version: 66.06
glider: 148
mission: 9
dive: 398
start: 12 30 110 2 23 39
data:
$ID,148
$MISSION,9
$DIVE,398
$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,-866490.81
$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,30
$R_STBD_OVSHOOT,55
$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
$GPS1,021437,2248.174,-15757.877,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.8
$GPS2,022244,2248.173,-15757.942,13,1.2,25,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.001,-0.156
$KALMAN_X,-35584.7,-177.9,-349.3,56627.5,243.1
$KALMAN_Y,-64203.2,-337.7,634.3,190360.7,-1356.3
$MHEAD_RNG_PITCHd_Wd,170.2,2187,-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,-74.75,0.000,2,0.000,0.000,412,1854,3288,0,0,0,0,0,0
$GC,98,-1.80,-90.0,3.6,-5.0,10,123,10.82,2.75,-3.85,0.000,4,0.156,0.049,2456,200,3490,0,0,0,0,0,0
$GC,208,-1.73,-90.0,33.8,-22.3,25,213,0.12,2.45,0.00,0.000,6,0.140,0.019,2479,1785,3492,0,0,0,0,0,0
$GC,477,-1.73,-90.0,89.3,-20.7,49,481,0.00,2.50,0.00,0.000,4,0.000,0.027,2479,3365,3493,0,0,0,0,0,0
$GC,493,-1.73,-90.0,94.5,-20.9,50,497,0.00,2.47,0.00,0.000,6,0.000,0.021,2479,1783,3493,0,0,0,0,0,0
$GC,757,-1.81,-90.0,138.1,-16.8,74,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1783,3494,0,0,0,0,0,0
$GC,1018,-1.91,-90.0,178.1,-14.3,99,1023,0.15,2.55,0.00,0.000,4,0.060,0.040,2425,207,3495,0,0,0,0,0,0
$GC,1042,-1.91,-90.0,181.7,-15.9,100,1048,0.00,2.45,0.00,0.000,6,0.000,0.018,2425,1803,3495,0,0,0,0,0,0
$GC,1316,-1.91,-90.0,229.7,-17.8,115,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1806,3495,0,0,0,0,0,0
$GC,1560,-1.91,-90.0,270.7,-16.3,121,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1810,3496,0,0,0,0,0,0
$GC,1804,-1.91,-90.0,308.2,-15.2,127,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1809,3496,0,0,0,0,0,0
$GC,2049,-1.91,-90.0,348.2,-16.2,133,2054,0.00,2.62,0.00,0.000,4,0.000,0.049,2425,221,3496,0,0,0,0,0,0
$GC,2119,-1.91,-90.0,360.1,-16.8,134,2123,0.00,2.45,0.00,0.000,6,0.000,0.023,2425,1785,3496,0,0,0,0,0,0
$GC,2377,-1.91,-90.0,399.6,-15.4,141,2382,0.00,2.65,0.00,0.000,4,0.000,0.054,2425,218,3495,0,0,0,0,0,0
$GC,2398,-1.91,-90.0,402.7,-15.3,141,2402,0.00,2.50,0.00,0.000,6,0.000,0.027,2425,1788,3495,0,0,0,0,0,0
$GC,2661,-1.91,-90.0,441.0,-14.4,148,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1788,3494,0,0,0,0,0,0
$GC,2905,-1.91,-90.0,475.8,-14.2,154,2909,0.00,2.70,0.00,0.000,4,0.000,0.061,2425,214,3492,0,0,0,0,0,0
$GC,2925,-1.91,-90.0,478.8,-15.1,154,2929,0.00,2.53,0.00,0.000,6,0.000,0.032,2425,1778,3492,0,0,0,0,0,0
$STATE,3105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3105,begin apogee
$GC,3111,-0.31,0.0,504.1,13.5,159,3189,1.65,0.00,74.57,0.849,6,0.088,0.000,2788,1675,3120,0,0,0,0,0,0
$STATE,3190,end apogee,CONTROL_FINISHED_OK
$STATE,3190,begin climb
$GC,3192,1.80,90.0,506.2,0.0,161,3279,1.90,2.60,74.28,0.834,4,0.030,0.062,3254,190,2752,0,0,0,0,0,0
$GC,3285,1.62,180.4,508.3,-1.1,163,3373,0.22,2.45,76.22,0.829,6,0.146,0.029,3214,1683,2383,0,0,0,0,0,0
$GC,3656,1.54,180.4,466.8,12.8,172,3660,0.00,2.55,0.00,0.000,4,0.000,0.056,3213,192,2375,0,0,0,0,0,0
$GC,3699,1.38,180.4,460.2,15.6,173,3704,0.28,2.42,0.00,0.000,6,0.130,0.029,3162,1682,2373,0,0,0,0,0,0
$GC,3988,1.45,180.4,422.0,13.3,180,3993,0.00,2.55,0.00,0.000,4,0.000,0.055,3161,193,2371,0,0,0,0,0,0
$GC,4258,1.45,180.4,383.2,12.4,185,4263,0.00,2.38,0.00,0.000,6,0.000,0.026,3161,1681,2369,0,0,0,0,0,0
$GC,4507,1.52,180.4,357.2,10.2,192,4513,0.12,2.53,0.00,0.000,4,0.070,0.054,3209,184,2367,0,0,0,0,0,0
$GC,4778,1.39,180.4,319.9,14.1,197,4785,0.15,2.35,0.00,0.000,6,0.110,0.025,3166,1662,2364,0,0,0,0,0,0
$GC,5028,1.47,180.4,295.1,10.1,204,5032,0.00,2.50,0.00,0.000,4,0.000,0.054,3166,186,2363,0,0,0,0,0,0
$GC,5274,1.47,180.4,262.9,13.4,209,5279,0.00,2.33,0.00,0.000,6,0.000,0.024,3166,1663,2362,0,0,0,0,0,0
$GC,5544,1.58,180.4,236.7,9.1,216,5549,0.15,2.50,0.00,0.000,4,0.060,0.054,3220,183,2361,0,0,0,0,0,0
$GC,5780,1.42,180.4,207.1,11.3,221,5785,0.25,2.35,0.00,0.000,6,0.125,0.023,3173,1664,2360,0,0,0,0,0,0
$GC,6050,1.52,180.4,181.1,9.2,241,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1664,2359,0,0,0,0,0,0
$GC,6315,1.64,187.6,159.1,8.2,266,6320,0.17,2.47,0.00,0.000,4,0.053,0.048,3234,187,2359,0,0,0,0,0,0
$GC,6608,1.47,187.6,127.1,10.3,294,6618,0.22,2.33,0.00,0.000,6,0.121,0.022,3186,1652,2358,0,0,0,0,0,0
$GC,6875,1.60,209.4,107.2,6.6,319,6906,0.10,2.45,20.90,0.559,4,0.077,0.044,3232,186,2264,0,0,0,0,0,0
$GC,7203,1.51,209.4,72.2,10.9,350,7211,0.17,2.33,0.00,0.000,6,0.120,0.021,3195,1650,2261,0,0,0,0,0,0
$GC,7473,1.64,217.1,49.7,8.1,375,7485,0.00,2.42,7.62,0.445,4,0.000,0.042,3195,185,2233,0,0,0,0,0,0
$GC,7809,1.64,218.8,22.8,8.8,411,7818,0.00,2.30,0.00,0.000,6,0.000,0.020,3195,1646,2233,0,0,0,0,0,0
$STATE,8037,end climb,SURFACE_DEPTH_REACHED
$STATE,8038,begin surface coast
$FINISH,0.7,1.000464
$STATE,8107,end surface coast,CONTROL_FINISHED_OK
$STATE,8107,begin surface
$SM_CCo,8130,105.88,0.436,1,0,1406,420.20
$SM_GC,1.56,0.00,0.00,105.88,0.000,0.000,0.436,413,1874,1406,-11.26,2.37,420.20
$IRIDIUM_FIX,2244.02,-15748.90,240300,232304
$TT8_MAMPS,0.026845
$HUMID,45.62
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,52.602
$10V_AH,10.2,45.752
$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,27.950,74.775,253.600,105.875,0.000,31.042,32.187,271.396,0.000,0.000,26.652,953.056,4758.399,409.454,2022.952,583.502,33.375,1140.903,0.000,2003.320,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,71.331,849.069,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.398,297.652,377.791,605.495,1069.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,35204,458
$CAP_FILE_SIZE,92871,0
$CFSIZE,260165632,149848064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301210,044150,2246.894,-15758.234,9,1.3,9,10.1