version: 66.06
glider: 148
mission: 9
dive: 89
start: 11 22 110 21 19 21
data:
$ID,148
$MISSION,9
$DIVE,89
$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,-859323.69
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,210652,2257.998,-15742.162,7,4.0,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.4
$GPS2,211827,2257.983,-15742.168,34,3.5,53,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,-0.040
$KALMAN_X,-48531.7,-33.8,277.9,95949.9,-67.5
$KALMAN_Y,17061.7,280.7,1283.6,125997.4,-1470.8
$MHEAD_RNG_PITCHd_Wd,251.1,26955,-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,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-83.03,0.000,2,0.000,0.000,411,1827,3347,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.6,-6.0,11,131,12.18,2.42,-5.68,0.000,4,0.173,0.038,2614,3351,3666,0,0,0,0,0,0
$GC,242,-1.28,-146.0,31.9,-12.8,31,250,0.00,2.53,0.00,0.000,6,0.000,0.024,2614,1774,3668,0,0,0,0,0,0
$GC,509,-1.20,-146.0,68.5,-14.6,56,514,0.10,2.55,0.00,0.000,4,0.127,0.031,2637,3355,3668,0,0,0,0,0,0
$GC,540,-1.20,-146.0,73.4,-14.4,58,545,0.00,2.50,0.00,0.000,6,0.000,0.021,2637,1772,3668,0,0,0,0,0,0
$GC,804,-1.20,-146.0,102.8,-9.7,82,808,0.00,2.50,0.00,0.000,4,0.000,0.030,2636,3350,3669,0,0,0,0,0,0
$GC,833,-1.30,-146.0,106.3,-11.1,84,842,0.00,2.50,0.00,0.000,6,0.000,0.023,2637,1784,3669,0,0,0,0,0,0
$GC,1101,-1.42,-146.0,132.6,-9.3,109,1106,0.20,0.00,0.00,0.000,6,0.044,0.000,2549,1784,3669,0,0,0,0,0,0
$GC,1364,-1.29,-146.0,167.8,-13.5,134,1369,0.28,2.53,0.00,0.000,4,0.091,0.029,2613,3357,3670,0,0,0,0,0,0
$GC,1414,-1.42,-146.0,173.1,-8.7,138,1423,0.08,2.50,0.00,0.000,6,0.033,0.023,2523,1792,3670,0,0,0,0,0,0
$GC,1694,-1.24,-146.0,212.3,-14.4,159,1701,0.45,2.58,0.00,0.000,4,0.089,0.038,2625,186,3670,0,0,0,0,0,0
$GC,1716,-1.24,-146.0,215.5,-11.4,159,1720,0.00,2.50,0.00,0.000,6,0.000,0.020,2626,1802,3671,0,0,0,0,0,0
$GC,1981,-1.39,-146.0,238.8,-9.1,166,1986,0.12,2.45,0.00,0.000,4,0.064,0.031,2558,3344,3671,0,0,0,0,0,0
$GC,2056,-1.39,-146.0,248.4,-12.8,167,2061,0.17,2.45,0.00,0.000,6,0.094,0.023,2596,1793,3670,0,0,0,0,0,0
$GC,2313,-1.47,-146.0,274.3,-9.7,174,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1793,3670,0,0,0,0,0,0
$GC,2555,-1.57,-146.0,295.8,-8.8,180,2560,0.15,2.50,0.00,0.000,4,0.058,0.034,2522,3339,3670,0,0,0,0,0,0
$GC,2593,-1.49,-146.0,299.8,-10.2,180,2599,0.25,2.42,0.00,0.000,6,0.091,0.025,2576,1812,3670,0,0,0,0,0,0
$GC,2844,-1.49,-146.0,321.7,-8.6,187,2848,0.00,2.47,0.00,0.000,4,0.000,0.037,2576,3341,3671,0,0,0,0,0,0
$GC,2872,-1.49,-146.0,324.5,-9.3,187,2876,0.00,2.42,0.00,0.000,6,0.000,0.025,2576,1819,3670,0,0,0,0,0,0
$GC,3130,-1.49,-146.0,350.1,-10.2,194,3135,0.00,2.47,0.00,0.000,4,0.000,0.040,2577,3334,3670,0,0,0,0,0,0
$GC,3160,-1.49,-146.0,353.1,-10.2,194,3164,0.00,2.42,0.00,0.000,6,0.000,0.026,2576,1817,3669,0,0,0,0,0,0
$GC,3414,-1.56,-146.0,377.7,-9.5,201,3419,0.00,2.47,0.00,0.000,4,0.000,0.042,2576,3337,3668,0,0,0,0,0,0
$GC,3447,-1.64,-146.0,380.8,-9.1,201,3452,0.15,2.42,0.00,0.000,6,0.055,0.028,2496,1827,3668,0,0,0,0,0,0
$GC,3699,-1.48,-146.0,413.8,-13.5,207,3706,0.35,2.75,0.00,0.000,4,0.093,0.055,2573,191,3666,0,0,0,0,0,0
$GC,3745,-1.60,-146.0,418.8,-9.8,208,3750,0.00,2.60,0.00,0.000,6,0.000,0.028,2573,1813,3666,0,0,0,0,0,0
$GC,4034,-1.68,-146.0,443.2,-8.3,215,4039,0.17,2.53,0.00,0.000,4,0.053,0.048,2498,3348,3664,0,0,0,0,0,0
$GC,4067,-1.56,-146.0,447.1,-12.5,215,4072,0.28,2.45,0.00,0.000,6,0.094,0.031,2558,1831,3663,0,0,0,0,0,0
$GC,4317,-1.56,-146.0,469.4,-8.8,221,4321,0.00,2.53,0.00,0.000,4,0.000,0.050,2559,3351,3662,0,0,0,0,0,0
$GC,4337,-1.56,-146.0,471.2,-8.8,221,4341,0.00,2.45,0.00,0.000,6,0.000,0.031,2559,1836,3662,0,0,0,0,0,0
$GC,4601,-1.56,-146.0,493.4,-8.5,228,4605,0.00,2.80,0.00,0.000,4,0.000,0.065,2559,200,3660,0,0,0,0,0,0
$GC,4629,-1.62,-146.0,496.1,-8.6,228,4634,0.00,2.65,0.00,0.000,6,0.000,0.035,2559,1826,3659,0,0,0,0,0,0
$STATE,4678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4678,begin apogee
$GC,4685,-0.31,0.0,500.3,8.5,230,4806,1.23,0.00,117.40,0.874,6,0.079,0.000,2834,1631,3070,0,0,0,0,0,0
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4809,1.28,146.0,504.3,0.0,233,4941,1.40,2.58,121.12,0.859,4,0.023,0.063,3199,194,2473,0,0,0,0,0,0
$GC,5209,0.70,146.0,464.7,14.3,241,5216,0.73,2.38,0.00,0.000,6,0.125,0.028,3055,1648,2464,0,0,0,0,0,0
$GC,5459,0.70,210.0,444.8,7.1,248,5520,0.00,2.58,53.53,0.827,4,0.000,0.056,3055,196,2212,0,0,0,0,0,0
$GC,5631,0.62,210.0,429.0,10.6,251,5637,0.00,2.38,0.00,0.000,6,0.000,0.027,3055,1656,2208,0,0,0,0,0,0
$GC,5881,0.63,218.5,405.0,9.6,258,5893,0.00,2.55,7.38,0.674,4,0.000,0.057,3055,192,2178,0,0,0,0,0,0
$GC,5918,0.53,218.5,401.1,10.7,258,5923,0.20,2.35,0.00,0.000,6,0.111,0.026,3015,1642,2177,0,0,0,0,0,0
$GC,6168,0.67,263.9,380.5,7.9,264,6212,0.12,0.00,40.47,0.794,6,0.067,0.000,3078,1642,1993,0,0,0,0,0,0
$GC,6457,0.61,263.9,348.1,11.7,271,6464,0.22,2.70,0.00,0.000,4,0.100,0.050,3030,3233,1984,0,0,0,0,0,0
$GC,6493,0.73,272.1,344.1,9.7,271,6506,0.12,2.62,7.32,0.644,6,0.067,0.033,3094,1648,1960,0,0,0,0,0,0
$GC,6790,0.65,272.1,304.7,13.5,279,6792,0.22,0.00,0.00,0.000,6,0.104,0.000,3044,1648,1957,0,0,0,0,0,0
$GC,7034,0.72,278.9,280.4,9.7,285,7046,0.00,2.67,6.65,0.603,4,0.000,0.041,3044,3220,1932,0,0,0,0,0,0
$GC,7104,0.86,291.1,273.3,9.5,286,7126,0.17,2.60,12.48,0.673,6,0.053,0.031,3122,1626,1883,0,0,0,0,0,0
$GC,7372,0.73,291.1,239.4,13.0,293,7377,0.28,2.45,0.00,0.000,4,0.103,0.054,3061,175,1879,0,0,0,0,0,0
$GC,7392,0.66,291.1,236.6,11.7,293,7396,0.00,2.33,0.00,0.000,6,0.000,0.022,3060,1660,1878,0,0,0,0,0,0
$GC,7661,0.66,291.1,209.2,10.4,300,7665,0.00,2.53,0.00,0.000,4,0.000,0.036,3060,3216,1876,0,0,0,0,0,0
$GC,7684,0.66,291.1,206.3,11.4,300,7688,0.00,2.55,0.00,0.000,6,0.000,0.028,3060,1644,1875,0,0,0,0,0,0
$GC,7955,0.66,291.1,177.1,10.6,319,7960,0.00,2.42,0.00,0.000,4,0.000,0.048,3060,175,1875,0,0,0,0,0,0
$GC,7982,0.66,291.1,173.9,11.3,321,7987,0.00,2.30,0.00,0.000,6,0.000,0.022,3060,1646,1875,0,0,0,0,0,0
$GC,8248,0.66,291.1,146.9,10.6,345,8252,0.00,2.55,0.00,0.000,4,0.000,0.040,3060,3223,1875,0,0,0,0,0,0
$GC,8303,0.78,314.7,141.3,8.9,350,8329,0.00,2.53,19.90,0.594,6,0.000,0.028,3060,1656,1787,0,0,0,0,0,0
$GC,8584,0.89,320.0,113.2,9.8,376,8598,0.12,2.47,5.62,0.457,4,0.067,0.044,3129,177,1765,0,0,0,0,0,0
$GC,8694,0.75,320.0,99.7,12.2,386,8699,0.30,2.33,0.00,0.000,6,0.096,0.022,3065,1656,1764,0,0,0,0,0,0
$GC,8955,0.94,361.5,80.2,8.1,410,9003,0.17,2.62,37.22,0.549,4,0.050,0.036,3152,3222,1594,0,0,0,0,0,0
$GC,9097,0.94,361.5,61.8,14.1,422,9102,0.22,2.53,0.00,0.000,6,0.097,0.027,3105,1662,1590,0,0,0,0,0,0
$GC,9365,0.94,361.5,29.8,11.6,446,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1662,1589,0,0,0,0,0,0
$STATE,9576,end climb,SURFACE_DEPTH_REACHED
$STATE,9576,begin surface coast
$FINISH,0.7,1.007123
$STATE,9615,end surface coast,CONTROL_FINISHED_OK
$STATE,9615,begin surface
$SM_CCo,9635,49.17,0.402,1,0,1234,450.13
$SM_GC,1.39,0.00,0.00,49.17,0.000,0.000,0.402,413,1836,1234,-11.44,1.87,450.13
$IRIDIUM_FIX,2246.36,-15738.46,160200,181832
$TT8_MAMPS,0.026845
$HUMID,41.29
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,15.630
$10V_AH,10.4,12.984
$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,31.400,125.825,429.100,49.175,0.000,29.331,35.341,459.793,0.500,0.000,56.072,1027.764,6098.497,505.514,1953.907,801.859,33.358,1309.657,0.000,1908.841,0.000,0.538,0.000
$DEVICE_MAMPS,173.342,65.195,874.380,401.908,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.208,294.991,377.722,572.792,1011.475,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38401,485
$CAP_FILE_SIZE,119666,0
$CFSIZE,260165632,166899712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231110,000207,2257.520,-15743.698,36,1.0,36,10.1