version: 66.06
glider: 148
mission: 9
dive: 384
start: 12 28 110 7 34 10
data:
$ID,148
$MISSION,9
$DIVE,384
$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,-866203.62
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,072458,2250.550,-15757.701,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.3
$GPS2,073315,2250.393,-15757.800,12,99.0,31,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.177,0.038
$KALMAN_X,-32973.2,-82.4,-19.6,53834.0,-588.0
$KALMAN_Y,-48866.9,-46.9,-411.4,179885.4,-1143.3
$MHEAD_RNG_PITCHd_Wd,67.8,1547,-23.3,-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,-1.54,-72.0,0.0,0.0,0,95,0.00,0.00,-74.82,0.000,2,0.000,0.000,409,1868,3275,0,0,0,0,0,0
$GC,98,-1.62,-129.2,3.6,-4.2,10,123,11.00,2.70,-7.12,0.000,4,0.153,0.044,2498,204,3649,0,0,0,0,0,0
$GC,170,-1.46,-129.2,24.1,-22.9,20,179,0.15,2.53,0.00,0.000,6,0.092,0.021,2534,1794,3650,0,0,0,0,0,0
$GC,450,-1.40,-129.2,75.1,-17.1,47,455,0.10,2.58,0.00,0.000,4,0.133,0.036,2554,204,3651,0,0,0,0,0,0
$GC,493,-1.46,-129.2,84.0,-16.0,50,502,0.00,2.50,0.00,0.000,6,0.000,0.019,2553,1793,3651,0,0,0,0,0,0
$GC,761,-1.56,-129.2,120.1,-13.0,75,766,0.15,2.50,0.00,0.000,4,0.057,0.028,2478,3371,3651,0,0,0,0,0,0
$GC,780,-1.56,-129.2,124.0,-14.4,76,791,0.15,2.55,0.00,0.000,6,0.086,0.021,2515,1776,3652,0,0,0,0,0,0
$GC,1045,-1.56,-129.2,165.7,-15.6,101,1049,0.00,2.55,0.00,0.000,4,0.000,0.029,2515,3368,3653,0,0,0,0,0,0
$GC,1102,-1.63,-129.2,174.7,-15.4,106,1106,0.00,2.50,0.00,0.000,6,0.000,0.022,2515,1789,3653,0,0,0,0,0,0
$GC,1361,-1.63,-129.2,212.3,-13.7,124,1365,0.00,2.53,0.00,0.000,4,0.000,0.028,2515,3372,3654,0,0,0,0,0,0
$GC,1379,-1.63,-129.2,215.0,-13.2,124,1383,0.00,2.47,0.00,0.000,6,0.000,0.021,2515,1796,3654,0,0,0,0,0,0
$GC,1642,-1.63,-129.2,247.3,-12.3,131,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1795,3654,0,0,0,0,0,0
$GC,1886,-1.71,-129.2,277.9,-12.5,137,1891,0.12,2.53,0.00,0.000,4,0.065,0.032,2453,3364,3654,0,0,0,0,0,0
$GC,1907,-1.71,-129.2,281.2,-16.0,137,1912,0.15,2.50,0.00,0.000,6,0.108,0.024,2485,1797,3654,0,0,0,0,0,0
$GC,2171,-1.71,-129.2,321.3,-15.1,144,2176,0.00,2.55,0.00,0.000,4,0.000,0.037,2485,3361,3655,0,0,0,0,0,0
$GC,2204,-1.71,-129.2,326.3,-14.3,144,2208,0.00,2.47,0.00,0.000,6,0.000,0.027,2485,1821,3654,0,0,0,0,0,0
$GC,2455,-1.71,-129.2,362.9,-14.5,150,2459,0.00,2.67,0.00,0.000,4,0.000,0.052,2485,214,3654,0,0,0,0,0,0
$GC,2487,-1.71,-129.2,368.5,-16.4,150,2492,0.00,2.53,0.00,0.000,6,0.000,0.025,2485,1803,3654,0,0,0,0,0,0
$GC,2737,-1.71,-129.2,401.9,-13.0,156,2741,0.00,2.55,0.00,0.000,4,0.000,0.041,2485,3370,3652,0,0,0,0,0,0
$GC,2766,-1.71,-129.2,405.6,-12.5,156,2770,0.00,2.50,0.00,0.000,6,0.000,0.025,2485,1814,3652,0,0,0,0,0,0
$GC,3020,-1.71,-129.2,436.7,-12.4,163,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1814,3651,0,0,0,0,0,0
$GC,3264,-1.71,-129.2,468.2,-13.1,169,3268,0.00,2.72,0.00,0.000,4,0.000,0.064,2485,217,3649,0,0,0,0,0,0
$GC,3298,-1.71,-129.2,473.1,-14.9,169,3302,0.00,2.58,0.00,0.000,6,0.000,0.032,2485,1810,3649,0,0,0,0,0,0
$STATE,3504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3504,begin apogee
$GC,3510,-0.31,0.0,502.1,13.8,174,3619,1.38,0.00,105.45,0.855,6,0.084,0.000,2790,1664,3120,0,0,0,0,0,0
$STATE,3620,end apogee,CONTROL_FINISHED_OK
$STATE,3620,begin climb
$GC,3622,1.62,129.2,505.9,0.0,176,3738,1.73,2.75,106.47,0.840,4,0.025,0.053,3229,3261,2592,0,0,0,0,0,0
$GC,3753,1.40,192.8,510.9,3.7,179,3814,0.32,2.62,54.03,0.824,6,0.133,0.036,3168,1694,2334,0,0,0,0,0,0
$GC,4082,1.28,192.8,473.0,12.6,187,4089,0.15,2.67,0.00,0.000,4,0.140,0.073,3139,168,2325,0,0,0,0,0,0
$GC,4354,1.14,192.8,437.6,13.1,192,4361,0.15,2.45,0.00,0.000,6,0.133,0.027,3112,1673,2323,0,0,0,0,0,0
$GC,4604,1.14,192.8,411.9,9.9,199,4608,0.00,2.60,0.00,0.000,4,0.000,0.058,3111,161,2320,0,0,0,0,0,0
$GC,4846,1.14,192.8,383.3,11.5,204,4850,0.00,2.42,0.00,0.000,6,0.000,0.026,3111,1667,2319,0,0,0,0,0,0
$GC,5118,1.14,192.8,357.8,9.2,211,5123,0.00,2.55,0.00,0.000,4,0.000,0.057,3111,164,2317,0,0,0,0,0,0
$GC,5258,1.14,192.8,342.9,10.7,214,5262,0.00,2.35,0.00,0.000,6,0.000,0.025,3111,1640,2316,0,0,0,0,0,0
$GC,5541,1.21,196.3,318.0,8.7,221,5545,0.00,2.67,0.00,0.000,4,0.000,0.050,3112,3245,2314,0,0,0,0,0,0
$GC,5566,1.30,210.5,316.0,7.8,221,5585,0.12,2.65,13.12,0.696,6,0.069,0.035,3168,1638,2262,0,0,0,0,0,0
$GC,5828,1.24,210.5,286.0,11.5,228,5833,0.20,2.55,0.00,0.000,4,0.114,0.064,3128,164,2258,0,0,0,0,0,0
$GC,6061,1.24,210.5,257.9,9.7,233,6065,0.00,2.33,0.00,0.000,6,0.000,0.023,3128,1638,2257,0,0,0,0,0,0
$GC,6347,1.25,225.3,234.2,7.8,240,6367,0.00,2.58,13.62,0.641,4,0.000,0.054,3128,167,2200,0,0,0,0,0,0
$GC,6493,1.25,225.3,219.6,11.0,243,6497,0.00,2.28,0.00,0.000,6,0.000,0.022,3128,1617,2198,0,0,0,0,0,0
$GC,6752,1.33,225.3,194.2,10.2,251,6756,0.00,2.42,0.00,0.000,4,0.000,0.051,3128,167,2196,0,0,0,0,0,0
$GC,6875,1.33,225.3,179.6,11.8,263,6880,0.00,2.28,0.00,0.000,6,0.000,0.022,3128,1611,2196,0,0,0,0,0,0
$GC,7140,1.41,225.3,154.5,9.0,287,7145,0.15,2.42,0.00,0.000,4,0.059,0.048,3188,159,2194,0,0,0,0,0,0
$GC,7250,1.25,225.3,140.5,12.9,297,7256,0.28,2.28,0.00,0.000,6,0.117,0.022,3134,1606,2194,0,0,0,0,0,0
$GC,7514,1.34,225.3,117.4,9.0,322,7518,0.00,2.40,0.00,0.000,4,0.000,0.046,3133,157,2194,0,0,0,0,0,0
$GC,7570,1.35,229.4,112.1,8.7,327,7580,0.00,2.28,4.18,0.397,6,0.000,0.021,3133,1607,2184,0,0,0,0,0,0
$GC,7836,1.47,230.9,89.1,8.9,352,7840,0.20,2.38,0.00,0.000,4,0.047,0.044,3208,166,2183,0,0,0,0,0,0
$GC,8147,1.30,230.9,52.4,11.7,380,8155,0.28,2.22,0.00,0.000,6,0.104,0.020,3148,1587,2183,0,0,0,0,0,0
$GC,8414,1.43,250.1,31.9,7.4,405,8441,0.10,2.38,19.58,0.486,4,0.077,0.043,3215,160,2098,0,0,0,0,0,0
$STATE,8644,end climb,SURFACE_DEPTH_REACHED
$STATE,8644,begin surface coast
$FINISH,0.7,1.011613
$STATE,8695,end surface coast,CONTROL_FINISHED_OK
$STATE,8695,begin surface
$SM_CCo,8718,88.25,0.430,1,0,1406,420.20
$SM_GC,1.65,0.00,0.00,88.25,0.000,0.000,0.430,415,1813,1406,-11.25,0.65,420.20
$IRIDIUM_FIX,2241.69,-15759.32,230300,040406
$TT8_MAMPS,0.026845
$HUMID,46.10
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,50.950
$10V_AH,10.2,44.167
$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,28.450,110.350,316.450,88.250,0.000,23.134,33.872,275.371,0.250,0.000,33.815,965.680,5332.750,454.011,1947.659,611.041,33.378,1217.986,0.000,1922.022,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,72.865,855.205,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.501,281.540,355.596,544.566,962.837,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,35243,447
$CAP_FILE_SIZE,103042,0
$CFSIZE,260165632,150638592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281210,100207,2250.135,-15757.023,24,1.6,24,10.1