69,-15802.37,200300,000033
$TT8_MAMPS,0.026845
$HUMID,46.33
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.5,47.982
$10V_AH,10.3,41.370
$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,30.425,99.375,345.425,67.875,0.000,28.341,32.063,238.918,0.250,0.000,30.707,964.858,5653.073,462.148,1841.936,560.365,33.356,1186.237,0.000,1824.853,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,74.399,852.904,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,300.764,270.048,342.657,522.029,923.595,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,35238,445
$CAP_FILE_SIZE,104549,0
$CFSIZE,260165632,152092672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251210,051736,2247.446,-15802.871,35,0.9,40,10.1