version: 66.06
glider: 148
mission: 9
dive: 97
start: 11 23 110 21 19 51
data:
$ID,148
$MISSION,9
$DIVE,97
$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,166
$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,639.98767
$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,-859487.75
$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,2900
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,49
$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
$GPS1,205745,2251.800,-15753.354,38,6.6,57,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.7
$GPS2,211856,2251.832,-15753.306,15,1.4,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.224,-0.133
$KALMAN_X,-51461.9,317.3,-56.2,79696.2,245.9
$KALMAN_Y,17781.7,-46.5,282.8,115226.3,262.2
$MHEAD_RNG_PITCHd_Wd,229.2,7160,-17.6,-10.040
$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,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.85,0.000,2,0.000,0.000,412,1868,3337,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.3,-4.5,11,132,11.50,2.72,-6.95,0.000,4,0.151,0.046,2616,181,3716,0,0,0,0,0,0
$GC,235,-1.41,-146.0,29.6,-12.7,30,245,0.08,2.50,0.00,0.000,6,0.036,0.019,2561,1771,3718,0,0,0,0,0,0
$GC,504,-1.17,-146.0,78.9,-19.6,55,509,0.35,2.53,0.00,0.000,4,0.095,0.031,2640,3350,3718,0,0,0,0,0,0
$GC,565,-1.17,-146.0,89.6,-13.1,60,574,0.00,2.53,0.00,0.000,6,0.000,0.022,2640,1764,3718,0,0,0,0,0,0
$GC,832,-1.25,-146.0,119.0,-10.6,85,836,0.00,2.53,0.00,0.000,4,0.000,0.031,2640,3355,3718,0,0,0,0,0,0
$GC,871,-1.37,-146.0,123.8,-9.3,88,880,0.12,2.53,0.00,0.000,6,0.026,0.023,2534,1774,3718,0,0,0,0,0,0
$GC,1134,-1.22,-146.0,161.4,-14.1,113,1143,0.43,2.53,0.00,0.000,4,0.088,0.036,2631,185,3718,0,0,0,0,0,0
$GC,1169,-1.42,-146.0,165.6,-9.0,116,1175,0.17,2.47,0.00,0.000,6,0.048,0.019,2541,1787,3718,0,0,0,0,0,0
$GC,1433,-1.31,-146.0,197.8,-12.7,141,1438,0.30,2.47,0.00,0.000,4,0.089,0.029,2611,3347,3718,0,0,0,0,0,0
$GC,1478,-1.45,-146.0,202.8,-8.5,143,1484,0.12,2.47,0.00,0.000,6,0.064,0.022,2537,1776,3718,0,0,0,0,0,0
$GC,1768,-1.33,-146.0,239.9,-13.3,150,1773,0.30,2.50,0.00,0.000,4,0.087,0.030,2605,3347,3719,0,0,0,0,0,0
$GC,1801,-1.42,-146.0,244.2,-10.4,150,1805,0.00,2.47,0.00,0.000,6,0.000,0.022,2605,1779,3718,0,0,0,0,0,0
$GC,2051,-1.52,-146.0,267.6,-9.2,156,2056,0.15,2.53,0.00,0.000,4,0.058,0.031,2540,3351,3718,0,0,0,0,0,0
$GC,2086,-1.52,-146.0,271.2,-11.9,156,2091,0.12,2.47,0.00,0.000,6,0.106,0.024,2568,1790,3718,0,0,0,0,0,0
$GC,2335,-1.52,-146.0,297.6,-10.9,162,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1790,3719,0,0,0,0,0,0
$GC,2579,-1.52,-146.0,322.1,-9.8,168,2583,0.00,2.50,0.00,0.000,4,0.000,0.035,2568,3338,3718,0,0,0,0,0,0
$GC,2641,-1.59,-146.0,327.4,-8.2,169,2646,0.00,2.45,0.00,0.000,6,0.000,0.026,2568,1802,3718,0,0,0,0,0,0
$GC,2910,-1.59,-146.0,349.5,-8.3,176,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1802,3716,0,0,0,0,0,0
$GC,3154,-1.59,-146.0,372.3,-9.5,182,3158,0.00,2.53,0.00,0.000,4,0.000,0.041,2568,3343,3715,0,0,0,0,0,0
$GC,3198,-1.67,-146.0,376.2,-9.0,183,3203,0.12,2.45,0.00,0.000,6,0.066,0.028,2493,1816,3715,0,0,0,0,0,0
$GC,3486,-1.50,-146.0,416.3,-14.0,190,3493,0.35,2.72,0.00,0.000,4,0.091,0.055,2567,196,3713,0,0,0,0,0,0
$GC,3530,-1.62,-146.0,421.0,-9.2,190,3535,0.00,2.58,0.00,0.000,6,0.000,0.028,2568,1800,3713,0,0,0,0,0,0
$GC,3780,-1.68,-146.0,442.1,-8.3,197,3785,0.15,2.58,0.00,0.000,4,0.060,0.047,2509,3350,3710,0,0,0,0,0,0
$GC,3799,-1.68,-146.0,444.3,-10.6,197,3804,0.10,2.47,0.00,0.000,6,0.120,0.028,2531,1813,3711,0,0,0,0,0,0
$GC,4065,-1.68,-146.0,473.6,-11.1,204,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1813,3709,0,0,0,0,0,0
$STATE,4305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4305,begin apogee
$GC,4311,-0.31,0.0,501.0,11.2,210,4431,1.33,0.00,116.90,0.868,6,0.078,0.000,2830,1641,3120,0,0,0,0,0,0
$STATE,4432,end apogee,CONTROL_FINISHED_OK
$STATE,4432,begin climb
$GC,4434,1.28,146.0,506.3,0.0,213,4566,1.42,2.62,121.40,0.854,4,0.027,0.068,3193,185,2523,0,0,0,0,0,0
$GC,4834,0.72,146.0,475.8,13.4,221,4840,0.68,2.38,0.00,0.000,6,0.127,0.028,3059,1648,2514,0,0,0,0,0,0
$GC,5084,0.67,182.3,453.8,8.4,228,5121,0.00,2.60,30.23,0.812,4,0.000,0.058,3059,184,2376,0,0,0,0,0,0
$GC,5251,0.53,182.3,436.5,10.3,231,5256,0.20,2.38,0.00,0.000,6,0.111,0.027,3018,1650,2372,0,0,0,0,0,0
$GC,5508,0.62,255.9,418.9,6.6,238,5577,0.00,2.58,62.95,0.819,4,0.000,0.058,3017,187,2075,0,0,0,0,0,0
$GC,5611,0.64,275.5,410.8,9.1,240,5637,0.10,2.38,18.33,0.762,6,0.080,0.027,3063,1647,1995,0,0,0,0,0,0
$GC,5882,0.64,275.5,381.3,11.1,247,5883,0.12,0.00,0.00,0.000,6,0.115,0.000,3038,1647,1987,0,0,0,0,0,0
$GC,6124,0.64,275.5,355.8,10.6,253,6128,0.00,2.62,0.00,0.000,4,0.000,0.048,3038,3224,1984,0,0,0,0,0,0
$GC,6170,0.72,275.5,350.6,11.3,254,6175,0.00,2.62,0.00,0.000,6,0.000,0.034,3038,1640,1983,0,0,0,0,0,0
$GC,6454,0.72,275.5,320.7,10.1,261,6458,0.00,2.47,0.00,0.000,4,0.000,0.061,3038,174,1981,0,0,0,0,0,0
$GC,6532,0.72,279.5,312.5,9.9,262,6537,0.00,2.33,0.00,0.000,6,0.000,0.024,3038,1640,1981,0,0,0,0,0,0
$GC,6784,0.83,312.1,290.7,8.5,268,6821,0.17,2.67,30.98,0.736,4,0.053,0.044,3108,3219,1846,0,0,0,0,0,0
$GC,6855,0.83,312.1,281.4,13.3,269,6860,0.12,2.62,0.00,0.000,6,0.115,0.032,3082,1632,1842,0,0,0,0,0,0
$GC,7115,0.83,312.1,248.3,12.8,276,7119,0.00,2.47,0.00,0.000,4,0.000,0.057,3082,170,1840,0,0,0,0,0,0
$GC,7149,0.76,312.1,244.0,13.7,276,7153,0.00,2.33,0.00,0.000,6,0.000,0.023,3082,1634,1839,0,0,0,0,0,0
$GC,7398,0.76,312.1,212.8,12.4,282,7402,0.00,2.60,0.00,0.000,4,0.000,0.036,3081,3229,1838,0,0,0,0,0,0
$GC,7423,0.76,312.1,209.8,11.4,282,7427,0.00,2.62,0.00,0.000,6,0.000,0.029,3082,1618,1836,0,0,0,0,0,0
$GC,7694,0.76,312.1,178.6,12.0,301,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1618,1836,0,0,0,0,0,0
$GC,7955,0.76,316.5,149.4,9.8,326,7959,0.00,2.60,0.00,0.000,4,0.000,0.034,3082,3232,1836,0,0,0,0,0,0
$GC,8006,0.83,317.1,144.4,10.0,330,8015,0.00,2.62,0.00,0.000,6,0.000,0.029,3082,1628,1834,0,0,0,0,0,0
$GC,8271,0.85,329.8,119.3,9.5,355,8292,0.00,2.45,14.45,0.563,4,0.000,0.051,3081,153,1774,0,0,0,0,0,0
$GC,8317,0.85,329.8,114.6,10.4,359,8322,0.00,2.33,0.00,0.000,6,0.000,0.021,3082,1636,1773,0,0,0,0,0,0
$GC,8583,0.94,345.7,88.5,9.3,383,8606,0.10,2.58,15.00,0.533,4,0.079,0.031,3147,3223,1709,0,0,0,0,0,0
$GC,8631,0.94,345.7,82.9,13.1,387,8636,0.20,2.60,0.00,0.000,6,0.099,0.028,3105,1621,1706,0,0,0,0,0,0
$GC,8895,0.94,345.7,52.9,11.1,411,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1621,1705,0,0,0,0,0,0
$GC,9157,0.94,345.7,23.8,11.5,439,9166,0.00,2.60,0.00,0.000,4,0.000,0.031,3105,3217,1705,0,0,0,0,0,0
$GC,9187,0.94,345.7,20.2,11.5,443,9196,0.00,2.58,0.00,0.000,6,0.000,0.027,3105,1628,1705,0,0,0,0,0,0
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9339,begin surface coast
$FINISH,0.6,1.015322
$STATE,9387,end surface coast,CONTROL_FINISHED_OK
$STATE,9387,begin surface
$SM_CCo,9408,155.77,0.061,0,0,509,639.99
$SM_GC,1.44,0.00,0.00,155.77,0.000,0.000,0.061,410,1839,509,-11.45,1.95,639.99
$IRIDIUM_FIX,2241.69,-15751.94,170200,212152
$TT8_MAMPS,0.026845
$HUMID,40.31
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,16.781
$10V_AH,10.4,13.869
$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,29.750,116.625,410.225,155.775,0.000,134.239,307.967,439.390,0.500,0.000,16.667,993.672,6216.506,597.663,1867.641,1162.068,33.362,1372.485,0.000,1870.183,0.000,0.539,0.000
$DEVICE_MAMPS,151.099,68.263,868.244,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.976,291.114,367.777,565.396,999.844,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,38432,474
$CAP_FILE_SIZE,117456,0
$CFSIZE,260165632,166408192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241110,000030,2251.347,-15754.951,35,1.2,35,10.1