version: 66.06
glider: 148
mission: 9
dive: 110
start: 11 25 110 9 7 0
data:
$ID,148
$MISSION,9
$DIVE,110
$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,450
$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,-859812.62
$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,33
$R_STBD_OVSHOOT,48
$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
$GPS1,085858,2250.041,-15801.721,11,3.5,30,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.9
$GPS2,090606,2250.061,-15801.693,13,1.3,29,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,-0.019
$KALMAN_X,-53328.3,-106.1,-219.2,67710.1,295.9
$KALMAN_Y,19892.7,415.9,-18.3,109660.6,145.9
$MHEAD_RNG_PITCHd_Wd,84.0,8013,-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,17,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-83.05,0.000,2,0.000,0.000,416,1890,3410,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.8,-7.1,11,131,11.48,2.75,-5.20,0.000,4,0.159,0.048,2574,200,3717,0,0,0,0,0,0
$GC,196,-1.28,-146.0,30.2,-16.3,24,204,0.00,2.50,0.00,0.000,6,0.000,0.021,2574,1778,3719,0,0,0,0,0,0
$GC,462,-1.12,-146.0,75.3,-17.3,49,468,0.20,2.55,0.00,0.000,4,0.100,0.031,2617,3377,3719,0,0,0,0,0,0
$GC,515,-1.12,-146.0,83.7,-14.0,53,519,0.00,2.50,0.00,0.000,6,0.000,0.021,2617,1784,3720,0,0,0,0,0,0
$GC,782,-1.12,-146.0,117.4,-11.8,77,786,0.00,2.53,0.00,0.000,4,0.000,0.030,2617,3374,3720,0,0,0,0,0,0
$GC,851,-1.26,-146.0,125.7,-10.2,83,856,0.12,2.47,0.00,0.000,6,0.061,0.023,2533,1812,3720,0,0,0,0,0,0
$GC,1115,-1.09,-146.0,168.3,-15.4,107,1124,0.43,2.55,0.00,0.000,4,0.084,0.038,2619,214,3721,0,0,0,0,0,0
$GC,1159,-1.28,-146.0,173.4,-9.2,111,1169,0.12,2.50,0.00,0.000,6,0.028,0.019,2544,1814,3721,0,0,0,0,0,0
$GC,1420,-1.20,-146.0,205.8,-13.1,133,1426,0.25,2.45,0.00,0.000,4,0.087,0.029,2603,3358,3722,0,0,0,0,0,0
$GC,1454,-1.29,-146.0,210.0,-10.4,133,1459,0.10,2.42,0.00,0.000,6,0.076,0.022,2527,1805,3722,0,0,0,0,0,0
$GC,1703,-1.15,-146.0,244.9,-14.4,139,1706,0.40,0.00,0.00,0.000,6,0.084,0.000,2606,1805,3722,0,0,0,0,0,0
$GC,1949,-1.27,-146.0,268.8,-9.5,145,1954,0.00,2.50,0.00,0.000,4,0.000,0.031,2606,3364,3722,0,0,0,0,0,0
$GC,2005,-1.42,-146.0,273.7,-8.2,146,2011,0.22,2.42,0.00,0.000,6,0.038,0.024,2505,1820,3722,0,0,0,0,0,0
$GC,2279,-1.28,-146.0,308.5,-13.1,153,2286,0.30,2.60,0.00,0.000,4,0.090,0.043,2574,214,3722,0,0,0,0,0,0
$GC,2353,-1.37,-146.0,315.5,-8.7,154,2358,0.00,2.47,0.00,0.000,6,0.000,0.022,2574,1805,3722,0,0,0,0,0,0
$GC,2613,-1.44,-146.0,337.5,-8.7,161,2618,0.12,2.53,0.00,0.000,4,0.067,0.039,2516,3364,3722,0,0,0,0,0,0
$GC,2643,-1.37,-146.0,340.9,-10.9,161,2649,0.20,2.47,0.00,0.000,6,0.091,0.027,2561,1819,3722,0,0,0,0,0,0
$GC,2899,-1.37,-146.0,365.3,-9.4,168,2903,0.00,2.67,0.00,0.000,4,0.000,0.053,2561,215,3721,0,0,0,0,0,0
$GC,2931,-1.37,-146.0,368.7,-10.3,168,2936,0.00,2.53,0.00,0.000,6,0.000,0.025,2561,1822,3720,0,0,0,0,0,0
$GC,3182,-1.37,-146.0,391.9,-9.4,174,3187,0.00,2.50,0.00,0.000,4,0.000,0.041,2561,3372,3719,0,0,0,0,0,0
$GC,3206,-1.37,-146.0,394.4,-10.0,174,3210,0.00,2.47,0.00,0.000,6,0.000,0.028,2561,1817,3719,0,0,0,0,0,0
$GC,3464,-1.37,-146.0,420.5,-10.3,181,3469,0.00,2.55,0.00,0.000,4,0.000,0.046,2561,3367,3717,0,0,0,0,0,0
$GC,3517,-1.46,-146.0,426.3,-11.3,182,3521,0.00,2.45,0.00,0.000,6,0.000,0.031,2561,1837,3716,0,0,0,0,0,0
$GC,3795,-1.53,-146.0,455.0,-10.2,189,3800,0.15,2.55,0.00,0.000,4,0.058,0.049,2499,3367,3714,0,0,0,0,0,0
$GC,3811,-1.53,-146.0,456.9,-10.1,189,3816,0.12,2.45,0.00,0.000,6,0.110,0.028,2526,1834,3714,0,0,0,0,0,0
$GC,4080,-1.53,-146.0,487.2,-11.1,196,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1834,3712,0,0,0,0,0,0
$STATE,4199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4200,begin apogee
$GC,4205,-0.31,0.0,500.9,11.2,199,4327,1.20,0.00,117.97,0.873,6,0.084,0.000,2793,1668,3120,0,0,0,0,0,0
$STATE,4328,end apogee,CONTROL_FINISHED_OK
$STATE,4328,begin climb
$GC,4331,1.28,146.0,505.6,0.0,202,4463,1.42,2.67,121.78,0.857,4,0.024,0.069,3149,187,2524,0,0,0,0,0,0
$GC,4584,0.83,146.0,494.1,11.8,208,4591,0.52,2.40,0.00,0.000,6,0.114,0.028,3043,1674,2517,0,0,0,0,0,0
$GC,4873,0.89,200.2,472.0,7.5,215,4926,0.00,2.65,45.80,0.834,4,0.000,0.060,3042,191,2302,0,0,0,0,0,0
$GC,5056,0.81,200.2,453.2,10.6,219,5060,0.00,2.40,0.00,0.000,6,0.000,0.028,3042,1668,2297,0,0,0,0,0,0
$GC,5338,0.84,223.3,427.1,9.0,226,5363,0.00,2.62,19.58,0.787,4,0.000,0.059,3042,178,2209,0,0,0,0,0,0
$GC,5384,0.78,236.1,423.1,9.4,227,5403,0.00,2.42,12.65,0.745,6,0.000,0.026,3042,1672,2157,0,0,0,0,0,0
$GC,5667,0.83,279.4,399.2,8.0,234,5712,0.00,2.75,38.55,0.799,4,0.000,0.047,3042,3253,1979,0,0,0,0,0,0
$GC,5734,0.89,324.9,393.9,7.9,235,5782,0.00,2.62,41.00,0.788,6,0.000,0.035,3042,1684,1795,0,0,0,0,0,0
$GC,6043,0.95,324.9,361.9,10.8,243,6048,0.10,2.62,0.00,0.000,4,0.079,0.041,3088,3254,1785,0,0,0,0,0,0
$GC,6058,0.95,324.9,359.9,10.8,243,6062,0.00,2.62,0.00,0.000,6,0.000,0.031,3088,1673,1784,0,0,0,0,0,0
$GC,6326,0.95,324.9,324.6,13.4,250,6330,0.00,2.58,0.00,0.000,4,0.000,0.064,3088,170,1783,0,0,0,0,0,0
$GC,6426,0.88,324.9,310.6,15.1,252,6431,0.17,2.40,0.00,0.000,6,0.107,0.025,3052,1681,1781,0,0,0,0,0,0
$GC,6705,0.95,324.9,279.2,11.0,259,6709,0.00,2.58,0.00,0.000,4,0.000,0.053,3052,161,1779,0,0,0,0,0,0
$GC,6718,0.95,324.9,277.5,11.5,259,6723,0.00,2.40,0.00,0.000,6,0.000,0.022,3052,1677,1778,0,0,0,0,0,0
$GC,6988,1.01,324.9,248.3,10.9,266,6993,0.12,2.60,0.00,0.000,4,0.067,0.040,3106,3248,1777,0,0,0,0,0,0
$GC,7037,1.01,324.9,241.9,13.3,267,7042,0.12,2.60,0.00,0.000,6,0.114,0.031,3080,1664,1775,0,0,0,0,0,0
$GC,7321,1.01,324.9,205.9,12.9,274,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1664,1775,0,0,0,0,0,0
$GC,7574,1.01,324.9,174.6,12.1,292,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1663,1774,0,0,0,0,0,0
$GC,7838,1.01,324.9,143.1,10.7,317,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1663,1774,0,0,0,0,0,0
$GC,8100,1.01,324.9,115.0,10.9,342,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1663,1775,0,0,0,0,0,0
$GC,8354,1.14,348.7,90.8,8.9,366,8379,0.12,2.65,18.30,0.544,4,0.065,0.032,3143,3253,1697,0,0,0,0,0,0
$GC,8393,1.08,348.7,86.7,12.6,369,8399,0.22,2.58,0.00,0.000,6,0.097,0.026,3096,1664,1695,0,0,0,0,0,0
$GC,8660,1.14,348.7,58.4,11.0,394,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1664,1695,0,0,0,0,0,0
$GC,8925,1.14,348.7,32.2,10.1,419,8929,0.00,2.55,0.00,0.000,4,0.000,0.031,3096,3256,1695,0,0,0,0,0,0
$GC,8955,1.33,438.4,30.1,5.9,421,9039,0.22,2.50,77.05,0.509,6,0.042,0.024,3199,1671,1331,0,0,0,0,0,0
$STATE,9123,end climb,SURFACE_DEPTH_REACHED
$STATE,9123,begin surface coast
$FINISH,1.1,1.023511
$STATE,9143,end surface coast,CONTROL_FINISHED_OK
$STATE,9143,begin surface
$SM_CCo,9164,13.35,0.163,1,0,1285,450.13
$SM_GC,1.53,0.00,0.00,13.35,0.000,0.000,0.163,415,1859,1285,-11.25,1.95,450.13
$IRIDIUM_FIX,2244.02,-15801.49,190200,060640
$TT8_MAMPS,0.027612
$HUMID,41.73
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,18.253
$10V_AH,10.4,15.177
$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,29.950,112.050,492.675,13.350,0.000,31.278,34.057,216.295,0.500,0.000,31.412,931.481,5872.133,500.590,1773.351,535.539,33.364,1275.827,0.000,1756.625,0.000,0.538,0.000
$DEVICE_MAMPS,158.769,69.030,872.846,162.604,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.541,260.867,340.270,508.630,900.103,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,35188,447
$CAP_FILE_SIZE,105923,0
$CFSIZE,260165632,165765120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251110,114117,2250.085,-15800.338,15,99.0,34,10.1