version: 66.06
glider: 148
mission: 9
dive: 428
start: 1 2 111 20 56 33
data:
$ID,148
$MISSION,9
$DIVE,428
$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,-867220.12
$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
$GPS1,204654,2247.597,-15801.298,63,1.4,80,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.9
$GPS2,205538,2247.556,-15801.380,11,1.6,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.150,0.042
$KALMAN_X,-43058.2,293.7,522.2,56836.9,-1218.9
$KALMAN_Y,-84278.9,739.0,227.9,208618.5,-1466.4
$MHEAD_RNG_PITCHd_Wd,275.6,2952,-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,-74.55,0.000,2,0.000,0.000,415,1883,3255,0,0,0,0,0,0
$GC,98,-1.82,-100.7,3.3,-3.8,10,123,10.75,2.40,-5.53,0.000,4,0.153,0.039,2456,3366,3533,0,0,0,0,0,0
$GC,265,-1.75,-100.7,42.6,-21.6,31,270,0.10,2.53,0.00,0.000,6,0.136,0.023,2476,1783,3534,0,0,0,0,0,0
$GC,532,-1.75,-100.7,97.0,-16.8,55,536,0.00,2.55,0.00,0.000,4,0.000,0.045,2476,212,3535,0,0,0,0,0,0
$GC,604,-1.82,-100.7,110.0,-17.3,61,608,0.00,2.45,0.00,0.000,6,0.000,0.018,2475,1788,3535,0,0,0,0,0,0
$GC,869,-1.89,-100.7,152.3,-15.2,85,874,0.12,2.53,0.00,0.000,4,0.070,0.029,2430,3367,3536,0,0,0,0,0,0
$GC,894,-1.89,-100.7,157.4,-17.9,87,898,0.00,2.50,0.00,0.000,6,0.000,0.021,2430,1775,3536,0,0,0,0,0,0
$GC,1177,-1.89,-100.7,208.3,-18.7,110,1181,0.00,2.53,0.00,0.000,4,0.000,0.037,2430,211,3536,0,0,0,0,0,0
$GC,1200,-1.89,-100.7,213.5,-19.5,110,1205,0.00,2.45,0.00,0.000,6,0.000,0.019,2430,1782,3536,0,0,0,0,0,0
$GC,1459,-1.89,-100.7,257.4,-16.7,117,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1787,3537,0,0,0,0,0,0
$GC,1703,-1.89,-100.7,295.1,-15.4,123,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1787,3537,0,0,0,0,0,0
$GC,1946,-1.89,-100.7,333.9,-15.7,129,1951,0.00,2.58,0.00,0.000,4,0.000,0.038,2430,3367,3537,0,0,0,0,0,0
$GC,1997,-1.96,-100.7,341.9,-15.2,130,2002,0.00,2.55,0.00,0.000,6,0.000,0.026,2430,1784,3537,0,0,0,0,0,0
$GC,2277,-1.96,-100.7,385.0,-15.8,137,2281,0.00,2.65,0.00,0.000,4,0.000,0.054,2430,204,3536,0,0,0,0,0,0
$GC,2385,-2.03,-100.7,404.1,-16.6,139,2389,0.00,2.47,0.00,0.000,6,0.000,0.028,2430,1759,3536,0,0,0,0,0,0
$GC,2655,-2.11,-100.7,442.3,-14.0,146,2660,0.12,2.65,0.00,0.000,4,0.067,0.057,2386,212,3535,0,0,0,0,0,0
$GC,2730,-2.11,-100.7,455.5,-17.7,147,2734,0.00,2.53,0.00,0.000,6,0.000,0.032,2386,1762,3534,0,0,0,0,0,0
$GC,2986,-2.11,-100.7,498.6,-17.0,154,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1762,3532,0,0,0,0,0,0
$STATE,3022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3022,begin apogee
$GC,3028,-0.31,0.0,505.5,17.2,155,3116,1.85,0.00,83.30,0.851,6,0.091,0.000,2790,1672,3120,0,0,0,0,0,0
$STATE,3116,end apogee,CONTROL_FINISHED_OK
$STATE,3117,begin climb
$GC,3119,1.82,100.7,508.8,0.0,157,3210,1.90,0.00,83.45,0.839,6,0.027,0.000,3276,1672,2709,0,0,0,0,0,0
$GC,3446,1.57,107.1,495.9,8.3,165,3454,0.35,0.00,5.85,0.630,6,0.119,0.000,3204,1672,2683,0,0,0,0,0,0
$GC,3689,1.50,125.1,478.1,7.0,171,3713,0.00,2.80,16.58,0.785,4,0.000,0.055,3205,3265,2607,0,0,0,0,0,0
$GC,3721,1.44,139.3,475.9,7.4,171,3742,0.15,2.65,13.52,0.760,6,0.137,0.038,3178,1700,2551,0,0,0,0,0,0
$GC,4026,1.44,139.3,448.0,9.3,179,4030,0.00,2.67,0.00,0.000,4,0.000,0.072,3177,168,2546,0,0,0,0,0,0
$GC,4296,1.29,139.3,421.3,10.0,184,4302,0.17,2.42,0.00,0.000,6,0.140,0.025,3144,1676,2542,0,0,0,0,0,0
$GC,4548,1.39,151.1,401.4,7.7,191,4564,0.00,2.65,9.68,0.704,4,0.000,0.056,3144,171,2505,0,0,0,0,0,0
$GC,4829,1.39,151.1,371.6,10.4,197,4833,0.00,2.38,0.00,0.000,6,0.000,0.025,3145,1652,2500,0,0,0,0,0,0
$GC,5116,1.50,152.7,346.3,8.8,204,5121,0.17,2.55,0.00,0.000,4,0.056,0.055,3200,167,2498,0,0,0,0,0,0
$GC,5386,1.34,152.7,315.4,11.9,209,5392,0.22,2.38,0.00,0.000,6,0.125,0.025,3156,1651,2496,0,0,0,0,0,0
$GC,5636,1.45,171.4,296.8,6.9,216,5660,0.00,2.58,17.25,0.710,4,0.000,0.055,3156,167,2420,0,0,0,0,0,0
$GC,5841,1.45,171.4,277.1,10.4,220,5845,0.00,2.35,0.00,0.000,6,0.000,0.024,3156,1641,2418,0,0,0,0,0,0
$GC,6107,1.58,185.0,256.7,7.5,227,6127,0.20,2.55,12.50,0.657,4,0.051,0.054,3220,161,2365,0,0,0,0,0,0
$GC,6395,1.41,185.0,222.9,11.6,233,6400,0.25,2.35,0.00,0.000,6,0.118,0.023,3170,1638,2362,0,0,0,0,0,0
$GC,6674,1.52,192.7,198.4,8.2,240,6688,0.00,2.50,7.57,0.567,4,0.000,0.050,3170,166,2334,0,0,0,0,0,0
$GC,6967,1.52,192.7,169.9,11.0,269,6973,0.00,2.33,0.00,0.000,6,0.000,0.022,3170,1641,2332,0,0,0,0,0,0
$GC,7231,1.64,192.7,145.6,9.4,294,7236,0.20,2.47,0.00,0.000,4,0.048,0.045,3244,164,2331,0,0,0,0,0,0
$GC,7456,1.47,192.7,115.6,13.9,315,7461,0.30,2.30,0.00,0.000,6,0.115,0.022,3182,1624,2330,0,0,0,0,0,0
$GC,7724,1.58,198.3,90.5,8.4,339,7736,0.00,2.47,6.12,0.461,4,0.000,0.048,3182,167,2310,0,0,0,0,0,0
$GC,7853,1.59,204.2,79.3,8.3,351,7865,0.05,2.30,6.62,0.461,6,0.051,0.021,3216,1621,2286,0,0,0,0,0,0
$GC,8123,1.61,219.9,58.7,7.2,376,8148,0.00,2.50,14.68,0.509,4,0.000,0.046,3216,160,2221,0,0,0,0,0,0
$GC,8470,1.61,219.9,21.7,12.4,412,8478,0.00,2.30,0.00,0.000,6,0.000,0.021,3216,1612,2220,0,0,0,0,0,0
$STATE,8669,end climb,SURFACE_DEPTH_REACHED
$STATE,8669,begin surface coast
$FINISH,0.8,1.011513
$STATE,8720,end surface coast,CONTROL_FINISHED_OK
$STATE,8720,begin surface
$SM_CCo,8741,100.75,0.063,0,0,1407,420.20
$SM_GC,1.69,0.00,0.00,100.75,0.000,0.000,0.063,412,1867,1407,-11.26,2.18,420.20
$IRIDIUM_FIX,2239.35,-15757.16,280300,171721
$TT8_MAMPS,0.026845
$HUMID,47.59
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.60
$XPDR_PINGS,3
$24V_AH,23.5,56.105
$10V_AH,10.2,49.153
$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,28.250,85.225,277.125,100.750,0.000,23.825,33.695,320.710,0.750,0.000,13.956,991.977,5235.013,418.773,2074.104,646.904,33.374,1208.105,0.000,2062.739,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,78.234,851.370,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.661,273.914,354.230,562.379,994.241,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,35112,451
$CAP_FILE_SIZE,102592,0
$CFSIZE,260165632,148103168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020111,232528,2247.393,-15802.376,30,6.1,49,10.1