version: 66.06
glider: 148
mission: 9
dive: 139
start: 11 28 110 17 57 15
data:
$ID,148
$MISSION,9
$DIVE,139
$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,-860585.56
$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,34
$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
$GPS1,174501,2249.428,-15759.820,48,1.4,48,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.8
$GPS2,175620,2249.378,-15759.840,13,1.3,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.244,0.090
$KALMAN_X,-60161.2,-299.7,77.8,77625.5,-55.4
$KALMAN_Y,17168.6,52.1,-218.0,111689.2,-342.4
$MHEAD_RNG_PITCHd_Wd,59.6,4983,-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,-82.50,0.000,2,0.000,0.000,408,1862,3384,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.8,-6.8,11,130,11.52,2.40,-5.90,0.000,4,0.158,0.041,2576,3368,3717,0,0,0,0,0,0
$GC,148,-0.31,-146.0,20.2,-39.4,16,157,0.95,2.53,0.00,0.000,6,0.084,0.021,2788,1789,3719,0,0,0,0,0,0
$GC,430,-1.13,-146.0,45.2,-11.4,50,443,0.70,2.53,0.00,0.000,4,0.044,0.027,2611,3370,3720,0,0,0,0,0,0
$GC,462,-1.44,-146.0,49.9,-13.6,52,472,0.25,2.50,0.00,0.000,6,0.022,0.022,2506,1803,3720,0,0,0,0,0,0
$GC,729,-1.08,-146.0,108.3,-20.8,77,738,0.50,2.55,0.00,0.000,4,0.097,0.036,2617,211,3720,0,0,0,0,0,0
$GC,814,-1.25,-146.0,119.4,-8.5,85,819,0.12,2.42,0.00,0.000,6,0.064,0.018,2555,1798,3721,0,0,0,0,0,0
$GC,1081,-1.15,-146.0,155.1,-13.6,109,1086,0.25,2.45,0.00,0.000,4,0.091,0.028,2614,3360,3721,0,0,0,0,0,0
$GC,1123,-1.29,-146.0,160.4,-9.6,112,1129,0.15,2.47,0.00,0.000,6,0.053,0.022,2522,1780,3721,0,0,0,0,0,0
$GC,1385,-1.13,-146.0,197.9,-14.9,137,1394,0.38,2.50,0.00,0.000,4,0.091,0.030,2607,3356,3722,0,0,0,0,0,0
$GC,1416,-1.13,-146.0,201.8,-11.1,139,1420,0.00,2.47,0.00,0.000,6,0.000,0.021,2607,1788,3722,0,0,0,0,0,0
$GC,1675,-1.22,-146.0,226.0,-9.4,146,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1788,3722,0,0,0,0,0,0
$GC,1919,-1.33,-146.0,248.2,-9.1,152,1924,0.15,2.53,0.00,0.000,4,0.054,0.031,2527,3363,3722,0,0,0,0,0,0
$GC,1972,-1.24,-146.0,255.1,-14.6,153,1978,0.28,2.50,0.00,0.000,6,0.085,0.023,2588,1788,3722,0,0,0,0,0,0
$GC,2251,-1.31,-146.0,286.6,-11.4,160,2255,0.00,2.50,0.00,0.000,4,0.000,0.033,2588,3354,3722,0,0,0,0,0,0
$GC,2284,-1.40,-146.0,290.6,-11.4,160,2289,0.15,2.47,0.00,0.000,6,0.055,0.024,2518,1796,3721,0,0,0,0,0,0
$GC,2535,-1.28,-146.0,326.3,-14.3,166,2537,0.28,0.00,0.00,0.000,6,0.094,0.000,2577,1795,3722,0,0,0,0,0,0
$GC,2777,-1.28,-146.0,352.1,-10.4,172,2781,0.00,2.53,0.00,0.000,4,0.000,0.039,2577,3353,3721,0,0,0,0,0,0
$GC,2811,-1.38,-146.0,355.4,-9.8,172,2815,0.00,2.50,0.00,0.000,6,0.000,0.028,2577,1792,3721,0,0,0,0,0,0
$GC,3061,-1.45,-146.0,378.1,-8.8,178,3063,0.15,0.00,0.00,0.000,6,0.057,0.000,2511,1792,3720,0,0,0,0,0,0
$GC,3304,-1.34,-146.0,408.6,-12.8,184,3306,0.28,0.00,0.00,0.000,6,0.096,0.000,2570,1792,3718,0,0,0,0,0,0
$GC,3550,-1.40,-146.0,433.8,-10.3,190,3554,0.00,2.58,0.00,0.000,4,0.000,0.048,2571,3347,3717,0,0,0,0,0,0
$GC,3601,-1.51,-146.0,439.6,-10.1,191,3606,0.17,2.50,0.00,0.000,6,0.048,0.031,2509,1806,3716,0,0,0,0,0,0
$GC,3880,-1.42,-146.0,475.6,-12.8,198,3887,0.20,2.72,0.00,0.000,4,0.125,0.062,2548,211,3715,0,0,0,0,0,0
$GC,3908,-1.42,-146.0,478.7,-11.9,198,3913,0.00,2.55,0.00,0.000,6,0.000,0.034,2548,1777,3714,0,0,0,0,0,0
$STATE,4165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4165,begin apogee
$GC,4171,-0.31,0.0,503.8,9.5,205,4292,1.10,0.00,117.72,0.865,6,0.094,0.000,2790,1660,3120,0,0,0,0,0,0
$STATE,4293,end apogee,CONTROL_FINISHED_OK
$STATE,4293,begin climb
$GC,4297,1.28,146.0,508.2,0.0,208,4423,1.42,0.00,120.10,0.854,6,0.031,0.000,3144,1660,2524,0,0,0,0,0,0
$GC,4712,0.96,146.0,481.9,10.1,218,4719,0.32,2.55,0.00,0.000,4,0.111,0.061,3074,190,2515,0,0,0,0,0,0
$GC,4974,0.75,160.8,457.0,9.4,223,4992,0.25,2.42,11.77,0.751,6,0.109,0.027,3022,1690,2464,0,0,0,0,0,0
$GC,5279,0.82,215.5,435.0,7.5,231,5331,0.00,2.65,47.08,0.819,4,0.000,0.058,3022,183,2240,0,0,0,0,0,0
$GC,5396,0.82,215.5,424.1,10.7,233,5401,0.00,2.42,0.00,0.000,6,0.000,0.025,3022,1680,2236,0,0,0,0,0,0
$GC,5651,0.93,253.9,403.0,8.3,240,5691,0.17,0.00,33.85,0.795,6,0.053,0.000,3090,1680,2082,0,0,0,0,0,0
$GC,5934,0.83,253.9,371.2,11.3,247,5939,0.22,2.58,0.00,0.000,4,0.104,0.054,3042,183,2076,0,0,0,0,0,0
$GC,5987,0.83,253.9,365.3,11.1,248,5992,0.00,2.40,0.00,0.000,6,0.000,0.025,3043,1677,2075,0,0,0,0,0,0
$GC,6265,0.85,269.0,339.6,9.3,255,6284,0.00,2.58,12.43,0.711,4,0.000,0.054,3042,188,2023,0,0,0,0,0,0
$GC,6295,0.85,269.0,336.7,10.2,255,6299,0.00,2.38,0.00,0.000,6,0.000,0.024,3042,1671,2023,0,0,0,0,0,0
$GC,6549,0.91,269.0,311.2,10.1,262,6554,0.00,2.62,0.00,0.000,4,0.000,0.044,3043,3252,2019,0,0,0,0,0,0
$GC,6577,0.99,269.0,308.2,10.4,262,6583,0.12,2.55,0.00,0.000,6,0.065,0.031,3097,1685,2017,0,0,0,0,0,0
$GC,6834,0.92,269.0,277.7,11.9,269,6836,0.17,0.00,0.00,0.000,6,0.107,0.000,3061,1685,2017,0,0,0,0,0,0
$GC,7076,0.94,287.5,254.7,9.2,275,7100,0.00,2.62,16.95,0.676,4,0.000,0.035,3060,3262,1945,0,0,0,0,0,0
$GC,7115,0.97,311.6,251.1,8.9,275,7143,0.00,2.62,22.62,0.677,6,0.000,0.030,3060,1672,1848,0,0,0,0,0,0
$GC,7408,0.97,311.6,220.8,10.3,283,7413,0.00,2.50,0.00,0.000,4,0.000,0.051,3060,167,1842,0,0,0,0,0,0
$GC,7451,0.97,311.6,215.6,11.9,284,7455,0.00,2.40,0.00,0.000,6,0.000,0.022,3060,1684,1841,0,0,0,0,0,0
$GC,7714,0.97,311.6,187.6,10.4,297,7718,0.00,2.53,0.00,0.000,4,0.000,0.034,3060,3261,1840,0,0,0,0,0,0
$GC,7753,1.06,311.6,183.4,10.3,300,7763,0.08,2.60,0.00,0.000,6,0.039,0.028,3108,1675,1839,0,0,0,0,0,0
$GC,8020,1.00,311.6,150.8,12.3,325,8025,0.15,0.00,0.00,0.000,6,0.110,0.000,3077,1675,1839,0,0,0,0,0,0
$GC,8280,1.00,311.6,122.5,10.8,350,8284,0.00,2.45,0.00,0.000,4,0.000,0.046,3077,169,1839,0,0,0,0,0,0
$GC,8313,1.00,311.6,119.0,11.5,352,8321,0.00,2.38,0.00,0.000,6,0.000,0.021,3077,1673,1839,0,0,0,0,0,0
$GC,8582,1.10,338.0,93.8,8.8,377,8611,0.00,2.55,22.15,0.545,4,0.000,0.052,3077,178,1740,0,0,0,0,0,0
$GC,8668,1.21,359.7,86.4,9.0,385,8698,0.20,2.30,20.20,0.530,6,0.044,0.020,3153,1653,1652,0,0,0,0,0,0
$GC,8955,1.11,359.7,47.2,13.7,412,8960,0.22,2.58,0.00,0.000,4,0.101,0.034,3104,3245,1649,0,0,0,0,0,0
$GC,8987,1.11,359.7,43.2,12.7,414,8992,0.00,2.60,0.00,0.000,6,0.000,0.028,3104,1635,1647,0,0,0,0,0,0
$GC,9276,1.11,359.7,10.3,10.7,451,9284,0.00,2.62,0.00,0.000,4,0.000,0.034,3104,3240,1646,0,0,0,0,0,0
$GC,9299,1.11,359.7,7.8,10.2,454,9308,0.00,2.58,0.00,0.000,6,0.000,0.026,3104,1651,1646,0,0,0,0,0,0
$STATE,9333,end climb,SURFACE_DEPTH_REACHED
$STATE,9333,begin surface coast
$FINISH,0.6,1.019746
$STATE,9372,end surface coast,CONTROL_FINISHED_OK
$STATE,9372,begin surface
$SM_CCo,9394,43.72,0.061,0,0,1285,450.13
$SM_GC,1.65,0.00,0.00,43.72,0.000,0.000,0.061,405,1856,1285,-11.29,1.87,450.13
$IRIDIUM_FIX,2239.35,-15751.94,220200,171703
$TT8_MAMPS,0.026845
$HUMID,41.96
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,21.653
$10V_AH,10.4,18.156
$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,31.650,111.050,424.875,43.725,0.000,53.349,116.968,318.894,0.500,0.000,14.890,968.720,6096.066,509.433,1793.104,751.327,33.367,1260.933,0.000,1792.740,0.000,0.538,0.000
$DEVICE_MAMPS,158.002,63.661,865.176,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.676,283.052,354.645,549.773,972.935,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,35055,465
$CAP_FILE_SIZE,109832,0
$CFSIZE,260165632,164196352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281110,203537,2249.273,-15758.784,25,1.3,25,10.1