version: 66.06
glider: 148
mission: 9
dive: 409
start: 12 31 110 12 9 4
data:
$ID,148
$MISSION,9
$DIVE,409
$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,-866742.19
$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,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
$GPS1,115606,2249.415,-15757.771,36,1.3,41,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.8
$GPS2,120808,2249.511,-15757.852,14,1.3,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.111,0.110
$KALMAN_X,-36768.5,-576.7,-453.1,58469.1,592.0
$KALMAN_Y,-73086.1,17.1,-256.8,202262.7,40.5
$MHEAD_RNG_PITCHd_Wd,35.1,1712,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.76,-53.9,0.0,0.0,0,95,0.00,0.00,-74.55,0.000,2,0.000,0.000,411,1779,3304,0,0,0,0,0,0
$GC,98,-1.81,-96.0,3.7,-4.3,10,123,11.18,2.58,-3.90,0.000,4,0.168,0.038,2457,3370,3514,0,0,0,0,0,0
$GC,240,-1.81,-96.0,42.4,-21.0,28,249,0.00,2.55,0.00,0.000,6,0.000,0.023,2458,1782,3515,0,0,0,0,0,0
$GC,507,-1.81,-96.0,99.6,-21.9,53,512,0.00,2.55,0.00,0.000,4,0.000,0.027,2458,3379,3516,0,0,0,0,0,0
$GC,524,-1.75,-96.0,104.6,-21.0,54,530,0.10,2.50,0.00,0.000,6,0.137,0.021,2478,1780,3516,0,0,0,0,0,0
$GC,789,-1.84,-96.0,151.2,-15.4,78,793,0.00,2.50,0.00,0.000,4,0.000,0.038,2477,215,3517,0,0,0,0,0,0
$GC,807,-1.94,-96.0,154.0,-15.5,79,812,0.17,2.45,0.00,0.000,6,0.054,0.018,2417,1803,3517,0,0,0,0,0,0
$GC,1074,-1.94,-96.0,200.7,-18.5,103,1079,0.10,2.47,0.00,0.000,4,0.135,0.028,2436,3358,3518,0,0,0,0,0,0
$GC,1093,-1.94,-96.0,205.6,-18.2,103,1097,0.00,2.47,0.00,0.000,6,0.000,0.021,2436,1779,3518,0,0,0,0,0,0
$GC,1356,-1.94,-96.0,249.6,-17.1,110,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1778,3519,0,0,0,0,0,0
$GC,1602,-1.94,-96.0,291.1,-17.2,116,1606,0.00,2.55,0.00,0.000,4,0.000,0.045,2436,217,3519,0,0,0,0,0,0
$GC,1630,-1.94,-96.0,296.4,-17.7,116,1634,0.00,2.40,0.00,0.000,6,0.000,0.020,2436,1774,3520,0,0,0,0,0,0
$GC,1884,-2.00,-96.0,336.9,-15.4,123,1888,0.00,2.60,0.00,0.000,4,0.000,0.048,2436,210,3519,0,0,0,0,0,0
$GC,1937,-2.08,-96.0,345.3,-16.8,124,1942,0.12,2.45,0.00,0.000,6,0.067,0.023,2389,1762,3519,0,0,0,0,0,0
$GC,2215,-2.08,-96.0,393.6,-17.5,131,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1763,3519,0,0,0,0,0,0
$GC,2459,-2.08,-96.0,435.0,-16.7,137,2463,0.00,2.60,0.00,0.000,4,0.000,0.058,2388,224,3517,0,0,0,0,0,0
$GC,2489,-2.00,-96.0,440.3,-19.2,137,2494,0.17,2.50,0.00,0.000,6,0.114,0.029,2424,1772,3517,0,0,0,0,0,0
$GC,2744,-2.06,-96.0,480.7,-15.4,144,2749,0.00,2.65,0.00,0.000,4,0.000,0.060,2424,220,3516,0,0,0,0,0,0
$GC,2833,-2.06,-96.0,494.5,-14.5,146,2838,0.00,2.50,0.00,0.000,6,0.000,0.033,2424,1758,3516,0,0,0,0,0,0
$STATE,2868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2868,begin apogee
$GC,2875,-0.31,0.0,500.0,14.1,146,2961,1.62,0.00,79.53,0.839,6,0.084,0.000,2787,1671,3119,0,0,0,0,0,0
$STATE,2962,end apogee,CONTROL_FINISHED_OK
$STATE,2962,begin climb
$GC,2964,1.81,96.0,502.5,0.0,149,3057,1.90,2.60,79.10,0.828,4,0.026,0.060,3273,185,2727,0,0,0,0,0,0
$GC,3109,1.39,108.2,501.7,7.6,152,3126,0.52,2.42,11.27,0.730,6,0.115,0.028,3167,1684,2678,0,0,0,0,0,0
$GC,3384,1.40,114.3,479.7,8.3,159,3396,0.00,2.62,5.72,0.618,4,0.000,0.057,3166,190,2653,0,0,0,0,0,0
$GC,3637,1.28,125.4,458.2,7.8,164,3654,0.15,2.42,10.65,0.729,6,0.143,0.027,3140,1686,2607,0,0,0,0,0,0
$GC,3908,1.39,150.3,441.6,6.2,171,3937,0.10,2.65,21.98,0.786,4,0.082,0.056,3179,188,2506,0,0,0,0,0,0
$GC,4204,1.28,150.3,410.0,10.9,177,4210,0.20,2.38,0.00,0.000,6,0.128,0.025,3142,1665,2501,0,0,0,0,0,0
$GC,4476,1.40,161.5,387.9,7.8,184,4492,0.10,2.60,9.55,0.694,4,0.082,0.054,3182,185,2461,0,0,0,0,0,0
$GC,4664,1.29,161.5,365.4,12.8,188,4669,0.20,2.38,0.00,0.000,6,0.130,0.025,3145,1666,2458,0,0,0,0,0,0
$GC,4949,1.40,161.5,335.8,10.9,195,4953,0.00,2.50,0.00,0.000,4,0.000,0.054,3145,185,2456,0,0,0,0,0,0
$GC,5218,1.40,161.5,307.0,9.5,200,5224,0.00,2.35,0.00,0.000,6,0.000,0.024,3145,1664,2454,0,0,0,0,0,0
$GC,5468,1.54,169.6,286.4,8.1,207,5481,0.20,2.55,7.25,0.607,4,0.051,0.054,3212,184,2427,0,0,0,0,0,0
$GC,5747,1.40,169.6,255.6,10.4,213,5752,0.22,2.28,0.00,0.000,6,0.122,0.022,3167,1639,2425,0,0,0,0,0,0
$GC,6032,1.51,182.6,233.9,7.6,220,6052,0.10,2.47,12.27,0.632,4,0.081,0.051,3209,183,2374,0,0,0,0,0,0
$GC,6319,1.40,182.6,201.5,11.8,226,6325,0.22,2.30,0.00,0.000,6,0.117,0.021,3165,1635,2372,0,0,0,0,0,0
$GC,6588,1.53,191.9,177.9,8.0,249,6602,0.12,2.53,8.55,0.558,4,0.069,0.048,3214,176,2338,0,0,0,0,0,0
$GC,6782,1.44,191.9,158.7,10.6,268,6788,0.20,2.30,0.00,0.000,6,0.119,0.021,3175,1639,2336,0,0,0,0,0,0
$GC,7043,1.57,201.4,137.7,7.9,292,7060,0.12,2.47,9.73,0.538,4,0.067,0.045,3224,185,2297,0,0,0,0,0,0
$GC,7317,1.47,201.4,106.9,11.4,318,7326,0.17,2.28,0.00,0.000,6,0.099,0.021,3184,1623,2295,0,0,0,0,0,0
$GC,7582,1.65,224.1,86.2,6.5,343,7609,0.15,2.47,19.88,0.534,4,0.058,0.048,3247,177,2205,0,0,0,0,0,0
$GC,7652,1.53,224.1,80.1,9.9,349,7658,0.25,2.25,0.00,0.000,6,0.110,0.020,3196,1614,2204,0,0,0,0,0,0
$GC,7920,1.67,235.1,58.5,7.8,374,7936,0.12,2.42,10.48,0.475,4,0.065,0.043,3253,181,2161,0,0,0,0,0,0
$GC,8016,1.57,235.1,46.8,13.9,382,8024,0.22,2.25,0.00,0.000,6,0.095,0.021,3202,1602,2160,0,0,0,0,0,0
$GC,8297,1.69,235.1,20.1,9.1,415,8306,0.12,2.38,0.00,0.000,4,0.065,0.044,3261,186,2159,0,0,0,0,0,0
$GC,8360,1.57,235.1,12.9,11.7,424,8371,0.22,2.22,0.00,0.000,6,0.098,0.019,3209,1603,2159,0,0,0,0,0,0
$STATE,8434,end climb,SURFACE_DEPTH_REACHED
$STATE,8434,begin surface coast
$FINISH,0.9,1.023859
$STATE,8476,end surface coast,CONTROL_FINISHED_OK
$STATE,8476,begin surface
$SM_CCo,8496,86.60,0.061,0,0,1406,420.20
$SM_GC,1.75,0.00,0.00,86.60,0.000,0.000,0.061,411,1878,1406,-11.27,2.49,420.20
$IRIDIUM_FIX,2241.69,-15759.32,260300,121215
$TT8_MAMPS,0.026845
$HUMID,46.85
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.5,53.932
$10V_AH,10.2,47.007
$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,30.450,98.800,285.950,86.600,0.000,60.253,67.954,375.582,0.500,0.000,15.536,997.342,5033.191,411.812,2067.870,796.306,33.412,1237.643,0.000,2058.363,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,77.467,839.098,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.713,278.867,351.933,542.030,958.342,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,35116,441
$CAP_FILE_SIZE,112766,0
$CFSIZE,260165632,149180416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311210,143350,2250.288,-15757.223,43,99.0,62,10.1