version: 66.06
glider: 148
mission: 9
dive: 412
start: 12 31 110 20 26 10
data:
$ID,148
$MISSION,9
$DIVE,412
$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,-866811.94
$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,39
$R_STBD_OVSHOOT,75
$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
$GPS1,201709,2247.661,-15757.897,39,1.7,54,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.6
$GPS2,202514,2247.642,-15757.896,13,1.0,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.156,-0.012
$KALMAN_X,-38572.6,402.4,279.6,58482.6,-1026.9
$KALMAN_Y,-74244.6,719.7,-286.0,199273.5,-1090.5
$MHEAD_RNG_PITCHd_Wd,84.2,1200,-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,-74.50,0.000,2,0.000,0.000,411,1825,3286,0,0,0,0,0,0
$GC,98,-1.81,-91.8,3.6,-4.8,10,123,10.82,2.67,-4.10,0.000,4,0.153,0.047,2460,208,3497,0,0,0,0,0,0
$GC,133,-0.69,-91.8,15.6,-29.4,14,142,1.10,2.45,0.00,0.000,6,0.092,0.018,2701,1757,3499,0,0,0,0,0,0
$GC,424,-1.34,-117.6,41.2,-6.1,50,438,0.50,2.53,-1.08,0.000,4,0.021,0.038,2513,3365,3605,0,0,0,0,0,0
$GC,522,-1.46,-117.6,55.7,-17.5,58,531,0.10,2.50,0.00,0.000,6,0.086,0.022,2539,1807,3605,0,0,0,0,0,0
$GC,790,-1.67,-117.6,98.1,-15.6,83,795,0.17,2.50,0.00,0.000,4,0.051,0.029,2469,3369,3605,0,0,0,0,0,0
$GC,850,-1.78,-117.6,110.0,-18.6,88,859,0.00,2.47,0.00,0.000,6,0.000,0.022,2469,1821,3605,0,0,0,0,0,0
$GC,1114,-1.85,-117.6,155.6,-17.9,113,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1820,3606,0,0,0,0,0,0
$GC,1377,-1.94,-117.6,201.1,-16.5,138,1379,0.15,0.00,0.00,0.000,6,0.058,0.000,2408,1820,3607,0,0,0,0,0,0
$GC,1618,-1.94,-117.6,246.3,-18.6,144,1620,0.12,0.00,0.00,0.000,6,0.123,0.000,2433,1818,3608,0,0,0,0,0,0
$GC,1862,-1.94,-117.6,285.7,-15.7,150,1866,0.00,2.62,0.00,0.000,4,0.000,0.041,2433,209,3608,0,0,0,0,0,0
$GC,1908,-1.94,-117.6,293.9,-16.7,151,1913,0.00,2.53,0.00,0.000,6,0.000,0.021,2433,1821,3608,0,0,0,0,0,0
$GC,2191,-2.01,-117.6,339.6,-16.7,158,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1821,3608,0,0,0,0,0,0
$GC,2434,-2.07,-117.6,379.7,-16.2,164,2436,0.10,0.00,0.00,0.000,6,0.081,0.000,2387,1821,3608,0,0,0,0,0,0
$GC,2677,-2.07,-117.6,423.8,-18.0,170,2683,0.10,2.75,0.00,0.000,4,0.132,0.058,2406,216,3606,0,0,0,0,0,0
$GC,2717,-2.07,-117.6,431.2,-18.6,170,2723,0.00,2.58,0.00,0.000,6,0.000,0.031,2406,1820,3606,0,0,0,0,0,0
$GC,2966,-2.07,-117.6,473.1,-16.7,177,2971,0.00,2.72,0.00,0.000,4,0.000,0.058,2406,222,3605,0,0,0,0,0,0
$GC,3059,-2.07,-117.6,489.9,-17.9,179,3063,0.00,2.58,0.00,0.000,6,0.000,0.035,2406,1812,3604,0,0,0,0,0,0
$STATE,3136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3136,begin apogee
$GC,3143,-0.31,0.0,502.8,16.3,181,3244,1.75,0.00,96.72,0.849,6,0.089,0.000,2789,1675,3120,0,0,0,0,0,0
$STATE,3245,end apogee,CONTROL_FINISHED_OK
$STATE,3245,begin climb
$GC,3247,1.84,117.6,506.6,0.0,183,3356,1.92,2.80,96.72,0.835,4,0.027,0.051,3275,3264,2639,0,0,0,0,0,0
$GC,3371,1.62,153.3,509.6,5.0,185,3409,0.32,2.65,31.05,0.805,6,0.137,0.038,3214,1697,2494,0,0,0,0,0,0
$GC,3667,1.53,153.3,471.7,13.7,193,3672,0.12,2.67,0.00,0.000,4,0.153,0.074,3192,166,2486,0,0,0,0,0,0
$GC,3862,1.38,153.3,443.3,13.8,197,3867,0.15,2.45,0.00,0.000,6,0.147,0.026,3165,1677,2483,0,0,0,0,0,0
$GC,4137,1.38,153.3,415.0,10.0,204,4142,0.00,2.58,0.00,0.000,4,0.000,0.056,3165,162,2481,0,0,0,0,0,0
$GC,4407,1.30,153.3,382.8,11.4,209,4413,0.00,2.42,0.00,0.000,6,0.000,0.025,3166,1668,2479,0,0,0,0,0,0
$GC,4657,1.30,153.3,358.3,9.6,216,4661,0.00,2.58,0.00,0.000,4,0.000,0.055,3165,159,2478,0,0,0,0,0,0
$GC,4926,1.23,153.3,331.0,10.0,221,4933,0.17,2.38,0.00,0.000,6,0.142,0.025,3133,1663,2475,0,0,0,0,0,0
$GC,5177,1.39,160.2,310.7,8.2,228,5182,0.12,2.58,0.00,0.000,4,0.069,0.055,3178,161,2474,0,0,0,0,0,0
$GC,5446,1.31,160.2,282.7,10.2,233,5453,0.15,2.35,0.00,0.000,6,0.133,0.024,3149,1647,2472,0,0,0,0,0,0
$GC,5696,1.44,173.6,263.9,7.5,240,5717,0.10,2.60,14.12,0.672,4,0.082,0.054,3189,163,2411,0,0,0,0,0,0
$GC,5858,1.35,173.6,249.3,9.7,243,5863,0.17,2.35,0.00,0.000,6,0.127,0.023,3157,1652,2409,0,0,0,0,0,0
$GC,6123,1.49,188.3,228.7,7.4,250,6144,0.12,2.60,13.75,0.641,4,0.070,0.053,3205,167,2351,0,0,0,0,0,0
$GC,6412,1.40,188.3,195.5,13.0,257,6417,0.20,2.33,0.00,0.000,6,0.124,0.022,3167,1638,2348,0,0,0,0,0,0
$GC,6673,1.54,196.7,172.5,8.1,281,6686,0.12,2.47,7.62,0.544,4,0.068,0.048,3216,163,2318,0,0,0,0,0,0
$GC,6962,1.43,196.7,141.6,10.3,309,6967,0.22,2.33,0.00,0.000,6,0.123,0.021,3173,1643,2317,0,0,0,0,0,0
$GC,7226,1.56,196.7,118.3,9.3,333,7231,0.10,2.50,0.00,0.000,4,0.079,0.047,3220,156,2316,0,0,0,0,0,0
$GC,7527,1.48,201.4,88.9,8.5,361,7545,0.17,2.25,5.57,0.427,6,0.125,0.020,3185,1616,2297,0,0,0,0,0,0
$GC,7800,1.63,215.3,72.5,7.5,387,7825,0.12,2.40,13.10,0.507,4,0.066,0.043,3243,162,2240,0,0,0,0,0,0
$GC,7963,1.51,215.3,53.0,12.8,401,7968,0.25,2.28,0.00,0.000,6,0.124,0.021,3194,1614,2239,0,0,0,0,0,0
$GC,8230,1.65,223.1,29.5,8.1,425,8250,0.10,2.67,8.12,0.434,4,0.076,0.032,3251,3241,2208,0,0,0,0,0,0
$GC,8261,1.73,227.8,26.5,8.5,428,8278,0.00,2.70,5.45,0.386,6,0.000,0.027,3251,1591,2190,0,0,0,0,0,0
$STATE,8465,end climb,SURFACE_DEPTH_REACHED
$STATE,8465,begin surface coast
$FINISH,0.7,0.998997
$STATE,8510,end surface coast,CONTROL_FINISHED_OK
$STATE,8510,begin surface
$SM_CCo,8533,95.47,0.061,0,0,1407,420.20
$SM_GC,1.71,0.00,0.00,95.47,0.000,0.000,0.061,411,1888,1407,-11.27,2.77,420.20
$IRIDIUM_FIX,2239.35,-15759.32,260300,171751
$TT8_MAMPS,0.027612
$HUMID,46.77
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,54.239
$10V_AH,10.2,47.338
$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,31.400,86.325,292.250,95.475,0.000,25.351,35.856,292.892,0.000,0.000,15.061,1009.750,4905.190,438.145,2137.675,627.064,33.395,1255.214,0.000,2136.540,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,74.399,849.069,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.982,304.894,386.495,616.965,1088.360,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,35226,467
$CAP_FILE_SIZE,104423,0
$CFSIZE,260165632,149024768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311210,225116,2246.776,-15757.266,16,2.7,35,10.1