version: 66.06
glider: 148
mission: 9
dive: 148
start: 11 29 110 18 55 21
data:
$ID,148
$MISSION,9
$DIVE,148
$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,-860781.62
$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,46
$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
$GPS1,184634,2247.139,-15802.750,7,2.2,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.1
$GPS2,185426,2247.092,-15802.756,10,1.4,10,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.000,0.260
$KALMAN_X,-63811.7,220.4,98.7,75712.0,-145.6
$KALMAN_Y,14581.2,101.8,-222.6,109992.8,-669.8
$MHEAD_RNG_PITCHd_Wd,349.8,5403,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.28,0.000,2,0.000,0.000,412,1874,3350,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.4,-4.9,11,131,11.55,2.38,-6.75,0.000,4,0.160,0.038,2574,3374,3717,0,0,0,0,0,0
$GC,228,-1.16,-146.0,32.7,-18.7,28,233,0.15,2.53,0.00,0.000,6,0.108,0.023,2606,1772,3719,0,0,0,0,0,0
$GC,496,-1.08,-146.0,75.1,-14.1,52,500,0.00,2.58,0.00,0.000,4,0.000,0.031,2606,3370,3719,0,0,0,0,0,0
$GC,529,-0.98,-146.0,81.0,-14.1,54,539,0.12,2.53,0.00,0.000,6,0.083,0.022,2639,1790,3719,0,0,0,0,0,0
$GC,797,-1.09,-146.0,106.7,-9.7,79,801,0.00,2.53,0.00,0.000,4,0.000,0.028,2639,3371,3720,0,0,0,0,0,0
$GC,825,-1.21,-146.0,109.6,-9.1,81,830,0.17,2.45,0.00,0.000,6,0.048,0.021,2546,1803,3720,0,0,0,0,0,0
$GC,1092,-1.05,-146.0,150.1,-15.1,105,1097,0.40,2.55,0.00,0.000,4,0.085,0.036,2627,209,3721,0,0,0,0,0,0
$GC,1119,-1.13,-146.0,154.3,-11.4,107,1124,0.00,2.47,0.00,0.000,6,0.000,0.019,2627,1824,3721,0,0,0,0,0,0
$GC,1383,-1.26,-146.0,179.4,-9.5,131,1388,0.17,2.42,0.00,0.000,4,0.050,0.030,2545,3361,3722,0,0,0,0,0,0
$GC,1453,-1.19,-146.0,189.1,-13.8,137,1459,0.25,2.45,0.00,0.000,6,0.086,0.022,2601,1808,3722,0,0,0,0,0,0
$GC,1718,-1.19,-146.0,217.1,-10.2,151,1722,0.00,2.45,0.00,0.000,4,0.000,0.031,2600,3357,3721,0,0,0,0,0,0
$GC,1755,-1.27,-146.0,221.3,-10.4,151,1761,0.00,2.42,0.00,0.000,6,0.000,0.022,2600,1806,3721,0,0,0,0,0,0
$GC,2005,-1.34,-146.0,246.6,-10.1,158,2010,0.12,2.47,0.00,0.000,4,0.065,0.031,2537,3359,3722,0,0,0,0,0,0
$GC,2030,-1.27,-146.0,249.6,-12.9,158,2035,0.20,2.42,0.00,0.000,6,0.091,0.022,2582,1818,3722,0,0,0,0,0,0
$GC,2290,-1.27,-146.0,277.3,-10.3,165,2294,0.00,2.60,0.00,0.000,4,0.000,0.042,2582,215,3722,0,0,0,0,0,0
$GC,2337,-1.40,-146.0,282.0,-9.7,166,2342,0.12,2.47,0.00,0.000,6,0.064,0.021,2518,1805,3722,0,0,0,0,0,0
$GC,2621,-1.27,-146.0,317.0,-12.4,173,2623,0.30,0.00,0.00,0.000,6,0.087,0.000,2584,1805,3722,0,0,0,0,0,0
$GC,2864,-1.34,-146.0,337.7,-8.4,179,2868,0.00,2.53,0.00,0.000,4,0.000,0.037,2584,3370,3722,0,0,0,0,0,0
$GC,2930,-1.49,-146.0,343.3,-7.6,180,2936,0.20,2.47,0.00,0.000,6,0.044,0.027,2480,1813,3721,0,0,0,0,0,0
$GC,3195,-1.24,-146.0,384.4,-16.6,187,3202,0.52,2.65,0.00,0.000,4,0.088,0.051,2585,213,3721,0,0,0,0,0,0
$GC,3265,-1.41,-146.0,392.3,-10.2,188,3270,0.15,2.50,0.00,0.000,6,0.056,0.026,2518,1795,3720,0,0,0,0,0,0
$GC,3529,-1.33,-146.0,426.7,-13.2,195,3534,0.22,2.60,0.00,0.000,4,0.094,0.044,2568,3370,3719,0,0,0,0,0,0
$GC,3558,-1.33,-146.0,430.0,-10.2,195,3562,0.00,2.50,0.00,0.000,6,0.000,0.029,2568,1806,3719,0,0,0,0,0,0
$GC,3814,-1.40,-146.0,452.9,-8.7,202,3818,0.00,2.60,0.00,0.000,4,0.000,0.050,2567,3371,3718,0,0,0,0,0,0
$GC,3843,-1.48,-146.0,455.5,-8.4,202,3848,0.12,2.53,0.00,0.000,6,0.064,0.031,2492,1800,3717,0,0,0,0,0,0
$GC,4099,-1.32,-146.0,485.9,-12.2,209,4101,0.38,0.00,0.00,0.000,6,0.087,0.000,2572,1800,3715,0,0,0,0,0,0
$STATE,4258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4258,begin apogee
$GC,4263,-0.31,0.0,500.9,9.1,213,4384,0.98,0.00,117.43,0.860,6,0.077,0.000,2792,1663,3120,0,0,0,0,0,0
$STATE,4385,end apogee,CONTROL_FINISHED_OK
$STATE,4385,begin climb
$GC,4387,1.28,146.0,506.4,0.0,216,4518,1.40,2.62,120.15,0.847,4,0.028,0.069,3139,182,2522,0,0,0,0,0,0
$GC,4743,0.86,146.0,483.6,12.3,224,4750,0.43,2.42,0.00,0.000,6,0.113,0.028,3051,1685,2515,0,0,0,0,0,0
$GC,5034,0.88,213.9,462.1,6.9,231,5098,0.00,2.62,56.38,0.825,4,0.000,0.058,3051,182,2246,0,0,0,0,0,0
$GC,5233,0.79,213.9,442.7,11.0,235,5237,0.00,2.42,0.00,0.000,6,0.000,0.027,3051,1677,2241,0,0,0,0,0,0
$GC,5497,0.83,242.1,419.5,8.7,242,5524,0.00,0.00,24.58,0.786,6,0.000,0.000,3051,1678,2132,0,0,0,0,0,0
$GC,5785,0.85,257.3,393.4,9.3,249,5805,0.00,2.60,13.02,0.735,4,0.000,0.057,3051,178,2072,0,0,0,0,0,0
$GC,5838,0.85,257.3,388.1,10.1,250,5842,0.00,2.40,0.00,0.000,6,0.000,0.025,3051,1677,2071,0,0,0,0,0,0
$GC,6117,0.85,260.3,361.2,9.9,257,6125,0.00,2.60,3.70,0.474,4,0.000,0.057,3051,176,2057,0,0,0,0,0,0
$GC,6163,0.85,260.3,356.0,11.5,258,6167,0.00,2.38,0.00,0.000,6,0.000,0.025,3051,1668,2058,0,0,0,0,0,0
$GC,6446,0.85,260.3,326.9,10.1,265,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1669,2055,0,0,0,0,0,0
$GC,6688,0.89,293.2,305.8,8.5,271,6724,0.00,2.72,29.90,0.735,4,0.000,0.043,3051,3255,1922,0,0,0,0,0,0
$GC,6773,1.04,304.7,298.5,9.5,272,6790,0.15,2.62,11.40,0.665,6,0.056,0.032,3126,1672,1877,0,0,0,0,0,0
$GC,7070,0.91,304.7,260.3,13.3,280,7075,0.28,2.55,0.00,0.000,4,0.100,0.058,3063,166,1871,0,0,0,0,0,0
$GC,7121,0.91,304.7,253.3,12.0,281,7125,0.00,2.38,0.00,0.000,6,0.000,0.022,3063,1673,1871,0,0,0,0,0,0
$GC,7404,0.91,304.7,222.5,10.9,288,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1677,1868,0,0,0,0,0,0
$GC,7646,0.91,304.7,196.8,10.4,294,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1676,1868,0,0,0,0,0,0
$GC,7902,0.93,321.2,170.8,9.3,318,7921,0.00,0.00,14.30,0.591,6,0.000,0.000,3063,1676,1809,0,0,0,0,0,0
$GC,8180,1.00,328.5,143.3,9.7,344,8192,0.00,2.55,7.35,0.509,4,0.000,0.031,3063,3254,1780,0,0,0,0,0,0
$GC,8227,1.15,328.8,138.2,10.0,348,8237,0.15,2.62,0.00,0.000,6,0.026,0.028,3143,1655,1778,0,0,0,0,0,0
$GC,8495,1.06,328.8,103.9,12.6,373,8500,0.25,2.45,0.00,0.000,4,0.100,0.043,3085,167,1778,0,0,0,0,0,0
$GC,8523,1.06,328.8,100.3,10.5,375,8527,0.00,2.33,0.00,0.000,6,0.000,0.021,3086,1671,1777,0,0,0,0,0,0
$GC,8796,1.16,349.7,76.4,9.1,400,8822,0.10,2.53,19.40,0.527,4,0.077,0.043,3155,165,1694,0,0,0,0,0,0
$GC,8915,1.03,349.7,59.1,15.2,410,8924,0.30,2.38,0.00,0.000,6,0.088,0.021,3087,1659,1693,0,0,0,0,0,0
$GC,9183,1.10,349.7,31.4,10.2,435,9187,0.00,2.55,0.00,0.000,4,0.000,0.032,3087,3261,1692,0,0,0,0,0,0
$GC,9210,1.19,349.7,28.4,10.2,437,9219,0.10,2.60,0.00,0.000,6,0.031,0.026,3160,1660,1690,0,0,0,0,0,0
$STATE,9382,end climb,SURFACE_DEPTH_REACHED
$STATE,9382,begin surface coast
$FINISH,0.7,1.023526
$STATE,9415,end surface coast,CONTROL_FINISHED_OK
$STATE,9415,begin surface
$SM_CCo,9435,47.60,0.060,0,0,1284,450.13
$SM_GC,1.52,0.00,0.00,47.60,0.000,0.000,0.060,410,1825,1284,-11.27,0.99,450.13
$IRIDIUM_FIX,2239.35,-15804.53,230200,161621
$TT8_MAMPS,0.026845
$HUMID,42.51
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,22.705
$10V_AH,10.4,19.093
$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,30.400,110.850,417.600,47.600,0.000,29.725,34.786,285.744,0.250,0.000,12.128,998.298,6020.516,482.235,1848.673,610.780,33.360,1256.838,0.000,1853.400,0.000,0.538,0.000
$DEVICE_MAMPS,159.536,69.030,859.807,59.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.222,276.217,361.561,534.687,944.085,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,35232,469
$CAP_FILE_SIZE,110782,0
$CFSIZE,260165632,163708928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,213414,2248.198,-15802.917,9,1.6,9,10.1