version: 66.06
glider: 148
mission: 9
dive: 95
start: 11 23 110 15 8 26
data:
$ID,148
$MISSION,9
$DIVE,95
$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,-859454.38
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,145331,2254.010,-15751.764,9,1.7,26,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,6
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.6
$GPS2,150731,2253.938,-15751.880,9,1.0,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.148,-0.214
$KALMAN_X,-51330.9,-281.6,46.2,82506.9,-451.8
$KALMAN_Y,18526.1,-374.3,-637.3,119611.6,541.8
$MHEAD_RNG_PITCHd_Wd,204.5,11382,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.28,-146.0,0.0,0.0,0,106,0.00,0.00,-83.10,0.000,2,0.000,0.000,409,1836,3321,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.2,-4.2,11,133,11.73,2.42,-6.55,0.000,4,0.157,0.041,2616,3353,3667,0,0,0,0,0,0
$GC,268,-1.28,-146.0,33.0,-13.8,34,272,0.00,2.53,0.00,0.000,6,0.000,0.021,2615,1757,3669,0,0,0,0,0,0
$GC,534,-1.28,-146.0,69.9,-14.2,58,538,0.00,2.55,0.00,0.000,4,0.000,0.031,2616,3346,3669,0,0,0,0,0,0
$GC,555,-1.28,-146.0,73.1,-14.0,59,560,0.00,2.45,0.00,0.000,6,0.000,0.020,2615,1775,3669,0,0,0,0,0,0
$GC,822,-1.28,-146.0,109.8,-12.1,83,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1775,3669,0,0,0,0,0,0
$GC,1084,-1.35,-146.0,140.1,-10.5,108,1089,0.00,2.50,0.00,0.000,4,0.000,0.030,2616,3354,3670,0,0,0,0,0,0
$GC,1143,-1.49,-146.0,145.4,-8.4,113,1149,0.17,2.47,0.00,0.000,6,0.045,0.022,2527,1772,3670,0,0,0,0,0,0
$GC,1404,-1.32,-146.0,183.7,-13.9,137,1407,0.43,0.00,0.00,0.000,6,0.087,0.000,2612,1772,3670,0,0,0,0,0,0
$GC,1668,-1.43,-146.0,208.8,-9.6,156,1673,0.00,2.53,0.00,0.000,4,0.000,0.031,2612,3351,3671,0,0,0,0,0,0
$GC,1717,-1.59,-146.0,213.5,-8.7,157,1722,0.22,2.47,0.00,0.000,6,0.038,0.024,2509,1777,3671,0,0,0,0,0,0
$GC,2000,-1.38,-146.0,255.1,-14.5,164,2002,0.45,0.00,0.00,0.000,6,0.089,0.000,2597,1775,3671,0,0,0,0,0,0
$GC,2244,-1.46,-146.0,277.3,-9.0,170,2248,0.00,2.53,0.00,0.000,4,0.000,0.032,2597,3348,3671,0,0,0,0,0,0
$GC,2285,-1.60,-146.0,280.7,-8.7,170,2291,0.20,2.47,0.00,0.000,6,0.042,0.025,2488,1792,3671,0,0,0,0,0,0
$GC,2535,-1.38,-146.0,317.0,-15.2,177,2542,0.47,2.60,0.00,0.000,4,0.087,0.042,2596,188,3672,0,0,0,0,0,0
$GC,2591,-1.56,-146.0,322.6,-8.7,178,2596,0.15,2.50,0.00,0.000,6,0.056,0.022,2528,1789,3672,0,0,0,0,0,0
$GC,2869,-1.47,-146.0,357.2,-13.2,185,2874,0.22,2.65,0.00,0.000,4,0.093,0.046,2577,196,3671,0,0,0,0,0,0
$GC,2903,-1.57,-146.0,361.4,-11.3,185,2907,0.00,2.53,0.00,0.000,6,0.000,0.025,2577,1786,3671,0,0,0,0,0,0
$GC,3154,-1.63,-146.0,384.6,-9.2,191,3159,0.15,2.58,0.00,0.000,4,0.058,0.042,2513,3354,3669,0,0,0,0,0,0
$GC,3179,-1.55,-146.0,387.5,-11.4,191,3184,0.22,2.50,0.00,0.000,6,0.092,0.027,2563,1785,3669,0,0,0,0,0,0
$GC,3440,-1.55,-146.0,412.4,-9.4,198,3445,0.00,2.60,0.00,0.000,4,0.000,0.044,2563,3354,3667,0,0,0,0,0,0
$GC,3497,-1.62,-146.0,417.7,-8.3,199,3501,0.00,2.53,0.00,0.000,6,0.000,0.029,2563,1789,3667,0,0,0,0,0,0
$GC,3770,-1.62,-146.0,439.1,-7.8,206,3774,0.00,2.70,0.00,0.000,4,0.000,0.061,2563,186,3665,0,0,0,0,0,0
$GC,3790,-1.62,-146.0,440.8,-8.2,206,3794,0.00,2.58,0.00,0.000,6,0.000,0.029,2563,1794,3665,0,0,0,0,0,0
$GC,4054,-1.62,-146.0,463.4,-9.1,213,4058,0.00,2.58,0.00,0.000,4,0.000,0.048,2563,3351,3663,0,0,0,0,0,0
$GC,4086,-1.62,-146.0,466.5,-9.1,213,4091,0.00,2.50,0.00,0.000,6,0.000,0.030,2563,1795,3663,0,0,0,0,0,0
$GC,4337,-1.62,-146.0,489.3,-9.1,219,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1794,3661,0,0,0,0,0,0
$STATE,4496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4496,begin apogee
$GC,4501,-0.31,0.0,502.6,8.1,223,4623,1.20,0.00,117.72,0.874,6,0.081,0.000,2830,1640,3070,0,0,0,0,0,0
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4626,1.28,146.0,507.5,0.0,226,4757,1.42,2.62,121.88,0.857,4,0.031,0.069,3188,187,2473,0,0,0,0,0,0
$GC,4832,0.74,146.0,499.0,13.0,230,4841,0.62,2.35,0.00,0.000,6,0.123,0.029,3065,1643,2469,0,0,0,0,0,0
$GC,5087,0.70,201.8,479.1,7.5,237,5140,0.00,2.58,47.50,0.831,4,0.000,0.060,3064,177,2246,0,0,0,0,0,0
$GC,5192,0.58,201.8,468.8,11.4,239,5198,0.17,2.38,0.00,0.000,6,0.118,0.028,3029,1643,2242,0,0,0,0,0,0
$GC,5461,0.62,232.9,444.9,8.6,246,5494,0.00,2.72,27.10,0.802,4,0.000,0.050,3029,3230,2119,0,0,0,0,0,0
$GC,5513,0.66,271.7,440.5,8.2,247,5554,0.00,2.65,34.92,0.807,6,0.000,0.035,3029,1649,1962,0,0,0,0,0,0
$GC,5838,0.68,284.1,410.3,9.5,255,5854,0.00,2.60,11.18,0.727,4,0.000,0.067,3029,173,1911,0,0,0,0,0,0
$GC,5883,0.68,284.1,405.6,10.7,256,5887,0.00,2.38,0.00,0.000,6,0.000,0.025,3029,1646,1911,0,0,0,0,0,0
$GC,6171,0.76,291.4,377.9,9.7,263,6185,0.15,2.67,7.45,0.661,4,0.058,0.051,3096,3226,1882,0,0,0,0,0,0
$GC,6261,0.76,291.4,366.3,13.3,265,6267,0.15,2.62,0.00,0.000,6,0.109,0.035,3065,1648,1879,0,0,0,0,0,0
$GC,6550,0.76,291.4,334.3,10.8,272,6554,0.00,2.55,0.00,0.000,4,0.000,0.064,3065,163,1878,0,0,0,0,0,0
$GC,6642,0.76,291.4,322.0,12.8,274,6647,0.00,2.38,0.00,0.000,6,0.000,0.025,3065,1650,1877,0,0,0,0,0,0
$GC,6924,0.76,291.4,290.8,10.9,281,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1655,1875,0,0,0,0,0,0
$GC,7168,0.76,291.4,264.7,10.6,287,7172,0.00,2.58,0.00,0.000,4,0.000,0.041,3065,3221,1873,0,0,0,0,0,0
$GC,7186,0.76,291.4,262.7,10.4,287,7191,0.00,2.60,0.00,0.000,6,0.000,0.030,3065,1626,1872,0,0,0,0,0,0
$GC,7452,0.76,291.4,234.3,10.9,294,7457,0.00,2.60,0.00,0.000,4,0.000,0.037,3065,3221,1872,0,0,0,0,0,0
$GC,7480,0.76,291.4,230.8,11.3,294,7484,0.00,2.58,0.00,0.000,6,0.000,0.030,3065,1639,1872,0,0,0,0,0,0
$GC,7734,0.76,291.4,202.0,11.4,301,7738,0.00,2.42,0.00,0.000,4,0.000,0.049,3065,171,1872,0,0,0,0,0,0
$GC,7757,0.76,291.4,199.1,11.6,301,7761,0.00,2.30,0.00,0.000,6,0.000,0.021,3065,1642,1872,0,0,0,0,0,0
$GC,8030,0.76,291.4,170.5,10.3,326,8034,0.00,2.53,0.00,0.000,4,0.000,0.035,3065,3223,1871,0,0,0,0,0,0
$GC,8095,0.89,301.4,164.0,9.6,332,8116,0.12,2.55,8.50,0.550,6,0.067,0.028,3133,1642,1841,0,0,0,0,0,0
$GC,8367,0.77,301.4,131.4,12.2,358,8372,0.28,2.42,0.00,0.000,4,0.100,0.044,3071,173,1839,0,0,0,0,0,0
$GC,8398,0.77,301.4,127.7,11.4,360,8407,0.00,2.30,0.00,0.000,6,0.000,0.021,3071,1634,1839,0,0,0,0,0,0
$GC,8666,0.94,338.2,105.5,8.3,385,8708,0.15,2.62,32.42,0.570,4,0.057,0.032,3153,3216,1690,0,0,0,0,0,0
$GC,8745,0.94,338.2,95.5,13.6,392,8755,0.20,2.58,0.00,0.000,6,0.082,0.028,3106,1646,1687,0,0,0,0,0,0
$GC,9011,0.94,338.2,65.4,11.1,417,9015,0.00,2.40,0.00,0.000,4,0.000,0.043,3106,174,1686,0,0,0,0,0,0
$GC,9041,0.94,338.2,61.5,13.4,419,9045,0.00,2.28,0.00,0.000,6,0.000,0.020,3106,1638,1686,0,0,0,0,0,0
$GC,9307,0.94,338.2,29.3,11.7,443,9316,0.00,2.58,0.00,0.000,4,0.000,0.036,3106,3213,1686,0,0,0,0,0,0
$GC,9343,0.94,338.2,24.8,11.2,448,9352,0.00,2.55,0.00,0.000,6,0.000,0.027,3106,1638,1685,0,0,0,0,0,0
$STATE,9531,end climb,SURFACE_DEPTH_REACHED
$STATE,9531,begin surface coast
$FINISH,0.7,1.010559
$STATE,9570,end surface coast,CONTROL_FINISHED_OK
$STATE,9570,begin surface
$SM_CCo,9590,59.22,0.415,1,0,1233,450.13
$SM_GC,1.54,0.00,0.00,59.22,0.000,0.000,0.415,414,1832,1233,-11.44,1.75,450.13
$IRIDIUM_FIX,2246.36,-15751.06,170200,121207
$TT8_MAMPS,0.026845
$HUMID,40.62
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.6,16.478
$10V_AH,10.4,13.641
$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,29.900,126.525,408.675,59.225,0.000,24.710,33.695,648.219,0.250,0.000,15.671,1017.523,6116.383,504.387,1876.629,981.015,33.365,1282.209,0.000,1875.952,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,69.030,874.380,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.766,296.973,374.598,570.464,1007.559,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38480,483
$CAP_FILE_SIZE,118365,0
$CFSIZE,260165632,166563840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231110,175033,2252.781,-15752.586,32,2.0,33,10.1