version: 66.06
glider: 148
mission: 9
dive: 234
start: 12 9 110 22 16 45
data:
$ID,148
$MISSION,9
$DIVE,234
$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,-862850.12
$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,44
$R_STBD_OVSHOOT,49
$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
$GPS1,221036,2250.273,-15756.515,39,1.0,44,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.0
$GPS2,221550,2250.316,-15756.445,13,1.1,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131,0.206
$KALMAN_X,-69780.9,43.5,63.1,92758.8,351.4
$KALMAN_Y,-1448.0,1477.6,1362.6,129029.8,-2633.4
$MHEAD_RNG_PITCHd_Wd,317.4,1113,-19.0,-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,-1.34,-126.9,0.0,0.0,0,103,0.00,0.00,-82.47,0.000,2,0.000,0.000,416,1849,3316,0,0,0,0,0,0
$GC,106,-1.36,-146.0,3.3,-4.9,11,131,11.23,2.42,-7.60,0.000,4,0.153,0.039,2553,3374,3718,0,0,0,0,0,0
$GC,283,-1.22,-146.0,42.8,-17.6,33,288,0.17,2.53,0.00,0.000,6,0.104,0.025,2590,1795,3720,0,0,0,0,0,0
$GC,552,-1.11,-146.0,87.6,-16.6,57,557,0.12,2.53,0.00,0.000,4,0.120,0.030,2616,3370,3721,0,0,0,0,0,0
$GC,601,-1.11,-146.0,95.5,-12.7,61,606,0.00,2.50,0.00,0.000,6,0.000,0.022,2616,1783,3720,0,0,0,0,0,0
$GC,869,-1.24,-146.0,123.4,-9.8,85,875,0.12,0.00,0.00,0.000,6,0.064,0.000,2558,1783,3722,0,0,0,0,0,0
$GC,1130,-1.24,-146.0,159.1,-12.8,110,1135,0.15,2.53,0.00,0.000,4,0.104,0.029,2590,3369,3723,0,0,0,0,0,0
$GC,1160,-1.30,-146.0,162.6,-10.2,112,1166,0.00,2.47,0.00,0.000,6,0.000,0.021,2590,1801,3723,0,0,0,0,0,0
$GC,1425,-1.37,-146.0,187.7,-9.4,137,1430,0.12,2.47,0.00,0.000,4,0.066,0.029,2530,3363,3723,0,0,0,0,0,0
$GC,1469,-1.37,-146.0,193.4,-11.8,141,1474,0.15,2.45,0.00,0.000,6,0.104,0.023,2563,1812,3723,0,0,0,0,0,0
$GC,1744,-1.37,-146.0,222.7,-10.8,152,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1812,3724,0,0,0,0,0,0
$GC,1985,-1.37,-146.0,249.3,-11.1,158,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1812,3724,0,0,0,0,0,0
$GC,2229,-1.37,-146.0,278.0,-11.9,164,2234,0.00,2.50,0.00,0.000,4,0.000,0.031,2562,3366,3724,0,0,0,0,0,0
$GC,2254,-1.37,-146.0,280.8,-11.6,164,2258,0.00,2.47,0.00,0.000,6,0.000,0.024,2563,1811,3724,0,0,0,0,0,0
$GC,2512,-1.37,-146.0,308.5,-10.5,171,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1810,3724,0,0,0,0,0,0
$GC,2756,-1.43,-146.0,333.5,-10.5,177,2761,0.00,2.50,0.00,0.000,4,0.000,0.035,2563,3366,3723,0,0,0,0,0,0
$GC,2800,-1.53,-146.0,337.8,-9.3,178,2805,0.15,2.47,0.00,0.000,6,0.055,0.027,2472,1820,3723,0,0,0,0,0,0
$GC,3089,-1.31,-146.0,380.9,-15.5,185,3097,0.47,2.67,0.00,0.000,4,0.092,0.051,2568,208,3722,0,0,0,0,0,0
$GC,3126,-1.45,-146.0,385.5,-9.3,185,3131,0.10,2.55,0.00,0.000,6,0.077,0.025,2516,1811,3721,0,0,0,0,0,0
$GC,3376,-1.45,-146.0,415.7,-12.4,191,3378,0.12,0.00,0.00,0.000,6,0.112,0.000,2543,1811,3721,0,0,0,0,0,0
$GC,3618,-1.45,-146.0,443.9,-11.6,197,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1811,3719,0,0,0,0,0,0
$GC,3862,-1.45,-146.0,472.5,-11.6,203,3867,0.00,2.58,0.00,0.000,4,0.000,0.046,2543,3371,3717,0,0,0,0,0,0
$GC,3882,-1.45,-146.0,474.7,-11.5,203,3887,0.00,2.53,0.00,0.000,6,0.000,0.031,2543,1817,3717,0,0,0,0,0,0
$STATE,4144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4144,begin apogee
$GC,4149,-0.31,0.0,502.9,10.5,210,4272,1.12,0.00,118.80,0.865,6,0.083,0.000,2793,1665,3120,0,0,0,0,0,0
$STATE,4273,end apogee,CONTROL_FINISHED_OK
$STATE,4273,begin climb
$GC,4275,1.36,146.0,507.5,0.0,213,4406,1.48,2.70,121.30,0.850,4,0.028,0.072,3158,184,2523,0,0,0,0,0,0
$GC,4673,0.94,146.0,476.0,11.6,221,4680,0.45,2.42,0.00,0.000,6,0.117,0.028,3068,1674,2514,0,0,0,0,0,0
$GC,4924,0.93,191.7,455.9,7.6,228,4969,0.00,2.65,38.28,0.814,4,0.000,0.058,3068,188,2338,0,0,0,0,0,0
$GC,5220,0.84,213.3,428.3,8.9,234,5246,0.12,2.40,18.85,0.772,6,0.132,0.026,3044,1684,2250,0,0,0,0,0,0
$GC,5533,0.90,268.1,406.0,7.1,242,5586,0.00,2.65,47.90,0.800,4,0.000,0.058,3044,181,2026,0,0,0,0,0,0
$GC,5642,0.90,268.1,396.3,10.4,244,5646,0.00,2.42,0.00,0.000,6,0.000,0.026,3044,1674,2024,0,0,0,0,0,0
$GC,5901,0.98,273.4,371.1,9.8,251,5909,0.12,0.00,4.95,0.563,6,0.067,0.000,3101,1674,2005,0,0,0,0,0,0
$GC,6145,0.91,273.4,341.1,12.4,257,6150,0.20,2.58,0.00,0.000,4,0.104,0.055,3060,176,2002,0,0,0,0,0,0
$GC,6207,0.91,273.4,333.3,12.5,258,6211,0.00,2.40,0.00,0.000,6,0.000,0.025,3060,1665,2002,0,0,0,0,0,0
$GC,6475,0.91,273.4,304.3,10.9,265,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1666,2000,0,0,0,0,0,0
$GC,6718,0.91,273.4,277.3,11.0,271,6723,0.00,2.65,0.00,0.000,4,0.000,0.044,3060,3258,1999,0,0,0,0,0,0
$GC,6734,0.91,273.4,275.7,11.0,271,6738,0.00,2.60,0.00,0.000,6,0.000,0.031,3060,1677,1997,0,0,0,0,0,0
$GC,7002,0.97,273.4,246.1,10.9,278,7007,0.00,2.58,0.00,0.000,4,0.000,0.061,3060,164,1997,0,0,0,0,0,0
$GC,7025,0.97,273.4,243.3,11.1,278,7030,0.00,2.40,0.00,0.000,6,0.000,0.022,3060,1681,1997,0,0,0,0,0,0
$GC,7286,1.05,277.6,217.4,9.8,285,7296,0.12,2.60,3.72,0.427,4,0.067,0.054,3123,161,1988,0,0,0,0,0,0
$GC,7319,0.87,277.6,213.2,13.4,285,7325,0.35,2.38,0.00,0.000,6,0.101,0.024,3050,1659,1988,0,0,0,0,0,0
$GC,7575,1.00,297.4,190.2,9.0,297,7600,0.12,2.67,19.38,0.637,4,0.066,0.040,3111,3254,1906,0,0,0,0,0,0
$GC,7611,1.00,297.4,185.8,12.9,300,7616,0.15,2.62,0.00,0.000,6,0.108,0.029,3080,1659,1904,0,0,0,0,0,0
$GC,7871,1.00,297.4,156.8,10.5,324,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1659,1903,0,0,0,0,0,0
$GC,8127,1.02,314.1,132.6,9.2,348,8149,0.00,2.65,15.55,0.574,4,0.000,0.034,3080,3256,1838,0,0,0,0,0,0
$GC,8167,1.12,328.6,129.0,9.3,351,8188,0.10,2.60,13.65,0.560,6,0.078,0.028,3131,1667,1779,0,0,0,0,0,0
$GC,8443,1.12,328.6,95.8,11.6,377,8448,0.12,2.50,0.00,0.000,4,0.112,0.047,3104,167,1775,0,0,0,0,0,0
$GC,8513,1.12,329.6,88.3,10.0,383,8517,0.00,2.35,0.00,0.000,6,0.000,0.021,3104,1664,1775,0,0,0,0,0,0
$GC,8780,1.19,329.6,61.1,11.1,407,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1665,1774,0,0,0,0,0,0
$GC,9046,1.26,333.2,33.8,9.9,432,9060,0.12,2.50,4.82,0.380,4,0.066,0.043,3170,176,1760,0,0,0,0,0,0
$GC,9087,1.08,333.2,29.1,12.9,435,9095,0.32,2.33,0.00,0.000,6,0.095,0.021,3097,1654,1759,0,0,0,0,0,0
$STATE,9314,end climb,SURFACE_DEPTH_REACHED
$STATE,9314,begin surface coast
$FINISH,0.9,1.023676
$STATE,9361,end surface coast,CONTROL_FINISHED_OK
$STATE,9361,begin surface
$SM_CCo,9381,60.55,0.414,1,0,1284,450.13
$SM_GC,1.57,0.00,0.00,60.55,0.000,0.000,0.414,408,1850,1284,-11.28,1.70,450.13
$IRIDIUM_FIX,2239.35,-15757.16,040300,191948
$TT8_MAMPS,0.026845
$HUMID,44.52
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.6,33.252
$10V_AH,10.4,28.017
$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,28.775,96.225,407.200,60.550,0.000,28.019,31.725,130.726,0.000,0.000,14.596,983.679,6004.208,486.569,1845.645,444.268,33.357,1227.023,0.000,1845.978,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,72.098,865.176,414.180,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.686,294.341,373.102,565.072,998.709,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,38491,478
$CAP_FILE_SIZE,102320,0
$CFSIZE,260165632,159019008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,005536,2251.593,-15756.672,29,1.0,45,10.1