version: 66.06
glider: 148
mission: 9
dive: 386
start: 12 28 110 13 23 29
data:
$ID,148
$MISSION,9
$DIVE,386
$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,-866235.81
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,131237,2248.558,-15757.624,24,1.5,24,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.9
$GPS2,132232,2248.494,-15757.693,14,1.8,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.022,-0.155
$KALMAN_X,-34063.1,14.5,-131.1,55118.9,-20.2
$KALMAN_Y,-51220.6,107.9,553.1,177602.4,-1594.4
$MHEAD_RNG_PITCHd_Wd,177.9,2774,-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,-75.35,0.000,2,0.000,0.000,411,1880,3283,0,0,0,0,0,0
$GC,98,-1.81,-95.3,3.6,-4.4,10,123,10.85,2.78,-4.40,0.000,4,0.156,0.052,2459,206,3511,0,0,0,0,0,0
$GC,264,-1.81,-95.3,46.2,-22.0,30,273,0.00,2.50,0.00,0.000,6,0.000,0.021,2459,1780,3512,0,0,0,0,0,0
$GC,529,-1.81,-95.3,101.1,-19.4,55,534,0.00,2.58,0.00,0.000,4,0.000,0.038,2459,204,3513,0,0,0,0,0,0
$GC,599,-1.81,-95.3,116.1,-21.9,61,603,0.00,2.45,0.00,0.000,6,0.000,0.018,2459,1798,3513,0,0,0,0,0,0
$GC,866,-1.81,-95.3,161.9,-16.6,85,870,0.00,2.47,0.00,0.000,4,0.000,0.027,2459,3364,3514,0,0,0,0,0,0
$GC,894,-1.81,-95.3,168.1,-17.5,87,902,0.00,2.55,0.00,0.000,6,0.000,0.023,2459,1775,3515,0,0,0,0,0,0
$GC,1173,-1.81,-95.3,214.0,-17.1,108,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1775,3515,0,0,0,0,0,0
$GC,1415,-1.81,-95.3,250.0,-14.1,114,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1774,3516,0,0,0,0,0,0
$GC,1659,-1.89,-95.3,286.0,-15.0,120,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1773,3516,0,0,0,0,0,0
$GC,1903,-1.99,-95.3,319.5,-13.4,126,1905,0.15,0.00,0.00,0.000,6,0.061,0.000,2404,1773,3516,0,0,0,0,0,0
$GC,2148,-1.99,-95.3,357.9,-16.0,132,2150,0.10,0.00,0.00,0.000,6,0.135,0.000,2423,1773,3516,0,0,0,0,0,0
$GC,2390,-1.99,-95.3,393.6,-14.3,138,2395,0.00,2.62,0.00,0.000,4,0.000,0.056,2423,217,3516,0,0,0,0,0,0
$GC,2531,-1.99,-95.3,415.5,-15.2,141,2535,0.00,2.47,0.00,0.000,6,0.000,0.029,2423,1752,3514,0,0,0,0,0,0
$GC,2812,-1.99,-95.3,456.3,-14.7,148,2817,0.00,2.67,0.00,0.000,4,0.000,0.044,2423,3374,3513,0,0,0,0,0,0
$GC,2826,-1.99,-95.3,458.5,-14.5,148,2831,0.00,2.60,0.00,0.000,6,0.000,0.028,2423,1775,3513,0,0,0,0,0,0
$GC,3096,-1.99,-95.3,499.4,-15.7,155,3100,0.00,2.08,0.00,0.000,3,0.000,0.058,2423,535,3511,0,0,0,0,0,0
$STATE,3101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3101,begin apogee
$GC,3108,-0.31,0.0,500.4,15.6,155,3191,1.65,0.00,78.18,0.849,6,0.088,0.000,2789,1690,3120,0,0,0,0,0,0
$STATE,3192,end apogee,CONTROL_FINISHED_OK
$STATE,3192,begin climb
$GC,3194,1.81,95.3,504.1,0.0,157,3285,1.90,2.75,78.18,0.835,4,0.026,0.054,3273,3250,2730,0,0,0,0,0,0
$GC,3291,1.65,186.0,507.1,-1.2,159,3379,0.28,2.62,76.28,0.829,6,0.133,0.036,3222,1683,2361,0,0,0,0,0,0
$GC,3657,1.55,186.0,459.9,15.4,168,3663,0.12,2.65,0.00,0.000,4,0.150,0.072,3199,168,2352,0,0,0,0,0,0
$GC,3888,1.40,186.0,420.9,16.6,173,3893,0.17,2.42,0.00,0.000,6,0.133,0.027,3167,1665,2349,0,0,0,0,0,0
$GC,4175,1.40,186.0,383.7,12.2,180,4180,0.00,2.58,0.00,0.000,4,0.000,0.056,3166,163,2347,0,0,0,0,0,0
$GC,4380,1.40,186.0,357.1,12.6,184,4384,0.00,2.40,0.00,0.000,6,0.000,0.025,3166,1669,2346,0,0,0,0,0,0
$GC,4644,1.46,186.0,330.4,9.9,191,4648,0.00,2.58,0.00,0.000,4,0.000,0.058,3166,167,2344,0,0,0,0,0,0
$GC,4826,1.46,186.0,305.4,14.2,195,4831,0.00,2.35,0.00,0.000,6,0.000,0.025,3166,1653,2342,0,0,0,0,0,0
$GC,5115,1.54,186.0,273.9,10.1,202,5120,0.12,2.53,0.00,0.000,4,0.069,0.054,3215,166,2341,0,0,0,0,0,0
$GC,5386,1.39,186.0,237.1,14.2,207,5392,0.25,2.33,0.00,0.000,6,0.120,0.023,3166,1645,2339,0,0,0,0,0,0
$GC,5635,1.50,186.0,211.4,9.7,214,5640,0.00,2.50,0.00,0.000,4,0.000,0.052,3166,166,2338,0,0,0,0,0,0
$GC,5840,1.50,186.0,189.1,10.6,224,5844,0.00,2.30,0.00,0.000,6,0.000,0.022,3166,1644,2337,0,0,0,0,0,0
$GC,6102,1.61,186.0,164.0,9.6,248,6107,0.17,2.47,0.00,0.000,4,0.054,0.048,3229,160,2336,0,0,0,0,0,0
$GC,6353,1.46,186.0,132.7,12.2,272,6365,0.20,2.33,0.00,0.000,6,0.106,0.022,3184,1623,2336,0,0,0,0,0,0
$GC,6622,1.57,201.0,110.8,7.3,297,6641,0.00,0.00,9.48,0.521,6,0.000,0.000,3184,1623,2299,0,0,0,0,0,0
$GC,6899,1.72,220.2,92.3,6.9,323,6924,0.20,2.50,17.42,0.538,4,0.048,0.049,3252,167,2221,0,0,0,0,0,0
$GC,7193,1.59,220.2,55.7,12.7,350,7198,0.22,2.28,0.00,0.000,6,0.115,0.020,3207,1619,2219,0,0,0,0,0,0
$GC,7462,1.68,220.2,31.3,9.5,374,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1620,2218,0,0,0,0,0,0
$GC,7768,1.77,231.8,4.4,7.7,422,7778,0.15,0.00,7.25,0.408,2,0.058,0.000,3265,1623,2192,0,0,0,0,0,0
$STATE,7779,end climb,SURFACE_DEPTH_REACHED
$STATE,7779,begin surface coast
$FINISH,0.7,1.002820
$STATE,7851,end surface coast,CONTROL_FINISHED_OK
$STATE,7851,begin surface
$SM_CCo,7872,93.60,0.061,0,0,1407,420.20
$SM_GC,1.70,0.00,0.00,93.60,0.000,0.000,0.061,412,1869,1407,-11.26,2.23,420.20
$IRIDIUM_FIX,2241.69,-15754.99,230300,101054
$TT8_MAMPS,0.026845
$HUMID,46.41
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.5,51.157
$10V_AH,10.2,44.379
$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,28.100,69.450,266.775,93.600,0.000,66.125,78.660,249.902,0.750,0.000,16.425,912.833,4701.008,385.167,1925.834,639.372,33.373,1111.776,0.000,1916.206,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,72.098,849.069,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.075,279.360,355.239,565.285,999.779,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,35307,434
$CAP_FILE_SIZE,90197,0
$CFSIZE,260165632,150544384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281210,153728,2247.135,-15757.911,11,2.3,30,10.1