version: 66.06
glider: 148
mission: 9
dive: 100
start: 11 24 110 5 20 16
data:
$ID,148
$MISSION,9
$DIVE,100
$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,-859558.94
$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,41
$R_STBD_OVSHOOT,73
$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
$GPS1,051334,2250.310,-15756.781,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.1
$GPS2,051922,2250.351,-15756.795,15,3.5,34,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.000,-0.260
$KALMAN_X,-53139.3,-246.6,-126.8,75995.5,-463.8
$KALMAN_Y,19364.9,352.0,-251.2,111013.6,908.6
$MHEAD_RNG_PITCHd_Wd,170.0,6438,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-82.38,0.000,2,0.000,0.000,411,1830,3392,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.0,-7.1,11,132,11.43,2.65,-5.75,0.000,4,0.156,0.049,2572,209,3717,0,0,0,0,0,0
$GC,218,-1.28,-146.0,31.7,-15.6,27,227,0.00,2.45,0.00,0.000,6,0.000,0.021,2572,1759,3719,0,0,0,0,0,0
$GC,483,-1.07,-146.0,77.0,-17.6,52,488,0.25,2.58,0.00,0.000,4,0.102,0.030,2628,3370,3719,0,0,0,0,0,0
$GC,533,-1.07,-146.0,85.2,-13.3,56,537,0.00,2.47,0.00,0.000,6,0.000,0.022,2629,1793,3720,0,0,0,0,0,0
$GC,796,-1.14,-146.0,113.1,-9.0,80,800,0.00,2.53,0.00,0.000,4,0.000,0.030,2628,3373,3720,0,0,0,0,0,0
$GC,844,-1.27,-146.0,117.8,-9.2,84,849,0.20,2.45,0.00,0.000,6,0.041,0.023,2523,1808,3721,0,0,0,0,0,0
$GC,1106,-1.03,-146.0,161.0,-16.3,108,1119,0.55,2.55,0.00,0.000,4,0.089,0.035,2631,211,3721,0,0,0,0,0,0
$GC,1144,-1.20,-146.0,165.7,-9.9,111,1154,0.10,2.53,0.00,0.000,6,0.031,0.020,2557,1820,3722,0,0,0,0,0,0
$GC,1409,-1.20,-146.0,198.5,-12.2,136,1414,0.17,2.47,0.00,0.000,4,0.100,0.031,2596,3371,3722,0,0,0,0,0,0
$GC,1448,-1.29,-146.0,203.4,-10.8,137,1454,0.00,2.45,0.00,0.000,6,0.000,0.022,2596,1804,3723,0,0,0,0,0,0
$GC,1698,-1.29,-146.0,230.8,-11.2,144,1702,0.00,2.55,0.00,0.000,4,0.000,0.040,2596,213,3723,0,0,0,0,0,0
$GC,1726,-1.39,-146.0,234.1,-11.9,144,1731,0.17,2.47,0.00,0.000,6,0.050,0.021,2520,1815,3723,0,0,0,0,0,0
$GC,1983,-1.24,-146.0,273.1,-15.8,151,1988,0.28,2.45,0.00,0.000,4,0.091,0.031,2585,3363,3723,0,0,0,0,0,0
$GC,2011,-1.24,-146.0,277.5,-12.1,151,2015,0.00,2.45,0.00,0.000,6,0.000,0.023,2585,1814,3723,0,0,0,0,0,0
$GC,2270,-1.24,-146.0,304.5,-10.2,158,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1814,3723,0,0,0,0,0,0
$GC,2516,-1.31,-146.0,327.0,-9.2,164,2520,0.00,2.50,0.00,0.000,4,0.000,0.036,2585,3358,3723,0,0,0,0,0,0
$GC,2567,-1.43,-146.0,331.9,-8.7,165,2573,0.15,2.42,0.00,0.000,6,0.056,0.025,2503,1821,3723,0,0,0,0,0,0
$GC,2847,-1.27,-146.0,370.3,-14.0,172,2855,0.35,2.65,0.00,0.000,4,0.088,0.048,2578,211,3723,0,0,0,0,0,0
$GC,2894,-1.41,-146.0,375.9,-9.8,173,2899,0.12,2.50,0.00,0.000,6,0.064,0.025,2524,1801,3723,0,0,0,0,0,0
$GC,3181,-1.35,-146.0,410.6,-12.2,180,3187,0.20,2.58,0.00,0.000,4,0.097,0.042,2567,3367,3721,0,0,0,0,0,0
$GC,3202,-1.35,-146.0,413.1,-12.1,180,3206,0.00,2.47,0.00,0.000,6,0.000,0.027,2567,1814,3721,0,0,0,0,0,0
$GC,3466,-1.42,-146.0,440.8,-10.3,187,3470,0.00,2.58,0.00,0.000,4,0.000,0.048,2567,3370,3720,0,0,0,0,0,0
$GC,3503,-1.53,-146.0,444.7,-10.1,187,3509,0.17,2.47,0.00,0.000,6,0.051,0.031,2470,1829,3719,0,0,0,0,0,0
$GC,3755,-1.33,-146.0,478.9,-13.8,194,3762,0.43,2.78,0.00,0.000,4,0.091,0.063,2566,207,3718,0,0,0,0,0,0
$GC,3804,-1.48,-146.0,484.2,-9.3,195,3810,0.12,2.62,0.00,0.000,6,0.066,0.035,2510,1813,3717,0,0,0,0,0,0
$STATE,3963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3963,begin apogee
$GC,3971,-0.31,0.0,501.7,11.1,199,4093,1.25,0.00,118.95,0.864,6,0.080,0.000,2790,1669,3120,0,0,0,0,0,0
$STATE,4094,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin climb
$GC,4096,1.28,146.0,506.2,0.0,202,4228,1.40,2.67,121.62,0.851,4,0.024,0.067,3153,186,2523,0,0,0,0,0,0
$GC,4247,0.86,188.5,506.9,8.1,205,4292,0.52,2.45,37.08,0.823,6,0.116,0.030,3047,1685,2350,0,0,0,0,0,0
$GC,4552,0.90,223.5,481.9,8.4,213,4588,0.00,2.78,29.75,0.817,4,0.000,0.054,3047,3264,2207,0,0,0,0,0,0
$GC,4602,0.90,225.4,476.7,10.0,214,4607,0.00,2.60,0.00,0.000,6,0.000,0.036,3048,1703,2204,0,0,0,0,0,0
$GC,4881,0.90,225.4,448.2,10.3,221,4886,0.00,2.70,0.00,0.000,4,0.000,0.071,3047,163,2201,0,0,0,0,0,0
$GC,4983,0.83,225.4,436.9,11.2,223,4988,0.00,2.45,0.00,0.000,6,0.000,0.026,3047,1690,2200,0,0,0,0,0,0
$GC,5258,0.84,234.3,410.8,9.6,230,5274,0.00,2.67,9.25,0.713,4,0.000,0.047,3047,3264,2164,0,0,0,0,0,0
$GC,5297,0.84,234.3,406.3,11.4,230,5303,0.00,2.62,0.00,0.000,6,0.000,0.035,3047,1682,2162,0,0,0,0,0,0
$GC,5546,0.84,234.3,379.8,10.4,237,5551,0.00,2.60,0.00,0.000,4,0.000,0.067,3047,171,2160,0,0,0,0,0,0
$GC,5585,0.84,234.3,375.9,11.4,237,5592,0.00,2.42,0.00,0.000,6,0.000,0.025,3047,1690,2159,0,0,0,0,0,0
$GC,5834,0.88,265.8,353.8,8.6,244,5868,0.00,2.65,27.83,0.769,4,0.000,0.058,3048,170,2035,0,0,0,0,0,0
$GC,5887,0.89,275.2,348.9,9.6,245,5903,0.00,2.45,9.82,0.682,6,0.000,0.025,3047,1687,1997,0,0,0,0,0,0
$GC,6164,0.91,289.1,322.5,9.4,252,6178,0.00,0.00,13.02,0.702,6,0.000,0.000,3048,1690,1941,0,0,0,0,0,0
$GC,6406,0.93,304.6,300.0,9.3,258,6423,0.00,0.00,14.82,0.696,6,0.000,0.000,3047,1690,1878,0,0,0,0,0,0
$GC,6650,0.99,304.6,274.8,10.5,264,6655,0.12,2.58,0.00,0.000,4,0.066,0.051,3112,166,1873,0,0,0,0,0,0
$GC,6675,0.89,304.6,271.3,14.1,264,6681,0.28,2.42,0.00,0.000,6,0.103,0.024,3055,1689,1873,0,0,0,0,0,0
$GC,6936,0.89,304.6,241.9,11.1,271,6941,0.00,2.58,0.00,0.000,4,0.000,0.039,3054,3258,1871,0,0,0,0,0,0
$GC,6984,1.01,304.6,236.8,10.6,272,6990,0.10,2.55,0.00,0.000,6,0.076,0.031,3106,1687,1869,0,0,0,0,0,0
$GC,7268,0.94,304.6,199.4,13.3,279,7273,0.20,2.53,0.00,0.000,4,0.103,0.048,3065,164,1869,0,0,0,0,0,0
$GC,7316,0.94,304.6,194.0,11.3,283,7320,0.00,2.40,0.00,0.000,6,0.000,0.022,3065,1701,1869,0,0,0,0,0,0
$GC,7583,0.97,328.6,169.1,8.9,307,7613,0.00,2.62,20.25,0.610,4,0.000,0.047,3065,173,1778,0,0,0,0,0,0
$GC,7619,0.98,338.8,165.2,9.6,310,7636,0.00,2.40,10.25,0.560,6,0.000,0.021,3065,1692,1738,0,0,0,0,0,0
$GC,7901,1.07,338.8,136.4,10.7,337,7906,0.10,2.55,0.00,0.000,4,0.078,0.034,3129,3259,1734,0,0,0,0,0,0
$GC,7990,1.07,338.8,124.4,14.3,345,7995,0.17,2.53,0.00,0.000,6,0.103,0.026,3092,1691,1732,0,0,0,0,0,0
$GC,8253,1.07,338.8,94.3,11.2,369,8258,0.00,2.47,0.00,0.000,4,0.000,0.044,3091,174,1732,0,0,0,0,0,0
$GC,8322,1.07,338.8,86.9,10.6,375,8326,0.00,2.35,0.00,0.000,6,0.000,0.021,3092,1690,1732,0,0,0,0,0,0
$GC,8591,1.13,340.3,61.7,10.0,399,8595,0.00,2.50,0.00,0.000,4,0.000,0.032,3092,3254,1732,0,0,0,0,0,0
$GC,8623,1.23,340.3,57.6,10.2,401,8632,0.10,2.53,0.00,0.000,6,0.033,0.026,3170,1696,1731,0,0,0,0,0,0
$GC,8901,1.07,340.3,18.9,14.4,432,8910,0.32,2.53,0.00,0.000,4,0.097,0.044,3096,170,1731,0,0,0,0,0,0
$GC,8950,1.07,340.3,12.5,11.9,439,8959,0.00,2.38,0.00,0.000,6,0.000,0.020,3096,1686,1731,0,0,0,0,0,0
$STATE,9027,end climb,SURFACE_DEPTH_REACHED
$STATE,9027,begin surface coast
$FINISH,0.8,1.023485
$STATE,9066,end surface coast,CONTROL_FINISHED_OK
$STATE,9069,begin surface
$SM_CCo,9089,57.70,0.413,1,0,1284,450.13
$SM_GC,1.57,0.00,0.00,57.70,0.000,0.000,0.413,413,1873,1284,-11.26,2.35,450.13
$IRIDIUM_FIX,2241.69,-15757.16,180200,030351
$TT8_MAMPS,0.026845
$HUMID,41.02
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,17.115
$10V_AH,10.4,14.166
$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,30.125,131.950,412.650,57.700,0.000,26.527,32.707,144.749,0.250,0.000,37.047,965.337,5785.295,525.161,1758.291,469.563,33.351,1273.042,0.000,1745.381,0.000,0.538,0.000
$DEVICE_MAMPS,155.701,71.331,863.642,412.646,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.113,274.853,354.406,527.171,932.615,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,35267,457
$CAP_FILE_SIZE,109606,0
$CFSIZE,260165632,166297600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241110,075426,2249.430,-15756.833,39,99.0,58,10.1