version: 66.06
glider: 148
mission: 9
dive: 140
start: 11 28 110 20 57 4
data:
$ID,148
$MISSION,9
$DIVE,140
$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,-860608.69
$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,52
$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
$GPS1,203537,2249.273,-15758.784,25,1.3,25,10.1
$_CALLS,3
$_XMS_NAKs,23
$_XMS_TOUTs,2
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.6
$GPS2,205610,2249.259,-15758.820,21,1.4,21,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.238,0.104
$KALMAN_X,-60808.9,-91.0,-139.9,80044.7,-99.1
$KALMAN_Y,16199.9,224.5,-526.6,112576.6,-39.7
$MHEAD_RNG_PITCHd_Wd,56.4,3396,-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,-83.05,0.000,2,0.000,0.000,404,1856,3415,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.9,-7.2,11,131,11.55,2.72,-5.28,0.000,4,0.159,0.046,2573,207,3717,0,0,0,0,0,0
$GC,259,-1.19,-146.0,40.4,-18.4,30,264,0.12,2.45,0.00,0.000,6,0.107,0.021,2600,1783,3719,0,0,0,0,0,0
$GC,527,-1.09,-146.0,81.1,-15.7,54,532,0.10,2.53,0.00,0.000,4,0.127,0.031,2621,3369,3719,0,0,0,0,0,0
$GC,590,-1.09,-146.0,91.6,-12.6,59,596,0.00,2.50,0.00,0.000,6,0.000,0.025,2621,1796,3719,0,0,0,0,0,0
$GC,854,-1.15,-146.0,119.4,-10.3,84,858,0.00,2.55,0.00,0.000,4,0.000,0.043,2621,201,3720,0,0,0,0,0,0
$GC,872,-1.22,-146.0,121.3,-10.2,85,877,0.12,2.50,0.00,0.000,6,0.067,0.018,2558,1834,3720,0,0,0,0,0,0
$GC,1140,-1.13,-146.0,156.9,-14.2,109,1148,0.25,2.65,0.00,0.000,4,0.091,0.035,2617,206,3720,0,0,0,0,0,0
$GC,1173,-1.23,-146.0,161.7,-12.7,112,1179,0.10,2.45,0.00,0.000,6,0.077,0.019,2554,1802,3720,0,0,0,0,0,0
$GC,1438,-1.14,-146.0,197.0,-13.3,136,1443,0.25,2.45,0.00,0.000,4,0.090,0.028,2611,3361,3720,0,0,0,0,0,0
$GC,1530,-1.32,-146.0,206.6,-8.8,140,1535,0.15,2.45,0.00,0.000,6,0.052,0.023,2516,1809,3720,0,0,0,0,0,0
$GC,1819,-1.11,-146.0,250.5,-15.8,147,1826,0.47,2.58,0.00,0.000,4,0.086,0.038,2613,208,3720,0,0,0,0,0,0
$GC,1855,-1.28,-146.0,254.7,-9.8,147,1860,0.15,2.50,0.00,0.000,6,0.054,0.020,2537,1813,3720,0,0,0,0,0,0
$GC,2106,-1.19,-146.0,286.5,-12.9,153,2111,0.25,2.47,0.00,0.000,4,0.089,0.031,2594,3367,3720,0,0,0,0,0,0
$GC,2154,-1.32,-146.0,291.1,-8.7,154,2159,0.10,2.42,0.00,0.000,6,0.075,0.025,2523,1822,3720,0,0,0,0,0,0
$GC,2443,-1.18,-146.0,330.6,-13.8,161,2450,0.38,2.62,0.00,0.000,4,0.086,0.044,2599,213,3720,0,0,0,0,0,0
$GC,2474,-1.33,-146.0,334.8,-10.8,161,2479,0.12,2.53,0.00,0.000,6,0.064,0.023,2531,1812,3720,0,0,0,0,0,0
$GC,2729,-1.26,-146.0,364.9,-11.8,168,2731,0.25,0.00,0.00,0.000,6,0.088,0.000,2585,1813,3720,0,0,0,0,0,0
$GC,2974,-1.36,-146.0,386.4,-8.7,174,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1813,3718,0,0,0,0,0,0
$GC,3217,-1.46,-146.0,408.9,-9.4,180,3222,0.17,2.55,0.00,0.000,4,0.052,0.045,2509,3367,3716,0,0,0,0,0,0
$GC,3250,-1.37,-146.0,413.2,-13.6,180,3255,0.22,2.50,0.00,0.000,6,0.091,0.028,2560,1814,3716,0,0,0,0,0,0
$GC,3501,-1.37,-146.0,440.1,-10.4,186,3505,0.00,2.58,0.00,0.000,4,0.000,0.048,2560,3363,3715,0,0,0,0,0,0
$GC,3519,-1.37,-146.0,442.3,-10.7,186,3524,0.00,2.50,0.00,0.000,6,0.000,0.028,2560,1813,3715,0,0,0,0,0,0
$GC,3783,-1.37,-146.0,467.7,-9.6,193,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1813,3712,0,0,0,0,0,0
$GC,4028,-1.37,-146.0,489.6,-8.9,199,4032,0.00,2.58,0.00,0.000,4,0.000,0.051,2559,3361,3710,0,0,0,0,0,0
$GC,4066,-1.44,-146.0,493.2,-9.0,199,4071,0.00,2.50,0.00,0.000,6,0.000,0.032,2560,1822,3709,0,0,0,0,0,0
$STATE,4150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4150,begin apogee
$GC,4156,-0.31,0.0,500.6,8.5,202,4276,1.02,0.00,116.88,0.865,6,0.081,0.000,2790,1668,3120,0,0,0,0,0,0
$STATE,4277,end apogee,CONTROL_FINISHED_OK
$STATE,4277,begin climb
$GC,4281,1.28,146.0,504.2,0.0,205,4412,1.42,2.78,121.18,0.849,4,0.027,0.049,3157,3247,2523,0,0,0,0,0,0
$GC,4422,1.01,217.6,505.2,6.7,208,4493,0.38,2.62,60.25,0.831,6,0.124,0.037,3085,1695,2231,0,0,0,0,0,0
$GC,4733,0.89,217.6,472.5,10.9,216,4735,0.15,0.00,0.00,0.000,6,0.135,0.000,3056,1695,2224,0,0,0,0,0,0
$GC,4976,0.90,222.0,448.3,9.8,222,4981,0.00,2.62,0.00,0.000,4,0.000,0.068,3056,170,2221,0,0,0,0,0,0
$GC,5033,0.79,222.0,442.3,10.5,223,5038,0.12,2.42,0.00,0.000,6,0.129,0.025,3031,1679,2220,0,0,0,0,0,0
$GC,5307,0.85,268.1,419.7,7.9,230,5352,0.00,0.00,42.65,0.804,6,0.000,0.000,3031,1678,2026,0,0,0,0,0,0
$GC,5596,0.94,290.5,394.9,9.0,237,5625,0.15,2.62,20.62,0.764,4,0.058,0.056,3091,167,1933,0,0,0,0,0,0
$GC,5649,0.80,290.5,387.9,14.1,238,5654,0.25,2.47,0.00,0.000,6,0.101,0.025,3037,1688,1932,0,0,0,0,0,0
$GC,5929,0.86,290.5,358.1,10.5,245,5933,0.00,2.60,0.00,0.000,4,0.000,0.056,3037,168,1927,0,0,0,0,0,0
$GC,5971,0.86,290.5,353.2,11.5,246,5976,0.00,2.40,0.00,0.000,6,0.000,0.025,3037,1683,1926,0,0,0,0,0,0
$GC,6260,0.93,291.9,323.6,10.0,253,6262,0.10,0.00,0.00,0.000,6,0.078,0.000,3094,1684,1925,0,0,0,0,0,0
$GC,6502,0.87,291.9,293.0,12.8,259,6504,0.22,0.00,0.00,0.000,6,0.100,0.000,3047,1684,1924,0,0,0,0,0,0
$GC,6746,0.93,291.9,267.9,10.1,265,6750,0.00,2.60,0.00,0.000,4,0.000,0.040,3047,3264,1922,0,0,0,0,0,0
$GC,6784,1.05,291.9,263.8,10.4,265,6791,0.17,2.60,0.00,0.000,6,0.052,0.031,3118,1675,1921,0,0,0,0,0,0
$GC,7034,0.94,291.9,231.7,13.2,272,7039,0.25,2.50,0.00,0.000,4,0.097,0.053,3061,173,1921,0,0,0,0,0,0
$GC,7081,0.94,291.9,226.3,10.5,273,7085,0.00,2.40,0.00,0.000,6,0.000,0.021,3061,1696,1920,0,0,0,0,0,0
$GC,7366,0.94,291.9,198.2,10.2,280,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1699,1920,0,0,0,0,0,0
$GC,7623,0.94,291.9,172.6,10.2,304,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1699,1920,0,0,0,0,0,0
$GC,7889,1.01,297.9,147.0,9.8,329,7900,0.00,2.50,5.15,0.460,4,0.000,0.031,3061,3260,1904,0,0,0,0,0,0
$GC,7925,1.13,303.9,142.7,9.8,332,7938,0.15,2.60,7.07,0.508,6,0.027,0.028,3138,1669,1880,0,0,0,0,0,0
$GC,8198,1.04,303.9,110.9,12.0,357,8203,0.22,2.47,0.00,0.000,4,0.097,0.044,3087,168,1879,0,0,0,0,0,0
$GC,8253,1.04,303.9,104.1,11.3,362,8257,0.00,2.38,0.00,0.000,6,0.000,0.021,3087,1688,1879,0,0,0,0,0,0
$GC,8517,1.11,303.9,79.5,10.3,386,8521,0.00,2.50,0.00,0.000,4,0.000,0.044,3087,170,1879,0,0,0,0,0,0
$GC,8610,1.11,303.9,68.9,11.6,394,8615,0.00,2.35,0.00,0.000,6,0.000,0.019,3087,1699,1878,0,0,0,0,0,0
$GC,8879,1.23,351.9,45.1,7.8,418,8929,0.17,0.00,41.67,0.515,6,0.051,0.000,3160,1702,1685,0,0,0,0,0,0
$STATE,9168,end climb,SURFACE_DEPTH_REACHED
$STATE,9168,begin surface coast
$FINISH,0.8,1.015300
$STATE,9194,end surface coast,CONTROL_FINISHED_OK
$STATE,9194,begin surface
$SM_CCo,9216,53.25,0.403,1,0,1284,450.13
$SM_GC,1.51,0.00,0.00,53.25,0.000,0.000,0.403,407,1853,1284,-11.28,1.75,450.13
$IRIDIUM_FIX,2239.35,-15757.16,220200,202020
$TT8_MAMPS,0.026845
$HUMID,42.04
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,21.807
$10V_AH,10.4,18.262
$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,30.625,101.350,415.475,53.250,0.000,78.437,108.294,764.229,0.250,0.000,22.484,951.257,6128.135,504.182,1701.117,1223.602,33.364,1190.147,0.000,1696.321,0.000,0.540,0.000
$DEVICE_MAMPS,158.769,77.467,865.176,402.675,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.236,270.020,355.450,532.465,941.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,35169,461
$CAP_FILE_SIZE,116519,0
$CFSIZE,260165632,164134912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281110,233258,2249.780,-15757.741,28,1.6,40,10.1