version: 66.06
glider: 148
mission: 9
dive: 121
start: 11 26 110 15 31 34
data:
$ID,148
$MISSION,9
$DIVE,121
$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,-860079.19
$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,56
$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
$GPS1,152352,2248.469,-15802.536,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.4
$GPS2,153040,2248.456,-15802.543,15,99.0,34,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.061,0.253
$KALMAN_X,-55378.3,32.1,-20.9,67955.3,4.3
$KALMAN_Y,19796.3,-340.2,208.7,107307.6,-298.6
$MHEAD_RNG_PITCHd_Wd,336.3,2965,-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,-83.32,0.000,2,0.000,0.000,409,1811,3394,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.7,-6.2,11,132,11.95,2.45,-5.62,0.000,4,0.174,0.038,2572,3360,3719,0,0,0,0,0,0
$GC,238,-1.11,-146.0,36.2,-18.8,28,244,0.20,2.50,0.00,0.000,6,0.104,0.022,2615,1779,3720,0,0,0,0,0,0
$GC,507,-1.04,-146.0,79.6,-14.2,52,511,0.00,2.55,0.00,0.000,4,0.000,0.039,2615,3361,3721,0,0,0,0,0,0
$GC,549,-1.04,-146.0,86.9,-13.9,55,554,0.00,2.47,0.00,0.000,6,0.000,0.022,2616,1797,3721,0,0,0,0,0,0
$GC,811,-1.04,-146.0,117.0,-11.2,80,815,0.00,2.47,0.00,0.000,4,0.000,0.031,2615,3354,3721,0,0,0,0,0,0
$GC,840,-1.04,-146.0,121.1,-12.2,82,848,0.00,2.45,0.00,0.000,6,0.000,0.022,2615,1810,3721,0,0,0,0,0,0
$GC,1107,-1.13,-146.0,151.2,-11.8,107,1111,0.00,2.58,0.00,0.000,4,0.000,0.047,2616,212,3722,0,0,0,0,0,0
$GC,1138,-1.25,-146.0,155.6,-12.5,109,1144,0.12,2.45,0.00,0.000,6,0.064,0.019,2538,1810,3723,0,0,0,0,0,0
$GC,1400,-1.13,-146.0,194.6,-14.5,134,1405,0.30,2.45,0.00,0.000,4,0.095,0.030,2607,3361,3723,0,0,0,0,0,0
$GC,1438,-1.23,-146.0,199.1,-10.1,137,1442,0.00,2.45,0.00,0.000,6,0.000,0.022,2607,1809,3723,0,0,0,0,0,0
$GC,1699,-1.34,-146.0,222.3,-8.6,144,1704,0.15,2.50,0.00,0.000,4,0.051,0.031,2508,3365,3723,0,0,0,0,0,0
$GC,1744,-1.19,-146.0,227.4,-12.6,145,1751,0.43,2.45,0.00,0.000,6,0.086,0.023,2602,1813,3723,0,0,0,0,0,0
$GC,2034,-1.29,-146.0,254.6,-9.2,152,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1813,3723,0,0,0,0,0,0
$GC,2278,-1.39,-146.0,277.6,-9.4,158,2283,0.20,2.47,0.00,0.000,4,0.046,0.031,2517,3358,3723,0,0,0,0,0,0
$GC,2303,-1.30,-146.0,280.6,-12.7,158,2309,0.25,2.45,0.00,0.000,6,0.092,0.023,2574,1813,3723,0,0,0,0,0,0
$GC,2563,-1.30,-146.0,308.1,-10.1,165,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1813,3723,0,0,0,0,0,0
$GC,2807,-1.30,-146.0,331.5,-9.4,171,2811,0.00,2.47,0.00,0.000,4,0.000,0.036,2574,3353,3723,0,0,0,0,0,0
$GC,2827,-1.30,-146.0,333.6,-10.6,171,2831,0.00,2.42,0.00,0.000,6,0.000,0.025,2574,1823,3722,0,0,0,0,0,0
$GC,3095,-1.30,-146.0,358.2,-9.1,178,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1823,3721,0,0,0,0,0,0
$GC,3339,-1.37,-146.0,380.7,-9.3,184,3343,0.00,2.53,0.00,0.000,4,0.000,0.044,2574,3357,3720,0,0,0,0,0,0
$GC,3384,-1.48,-146.0,384.7,-8.7,185,3389,0.15,2.45,0.00,0.000,6,0.054,0.029,2494,1829,3720,0,0,0,0,0,0
$GC,3671,-1.34,-146.0,422.9,-13.6,192,3679,0.30,2.72,0.00,0.000,4,0.091,0.057,2563,216,3718,0,0,0,0,0,0
$GC,3708,-1.42,-146.0,427.3,-11.1,192,3713,0.00,2.55,0.00,0.000,6,0.000,0.030,2563,1815,3718,0,0,0,0,0,0
$GC,3958,-1.42,-146.0,451.9,-9.8,198,3962,0.00,2.58,0.00,0.000,4,0.000,0.050,2563,3366,3717,0,0,0,0,0,0
$GC,3977,-1.42,-146.0,453.9,-10.0,198,3981,0.00,2.47,0.00,0.000,6,0.000,0.028,2563,1818,3717,0,0,0,0,0,0
$GC,4242,-1.49,-146.0,477.9,-9.1,205,4247,0.12,2.60,0.00,0.000,4,0.067,0.051,2510,3363,3714,0,0,0,0,0,0
$GC,4271,-1.41,-146.0,481.2,-10.9,205,4276,0.20,2.50,0.00,0.000,6,0.097,0.031,2555,1823,3714,0,0,0,0,0,0
$STATE,4483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4483,begin apogee
$GC,4489,-0.31,0.0,501.5,9.4,211,4611,1.05,0.00,118.18,0.869,6,0.078,0.000,2791,1668,3120,0,0,0,0,0,0
$STATE,4612,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4615,1.28,146.0,506.3,0.0,214,4745,1.45,2.80,122.70,0.853,4,0.025,0.054,3146,3257,2523,0,0,0,0,0,0
$GC,4775,1.02,201.9,506.5,7.4,218,4830,0.30,2.62,47.78,0.831,6,0.114,0.037,3086,1699,2296,0,0,0,0,0,0
$GC,5097,0.89,201.9,474.5,10.2,226,5104,0.15,2.70,0.00,0.000,4,0.130,0.074,3056,169,2287,0,0,0,0,0,0
$GC,5192,0.78,207.9,465.3,9.8,228,5205,0.12,2.45,4.72,0.574,6,0.130,0.029,3033,1671,2272,0,0,0,0,0,0
$GC,5484,0.84,252.7,442.0,8.0,235,5529,0.00,2.65,40.05,0.816,4,0.000,0.057,3032,165,2088,0,0,0,0,0,0
$GC,5560,0.85,265.3,435.5,9.5,236,5578,0.00,2.45,12.23,0.738,6,0.000,0.027,3032,1669,2037,0,0,0,0,0,0
$GC,5862,0.89,294.3,408.9,8.7,244,5891,0.00,0.00,26.27,0.785,6,0.000,0.000,3032,1669,1920,0,0,0,0,0,0
$GC,6147,0.91,311.3,382.5,9.3,251,6171,0.10,2.72,16.10,0.747,4,0.079,0.048,3078,3257,1848,0,0,0,0,0,0
$GC,6176,0.91,311.3,379.1,10.9,251,6180,0.00,2.67,0.00,0.000,6,0.000,0.031,3078,1657,1847,0,0,0,0,0,0
$GC,6430,0.91,311.3,348.2,12.1,258,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1657,1843,0,0,0,0,0,0
$GC,6675,0.91,311.3,318.6,12.1,264,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1657,1841,0,0,0,0,0,0
$GC,6917,0.91,311.3,292.1,10.7,270,6922,0.00,2.67,0.00,0.000,4,0.000,0.038,3078,3269,1840,0,0,0,0,0,0
$GC,6950,0.91,311.3,288.3,11.2,270,6954,0.00,2.67,0.00,0.000,6,0.000,0.035,3078,1650,1838,0,0,0,0,0,0
$GC,7199,0.91,311.3,260.4,11.3,276,7203,0.00,2.50,0.00,0.000,4,0.000,0.058,3078,170,1838,0,0,0,0,0,0
$GC,7244,0.91,311.3,254.6,12.9,277,7249,0.00,2.38,0.00,0.000,6,0.000,0.023,3078,1673,1838,0,0,0,0,0,0
$GC,7530,0.91,311.3,221.7,11.3,284,7535,0.00,2.55,0.00,0.000,4,0.000,0.036,3078,3254,1837,0,0,0,0,0,0
$GC,7558,0.91,311.3,218.3,11.7,284,7563,0.00,2.60,0.00,0.000,6,0.000,0.030,3078,1658,1836,0,0,0,0,0,0
$GC,7817,0.91,311.3,188.5,11.8,297,7822,0.00,2.58,0.00,0.000,4,0.000,0.035,3078,3254,1836,0,0,0,0,0,0
$GC,7852,0.91,311.3,184.4,11.4,300,7857,0.00,2.55,0.00,0.000,6,0.000,0.028,3078,1661,1835,0,0,0,0,0,0
$GC,8116,0.94,335.5,158.6,8.9,324,8141,0.00,2.50,19.52,0.597,4,0.000,0.054,3078,166,1751,0,0,0,0,0,0
$GC,8195,0.94,335.5,150.0,11.2,331,8201,0.00,2.35,0.00,0.000,6,0.000,0.021,3078,1659,1750,0,0,0,0,0,0
$GC,8459,1.01,338.9,124.4,9.9,356,8473,0.00,2.60,4.12,0.396,4,0.000,0.033,3078,3245,1737,0,0,0,0,0,0
$GC,8517,1.15,343.0,118.4,9.8,361,8528,0.12,2.53,5.20,0.441,6,0.061,0.027,3152,1668,1721,0,0,0,0,0,0
$GC,8782,1.06,343.0,83.7,13.1,386,8784,0.28,0.00,0.00,0.000,6,0.097,0.000,3092,1668,1720,0,0,0,0,0,0
$GC,9040,1.06,343.0,56.1,10.9,410,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1668,1720,0,0,0,0,0,0
$GC,9309,1.17,380.7,28.7,8.3,436,9356,0.10,2.67,34.55,0.499,4,0.077,0.035,3147,3251,1564,0,0,0,0,0,0
$GC,9366,1.09,380.7,22.4,11.4,443,9375,0.20,2.60,0.00,0.000,6,0.078,0.027,3098,1667,1563,0,0,0,0,0,0
$STATE,9548,end climb,SURFACE_DEPTH_REACHED
$STATE,9548,begin surface coast
$FINISH,0.6,1.023514
$STATE,9593,end surface coast,CONTROL_FINISHED_OK
$STATE,9593,begin surface
$SM_CCo,9613,39.38,0.376,1,0,1284,450.13
$SM_GC,1.49,0.00,0.00,39.38,0.000,0.000,0.376,410,1875,1284,-11.27,2.40,450.13
$IRIDIUM_FIX,2239.35,-15804.53,200200,121225
$TT8_MAMPS,0.026845
$HUMID,41.65
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.20
$XPDR_PINGS,4
$24V_AH,23.6,19.517
$10V_AH,10.4,16.312
$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,29.100,117.225,451.425,39.375,0.000,30.988,35.411,186.059,1.000,0.000,36.744,978.025,6268.089,536.791,1770.409,515.649,33.367,1259.858,0.000,1747.990,0.000,0.537,0.000
$DEVICE_MAMPS,174.109,73.632,869.011,375.830,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.754,292.729,365.429,560.201,990.877,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,38350,478
$CAP_FILE_SIZE,106746,0
$CFSIZE,260165632,165171200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,181407,2249.982,-15802.913,54,1.8,54,10.1