version: 66.06
glider: 148
mission: 9
dive: 130
start: 11 27 110 16 31 45
data:
$ID,148
$MISSION,9
$DIVE,130
$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,-860308
$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,21
$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
$GPS1,161456,2246.958,-15757.770,24,99.0,43,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.7
$GPS2,163050,2246.878,-15757.838,13,1.3,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.257,0.042
$KALMAN_X,-58293.4,-135.3,-5.4,79124.7,-410.9
$KALMAN_Y,18826.1,0.6,83.4,105148.7,-344.7
$MHEAD_RNG_PITCHd_Wd,269.2,8818,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-81.30,0.000,2,0.000,0.000,410,1867,3370,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.8,-7.1,11,131,11.70,2.70,-6.12,0.000,4,0.166,0.051,2572,196,3718,0,0,0,0,0,0
$GC,249,-1.28,-146.0,39.9,-20.9,29,253,0.00,2.50,0.00,0.000,6,0.000,0.021,2572,1790,3719,0,0,0,0,0,0
$GC,518,-1.11,-146.0,88.8,-18.7,53,523,0.22,2.53,0.00,0.000,4,0.100,0.031,2620,3368,3719,0,0,0,0,0,0
$GC,575,-1.11,-146.0,98.8,-12.8,58,579,0.00,2.53,0.00,0.000,6,0.000,0.022,2620,1771,3719,0,0,0,0,0,0
$GC,837,-1.18,-146.0,129.5,-9.1,82,841,0.00,2.55,0.00,0.000,4,0.000,0.028,2620,3370,3720,0,0,0,0,0,0
$GC,898,-1.31,-146.0,134.5,-9.0,87,903,0.20,2.47,0.00,0.000,6,0.040,0.022,2525,1806,3720,0,0,0,0,0,0
$GC,1160,-1.15,-146.0,171.1,-14.0,111,1172,0.35,2.55,0.00,0.000,4,0.089,0.042,2605,207,3721,0,0,0,0,0,0
$GC,1228,-1.33,-146.0,178.6,-9.1,117,1237,0.12,2.53,0.00,0.000,6,0.029,0.019,2520,1820,3721,0,0,0,0,0,0
$GC,1516,-1.18,-146.0,218.8,-14.4,136,1521,0.35,2.42,0.00,0.000,4,0.092,0.029,2601,3361,3721,0,0,0,0,0,0
$GC,1570,-1.28,-146.0,224.8,-9.2,137,1574,0.00,2.42,0.00,0.000,6,0.000,0.021,2601,1816,3721,0,0,0,0,0,0
$GC,1848,-1.36,-146.0,251.1,-9.6,144,1853,0.15,2.47,0.00,0.000,4,0.056,0.031,2515,3366,3721,0,0,0,0,0,0
$GC,1868,-1.30,-146.0,253.6,-11.9,144,1874,0.28,2.42,0.00,0.000,6,0.088,0.022,2576,1824,3721,0,0,0,0,0,0
$GC,2133,-1.30,-146.0,283.4,-11.1,151,2137,0.00,2.62,0.00,0.000,4,0.000,0.042,2576,210,3721,0,0,0,0,0,0
$GC,2170,-1.38,-146.0,287.9,-11.7,151,2176,0.00,2.53,0.00,0.000,6,0.000,0.022,2575,1822,3721,0,0,0,0,0,0
$GC,2420,-1.38,-146.0,312.8,-9.6,158,2424,0.00,2.45,0.00,0.000,4,0.000,0.034,2575,3368,3721,0,0,0,0,0,0
$GC,2452,-1.38,-146.0,316.2,-9.9,158,2456,0.00,2.42,0.00,0.000,6,0.000,0.024,2576,1822,3721,0,0,0,0,0,0
$GC,2701,-1.38,-146.0,342.0,-10.4,164,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1822,3720,0,0,0,0,0,0
$GC,2947,-1.44,-146.0,367.1,-9.9,170,2952,0.12,2.53,0.00,0.000,4,0.067,0.040,2512,3363,3719,0,0,0,0,0,0
$GC,2985,-1.36,-146.0,372.0,-12.3,170,2992,0.22,2.47,0.00,0.000,6,0.094,0.027,2561,1820,3719,0,0,0,0,0,0
$GC,3235,-1.36,-146.0,398.6,-10.6,177,3239,0.00,2.53,0.00,0.000,4,0.000,0.043,2561,3364,3717,0,0,0,0,0,0
$GC,3268,-1.36,-146.0,402.1,-10.6,177,3273,0.00,2.47,0.00,0.000,6,0.000,0.030,2561,1831,3717,0,0,0,0,0,0
$GC,3518,-1.36,-146.0,427.9,-10.2,183,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1832,3716,0,0,0,0,0,0
$GC,3762,-1.36,-146.0,452.0,-9.8,189,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1831,3714,0,0,0,0,0,0
$GC,4007,-1.36,-146.0,474.1,-8.9,195,4011,0.00,2.58,0.00,0.000,4,0.000,0.051,2561,3364,3712,0,0,0,0,0,0
$GC,4072,-1.45,-146.0,480.1,-8.3,196,4076,0.00,2.45,0.00,0.000,6,0.000,0.031,2561,1834,3712,0,0,0,0,0,0
$STATE,4333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4334,begin apogee
$GC,4341,-0.31,0.0,500.6,7.9,203,4461,1.02,0.00,117.07,0.869,6,0.078,0.000,2792,1664,3120,0,0,0,0,0,0
$STATE,4462,end apogee,CONTROL_FINISHED_OK
$STATE,4462,begin climb
$GC,4464,1.28,146.0,504.8,0.0,206,4595,1.40,2.75,121.40,0.852,4,0.025,0.048,3144,3244,2523,0,0,0,0,0,0
$GC,4667,1.00,159.6,500.3,9.4,210,4685,0.32,2.60,11.93,0.751,6,0.123,0.036,3081,1697,2469,0,0,0,0,0,0
$GC,4969,0.92,211.6,476.5,7.6,218,5022,0.00,2.75,44.78,0.828,4,0.000,0.073,3080,166,2256,0,0,0,0,0,0
$GC,5053,0.73,211.6,469.1,10.5,219,5059,0.30,2.45,0.00,0.000,6,0.115,0.028,3020,1664,2253,0,0,0,0,0,0
$GC,5302,0.79,260.5,449.3,7.8,226,5347,0.00,0.00,42.58,0.816,6,0.000,0.000,3020,1664,2057,0,0,0,0,0,0
$GC,5588,0.91,292.5,424.9,8.6,233,5619,0.17,0.00,28.92,0.795,6,0.051,0.000,3087,1665,1927,0,0,0,0,0,0
$GC,5829,0.84,292.5,395.1,12.6,239,5834,0.20,2.58,0.00,0.000,4,0.108,0.054,3045,167,1921,0,0,0,0,0,0
$GC,5895,0.84,292.5,387.5,11.2,240,5899,0.00,2.45,0.00,0.000,6,0.000,0.026,3045,1678,1920,0,0,0,0,0,0
$GC,6160,0.84,293.9,361.2,10.0,247,6164,0.00,2.65,0.00,0.000,4,0.000,0.045,3045,3265,1917,0,0,0,0,0,0
$GC,6203,0.96,293.9,356.5,10.8,248,6208,0.10,2.65,0.00,0.000,6,0.078,0.035,3090,1668,1915,0,0,0,0,0,0
$GC,6491,0.96,293.9,319.4,13.0,255,6496,0.10,2.60,0.00,0.000,4,0.125,0.062,3069,160,1914,0,0,0,0,0,0
$GC,6538,0.96,293.9,313.0,12.5,256,6542,0.00,2.42,0.00,0.000,6,0.000,0.024,3069,1680,1914,0,0,0,0,0,0
$GC,6820,0.96,298.8,283.6,9.8,263,6832,0.00,2.58,4.78,0.527,4,0.000,0.054,3069,168,1900,0,0,0,0,0,0
$GC,6880,0.96,298.8,277.2,10.8,264,6884,0.00,2.40,0.00,0.000,6,0.000,0.024,3069,1679,1899,0,0,0,0,0,0
$GC,7152,0.96,298.8,249.3,10.7,271,7156,0.00,2.55,0.00,0.000,4,0.000,0.052,3069,167,1898,0,0,0,0,0,0
$GC,7181,0.96,298.8,245.7,13.3,271,7185,0.00,2.38,0.00,0.000,6,0.000,0.023,3070,1668,1898,0,0,0,0,0,0
$GC,7439,0.96,298.8,218.1,10.5,278,7443,0.00,2.55,0.00,0.000,4,0.000,0.036,3070,3250,1898,0,0,0,0,0,0
$GC,7481,1.03,298.8,213.6,10.3,279,7486,0.00,2.55,0.00,0.000,6,0.000,0.028,3069,1662,1896,0,0,0,0,0,0
$GC,7747,1.03,298.8,186.3,11.0,292,7751,0.00,2.58,0.00,0.000,4,0.000,0.034,3069,3260,1896,0,0,0,0,0,0
$GC,7772,1.03,298.8,182.8,11.9,294,7777,0.00,2.55,0.00,0.000,6,0.000,0.028,3069,1669,1896,0,0,0,0,0,0
$GC,8036,1.03,298.8,154.5,10.2,318,8040,0.00,2.45,0.00,0.000,4,0.000,0.047,3070,167,1896,0,0,0,0,0,0
$GC,8168,1.03,298.8,139.0,12.5,330,8177,0.00,2.35,0.00,0.000,6,0.000,0.022,3070,1649,1896,0,0,0,0,0,0
$GC,8435,1.14,326.9,113.5,8.7,355,8468,0.15,2.70,25.00,0.566,4,0.057,0.032,3122,3268,1786,0,0,0,0,0,0
$GC,8546,1.14,326.9,100.6,10.6,366,8550,0.00,2.62,0.00,0.000,6,0.000,0.028,3122,1653,1782,0,0,0,0,0,0
$GC,8814,1.14,333.1,75.8,9.8,390,8828,0.00,2.47,6.28,0.440,4,0.000,0.044,3122,173,1761,0,0,0,0,0,0
$GC,8855,1.08,333.1,71.3,10.2,393,8863,0.10,2.35,0.00,0.000,6,0.083,0.020,3096,1664,1760,0,0,0,0,0,0
$GC,9119,1.08,335.2,47.4,9.9,418,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1668,1760,0,0,0,0,0,0
$GC,9401,1.08,335.2,17.4,12.6,452,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1668,1760,0,0,0,0,0,0
$STATE,9553,end climb,SURFACE_DEPTH_REACHED
$STATE,9553,begin surface coast
$FINISH,0.7,1.013191
$STATE,9613,end surface coast,CONTROL_FINISHED_OK
$STATE,9613,begin surface
$SM_CCo,9633,55.85,0.060,0,0,1285,450.13
$SM_GC,1.42,0.00,0.00,55.85,0.000,0.000,0.060,411,1853,1285,-11.27,1.78,450.13
$IRIDIUM_FIX,2237.01,-15758.03,210200,161624
$TT8_MAMPS,0.026845
$HUMID,41.06
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.40
$XPDR_PINGS,3
$24V_AH,23.6,20.584
$10V_AH,10.4,17.235
$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,28.375,116.525,402.725,55.850,0.000,116.350,186.436,326.196,0.750,0.000,14.710,1006.472,6355.039,529.698,1845.593,909.693,33.372,1258.128,0.000,1850.170,0.000,0.537,0.000
$DEVICE_MAMPS,165.672,72.865,869.011,59.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.720,293.777,374.384,580.183,1025.666,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,38359,485
$CAP_FILE_SIZE,114040,0
$CFSIZE,260165632,164671488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271110,191423,2246.969,-15759.232,10,99.0,29,10.1