version: 66.06
glider: 148
mission: 9
dive: 88
start: 11 22 110 18 24 39
data:
$ID,148
$MISSION,9
$DIVE,88
$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,-859267
$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,2900
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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,3070
$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
$GPS1,181245,2256.099,-15742.219,37,2.3,56,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.8
$GPS2,182344,2256.175,-15742.160,14,1.8,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.030,0.256
$KALMAN_X,-48186.2,-277.8,-120.4,96260.3,575.2
$KALMAN_Y,17795.5,-156.1,196.9,123448.8,820.3
$MHEAD_RNG_PITCHd_Wd,343.2,3391,-17.8,-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,-1.29,-143.2,0.0,0.0,0,103,0.00,0.00,-82.85,0.000,2,0.000,0.000,411,1857,3312,0,0,0,0,0,0
$GC,107,-1.29,-146.0,3.4,-4.9,11,131,11.68,2.38,-6.53,0.000,4,0.156,0.038,2611,3358,3667,0,0,0,0,0,0
$GC,165,-1.14,-146.0,20.8,-19.4,19,174,0.15,2.55,0.00,0.000,6,0.077,0.023,2649,1769,3669,0,0,0,0,0,0
$GC,445,-1.14,-146.0,57.0,-12.2,49,449,0.00,2.53,0.00,0.000,4,0.000,0.030,2649,3354,3670,0,0,0,0,0,0
$GC,478,-1.14,-146.0,60.9,-10.4,51,487,0.00,2.53,0.00,0.000,6,0.000,0.022,2649,1776,3670,0,0,0,0,0,0
$GC,740,-1.23,-146.0,89.6,-10.3,76,744,0.00,2.58,0.00,0.000,4,0.000,0.039,2649,184,3670,0,0,0,0,0,0
$GC,805,-1.52,-146.0,95.1,-7.4,81,811,0.32,2.42,0.00,0.000,6,0.031,0.018,2524,1776,3670,0,0,0,0,0,0
$GC,1067,-1.30,-146.0,133.6,-15.7,106,1072,0.38,2.45,0.00,0.000,4,0.091,0.028,2609,3334,3671,0,0,0,0,0,0
$GC,1109,-1.38,-146.0,137.9,-9.7,109,1113,0.00,2.47,0.00,0.000,6,0.000,0.022,2609,1753,3671,0,0,0,0,0,0
$GC,1375,-1.45,-146.0,164.8,-10.5,133,1380,0.10,2.55,0.00,0.000,4,0.079,0.029,2555,3342,3671,0,0,0,0,0,0
$GC,1402,-1.45,-146.0,168.1,-12.0,135,1408,0.12,2.50,0.00,0.000,6,0.107,0.024,2583,1763,3671,0,0,0,0,0,0
$GC,1663,-1.45,-146.0,195.2,-10.8,159,1667,0.00,2.50,0.00,0.000,4,0.000,0.030,2584,3341,3671,0,0,0,0,0,0
$GC,1712,-1.45,-146.0,200.4,-12.2,163,1716,0.00,2.47,0.00,0.000,6,0.000,0.024,2584,1778,3671,0,0,0,0,0,0
$GC,1998,-1.45,-146.0,231.3,-10.2,170,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1778,3672,0,0,0,0,0,0
$GC,2242,-1.45,-146.0,258.7,-11.3,176,2246,0.00,2.47,0.00,0.000,4,0.000,0.031,2584,3336,3672,0,0,0,0,0,0
$GC,2290,-1.52,-146.0,263.8,-10.7,177,2295,0.00,2.47,0.00,0.000,6,0.000,0.024,2584,1776,3672,0,0,0,0,0,0
$GC,2572,-1.52,-146.0,290.6,-9.5,184,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1777,3671,0,0,0,0,0,0
$GC,2816,-1.52,-146.0,312.8,-9.0,190,2820,0.00,2.50,0.00,0.000,4,0.000,0.034,2584,3332,3671,0,0,0,0,0,0
$GC,2850,-1.61,-146.0,315.7,-8.6,190,2856,0.15,2.47,0.00,0.000,6,0.055,0.026,2497,1784,3671,0,0,0,0,0,0
$GC,3106,-1.40,-146.0,350.2,-14.2,197,3113,0.45,2.62,0.00,0.000,4,0.091,0.048,2590,185,3671,0,0,0,0,0,0
$GC,3177,-1.59,-146.0,357.1,-8.7,198,3182,0.15,2.47,0.00,0.000,6,0.057,0.024,2526,1767,3671,0,0,0,0,0,0
$GC,3442,-1.51,-146.0,384.2,-10.2,205,3447,0.20,2.58,0.00,0.000,4,0.097,0.041,2570,3349,3669,0,0,0,0,0,0
$GC,3466,-1.51,-146.0,386.6,-9.3,205,3470,0.00,2.50,0.00,0.000,6,0.000,0.027,2570,1777,3670,0,0,0,0,0,0
$GC,3727,-1.51,-146.0,409.5,-8.9,212,3731,0.00,2.58,0.00,0.000,4,0.000,0.043,2570,3349,3668,0,0,0,0,0,0
$GC,3746,-1.51,-146.0,411.4,-9.2,212,3750,0.00,2.53,0.00,0.000,6,0.000,0.028,2569,1781,3668,0,0,0,0,0,0
$GC,4010,-1.58,-146.0,434.3,-8.7,219,4014,0.00,2.60,0.00,0.000,4,0.000,0.046,2570,3346,3666,0,0,0,0,0,0
$GC,4035,-1.66,-146.0,436.5,-8.9,219,4040,0.12,2.53,0.00,0.000,6,0.064,0.030,2494,1786,3665,0,0,0,0,0,0
$GC,4295,-1.50,-146.0,470.0,-13.0,226,4302,0.35,2.70,0.00,0.000,4,0.091,0.063,2569,196,3664,0,0,0,0,0,0
$GC,4346,-1.66,-146.0,475.4,-9.8,227,4352,0.12,2.58,0.00,0.000,6,0.065,0.035,2513,1777,3664,0,0,0,0,0,0
$STATE,4586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4586,begin apogee
$GC,4592,-0.31,0.0,502.6,11.3,233,4714,1.42,0.00,118.28,0.871,6,0.086,0.000,2829,1629,3070,0,0,0,0,0,0
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4717,1.29,146.0,507.4,0.0,236,4848,1.42,2.55,121.68,0.854,4,0.027,0.063,3181,187,2473,0,0,0,0,0,0
$GC,5099,0.78,146.0,470.7,13.9,244,5106,0.55,2.40,0.00,0.000,6,0.127,0.029,3074,1655,2464,0,0,0,0,0,0
$GC,5362,0.69,164.9,445.5,9.1,251,5383,0.10,2.55,16.02,0.774,4,0.141,0.056,3053,191,2395,0,0,0,0,0,0
$GC,5487,0.57,164.9,433.3,10.5,253,5492,0.15,2.35,0.00,0.000,6,0.121,0.027,3023,1645,2393,0,0,0,0,0,0
$GC,5736,0.63,218.0,414.0,7.5,259,5784,0.00,0.00,45.88,0.811,6,0.000,0.000,3024,1646,2181,0,0,0,0,0,0
$GC,6022,0.72,238.8,388.3,9.1,266,6043,0.15,0.00,18.75,0.761,6,0.059,0.000,3083,1646,2096,0,0,0,0,0,0
$GC,6264,0.64,238.8,362.9,10.5,272,6269,0.20,2.47,0.00,0.000,4,0.104,0.054,3042,190,2090,0,0,0,0,0,0
$GC,6317,0.65,244.6,358.0,9.8,273,6329,0.00,2.33,5.62,0.598,6,0.000,0.025,3042,1646,2072,0,0,0,0,0,0
$GC,6598,0.68,269.5,333.4,8.9,280,6626,0.00,2.58,22.80,0.746,4,0.000,0.054,3042,185,1970,0,0,0,0,0,0
$GC,6663,0.68,269.5,327.0,10.6,281,6668,0.00,2.33,0.00,0.000,6,0.000,0.025,3042,1633,1969,0,0,0,0,0,0
$GC,6928,0.73,306.1,305.2,8.3,288,6970,0.00,2.72,32.70,0.739,4,0.000,0.047,3042,3220,1819,0,0,0,0,0,0
$GC,6990,0.82,306.1,299.2,10.1,289,6996,0.15,2.60,0.00,0.000,6,0.058,0.032,3101,1655,1817,0,0,0,0,0,0
$GC,7261,0.74,306.1,261.5,14.4,296,7266,0.20,2.50,0.00,0.000,4,0.107,0.056,3061,173,1814,0,0,0,0,0,0
$GC,7286,0.74,306.1,257.6,13.5,296,7290,0.00,2.35,0.00,0.000,6,0.000,0.022,3061,1653,1813,0,0,0,0,0,0
$GC,7545,0.74,306.1,228.7,11.2,303,7549,0.00,2.58,0.00,0.000,4,0.000,0.040,3060,3226,1811,0,0,0,0,0,0
$GC,7589,0.84,306.1,223.7,12.1,304,7594,0.00,2.60,0.00,0.000,6,0.000,0.031,3060,1633,1809,0,0,0,0,0,0
$GC,7846,0.84,306.1,195.6,10.5,311,7851,0.10,2.60,0.00,0.000,4,0.081,0.037,3106,3220,1809,0,0,0,0,0,0
$GC,7863,0.84,306.1,193.8,11.2,312,7868,0.10,2.55,0.00,0.000,6,0.125,0.028,3085,1644,1809,0,0,0,0,0,0
$GC,8123,0.84,306.1,160.7,12.8,336,8128,0.00,2.58,0.00,0.000,4,0.000,0.036,3084,3223,1809,0,0,0,0,0,0
$GC,8162,0.84,306.1,155.9,11.7,339,8171,0.00,2.58,0.00,0.000,6,0.000,0.028,3085,1647,1807,0,0,0,0,0,0
$GC,8425,0.84,306.6,126.8,10.0,364,8430,0.00,2.58,0.00,0.000,4,0.000,0.035,3084,3230,1807,0,0,0,0,0,0
$GC,8466,0.93,317.9,122.8,9.5,367,8484,0.00,2.55,8.77,0.528,6,0.000,0.028,3084,1649,1775,0,0,0,0,0,0
$GC,8739,1.01,326.5,94.9,9.6,393,8761,0.15,2.42,9.05,0.509,4,0.058,0.050,3156,176,1737,0,0,0,0,0,0
$GC,8818,0.84,326.5,84.5,14.6,400,8827,0.30,2.35,0.00,0.000,6,0.096,0.021,3089,1656,1737,0,0,0,0,0,0
$GC,9086,0.92,337.4,60.7,9.5,425,9102,0.00,2.58,10.93,0.494,4,0.000,0.034,3089,3232,1693,0,0,0,0,0,0
$GC,9116,1.01,344.7,57.2,9.7,427,9136,0.10,2.58,8.02,0.461,6,0.028,0.026,3143,1658,1663,0,0,0,0,0,0
$GC,9401,0.92,344.7,20.0,13.4,459,9410,0.20,2.58,0.00,0.000,4,0.111,0.034,3103,3220,1661,0,0,0,0,0,0
$GC,9420,0.92,344.7,17.5,13.2,461,9429,0.00,2.53,0.00,0.000,6,0.000,0.025,3102,1659,1661,0,0,0,0,0,0
$STATE,9536,end climb,SURFACE_DEPTH_REACHED
$STATE,9536,begin surface coast
$FINISH,0.7,1.012414
$STATE,9583,end surface coast,CONTROL_FINISHED_OK
$STATE,9583,begin surface
$SM_CCo,9603,56.58,0.416,1,0,1233,450.13
$SM_GC,1.54,0.00,0.00,56.58,0.000,0.000,0.416,411,1826,1233,-11.45,1.58,450.13
$IRIDIUM_FIX,2246.36,-15743.68,160200,151539
$TT8_MAMPS,0.026845
$HUMID,40.98
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,15.497
$10V_AH,10.4,12.875
$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,30.575,131.275,418.500,56.575,0.000,29.132,35.310,464.696,0.250,0.000,15.722,1033.397,6053.932,535.640,1902.049,803.433,33.353,1325.696,0.000,1905.760,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,62.894,871.312,415.714,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.553,304.739,378.559,585.124,1033.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38384,486
$CAP_FILE_SIZE,119142,0
$CFSIZE,260165632,166957056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221110,210652,2257.998,-15742.162,7,4.0,26,10.1