version: 66.06
glider: 148
mission: 9
dive: 137
start: 11 28 110 12 2 33
data:
$ID,148
$MISSION,9
$DIVE,137
$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,-860534.44
$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,39
$R_STBD_OVSHOOT,50
$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
$GPS1,114831,2249.767,-15802.664,16,1.3,33,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.6
$GPS2,120139,2249.801,-15802.661,35,1.2,37,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.258,-0.034
$KALMAN_X,-59909.4,-239.8,20.1,72514.7,-454.1
$KALMAN_Y,18357.5,-531.2,113.0,111535.4,413.9
$MHEAD_RNG_PITCHd_Wd,87.3,9671,-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,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.53,0.000,2,0.000,0.000,408,1865,3369,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.5,-5.8,11,131,11.43,2.67,-6.38,0.000,4,0.155,0.051,2574,214,3718,0,0,0,0,0,0
$GC,185,-1.19,-146.0,26.2,-19.7,22,194,0.08,2.50,0.00,0.000,6,0.088,0.022,2595,1782,3720,0,0,0,0,0,0
$GC,462,-1.05,-146.0,71.5,-15.6,48,467,0.17,2.58,0.00,0.000,4,0.105,0.031,2632,3382,3720,0,0,0,0,0,0
$GC,517,-1.05,-146.0,79.5,-11.4,52,521,0.00,2.50,0.00,0.000,6,0.000,0.021,2632,1788,3719,0,0,0,0,0,0
$GC,779,-1.05,-146.0,110.7,-10.0,76,783,0.00,2.53,0.00,0.000,4,0.000,0.030,2632,3376,3720,0,0,0,0,0,0
$GC,827,-1.17,-146.0,115.7,-9.7,80,832,0.12,2.47,0.00,0.000,6,0.062,0.022,2550,1795,3720,0,0,0,0,0,0
$GC,1091,-1.03,-146.0,158.1,-16.3,104,1100,0.40,2.53,0.00,0.000,4,0.084,0.030,2633,3378,3721,0,0,0,0,0,0
$GC,1125,-1.18,-146.0,162.7,-9.9,107,1131,0.12,2.45,0.00,0.000,6,0.061,0.021,2525,1810,3721,0,0,0,0,0,0
$GC,1389,-1.01,-146.0,200.7,-15.7,132,1391,0.50,0.00,0.00,0.000,6,0.084,0.000,2636,1809,3721,0,0,0,0,0,0
$GC,1630,-1.19,-146.0,223.4,-8.8,138,1635,0.15,2.53,0.00,0.000,4,0.054,0.031,2557,3382,3722,0,0,0,0,0,0
$GC,1675,-1.19,-146.0,228.2,-11.5,139,1680,0.20,2.47,0.00,0.000,6,0.086,0.024,2602,1813,3721,0,0,0,0,0,0
$GC,1965,-1.28,-146.0,254.6,-8.6,146,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1813,3722,0,0,0,0,0,0
$GC,2207,-1.39,-146.0,272.5,-7.3,152,2209,0.20,0.00,0.00,0.000,6,0.046,0.000,2512,1813,3722,0,0,0,0,0,0
$GC,2451,-1.25,-146.0,303.8,-13.1,158,2458,0.30,2.60,0.00,0.000,4,0.087,0.041,2584,213,3722,0,0,0,0,0,0
$GC,2467,-1.25,-146.0,306.0,-11.8,158,2471,0.00,2.53,0.00,0.000,6,0.000,0.021,2584,1843,3721,0,0,0,0,0,0
$GC,2736,-1.33,-146.0,330.0,-8.8,165,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1847,3721,0,0,0,0,0,0
$GC,2981,-1.41,-146.0,349.6,-7.8,171,2983,0.12,0.00,0.00,0.000,6,0.067,0.000,2528,1847,3721,0,0,0,0,0,0
$GC,3223,-1.34,-146.0,375.4,-10.8,177,3228,0.17,2.50,0.00,0.000,4,0.098,0.043,2566,3364,3718,0,0,0,0,0,0
$GC,3267,-1.41,-146.0,379.5,-8.2,178,3271,0.00,2.45,0.00,0.000,6,0.000,0.028,2566,1827,3719,0,0,0,0,0,0
$GC,3555,-1.41,-146.0,404.5,-8.9,185,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1827,3717,0,0,0,0,0,0
$GC,3797,-1.41,-146.0,425.6,-8.6,191,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1827,3716,0,0,0,0,0,0
$GC,4041,-1.41,-146.0,446.0,-8.3,197,4046,0.00,2.75,0.00,0.000,4,0.000,0.061,2566,207,3713,0,0,0,0,0,0
$GC,4072,-1.51,-146.0,448.6,-9.2,197,4077,0.15,2.60,0.00,0.000,6,0.058,0.032,2501,1812,3713,0,0,0,0,0,0
$GC,4327,-1.40,-146.0,479.9,-12.5,204,4334,0.25,2.60,0.00,0.000,4,0.096,0.054,2560,3373,3711,0,0,0,0,0,0
$GC,4354,-1.40,-146.0,483.0,-11.1,204,4359,0.00,2.50,0.00,0.000,6,0.000,0.030,2560,1817,3711,0,0,0,0,0,0
$STATE,4570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4570,begin apogee
$GC,4576,-0.31,0.0,503.5,9.2,210,4697,1.02,0.00,117.03,0.877,6,0.075,0.000,2791,1663,3120,0,0,0,0,0,0
$STATE,4697,end apogee,CONTROL_FINISHED_OK
$STATE,4697,begin climb
$GC,4700,1.28,146.0,507.9,0.0,213,4831,1.40,2.62,121.07,0.860,4,0.028,0.068,3148,180,2523,0,0,0,0,0,0
$GC,5089,0.83,146.0,475.9,13.6,221,5096,0.52,2.45,0.00,0.000,6,0.116,0.028,3042,1688,2514,0,0,0,0,0,0
$GC,5347,0.87,174.9,452.6,8.7,228,5375,0.00,2.65,23.45,0.810,4,0.000,0.059,3042,186,2406,0,0,0,0,0,0
$GC,5445,0.75,174.9,442.8,11.3,230,5450,0.00,2.42,0.00,0.000,6,0.000,0.025,3042,1681,2404,0,0,0,0,0,0
$GC,5718,0.82,227.8,421.2,7.6,237,5771,0.00,2.60,45.60,0.819,4,0.000,0.058,3042,183,2190,0,0,0,0,0,0
$GC,5841,0.75,227.8,410.6,10.1,239,5845,0.00,2.40,0.00,0.000,6,0.000,0.025,3042,1667,2187,0,0,0,0,0,0
$GC,6091,0.80,264.8,389.6,8.3,245,6132,0.00,2.58,32.25,0.792,4,0.000,0.057,3042,187,2038,0,0,0,0,0,0
$GC,6203,0.80,264.8,378.1,11.4,247,6207,0.00,2.40,0.00,0.000,6,0.000,0.025,3042,1666,2036,0,0,0,0,0,0
$GC,6466,0.80,264.8,351.1,10.2,254,6470,0.00,2.67,0.00,0.000,4,0.000,0.048,3042,3260,2031,0,0,0,0,0,0
$GC,6505,0.86,264.8,347.1,10.3,254,6511,0.00,2.62,0.00,0.000,6,0.000,0.033,3042,1676,2030,0,0,0,0,0,0
$GC,6755,0.88,277.1,323.1,9.5,261,6767,0.00,0.00,10.43,0.691,6,0.000,0.000,3042,1676,1990,0,0,0,0,0,0
$GC,6999,0.90,291.8,300.4,9.4,267,7019,0.00,2.65,14.55,0.708,4,0.000,0.061,3042,174,1929,0,0,0,0,0,0
$GC,7049,0.90,292.9,295.7,10.0,268,7053,0.00,2.38,0.00,0.000,6,0.000,0.022,3042,1675,1928,0,0,0,0,0,0
$GC,7331,1.02,332.7,272.0,8.2,275,7373,0.15,0.00,36.35,0.721,6,0.058,0.000,3108,1678,1762,0,0,0,0,0,0
$GC,7620,0.94,332.7,234.3,14.0,282,7625,0.20,2.55,0.00,0.000,4,0.103,0.049,3066,169,1756,0,0,0,0,0,0
$GC,7676,0.94,332.7,226.2,13.2,283,7680,0.00,2.35,0.00,0.000,6,0.000,0.023,3066,1659,1756,0,0,0,0,0,0
$GC,7931,0.94,332.7,195.6,11.8,291,7935,0.00,2.62,0.00,0.000,4,0.000,0.038,3066,3260,1753,0,0,0,0,0,0
$GC,7962,1.01,332.7,192.1,11.7,293,7968,0.00,2.62,0.00,0.000,6,0.000,0.029,3066,1654,1751,0,0,0,0,0,0
$GC,8224,1.01,332.7,162.4,11.0,318,8228,0.00,2.62,0.00,0.000,4,0.000,0.035,3066,3256,1751,0,0,0,0,0,0
$GC,8242,1.01,332.7,160.5,11.3,319,8246,0.00,2.55,0.00,0.000,6,0.000,0.027,3066,1669,1750,0,0,0,0,0,0
$GC,8511,1.12,362.1,134.3,8.7,343,8539,0.15,0.00,25.58,0.591,6,0.058,0.000,3136,1669,1642,0,0,0,0,0,0
$GC,8792,1.03,362.1,97.0,14.7,370,8794,0.22,0.00,0.00,0.000,6,0.097,0.000,3086,1669,1638,0,0,0,0,0,0
$GC,9051,1.10,362.1,67.8,12.6,394,9056,0.00,2.58,0.00,0.000,4,0.000,0.031,3086,3259,1638,0,0,0,0,0,0
$GC,9095,1.24,362.1,62.5,11.5,397,9100,0.17,2.53,0.00,0.000,6,0.049,0.027,3161,1679,1635,0,0,0,0,0,0
$GC,9364,1.11,362.1,25.1,14.1,423,9373,0.25,2.50,0.00,0.000,4,0.098,0.042,3104,168,1635,0,0,0,0,0,0
$GC,9395,1.03,362.1,20.3,15.8,427,9404,0.00,2.38,0.00,0.000,6,0.000,0.020,3105,1680,1635,0,0,0,0,0,0
$STATE,9511,end climb,SURFACE_DEPTH_REACHED
$STATE,9511,begin surface coast
$FINISH,0.6,1.010762
$STATE,9554,end surface coast,CONTROL_FINISHED_OK
$STATE,9554,begin surface
$SM_CCo,9574,45.85,0.396,1,0,1284,450.13
$SM_GC,1.64,0.00,0.00,45.85,0.000,0.000,0.396,410,1866,1284,-11.27,2.15,450.13
$IRIDIUM_FIX,2241.69,-15700.68,220200,121229
$TT8_MAMPS,0.026845
$HUMID,42.67
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,21.391
$10V_AH,10.4,17.946
$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,29.400,101.875,426.300,45.850,0.000,60.469,83.331,423.805,0.250,0.000,38.630,950.129,6396.710,497.333,1720.345,850.401,33.361,1226.576,0.000,1710.150,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,68.263,877.448,395.772,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,304.991,270.963,340.243,491.697,869.837,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35255,451
$CAP_FILE_SIZE,110412,0
$CFSIZE,260165632,164306944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281110,144407,2249.638,-15801.285,28,1.4,29,10.1