version: 66.06
glider: 148
mission: 9
dive: 288
start: 12 16 110 4 37 58
data:
$ID,148
$MISSION,9
$DIVE,288
$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,-864083.12
$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,25
$R_STBD_OVSHOOT,85
$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
$GPS1,043054,2249.235,-15759.767,39,1.2,56,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.7
$GPS2,043701,2249.220,-15759.745,10,1.9,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.221,0.136
$KALMAN_X,-54250.3,103.4,-57.0,71609.2,364.9
$KALMAN_Y,1684.5,-197.7,358.5,126555.0,-575.5
$MHEAD_RNG_PITCHd_Wd,48.3,4904,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-82.32,0.000,2,0.000,0.000,413,1841,3321,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.5,-5.0,11,132,11.48,2.38,-7.10,0.000,4,0.157,0.040,2573,3330,3716,0,0,0,0,0,0
$GC,229,-1.15,-146.0,32.0,-16.4,28,235,0.17,2.47,0.00,0.000,6,0.098,0.023,2611,1777,3718,0,0,0,0,0,0
$GC,498,-1.05,-146.0,71.7,-15.2,52,503,0.10,2.53,0.00,0.000,4,0.129,0.030,2631,3339,3718,0,0,0,0,0,0
$GC,554,-1.05,-146.0,79.7,-12.6,56,558,0.00,2.45,0.00,0.000,6,0.000,0.022,2631,1795,3719,0,0,0,0,0,0
$GC,816,-1.13,-146.0,109.8,-9.8,80,821,0.00,2.42,0.00,0.000,4,0.000,0.028,2631,3329,3719,0,0,0,0,0,0
$GC,855,-1.23,-146.0,113.3,-8.9,83,860,0.17,2.38,0.00,0.000,6,0.048,0.021,2547,1815,3719,0,0,0,0,0,0
$GC,1123,-1.07,-146.0,149.4,-14.9,107,1132,0.32,2.58,0.00,0.000,4,0.087,0.035,2621,208,3721,0,0,0,0,0,0
$GC,1146,-1.07,-146.0,153.1,-13.7,109,1150,0.00,2.42,0.00,0.000,6,0.000,0.019,2621,1786,3721,0,0,0,0,0,0
$GC,1413,-1.19,-146.0,176.9,-8.8,134,1417,0.00,2.50,0.00,0.000,4,0.000,0.028,2621,3366,3721,0,0,0,0,0,0
$GC,1480,-1.37,-146.0,182.9,-8.9,140,1485,0.25,2.42,0.00,0.000,6,0.035,0.022,2514,1818,3722,0,0,0,0,0,0
$GC,1765,-1.14,-146.0,226.8,-15.8,155,1767,0.45,0.00,0.00,0.000,6,0.087,0.000,2607,1818,3722,0,0,0,0,0,0
$GC,2011,-1.25,-146.0,248.6,-8.4,161,2015,0.00,2.45,0.00,0.000,4,0.000,0.031,2608,3361,3722,0,0,0,0,0,0
$GC,2034,-1.36,-146.0,250.8,-9.0,161,2039,0.20,2.42,0.00,0.000,6,0.042,0.023,2513,1824,3722,0,0,0,0,0,0
$GC,2294,-1.19,-146.0,285.9,-13.9,168,2296,0.43,0.00,0.00,0.000,6,0.084,0.000,2600,1825,3722,0,0,0,0,0,0
$GC,2540,-1.30,-146.0,307.7,-8.5,174,2545,0.10,2.50,0.00,0.000,4,0.077,0.035,2543,3365,3722,0,0,0,0,0,0
$GC,2564,-1.30,-146.0,310.6,-11.6,174,2569,0.15,2.42,0.00,0.000,6,0.094,0.025,2577,1833,3722,0,0,0,0,0,0
$GC,2825,-1.30,-146.0,336.8,-10.0,181,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1833,3721,0,0,0,0,0,0
$GC,3067,-1.38,-146.0,359.3,-9.1,187,3072,0.00,2.47,0.00,0.000,4,0.000,0.036,2577,3365,3720,0,0,0,0,0,0
$GC,3096,-1.46,-146.0,361.8,-8.7,187,3101,0.15,2.45,0.00,0.000,6,0.055,0.028,2490,1831,3720,0,0,0,0,0,0
$GC,3353,-1.25,-146.0,396.7,-14.3,194,3360,0.45,2.70,0.00,0.000,4,0.086,0.053,2583,214,3719,0,0,0,0,0,0
$GC,3379,-1.25,-146.0,400.3,-10.9,194,3384,0.00,2.58,0.00,0.000,6,0.000,0.026,2583,1822,3719,0,0,0,0,0,0
$GC,3639,-1.35,-146.0,422.1,-8.5,201,3643,0.00,2.50,0.00,0.000,4,0.000,0.041,2583,3368,3717,0,0,0,0,0,0
$GC,3684,-1.48,-146.0,425.9,-8.9,202,3689,0.20,2.45,0.00,0.000,6,0.044,0.028,2488,1838,3717,0,0,0,0,0,0
$GC,3971,-1.28,-146.0,467.1,-14.6,209,3974,0.45,0.00,0.00,0.000,6,0.087,0.000,2578,1837,3715,0,0,0,0,0,0
$GC,4215,-1.37,-146.0,490.4,-9.4,215,4220,0.00,2.53,0.00,0.000,4,0.000,0.048,2579,3365,3713,0,0,0,0,0,0
$GC,4252,-1.50,-146.0,493.5,-9.1,215,4257,0.20,2.47,0.00,0.000,6,0.041,0.031,2478,1843,3713,0,0,0,0,0,0
$STATE,4336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4336,begin apogee
$GC,4342,-0.31,0.0,505.5,13.2,217,4464,1.45,0.00,118.25,0.871,6,0.086,0.000,2791,1673,3120,0,0,0,0,0,0
$STATE,4465,end apogee,CONTROL_FINISHED_OK
$STATE,4465,begin climb
$GC,4469,1.28,146.0,510.6,0.0,220,4600,1.40,2.70,121.55,0.854,4,0.025,0.073,3137,180,2523,0,0,0,0,0,0
$GC,4778,0.87,146.0,492.3,12.2,227,4785,0.43,2.45,0.00,0.000,6,0.115,0.028,3052,1677,2516,0,0,0,0,0,0
$GC,5069,0.84,184.7,468.1,8.2,234,5111,0.00,2.62,32.33,0.818,4,0.000,0.058,3052,184,2366,0,0,0,0,0,0
$GC,5185,0.71,184.7,456.2,11.4,236,5190,0.17,2.40,0.00,0.000,6,0.110,0.027,3016,1672,2362,0,0,0,0,0,0
$GC,5445,0.78,242.4,436.4,7.4,243,5497,0.00,0.00,49.83,0.818,6,0.000,0.000,3016,1672,2131,0,0,0,0,0,0
$GC,5734,0.91,288.9,414.1,7.9,250,5778,0.17,0.00,41.25,0.801,6,0.051,0.000,3088,1673,1942,0,0,0,0,0,0
$GC,6015,0.80,288.9,378.0,13.3,257,6017,0.25,0.00,0.00,0.000,6,0.097,0.000,3035,1673,1934,0,0,0,0,0,0
$GC,6260,0.80,288.9,351.8,10.4,263,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1673,1933,0,0,0,0,0,0
$GC,6502,0.89,300.8,328.4,9.5,269,6519,0.00,2.75,10.35,0.685,4,0.000,0.048,3036,3257,1892,0,0,0,0,0,0
$GC,6556,1.05,324.9,323.4,8.9,270,6585,0.22,2.62,22.55,0.733,6,0.043,0.033,3114,1683,1795,0,0,0,0,0,0
$GC,6839,0.92,324.9,285.1,14.3,277,6841,0.25,0.00,0.00,0.000,6,0.103,0.000,3062,1683,1789,0,0,0,0,0,0
$GC,7079,0.92,324.9,256.8,11.4,283,7083,0.00,2.58,0.00,0.000,4,0.000,0.060,3062,171,1787,0,0,0,0,0,0
$GC,7125,0.92,324.9,250.7,13.7,284,7130,0.00,2.42,0.00,0.000,6,0.000,0.024,3062,1684,1787,0,0,0,0,0,0
$GC,7409,0.92,324.9,220.1,10.5,291,7413,0.00,2.58,0.00,0.000,4,0.000,0.053,3062,168,1785,0,0,0,0,0,0
$GC,7432,0.92,324.9,217.3,10.9,291,7436,0.00,2.38,0.00,0.000,6,0.000,0.024,3062,1672,1785,0,0,0,0,0,0
$GC,7690,0.96,350.8,193.0,8.8,303,7719,0.00,2.65,22.17,0.641,4,0.000,0.036,3062,3244,1688,0,0,0,0,0,0
$GC,7752,1.08,372.5,187.4,9.0,309,7783,0.12,2.60,20.62,0.624,6,0.061,0.030,3112,1662,1600,0,0,0,0,0,0
$GC,8039,1.01,372.5,150.1,14.1,336,8044,0.15,2.50,0.00,0.000,4,0.112,0.048,3080,170,1596,0,0,0,0,0,0
$GC,8065,1.01,372.5,146.0,13.8,338,8069,0.00,2.38,0.00,0.000,6,0.000,0.021,3080,1673,1596,0,0,0,0,0,0
$GC,8329,1.01,372.5,111.6,12.3,362,8333,0.00,2.53,0.00,0.000,4,0.000,0.046,3080,163,1595,0,0,0,0,0,0
$GC,8354,1.01,372.5,107.7,13.5,364,8358,0.00,2.35,0.00,0.000,6,0.000,0.021,3080,1666,1595,0,0,0,0,0,0
$GC,8617,1.12,372.5,79.9,10.6,388,8619,0.10,0.00,0.00,0.000,6,0.076,0.000,3153,1670,1595,0,0,0,0,0,0
$GC,8876,1.00,372.5,41.6,15.1,412,8881,0.32,2.47,0.00,0.000,4,0.091,0.041,3080,170,1595,0,0,0,0,0,0
$GC,8930,1.10,372.5,34.3,12.3,416,8934,0.00,2.33,0.00,0.000,6,0.000,0.020,3080,1663,1594,0,0,0,0,0,0
$STATE,9231,end climb,SURFACE_DEPTH_REACHED
$STATE,9231,begin surface coast
$FINISH,0.7,1.010163
$STATE,9276,end surface coast,CONTROL_FINISHED_OK
$STATE,9276,begin surface
$SM_CCo,9297,42.28,0.384,1,0,1285,450.13
$SM_GC,1.58,0.00,0.00,42.28,0.000,0.000,0.384,410,1822,1285,-11.27,0.93,450.13
$IRIDIUM_FIX,2239.35,-15802.37,110300,010117
$TT8_MAMPS,0.026845
$HUMID,45.90
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.6,39.571
$10V_AH,10.4,33.517
$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,31.125,100.200,438.900,42.275,0.000,29.339,33.904,167.650,0.250,0.000,16.971,969.363,5995.273,521.494,1726.997,504.452,33.395,1202.509,0.000,1732.841,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,72.865,870.545,383.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.085,287.353,361.880,547.617,968.442,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,35154,468
$CAP_FILE_SIZE,103312,0
$CFSIZE,260165632,156106752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161210,071501,2249.492,-15758.312,38,1.5,38,10.1