version: 66.06
glider: 148
mission: 9
dive: 122
start: 11 26 110 18 21 51
data:
$ID,148
$MISSION,9
$DIVE,122
$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,-860093.56
$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,32
$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
$GPS1,181407,2249.982,-15802.913,54,1.8,54,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.7
$GPS2,182056,2249.992,-15802.940,12,1.4,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.254,-0.056
$KALMAN_X,-55513.8,3.2,73.7,67344.1,-140.0
$KALMAN_Y,20304.2,-135.7,-177.5,109826.9,562.7
$MHEAD_RNG_PITCHd_Wd,92.3,10140,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.43,0.000,2,0.000,0.000,410,1875,3412,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.1,-7.9,11,131,11.45,0.00,-5.18,0.000,6,0.156,0.000,2571,1876,3719,0,0,0,0,0,0
$GC,396,-1.08,-146.0,72.1,-21.2,42,405,0.25,0.00,0.00,0.000,6,0.100,0.000,2625,1875,3720,0,0,0,0,0,0
$GC,663,-1.08,-146.0,106.5,-11.5,67,667,0.00,2.35,0.00,0.000,4,0.000,0.031,2625,3366,3721,0,0,0,0,0,0
$GC,724,-1.17,-146.0,113.6,-9.9,72,733,0.00,2.53,0.00,0.000,6,0.000,0.023,2625,1779,3721,0,0,0,0,0,0
$GC,991,-1.25,-146.0,139.4,-9.7,97,997,0.15,0.00,0.00,0.000,6,0.057,0.000,2555,1779,3722,0,0,0,0,0,0
$GC,1253,-1.18,-146.0,177.3,-14.5,122,1259,0.20,2.55,0.00,0.000,4,0.094,0.029,2601,3366,3722,0,0,0,0,0,0
$GC,1285,-1.18,-146.0,181.6,-11.7,124,1291,0.00,2.47,0.00,0.000,6,0.000,0.021,2601,1782,3722,0,0,0,0,0,0
$GC,1543,-1.25,-146.0,207.8,-9.3,143,1547,0.00,2.55,0.00,0.000,4,0.000,0.031,2601,3371,3723,0,0,0,0,0,0
$GC,1577,-1.33,-146.0,211.3,-10.0,143,1582,0.15,2.47,0.00,0.000,6,0.054,0.022,2523,1791,3723,0,0,0,0,0,0
$GC,1827,-1.20,-146.0,245.2,-14.2,149,1832,0.32,2.50,0.00,0.000,4,0.090,0.030,2596,3364,3723,0,0,0,0,0,0
$GC,1846,-1.20,-146.0,247.8,-12.6,149,1850,0.00,2.47,0.00,0.000,6,0.000,0.021,2596,1781,3723,0,0,0,0,0,0
$GC,2112,-1.27,-146.0,274.3,-10.0,156,2116,0.00,2.55,0.00,0.000,4,0.000,0.032,2596,3366,3723,0,0,0,0,0,0
$GC,2135,-1.34,-146.0,277.1,-11.1,156,2140,0.12,2.47,0.00,0.000,6,0.063,0.023,2519,1792,3723,0,0,0,0,0,0
$GC,2395,-1.17,-146.0,316.6,-15.5,163,2402,0.40,2.55,0.00,0.000,4,0.087,0.033,2599,3367,3723,0,0,0,0,0,0
$GC,2414,-1.11,-146.0,318.9,-12.1,163,2418,0.00,2.47,0.00,0.000,6,0.000,0.023,2599,1794,3723,0,0,0,0,0,0
$GC,2682,-1.22,-146.0,340.6,-7.8,170,2687,0.00,2.53,0.00,0.000,4,0.000,0.036,2599,3361,3723,0,0,0,0,0,0
$GC,2702,-1.33,-146.0,342.2,-8.5,170,2707,0.12,2.50,0.00,0.000,6,0.063,0.025,2520,1794,3723,0,0,0,0,0,0
$GC,2968,-1.20,-146.0,376.4,-13.3,177,2975,0.38,2.62,0.00,0.000,4,0.087,0.049,2595,210,3722,0,0,0,0,0,0
$GC,3018,-1.40,-146.0,381.9,-9.0,178,3023,0.17,2.50,0.00,0.000,6,0.049,0.025,2516,1793,3722,0,0,0,0,0,0
$GC,3302,-1.32,-146.0,418.6,-13.4,185,3307,0.25,2.60,0.00,0.000,4,0.091,0.044,2575,3369,3721,0,0,0,0,0,0
$GC,3326,-1.32,-146.0,421.8,-12.1,185,3331,0.00,2.50,0.00,0.000,6,0.000,0.028,2575,1804,3721,0,0,0,0,0,0
$GC,3588,-1.41,-146.0,447.6,-9.8,192,3593,0.10,2.60,0.00,0.000,4,0.080,0.051,2523,3359,3719,0,0,0,0,0,0
$GC,3603,-1.41,-146.0,449.5,-9.6,192,3608,0.12,2.47,0.00,0.000,6,0.109,0.028,2549,1808,3719,0,0,0,0,0,0
$GC,3872,-1.41,-146.0,477.0,-9.9,199,3876,0.00,2.60,0.00,0.000,4,0.000,0.048,2549,3367,3717,0,0,0,0,0,0
$GC,3896,-1.41,-146.0,479.4,-9.7,199,3901,0.00,2.50,0.00,0.000,6,0.000,0.031,2549,1815,3717,0,0,0,0,0,0
$STATE,4153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4153,begin apogee
$GC,4159,-0.31,0.0,502.2,8.6,206,4281,1.08,0.00,118.22,0.864,6,0.078,0.000,2791,1662,3120,0,0,0,0,0,0
$STATE,4281,end apogee,CONTROL_FINISHED_OK
$STATE,4282,begin climb
$GC,4284,1.28,146.0,505.3,0.0,209,4415,1.40,2.60,121.28,0.848,4,0.024,0.067,3140,187,2522,0,0,0,0,0,0
$GC,4439,0.80,146.0,503.9,10.2,212,4446,0.50,2.42,0.00,0.000,6,0.114,0.030,3038,1677,2519,0,0,0,0,0,0
$GC,4698,0.91,235.2,487.5,5.9,219,4782,0.00,2.65,74.85,0.839,4,0.000,0.061,3038,185,2160,0,0,0,0,0,0
$GC,4814,0.94,253.0,479.4,9.2,221,4839,0.10,2.45,16.70,0.776,6,0.081,0.031,3086,1686,2087,0,0,0,0,0,0
$GC,5119,0.83,253.0,448.3,10.3,229,5121,0.20,0.00,0.00,0.000,6,0.108,0.000,3045,1686,2079,0,0,0,0,0,0
$GC,5360,0.85,264.3,425.1,9.5,235,5377,0.00,2.62,9.40,0.715,4,0.000,0.063,3044,181,2041,0,0,0,0,0,0
$GC,5407,0.85,264.3,420.2,12.0,236,5411,0.00,2.42,0.00,0.000,6,0.000,0.028,3045,1677,2040,0,0,0,0,0,0
$GC,5694,0.86,271.0,391.2,9.7,243,5706,0.00,2.67,6.88,0.657,4,0.000,0.047,3045,3260,2015,0,0,0,0,0,0
$GC,5742,0.95,271.0,386.7,10.9,244,5746,0.00,2.58,0.00,0.000,6,0.000,0.034,3044,1694,2013,0,0,0,0,0,0
$GC,6028,0.96,278.7,358.5,9.7,251,6044,0.10,2.65,8.25,0.678,4,0.080,0.062,3092,170,1982,0,0,0,0,0,0
$GC,6077,0.81,278.7,352.1,14.1,252,6083,0.25,2.42,0.00,0.000,6,0.104,0.025,3038,1691,1981,0,0,0,0,0,0
$GC,6362,0.88,278.7,322.7,10.2,259,6366,0.00,2.60,0.00,0.000,4,0.000,0.054,3038,165,1978,0,0,0,0,0,0
$GC,6390,0.88,278.7,319.6,11.0,259,6394,0.00,2.42,0.00,0.000,6,0.000,0.023,3038,1685,1978,0,0,0,0,0,0
$GC,6646,1.00,317.5,297.8,8.2,266,6684,0.17,0.00,35.38,0.734,6,0.050,0.000,3120,1687,1825,0,0,0,0,0,0
$GC,6928,0.89,317.5,262.1,13.3,273,6933,0.28,2.55,0.00,0.000,4,0.101,0.050,3058,170,1817,0,0,0,0,0,0
$GC,6963,0.89,317.5,257.8,11.7,273,6967,0.00,2.38,0.00,0.000,6,0.000,0.023,3058,1676,1817,0,0,0,0,0,0
$GC,7214,0.89,317.5,232.1,10.3,279,7218,0.00,2.58,0.00,0.000,4,0.000,0.038,3058,3251,1816,0,0,0,0,0,0
$GC,7237,0.89,317.5,229.2,10.7,279,7241,0.00,2.60,0.00,0.000,6,0.000,0.029,3058,1659,1815,0,0,0,0,0,0
$GC,7496,0.89,317.5,200.9,10.9,286,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1659,1815,0,0,0,0,0,0
$GC,7754,0.96,325.9,174.7,9.7,307,7767,0.00,2.65,6.90,0.524,4,0.000,0.034,3058,3250,1790,0,0,0,0,0,0
$GC,7797,1.08,329.0,169.9,9.9,311,7808,0.15,2.55,4.32,0.433,6,0.057,0.028,3123,1666,1777,0,0,0,0,0,0
$GC,8063,1.00,329.0,137.0,12.9,336,8068,0.20,2.47,0.00,0.000,4,0.105,0.044,3080,166,1776,0,0,0,0,0,0
$GC,8109,1.00,329.0,131.2,12.1,340,8114,0.00,2.35,0.00,0.000,6,0.000,0.021,3080,1668,1776,0,0,0,0,0,0
$GC,8373,1.06,329.0,104.3,10.2,364,8377,0.00,2.55,0.00,0.000,4,0.000,0.032,3080,3259,1775,0,0,0,0,0,0
$GC,8403,1.20,353.7,101.3,8.9,366,8433,0.12,2.60,22.85,0.556,6,0.025,0.033,3139,1662,1676,0,0,0,0,0,0
$GC,8687,1.13,353.7,67.7,12.1,393,8692,0.15,2.58,0.00,0.000,4,0.113,0.034,3108,3251,1674,0,0,0,0,0,0
$GC,8752,1.24,357.4,60.8,9.9,398,8757,0.10,2.58,0.00,0.000,6,0.076,0.028,3177,1657,1671,0,0,0,0,0,0
$GC,9026,1.07,357.4,20.9,16.1,426,9036,0.38,2.40,4.40,0.354,4,0.100,0.038,3098,170,1661,0,0,0,0,0,0
$GC,9072,1.07,357.4,14.1,14.5,432,9080,0.00,2.35,0.00,0.000,6,0.000,0.020,3098,1665,1661,0,0,0,0,0,0
$STATE,9161,end climb,SURFACE_DEPTH_REACHED
$STATE,9161,begin surface coast
$FINISH,0.9,1.023510
$STATE,9203,end surface coast,CONTROL_FINISHED_OK
$STATE,9203,begin surface
$SM_CCo,9223,51.33,0.406,1,0,1284,450.13
$SM_GC,1.63,0.00,0.00,51.33,0.000,0.000,0.406,406,1816,1284,-11.29,0.76,450.13
$IRIDIUM_FIX,2239.35,-15804.53,200200,151547
$TT8_MAMPS,0.026845
$HUMID,42.32
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.6,19.636
$10V_AH,10.4,16.407
$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,30.225,121.475,429.425,51.325,0.000,29.884,34.424,214.571,0.750,0.000,13.765,953.672,6013.210,520.304,1665.189,540.303,33.366,1240.510,0.000,1673.777,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,66.729,864.409,405.743,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,304.811,270.346,346.283,501.968,887.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,35261,452
$CAP_FILE_SIZE,109549,0
$CFSIZE,260165632,165126144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,205757,2249.817,-15801.634,27,6.9,46,10.1