version: 66.06
glider: 148
mission: 9
dive: 146
start: 11 29 110 13 36 31
data:
$ID,148
$MISSION,9
$DIVE,146
$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,-860755.5
$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,33
$R_STBD_OVSHOOT,74
$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
$GPS1,132141,2247.283,-15800.904,6,1.8,15,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.7
$GPS2,133537,2247.272,-15800.882,28,1.1,28,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.253,-0.059
$KALMAN_X,-63769.6,-125.3,55.7,79285.8,-79.4
$KALMAN_Y,15225.7,85.4,269.9,109204.4,223.6
$MHEAD_RNG_PITCHd_Wd,246.9,3652,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,96,0.00,0.00,-75.80,0.000,2,0.000,0.000,413,1829,3174,0,0,0,0,0,0
$GC,99,-1.28,-146.0,3.2,-5.1,10,132,11.50,2.45,-10.82,0.000,4,0.158,0.043,2575,3336,3718,0,0,0,0,0,0
$GC,279,-1.19,-146.0,37.4,-14.7,34,288,0.08,2.47,0.00,0.000,6,0.091,0.024,2597,1791,3719,0,0,0,0,0,0
$GC,545,-1.06,-146.0,78.0,-16.1,59,550,0.15,2.53,0.00,0.000,4,0.110,0.032,2629,3347,3720,0,0,0,0,0,0
$GC,579,-0.98,-146.0,83.1,-14.6,61,583,0.00,2.47,0.00,0.000,6,0.000,0.022,2629,1781,3719,0,0,0,0,0,0
$GC,845,-0.98,-146.0,110.6,-10.0,85,849,0.00,2.47,0.00,0.000,4,0.000,0.029,2629,3343,3720,0,0,0,0,0,0
$GC,865,-1.05,-146.0,113.0,-10.2,86,874,0.00,2.45,0.00,0.000,6,0.000,0.021,2629,1804,3720,0,0,0,0,0,0
$GC,1132,-1.17,-146.0,137.9,-9.0,111,1137,0.10,2.47,0.00,0.000,4,0.077,0.031,2572,3342,3721,0,0,0,0,0,0
$GC,1162,-1.17,-146.0,141.1,-10.8,113,1167,0.15,2.45,0.00,0.000,6,0.100,0.021,2604,1786,3721,0,0,0,0,0,0
$GC,1423,-1.23,-146.0,168.3,-9.7,137,1427,0.00,2.50,0.00,0.000,4,0.000,0.031,2604,3346,3721,0,0,0,0,0,0
$GC,1490,-1.33,-146.0,174.2,-9.0,143,1495,0.15,2.42,0.00,0.000,6,0.056,0.022,2530,1808,3721,0,0,0,0,0,0
$GC,1770,-1.18,-146.0,213.0,-15.0,163,1772,0.32,0.00,0.00,0.000,6,0.088,0.000,2600,1807,3722,0,0,0,0,0,0
$GC,2014,-1.26,-146.0,236.9,-9.2,169,2018,0.00,2.45,0.00,0.000,4,0.000,0.031,2600,3338,3721,0,0,0,0,0,0
$GC,2057,-1.38,-146.0,240.8,-8.0,170,2062,0.17,2.40,0.00,0.000,6,0.045,0.025,2501,1822,3722,0,0,0,0,0,0
$GC,2345,-1.17,-146.0,282.2,-14.7,177,2352,0.47,2.60,0.00,0.000,4,0.088,0.044,2599,208,3722,0,0,0,0,0,0
$GC,2393,-1.38,-146.0,287.3,-8.5,178,2398,0.17,2.50,0.00,0.000,6,0.048,0.022,2514,1804,3721,0,0,0,0,0,0
$GC,2680,-1.26,-146.0,323.5,-12.9,185,2686,0.30,2.53,0.00,0.000,4,0.089,0.038,2582,3367,3722,0,0,0,0,0,0
$GC,2726,-1.39,-146.0,328.0,-9.3,186,2731,0.10,2.45,0.00,0.000,6,0.075,0.028,2509,1832,3721,0,0,0,0,0,0
$GC,3014,-1.26,-146.0,364.8,-12.7,193,3021,0.32,2.70,0.00,0.000,4,0.091,0.051,2582,204,3721,0,0,0,0,0,0
$GC,3065,-1.44,-146.0,370.4,-10.5,194,3070,0.15,2.55,0.00,0.000,6,0.055,0.026,2508,1806,3721,0,0,0,0,0,0
$GC,3348,-1.32,-146.0,406.9,-13.0,201,3353,0.25,2.60,0.00,0.000,4,0.092,0.047,2566,3374,3719,0,0,0,0,0,0
$GC,3367,-1.32,-146.0,409.1,-10.9,201,3371,0.00,2.50,0.00,0.000,6,0.000,0.028,2566,1816,3719,0,0,0,0,0,0
$GC,3633,-1.39,-146.0,431.3,-8.7,208,3637,0.00,2.60,0.00,0.000,4,0.000,0.050,2566,3370,3717,0,0,0,0,0,0
$GC,3670,-1.47,-146.0,434.9,-8.5,208,3677,0.12,2.50,0.00,0.000,6,0.064,0.031,2489,1824,3717,0,0,0,0,0,0
$GC,3922,-1.32,-146.0,470.0,-14.8,215,3929,0.35,2.75,0.00,0.000,4,0.092,0.063,2568,214,3714,0,0,0,0,0,0
$GC,3938,-1.32,-146.0,472.7,-13.3,215,3943,0.00,2.58,0.00,0.000,6,0.000,0.032,2568,1812,3714,0,0,0,0,0,0
$GC,4207,-1.40,-146.0,498.1,-9.2,222,4212,0.00,2.62,0.00,0.000,4,0.000,0.057,2568,3371,3712,0,0,0,0,0,0
$STATE,4228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4228,begin apogee
$GC,4238,-0.31,0.0,500.3,9.2,222,4359,0.98,0.00,117.20,0.865,6,0.083,0.000,2789,1684,3120,0,0,0,0,0,0
$STATE,4360,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4362,1.28,146.0,503.9,0.0,225,4493,1.42,2.67,120.38,0.850,4,0.029,0.068,3142,174,2523,0,0,0,0,0,0
$GC,4541,0.82,146.0,500.9,10.9,229,4548,0.50,2.45,0.00,0.000,6,0.112,0.030,3041,1679,2518,0,0,0,0,0,0
$GC,4823,0.92,221.2,480.8,6.6,236,4888,0.00,0.00,63.30,0.834,6,0.000,0.000,3040,1679,2218,0,0,0,0,0,0
$GC,5105,0.96,257.7,458.3,8.4,243,5147,0.12,2.65,32.00,0.810,4,0.067,0.058,3096,174,2068,0,0,0,0,0,0
$GC,5173,0.78,257.7,450.7,13.6,244,5179,0.30,2.47,0.00,0.000,6,0.103,0.028,3033,1681,2065,0,0,0,0,0,0
$GC,5438,0.79,268.6,424.8,9.5,251,5454,0.00,2.75,9.52,0.716,4,0.000,0.052,3032,3257,2024,0,0,0,0,0,0
$GC,5464,0.81,284.4,422.2,9.3,251,5485,0.00,2.65,15.75,0.761,6,0.000,0.035,3032,1677,1960,0,0,0,0,0,0
$GC,5771,0.81,284.4,389.2,11.0,259,5776,0.00,2.67,0.00,0.000,4,0.000,0.048,3032,3264,1953,0,0,0,0,0,0
$GC,5795,0.88,288.5,386.4,9.8,259,5800,0.00,2.62,0.00,0.000,6,0.000,0.035,3032,1686,1951,0,0,0,0,0,0
$GC,6054,0.92,319.4,363.0,8.6,266,6091,0.12,2.67,30.80,0.775,4,0.067,0.064,3095,168,1818,0,0,0,0,0,0
$GC,6127,0.80,319.4,354.2,14.5,267,6132,0.30,2.47,0.00,0.000,6,0.100,0.026,3033,1690,1817,0,0,0,0,0,0
$GC,6387,0.88,319.4,326.5,10.5,274,6391,0.00,2.60,0.00,0.000,4,0.000,0.055,3033,170,1812,0,0,0,0,0,0
$GC,6431,0.96,319.4,321.7,11.5,275,6437,0.15,2.42,0.00,0.000,6,0.058,0.026,3098,1683,1812,0,0,0,0,0,0
$GC,6719,0.88,319.4,286.2,12.2,282,6721,0.22,0.00,0.00,0.000,6,0.102,0.000,3051,1683,1809,0,0,0,0,0,0
$GC,6964,0.89,321.7,263.0,9.9,288,6968,0.00,2.60,0.00,0.000,4,0.000,0.051,3050,3258,1808,0,0,0,0,0,0
$GC,7022,1.02,323.7,256.8,9.9,289,7027,0.12,2.62,0.00,0.000,6,0.067,0.033,3106,1665,1805,0,0,0,0,0,0
$GC,7295,0.94,323.7,223.1,12.4,296,7301,0.20,2.53,0.00,0.000,4,0.103,0.053,3064,165,1805,0,0,0,0,0,0
$GC,7340,0.94,323.7,218.0,11.7,297,7345,0.00,2.40,0.00,0.000,6,0.000,0.023,3064,1681,1805,0,0,0,0,0,0
$GC,7602,0.94,323.7,190.2,10.9,307,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1684,1804,0,0,0,0,0,0
$GC,7858,0.96,338.5,164.2,9.4,331,7876,0.00,0.00,15.40,0.601,6,0.000,0.000,3064,1684,1740,0,0,0,0,0,0
$GC,8134,1.02,338.5,138.7,10.1,357,8139,0.00,2.55,0.00,0.000,4,0.000,0.033,3064,3262,1736,0,0,0,0,0,0
$GC,8154,1.10,338.5,136.1,10.4,358,8164,0.10,2.60,0.00,0.000,6,0.032,0.028,3127,1671,1735,0,0,0,0,0,0
$GC,8418,1.10,338.5,101.5,13.5,383,8423,0.12,2.60,0.00,0.000,4,0.114,0.035,3101,3256,1735,0,0,0,0,0,0
$GC,8456,1.17,338.5,96.2,12.5,386,8460,0.00,2.55,0.00,0.000,6,0.000,0.028,3101,1672,1735,0,0,0,0,0,0
$GC,8722,1.17,338.5,63.5,11.7,410,8726,0.00,2.45,0.00,0.000,4,0.000,0.045,3101,164,1735,0,0,0,0,0,0
$GC,8775,1.17,338.5,56.5,13.8,414,8779,0.00,2.38,0.00,0.000,6,0.000,0.020,3101,1692,1734,0,0,0,0,0,0
$GC,9048,1.17,338.5,23.2,11.9,442,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1695,1735,0,0,0,0,0,0
$STATE,9244,end climb,SURFACE_DEPTH_REACHED
$STATE,9245,begin surface coast
$FINISH,0.7,1.019147
$STATE,9283,end surface coast,CONTROL_FINISHED_OK
$STATE,9283,begin surface
$SM_CCo,9305,60.28,0.415,1,0,1285,450.13
$SM_GC,1.38,0.00,0.00,60.28,0.000,0.000,0.415,415,1877,1285,-11.25,2.46,450.13
$IRIDIUM_FIX,2239.35,-15802.37,230200,131326
$TT8_MAMPS,0.026845
$HUMID,42.51
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,22.495
$10V_AH,10.4,18.891
$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,30.325,122.350,404.350,60.275,0.000,54.637,67.241,494.678,0.500,0.000,30.399,1010.974,5921.005,524.481,1851.975,900.150,33.366,1259.725,0.000,1839.828,0.000,0.538,0.000
$DEVICE_MAMPS,158.002,68.263,865.176,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.592,301.965,377.148,572.894,1013.291,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,38284,479
$CAP_FILE_SIZE,117353,0
$CFSIZE,260165632,163807232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291110,161400,2246.935,-15802.342,33,1.4,39,10.1