version: 66.06
glider: 148
mission: 9
dive: 456
start: 1 6 111 10 52 39
data:
$ID,148
$MISSION,9
$DIVE,456
$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,-867888.56
$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,28
$R_STBD_OVSHOOT,46
$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
$GPS1,104444,2247.142,-15801.961,110,2.3,129,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.7
$GPS2,105144,2247.077,-15802.004,14,1.3,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.095,0.124
$KALMAN_X,-72458.3,53.3,346.6,85572.8,-1438.9
$KALMAN_Y,-93559.5,-543.1,369.8,218158.2,-494.8
$MHEAD_RNG_PITCHd_Wd,312.3,1707,-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,-75.00,0.000,2,0.000,0.000,415,1878,3322,0,0,0,0,0,0
$GC,100,-1.80,-83.0,3.9,-5.7,10,125,10.75,2.40,-2.58,0.000,4,0.152,0.035,2460,3374,3461,0,0,0,0,0,0
$GC,183,-1.80,-83.0,27.4,-22.0,22,192,0.00,2.58,0.00,0.000,6,0.000,0.023,2460,1780,3462,0,0,0,0,0,0
$GC,456,-1.72,-83.0,83.1,-20.6,48,465,0.12,0.00,0.00,0.000,6,0.133,0.000,2484,1780,3463,0,0,0,0,0,0
$GC,723,-1.79,-83.0,127.5,-15.4,73,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1780,3464,0,0,0,0,0,0
$GC,985,-1.90,-83.0,166.8,-14.2,98,991,0.17,2.58,0.00,0.000,4,0.054,0.038,2423,204,3464,0,0,0,0,0,0
$GC,1015,-1.90,-83.0,171.4,-17.2,100,1020,0.10,2.47,0.00,0.000,6,0.132,0.018,2442,1804,3464,0,0,0,0,0,0
$GC,1272,-1.90,-83.0,213.5,-15.5,118,1276,0.00,2.60,0.00,0.000,4,0.000,0.038,2442,210,3465,0,0,0,0,0,0
$GC,1300,-1.90,-83.0,218.4,-17.0,118,1304,0.00,2.42,0.00,0.000,6,0.000,0.019,2442,1783,3465,0,0,0,0,0,0
$GC,1554,-1.90,-83.0,256.4,-14.8,125,1558,0.00,2.58,0.00,0.000,4,0.000,0.040,2442,203,3465,0,0,0,0,0,0
$GC,1596,-1.90,-83.0,262.7,-13.9,126,1601,0.00,2.45,0.00,0.000,6,0.000,0.019,2442,1785,3466,0,0,0,0,0,0
$GC,1885,-1.97,-83.0,304.1,-14.7,133,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1788,3466,0,0,0,0,0,0
$GC,2127,-2.04,-83.0,340.7,-14.7,139,2132,0.12,2.62,0.00,0.000,4,0.068,0.048,2393,210,3466,0,0,0,0,0,0
$GC,2173,-1.96,-83.0,348.1,-17.2,140,2178,0.17,2.45,0.00,0.000,6,0.113,0.023,2428,1775,3466,0,0,0,0,0,0
$GC,2460,-1.96,-83.0,388.7,-13.4,147,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1775,3465,0,0,0,0,0,0
$GC,2704,-1.96,-83.0,419.7,-12.4,153,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1775,3464,0,0,0,0,0,0
$GC,2950,-2.03,-83.0,450.2,-12.4,159,2954,0.00,2.65,0.00,0.000,4,0.000,0.061,2429,219,3463,0,0,0,0,0,0
$GC,3005,-2.03,-83.0,458.5,-14.9,160,3010,0.00,2.53,0.00,0.000,6,0.000,0.033,2429,1783,3463,0,0,0,0,0,0
$GC,3278,-2.03,-83.0,496.9,-14.2,167,3282,0.00,2.67,0.00,0.000,4,0.000,0.060,2429,221,3461,0,0,0,0,0,0
$GC,3298,-2.03,-83.0,499.8,-15.2,167,3302,0.00,2.10,0.00,0.000,3,0.000,0.031,2429,1524,3461,0,0,0,0,0,0
$STATE,3303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3303,begin apogee
$GC,3308,-0.31,0.0,500.6,15.7,167,3382,1.62,0.00,69.00,0.853,6,0.092,0.000,2786,1683,3120,0,0,0,0,0,0
$STATE,3382,end apogee,CONTROL_FINISHED_OK
$STATE,3383,begin climb
$GC,3385,1.80,83.0,503.5,0.0,169,3461,1.90,0.00,68.95,0.840,6,0.030,0.000,3253,1683,2781,0,0,0,0,0,0
$GC,3714,1.63,137.2,502.7,2.9,177,3768,0.17,2.78,45.88,0.835,4,0.137,0.056,3219,3250,2559,0,0,0,0,0,0
$GC,3889,1.54,137.2,487.0,10.8,180,3895,0.12,2.62,0.00,0.000,6,0.137,0.038,3196,1695,2555,0,0,0,0,0,0
$GC,4138,1.54,137.2,462.0,10.0,187,4143,0.00,2.67,0.00,0.000,4,0.000,0.072,3196,164,2552,0,0,0,0,0,0
$GC,4159,1.40,137.2,459.9,10.2,187,4164,0.15,2.47,0.00,0.000,6,0.133,0.027,3169,1688,2551,0,0,0,0,0,0
$GC,4423,1.40,137.7,435.3,9.0,194,4428,0.00,2.62,0.00,0.000,4,0.000,0.057,3168,166,2549,0,0,0,0,0,0
$GC,4694,1.29,137.7,409.0,9.2,199,4700,0.15,2.45,0.00,0.000,6,0.137,0.025,3141,1683,2546,0,0,0,0,0,0
$GC,4944,1.40,153.9,390.9,7.2,206,4964,0.10,2.62,13.25,0.746,4,0.081,0.055,3182,166,2491,0,0,0,0,0,0
$GC,5233,1.28,153.9,359.5,10.3,212,5238,0.22,2.42,0.00,0.000,6,0.123,0.025,3139,1675,2488,0,0,0,0,0,0
$GC,5513,1.40,159.8,335.7,8.3,219,5526,0.10,2.62,5.68,0.595,4,0.081,0.054,3182,167,2468,0,0,0,0,0,0
$GC,5795,1.30,159.8,305.5,10.4,225,5800,0.17,2.38,0.00,0.000,6,0.128,0.024,3147,1668,2465,0,0,0,0,0,0
$GC,6084,1.43,168.8,281.8,8.0,232,6100,0.10,2.58,8.62,0.641,4,0.081,0.053,3190,163,2431,0,0,0,0,0,0
$GC,6367,1.33,173.7,256.6,8.5,238,6380,0.20,2.38,5.88,0.565,6,0.124,0.023,3152,1659,2410,0,0,0,0,0,0
$GC,6657,1.47,181.2,234.5,8.2,245,6670,0.12,2.58,7.70,0.595,4,0.068,0.054,3202,166,2381,0,0,0,0,0,0
$GC,6937,1.37,181.2,203.1,11.1,251,6942,0.22,2.35,0.00,0.000,6,0.123,0.022,3159,1651,2379,0,0,0,0,0,0
$GC,7215,1.52,193.1,182.0,7.7,274,7237,0.15,2.65,11.62,0.597,4,0.058,0.044,3217,3242,2330,0,0,0,0,0,0
$GC,7520,1.52,193.1,149.4,10.9,304,7526,0.12,2.62,0.00,0.000,6,0.123,0.030,3193,1634,2328,0,0,0,0,0,0
$GC,7787,1.61,200.3,126.3,8.2,329,7796,0.00,0.00,7.18,0.505,6,0.000,0.000,3193,1634,2303,0,0,0,0,0,0
$GC,8052,1.72,205.0,104.8,8.5,354,8065,0.17,2.45,5.62,0.455,4,0.053,0.045,3251,164,2284,0,0,0,0,0,0
$GC,8109,1.56,205.0,98.8,11.5,359,8114,0.25,2.35,0.00,0.000,6,0.117,0.022,3202,1659,2283,0,0,0,0,0,0
$GC,8373,1.66,215.9,80.1,7.8,383,8395,0.00,2.53,10.82,0.505,4,0.000,0.045,3202,179,2238,0,0,0,0,0,0
$GC,8401,1.73,215.9,77.3,9.2,385,8410,0.10,2.35,0.00,0.000,6,0.036,0.021,3249,1651,2238,0,0,0,0,0,0
$GC,8670,1.73,215.9,53.7,9.7,410,8675,0.00,2.45,0.00,0.000,4,0.000,0.044,3250,164,2237,0,0,0,0,0,0
$GC,8844,1.60,215.9,32.0,11.9,425,8855,0.15,2.35,0.00,0.000,6,0.097,0.021,3214,1648,2237,0,0,0,0,0,0
$STATE,9110,end climb,SURFACE_DEPTH_REACHED
$STATE,9110,begin surface coast
$FINISH,0.7,1.024047
$STATE,9145,end surface coast,CONTROL_FINISHED_OK
$STATE,9145,begin surface
$SM_CCo,9167,83.55,0.063,0,0,1570,380.21
$SM_GC,1.83,0.00,0.00,83.55,0.000,0.000,0.063,416,1849,1570,-11.25,1.64,380.21
$IRIDIUM_FIX,2241.69,-15759.32,010400,070740
$TT8_MAMPS,0.026845
$HUMID,48.03
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.5,59.400
$10V_AH,10.1,52.355
$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,29.425,90.850,260.200,83.550,0.000,28.902,34.337,214.103,0.000,0.000,15.608,1035.098,5582.437,396.417,2100.772,556.207,33.374,1220.348,0.000,2086.646,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,72.098,852.904,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.061,291.784,371.031,557.067,985.266,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355324
$DATA_FILE_SIZE,38468,471
$CAP_FILE_SIZE,107978,0
$CFSIZE,260165632,146448384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060111,132805,2247.208,-15803.036,15,99.0,34,10.1