version: 66.06
glider: 148
mission: 9
dive: 445
start: 1 5 111 1 38 52
data:
$ID,148
$MISSION,9
$DIVE,445
$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,380
$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,-867658.81
$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,77
$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
$GPS1,013116,2249.327,-15802.257,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.0
$GPS2,013758,2249.295,-15802.322,10,99.0,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.009,0.170
$KALMAN_X,-60508.2,588.3,36.9,72848.1,-1064.1
$KALMAN_Y,-89334.9,272.2,-426.6,218017.9,-581.1
$MHEAD_RNG_PITCHd_Wd,347.0,1744,-24.8,-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,17,-1.63,-64.1,0.0,0.0,0,95,0.00,0.00,-75.53,0.000,2,0.000,0.000,414,1832,3266,0,0,0,0,0,0
$GC,100,-1.69,-117.4,3.4,-4.0,10,125,10.90,2.42,-6.35,0.000,4,0.153,0.039,2484,3329,3600,0,0,0,0,0,0
$GC,209,-1.63,-117.4,30.4,-19.3,26,214,0.10,2.45,0.00,0.000,6,0.131,0.024,2504,1785,3602,0,0,0,0,0,0
$GC,473,-1.63,-117.4,84.5,-20.1,50,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1784,3602,0,0,0,0,0,0
$GC,727,-1.69,-117.4,127.5,-15.6,74,731,0.00,2.47,0.00,0.000,4,0.000,0.028,2504,3346,3603,0,0,0,0,0,0
$GC,768,-1.69,-117.4,133.4,-17.1,77,772,0.00,2.47,0.00,0.000,6,0.000,0.023,2504,1789,3603,0,0,0,0,0,0
$GC,1032,-1.77,-117.4,174.9,-14.5,101,1038,0.12,0.00,0.00,0.000,6,0.068,0.000,2455,1789,3604,0,0,0,0,0,0
$GC,1309,-1.77,-117.4,220.4,-15.7,119,1313,0.00,2.45,0.00,0.000,4,0.000,0.028,2454,3339,3605,0,0,0,0,0,0
$GC,1324,-1.77,-117.4,222.9,-15.8,119,1328,0.00,2.45,0.00,0.000,6,0.000,0.022,2454,1789,3605,0,0,0,0,0,0
$GC,1592,-1.87,-117.4,267.2,-17.4,126,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1785,3607,0,0,0,0,0,0
$GC,1836,-1.87,-117.4,319.4,-19.5,132,1840,0.00,2.60,0.00,0.000,4,0.000,0.047,2454,211,3607,0,0,0,0,0,0
$GC,1939,-1.87,-117.4,335.5,-14.9,134,1943,0.00,2.42,0.00,0.000,6,0.000,0.023,2454,1757,3607,0,0,0,0,0,0
$GC,2212,-1.87,-117.4,374.4,-14.1,141,2216,0.00,2.60,0.00,0.000,4,0.000,0.040,2454,3367,3606,0,0,0,0,0,0
$GC,2239,-1.87,-117.4,378.6,-14.0,141,2244,0.00,2.50,0.00,0.000,6,0.000,0.026,2454,1797,3606,0,0,0,0,0,0
$GC,2495,-1.87,-117.4,413.7,-13.8,148,2500,0.00,2.60,0.00,0.000,4,0.000,0.044,2454,3366,3604,0,0,0,0,0,0
$GC,2514,-1.87,-117.4,416.7,-14.4,148,2518,0.00,2.50,0.00,0.000,6,0.000,0.025,2454,1799,3604,0,0,0,0,0,0
$GC,2777,-1.87,-117.4,452.2,-13.7,155,2782,0.00,2.67,0.00,0.000,4,0.000,0.059,2454,217,3603,0,0,0,0,0,0
$GC,2802,-1.87,-117.4,455.8,-15.3,155,2807,0.00,2.55,0.00,0.000,6,0.000,0.031,2454,1794,3604,0,0,0,0,0,0
$GC,3061,-1.87,-117.4,493.7,-14.7,162,3066,0.00,2.67,0.00,0.000,4,0.000,0.059,2454,218,3602,0,0,0,0,0,0
$GC,3075,-1.87,-117.4,496.0,-14.7,162,3080,0.00,2.55,0.00,0.000,6,0.000,0.034,2454,1794,3602,0,0,0,0,0,0
$STATE,3138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3138,begin apogee
$GC,3145,-0.31,0.0,505.0,14.0,164,3246,1.52,0.00,96.80,0.854,6,0.082,0.000,2793,1674,3120,0,0,0,0,0,0
$STATE,3247,end apogee,CONTROL_FINISHED_OK
$STATE,3247,begin climb
$GC,3249,1.69,117.4,508.3,0.0,166,3359,1.77,2.78,97.68,0.842,4,0.023,0.054,3269,3266,2640,0,0,0,0,0,0
$GC,3383,1.41,155.5,513.0,5.4,169,3424,0.52,2.62,33.17,0.815,6,0.133,0.038,3170,1700,2484,0,0,0,0,0,0
$GC,3707,1.32,155.5,480.7,10.8,177,3712,0.10,2.70,0.00,0.000,4,0.160,0.074,3151,167,2477,0,0,0,0,0,0
$GC,3930,1.18,155.5,456.5,10.9,181,3936,0.17,2.42,0.00,0.000,6,0.134,0.026,3118,1679,2474,0,0,0,0,0,0
$GC,4182,1.19,163.4,435.3,8.3,188,4194,0.00,2.60,5.40,0.608,4,0.000,0.056,3118,166,2455,0,0,0,0,0,0
$GC,4320,1.19,163.4,422.5,10.0,191,4324,0.00,2.42,0.00,0.000,6,0.000,0.026,3118,1682,2453,0,0,0,0,0,0
$GC,4609,1.27,172.2,399.1,8.2,198,4620,0.00,0.00,9.32,0.704,6,0.000,0.000,3118,1681,2417,0,0,0,0,0,0
$GC,4851,1.35,172.5,377.4,9.0,204,4856,0.15,2.60,0.00,0.000,4,0.061,0.056,3169,167,2414,0,0,0,0,0,0
$GC,5120,1.19,172.5,344.6,11.5,209,5127,0.25,2.40,0.00,0.000,6,0.121,0.025,3121,1663,2411,0,0,0,0,0,0
$GC,5370,1.29,183.6,323.8,8.0,216,5387,0.00,2.62,10.50,0.683,4,0.000,0.055,3120,167,2370,0,0,0,0,0,0
$GC,5530,1.29,183.6,308.0,9.9,219,5535,0.00,2.38,0.00,0.000,6,0.000,0.024,3120,1654,2368,0,0,0,0,0,0
$GC,5794,1.39,190.0,285.8,8.4,226,5807,0.17,2.60,6.57,0.597,4,0.055,0.056,3179,167,2345,0,0,0,0,0,0
$GC,6076,1.26,190.0,253.1,11.0,232,6081,0.22,2.35,0.00,0.000,6,0.123,0.023,3136,1647,2343,0,0,0,0,0,0
$GC,6367,1.38,213.1,233.5,6.8,239,6395,0.10,2.55,20.73,0.670,4,0.081,0.053,3174,167,2249,0,0,0,0,0,0
$GC,6662,1.29,213.1,200.9,11.9,245,6667,0.17,2.30,0.00,0.000,6,0.127,0.021,3142,1628,2247,0,0,0,0,0,0
$GC,6932,1.41,219.5,176.7,8.4,269,6945,0.10,2.53,6.10,0.515,4,0.081,0.048,3183,160,2225,0,0,0,0,0,0
$GC,7235,1.29,219.5,144.0,10.6,299,7240,0.20,2.28,0.00,0.000,6,0.127,0.021,3146,1630,2223,0,0,0,0,0,0
$GC,7499,1.44,234.0,122.1,7.6,323,7520,0.10,2.47,13.75,0.557,4,0.080,0.045,3190,164,2165,0,0,0,0,0,0
$GC,7557,1.36,234.0,116.1,11.6,328,7567,0.12,2.30,0.00,0.000,6,0.110,0.022,3163,1600,2164,0,0,0,0,0,0
$GC,7823,1.50,240.7,91.9,8.4,353,7836,0.10,2.45,7.12,0.472,4,0.080,0.047,3209,164,2138,0,0,0,0,0,0
$GC,8146,1.39,240.7,54.7,12.4,383,8151,0.22,2.20,0.00,0.000,6,0.119,0.021,3165,1590,2137,0,0,0,0,0,0
$GC,8413,1.51,240.7,28.5,9.7,408,8423,0.10,2.40,0.00,0.000,4,0.079,0.044,3215,163,2136,0,0,0,0,0,0
$GC,8562,1.40,240.7,10.9,12.8,430,8571,0.22,2.22,0.00,0.000,6,0.103,0.021,3166,1579,2136,0,0,0,0,0,0
$STATE,8621,end climb,SURFACE_DEPTH_REACHED
$STATE,8621,begin surface coast
$FINISH,0.8,1.011993
$STATE,8668,end surface coast,CONTROL_FINISHED_OK
$STATE,8668,begin surface
$SM_CCo,8688,69.53,0.062,0,0,1570,380.21
$SM_GC,1.77,0.00,0.00,69.53,0.000,0.000,0.062,414,1865,1570,-11.25,2.15,380.21
$IRIDIUM_FIX,2241.69,-15804.53,300300,222219
$TT8_MAMPS,0.028379
$HUMID,47.91
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.5,58.197
$10V_AH,10.1,51.105
$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,28.650,95.050,307.150,69.525,0.000,28.320,32.522,175.270,0.250,0.000,32.323,984.625,5205.997,436.541,2015.310,517.716,33.379,1206.511,0.000,1986.335,0.000,0.537,0.000
$DEVICE_MAMPS,159.536,74.399,854.438,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,302.876,269.982,350.884,531.540,940.505,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355272
$DATA_FILE_SIZE,35095,446
$CAP_FILE_SIZE,102971,0
$CFSIZE,260165632,147107840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,040606,2249.802,-15802.707,35,1.3,35,10.1