version: 66.06
glider: 148
mission: 9
dive: 126
start: 11 27 110 5 45 52
data:
$ID,148
$MISSION,9
$DIVE,126
$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,-860212.31
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,053616,2249.360,-15757.515,11,2.2,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.2
$GPS2,054458,2249.310,-15757.555,14,2.4,33,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.108,0.212
$KALMAN_X,-56168.5,-38.3,54.3,77330.5,-122.7
$KALMAN_Y,19066.7,-26.9,-271.7,109802.8,-845.7
$MHEAD_RNG_PITCHd_Wd,16.9,1590,-19.5,-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,-1.37,-120.4,0.0,0.0,0,95,0.00,0.00,-75.72,0.000,2,0.000,0.000,414,1857,3205,0,0,0,0,0,0
$GC,100,-1.40,-146.0,3.5,-6.3,10,132,11.18,2.47,-9.45,0.000,4,0.152,0.044,2551,3368,3718,0,0,0,0,0,0
$GC,142,-0.62,-146.0,17.5,-30.3,15,151,0.75,2.53,0.00,0.000,6,0.085,0.021,2719,1781,3719,0,0,0,0,0,0
$GC,426,-1.00,-146.0,41.1,-6.9,47,431,0.28,2.53,0.00,0.000,4,0.033,0.026,2576,3367,3721,0,0,0,0,0,0
$GC,471,-0.93,-146.0,47.6,-16.3,50,480,0.32,2.50,0.00,0.000,6,0.081,0.021,2652,1803,3720,0,0,0,0,0,0
$GC,739,-1.07,-146.0,79.5,-11.7,75,744,0.12,2.50,0.00,0.000,4,0.065,0.031,2586,3364,3721,0,0,0,0,0,0
$GC,795,-1.07,-146.0,89.4,-17.3,80,800,0.17,2.45,0.00,0.000,6,0.100,0.021,2624,1808,3721,0,0,0,0,0,0
$GC,1059,-1.23,-146.0,121.3,-10.3,104,1064,0.12,2.50,0.00,0.000,4,0.065,0.031,2559,3371,3721,0,0,0,0,0,0
$GC,1079,-1.23,-146.0,124.3,-11.2,105,1085,0.15,2.42,0.00,0.000,6,0.103,0.020,2592,1811,3721,0,0,0,0,0,0
$GC,1346,-1.33,-146.0,152.5,-10.2,130,1351,0.10,2.50,0.00,0.000,4,0.079,0.031,2541,3364,3722,0,0,0,0,0,0
$GC,1386,-1.33,-146.0,158.0,-13.1,133,1392,0.12,2.40,0.00,0.000,6,0.109,0.022,2567,1826,3722,0,0,0,0,0,0
$GC,1648,-1.33,-146.0,190.5,-12.3,158,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1826,3722,0,0,0,0,0,0
$GC,1925,-1.33,-146.0,225.1,-12.1,170,1930,0.00,2.47,0.00,0.000,4,0.000,0.031,2567,3368,3722,0,0,0,0,0,0
$GC,1962,-1.42,-146.0,230.1,-11.4,170,1968,0.00,2.40,0.00,0.000,6,0.000,0.022,2567,1830,3722,0,0,0,0,0,0
$GC,2212,-1.48,-146.0,257.9,-10.8,177,2214,0.12,0.00,0.00,0.000,6,0.067,0.000,2500,1830,3723,0,0,0,0,0,0
$GC,2458,-1.37,-146.0,290.9,-13.4,183,2463,0.25,2.60,0.00,0.000,4,0.097,0.043,2557,217,3723,0,0,0,0,0,0
$GC,2481,-1.37,-146.0,294.2,-12.4,183,2486,0.00,2.50,0.00,0.000,6,0.000,0.022,2557,1825,3723,0,0,0,0,0,0
$GC,2741,-1.46,-146.0,319.7,-9.9,190,2745,0.00,2.47,0.00,0.000,4,0.000,0.036,2558,3367,3723,0,0,0,0,0,0
$GC,2780,-1.56,-146.0,323.9,-11.2,190,2786,0.15,2.42,0.00,0.000,6,0.057,0.025,2486,1830,3723,0,0,0,0,0,0
$GC,3030,-1.45,-146.0,360.8,-15.2,197,3037,0.25,2.67,0.00,0.000,4,0.097,0.048,2545,208,3722,0,0,0,0,0,0
$GC,3057,-1.52,-146.0,364.5,-13.3,197,3062,0.00,2.58,0.00,0.000,6,0.000,0.026,2545,1825,3722,0,0,0,0,0,0
$GC,3317,-1.59,-146.0,393.6,-11.1,204,3322,0.12,2.53,0.00,0.000,4,0.067,0.044,2490,3369,3721,0,0,0,0,0,0
$GC,3360,-1.59,-146.0,399.2,-13.0,205,3365,0.10,2.45,0.00,0.000,6,0.122,0.027,2512,1832,3721,0,0,0,0,0,0
$GC,3649,-1.59,-146.0,435.3,-12.4,212,3653,0.00,2.72,0.00,0.000,4,0.000,0.059,2512,217,3719,0,0,0,0,0,0
$GC,3704,-1.59,-146.0,442.8,-12.6,213,3709,0.00,2.60,0.00,0.000,6,0.000,0.032,2512,1833,3719,0,0,0,0,0,0
$GC,3977,-1.59,-146.0,472.4,-10.5,220,3981,0.00,2.53,0.00,0.000,4,0.000,0.050,2512,3371,3717,0,0,0,0,0,0
$GC,3997,-1.59,-146.0,474.5,-10.6,220,4001,0.00,2.47,0.00,0.000,6,0.000,0.030,2512,1830,3717,0,0,0,0,0,0
$STATE,4258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4259,begin apogee
$GC,4264,-0.31,0.0,503.6,11.2,227,4387,1.25,0.00,118.70,0.865,6,0.084,0.000,2789,1660,3120,0,0,0,0,0,0
$STATE,4387,end apogee,CONTROL_FINISHED_OK
$STATE,4387,begin climb
$GC,4391,1.40,146.0,508.8,0.0,230,4521,1.52,2.62,121.47,0.851,4,0.023,0.067,3170,185,2524,0,0,0,0,0,0
$GC,4642,0.97,146.0,497.3,12.9,235,4651,0.50,2.45,0.00,0.000,6,0.123,0.030,3071,1680,2516,0,0,0,0,0,0
$GC,4895,1.01,175.1,475.0,8.4,242,4926,0.00,2.62,24.35,0.808,4,0.000,0.059,3071,180,2405,0,0,0,0,0,0
$GC,5006,0.89,175.1,463.4,10.8,244,5010,0.00,2.42,0.00,0.000,6,0.000,0.028,3071,1679,2400,0,0,0,0,0,0
$GC,5269,0.91,192.9,438.9,9.0,251,5290,0.00,2.62,15.90,0.777,4,0.000,0.058,3071,183,2333,0,0,0,0,0,0
$GC,5372,0.81,192.9,428.9,10.7,253,5377,0.17,2.38,0.00,0.000,6,0.123,0.026,3037,1665,2329,0,0,0,0,0,0
$GC,5646,0.95,234.6,407.2,7.7,260,5690,0.12,2.60,36.17,0.805,4,0.066,0.056,3094,183,2162,0,0,0,0,0,0
$GC,5852,0.84,234.6,381.9,12.3,264,5858,0.25,2.38,0.00,0.000,6,0.107,0.026,3044,1666,2157,0,0,0,0,0,0
$GC,6119,0.98,273.4,360.2,7.9,271,6156,0.12,0.00,33.65,0.774,6,0.066,0.000,3108,1667,2005,0,0,0,0,0,0
$GC,6402,0.98,273.4,326.4,12.7,277,6407,0.15,2.55,0.00,0.000,4,0.114,0.054,3076,180,1997,0,0,0,0,0,0
$GC,6426,0.98,273.4,322.8,13.9,277,6430,0.00,2.35,0.00,0.000,6,0.000,0.024,3076,1653,1997,0,0,0,0,0,0
$GC,6691,0.98,273.4,292.8,11.2,284,6695,0.00,2.47,0.00,0.000,4,0.000,0.055,3077,185,1994,0,0,0,0,0,0
$GC,6727,0.98,273.4,288.4,11.9,284,6733,0.00,2.33,0.00,0.000,6,0.000,0.024,3076,1655,1994,0,0,0,0,0,0
$GC,6977,1.05,276.6,262.8,9.9,291,6982,0.00,2.65,0.00,0.000,4,0.000,0.044,3076,3262,1992,0,0,0,0,0,0
$GC,6997,1.05,279.5,260.9,9.9,291,7009,0.00,2.65,4.53,0.501,6,0.000,0.031,3077,1647,1980,0,0,0,0,0,0
$GC,7265,1.12,279.5,231.4,11.2,298,7270,0.10,2.50,0.00,0.000,4,0.080,0.054,3134,166,1978,0,0,0,0,0,0
$GC,7294,0.96,279.5,227.2,15.1,298,7299,0.30,2.33,0.00,0.000,6,0.106,0.023,3072,1652,1978,0,0,0,0,0,0
$GC,7551,1.05,279.5,199.2,10.7,305,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1653,1977,0,0,0,0,0,0
$GC,7804,1.14,279.5,173.0,10.6,329,7806,0.15,0.00,0.00,0.000,6,0.058,0.000,3145,1655,1977,0,0,0,0,0,0
$GC,8066,1.06,279.5,136.8,14.7,353,8071,0.25,0.00,0.00,0.000,6,0.103,0.000,3088,1655,1977,0,0,0,0,0,0
$GC,8328,1.18,300.1,110.3,8.9,378,8350,0.12,0.00,19.50,0.565,6,0.067,0.000,3146,1655,1895,0,0,0,0,0,0
$GC,8601,1.18,300.1,80.0,11.1,404,8606,0.15,2.45,0.00,0.000,4,0.113,0.044,3116,169,1892,0,0,0,0,0,0
$GC,8728,1.18,300.1,67.4,10.8,415,8733,0.00,2.30,0.00,0.000,6,0.000,0.021,3116,1659,1892,0,0,0,0,0,0
$GC,8997,1.18,300.1,38.2,13.7,439,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1663,1891,0,0,0,0,0,0
$STATE,9281,end climb,SURFACE_DEPTH_REACHED
$STATE,9281,begin surface coast
$FINISH,0.6,1.017355
$STATE,9319,end surface coast,CONTROL_FINISHED_OK
$STATE,9319,begin surface
$SM_CCo,9341,76.55,0.430,1,0,1284,450.13
$SM_GC,1.46,0.00,0.00,76.55,0.000,0.000,0.430,412,1852,1284,-11.26,1.78,450.13
$IRIDIUM_FIX,2239.35,-15802.37,210200,050511
$TT8_MAMPS,0.026845
$HUMID,41.84
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,20.137
$10V_AH,10.4,16.829
$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,30.325,105.325,374.275,76.550,0.000,45.570,117.316,146.791,0.500,0.000,35.756,997.840,5963.224,496.866,1913.160,575.331,33.353,1233.839,0.000,1898.053,0.000,0.539,0.000
$DEVICE_MAMPS,151.866,67.496,865.176,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.398,308.981,385.129,603.364,1067.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,38251,487
$CAP_FILE_SIZE,105491,0
$CFSIZE,260165632,164896768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271110,082433,2249.975,-15757.124,57,1.6,59,10.1