version: 66.06
glider: 148
mission: 9
dive: 105
start: 11 24 110 19 18 10
data:
$ID,148
$MISSION,9
$DIVE,105
$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,-859702.44
$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,31
$R_STBD_OVSHOOT,77
$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
$GPS1,190750,2246.588,-15800.837,7,1.7,7,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.6
$GPS2,191716,2246.594,-15800.858,14,99.0,33,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,-0.021
$KALMAN_X,-54206.0,430.0,-167.9,69440.5,-116.9
$KALMAN_Y,20581.5,-624.7,-210.2,103787.8,752.7
$MHEAD_RNG_PITCHd_Wd,255.3,3733,-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,-82.90,0.000,2,0.000,0.000,411,1825,3423,0,0,0,0,0,0
$GC,106,-1.28,-146.0,4.0,-6.6,11,131,11.32,2.42,-5.22,0.000,4,0.153,0.038,2573,3332,3717,0,0,0,0,0,0
$GC,251,-1.17,-146.0,37.7,-15.1,30,260,0.10,2.47,0.00,0.000,6,0.085,0.024,2600,1785,3719,0,0,0,0,0,0
$GC,520,-1.07,-146.0,77.6,-14.9,55,525,0.12,2.53,0.00,0.000,4,0.116,0.032,2627,3342,3719,0,0,0,0,0,0
$GC,553,-1.07,-146.0,83.9,-13.4,57,559,0.00,2.42,0.00,0.000,6,0.000,0.021,2627,1787,3719,0,0,0,0,0,0
$GC,814,-1.07,-146.0,117.2,-11.5,82,818,0.00,2.47,0.00,0.000,4,0.000,0.031,2627,3346,3720,0,0,0,0,0,0
$GC,895,-1.18,-146.0,125.0,-9.8,89,900,0.10,2.42,0.00,0.000,6,0.075,0.022,2562,1808,3720,0,0,0,0,0,0
$GC,1156,-1.10,-146.0,160.8,-13.0,113,1161,0.25,2.58,0.00,0.000,4,0.091,0.035,2621,207,3721,0,0,0,0,0,0
$GC,1177,-1.10,-146.0,163.3,-12.0,114,1186,0.00,2.47,0.00,0.000,6,0.000,0.019,2621,1791,3721,0,0,0,0,0,0
$GC,1443,-1.22,-146.0,185.2,-7.7,139,1448,0.12,2.50,0.00,0.000,4,0.064,0.031,2557,3361,3721,0,0,0,0,0,0
$GC,1473,-1.22,-146.0,188.6,-10.6,141,1482,0.12,2.45,0.00,0.000,6,0.074,0.022,2591,1819,3721,0,0,0,0,0,0
$GC,1728,-1.22,-146.0,211.6,-9.3,157,1732,0.00,2.47,0.00,0.000,4,0.000,0.031,2591,3367,3721,0,0,0,0,0,0
$GC,1746,-1.22,-146.0,213.7,-10.4,157,1750,0.00,2.40,0.00,0.000,6,0.000,0.021,2591,1823,3722,0,0,0,0,0,0
$GC,2011,-1.22,-146.0,242.2,-11.3,164,2015,0.00,2.47,0.00,0.000,4,0.000,0.032,2591,3368,3722,0,0,0,0,0,0
$GC,2043,-1.22,-146.0,246.2,-11.6,164,2047,0.00,2.40,0.00,0.000,6,0.000,0.022,2591,1831,3721,0,0,0,0,0,0
$GC,2293,-1.30,-146.0,270.1,-9.2,170,2297,0.00,2.45,0.00,0.000,4,0.000,0.033,2591,3360,3722,0,0,0,0,0,0
$GC,2338,-1.44,-146.0,273.9,-8.3,171,2343,0.20,2.40,0.00,0.000,6,0.044,0.024,2488,1841,3721,0,0,0,0,0,0
$GC,2625,-1.20,-146.0,316.8,-15.7,178,2633,0.52,2.62,0.00,0.000,4,0.089,0.043,2593,220,3722,0,0,0,0,0,0
$GC,2692,-1.40,-146.0,324.2,-10.6,179,2697,0.17,2.53,0.00,0.000,6,0.050,0.024,2519,1832,3722,0,0,0,0,0,0
$GC,2961,-1.30,-146.0,360.8,-13.7,186,2966,0.25,2.50,0.00,0.000,4,0.091,0.040,2578,3366,3720,0,0,0,0,0,0
$GC,2998,-1.38,-146.0,364.7,-10.6,186,3002,0.00,2.42,0.00,0.000,6,0.000,0.026,2578,1848,3720,0,0,0,0,0,0
$GC,3248,-1.46,-146.0,383.9,-7.2,192,3255,0.15,2.72,0.00,0.000,4,0.058,0.052,2518,222,3720,0,0,0,0,0,0
$GC,3287,-1.46,-146.0,388.4,-11.6,192,3293,0.10,2.58,0.00,0.000,6,0.121,0.026,2539,1840,3720,0,0,0,0,0,0
$GC,3538,-1.46,-146.0,415.7,-11.1,199,3542,0.00,2.50,0.00,0.000,4,0.000,0.043,2540,3369,3718,0,0,0,0,0,0
$GC,3575,-1.46,-146.0,420.3,-11.4,199,3581,0.00,2.45,0.00,0.000,6,0.000,0.028,2540,1844,3717,0,0,0,0,0,0
$GC,3824,-1.46,-146.0,448.2,-11.0,206,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,1844,3716,0,0,0,0,0,0
$GC,4068,-1.46,-146.0,471.6,-9.3,212,4073,0.00,2.78,0.00,0.000,4,0.000,0.063,2540,216,3714,0,0,0,0,0,0
$GC,4089,-1.46,-146.0,473.6,-9.6,212,4093,0.00,2.65,0.00,0.000,6,0.000,0.034,2539,1846,3714,0,0,0,0,0,0
$GC,4353,-1.46,-146.0,497.2,-9.0,219,4357,0.00,2.53,0.00,0.000,4,0.000,0.053,2540,3369,3712,0,0,0,0,0,0
$STATE,4378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4378,begin apogee
$GC,4388,-0.31,0.0,500.1,9.8,219,4510,1.10,0.00,118.10,0.866,6,0.081,0.000,2790,1694,3120,0,0,0,0,0,0
$STATE,4511,end apogee,CONTROL_FINISHED_OK
$STATE,4511,begin climb
$GC,4513,1.28,146.0,503.5,0.0,222,4642,1.45,0.00,123.22,0.850,6,0.024,0.000,3154,1694,2523,0,0,0,0,0,0
$GC,4886,0.94,146.0,482.5,10.1,232,4893,0.40,2.62,0.00,0.000,4,0.110,0.064,3068,176,2515,0,0,0,0,0,0
$GC,5019,0.74,158.8,468.9,9.4,234,5036,0.22,2.42,10.10,0.732,6,0.112,0.028,3022,1683,2473,0,0,0,0,0,0
$GC,5317,0.84,241.0,449.0,6.2,242,5396,0.00,2.67,71.32,0.828,4,0.000,0.060,3022,174,2137,0,0,0,0,0,0
$GC,5484,0.86,255.5,435.0,9.4,244,5505,0.10,2.45,13.18,0.746,6,0.080,0.026,3070,1680,2078,0,0,0,0,0,0
$GC,5780,0.86,255.5,402.3,11.6,252,5785,0.10,2.60,0.00,0.000,4,0.126,0.058,3048,168,2070,0,0,0,0,0,0
$GC,5804,0.86,255.5,399.0,11.8,252,5808,0.00,2.42,0.00,0.000,6,0.000,0.025,3048,1676,2070,0,0,0,0,0,0
$GC,6065,0.86,257.7,372.4,9.9,259,6069,0.00,2.58,0.00,0.000,4,0.000,0.058,3048,164,2067,0,0,0,0,0,0
$GC,6102,0.86,260.1,368.4,9.9,259,6107,0.00,2.40,0.00,0.000,6,0.000,0.025,3048,1664,2067,0,0,0,0,0,0
$GC,6351,0.88,278.0,345.5,9.2,266,6376,0.00,2.62,18.98,0.745,4,0.000,0.057,3048,180,1986,0,0,0,0,0,0
$GC,6391,0.88,278.0,341.4,11.2,266,6397,0.00,2.40,0.00,0.000,6,0.000,0.025,3048,1666,1985,0,0,0,0,0,0
$GC,6641,0.88,278.0,313.4,11.3,273,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1669,1981,0,0,0,0,0,0
$GC,6884,0.88,278.0,286.1,10.8,279,6888,0.00,2.53,0.00,0.000,4,0.000,0.054,3048,170,1979,0,0,0,0,0,0
$GC,6904,0.88,278.0,284.0,10.7,279,6908,0.00,2.38,0.00,0.000,6,0.000,0.023,3048,1668,1979,0,0,0,0,0,0
$GC,7169,0.98,310.9,260.9,8.5,286,7206,0.10,2.62,29.40,0.704,4,0.080,0.052,3097,173,1851,0,0,0,0,0,0
$GC,7241,0.91,310.9,252.6,12.8,287,7246,0.17,2.38,0.00,0.000,6,0.109,0.023,3061,1658,1849,0,0,0,0,0,0
$GC,7502,0.92,320.8,226.8,9.6,294,7518,0.00,2.65,9.10,0.603,4,0.000,0.038,3061,3252,1811,0,0,0,0,0,0
$GC,7569,1.04,320.8,219.6,10.1,295,7575,0.10,2.60,0.00,0.000,6,0.077,0.030,3110,1655,1808,0,0,0,0,0,0
$GC,7832,0.96,320.8,185.7,13.3,307,7837,0.17,2.47,0.00,0.000,4,0.107,0.048,3072,173,1807,0,0,0,0,0,0
$GC,7871,0.96,320.8,180.9,12.0,310,7876,0.00,2.35,0.00,0.000,6,0.000,0.022,3072,1664,1807,0,0,0,0,0,0
$GC,8138,0.96,320.8,155.0,10.1,334,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1666,1805,0,0,0,0,0,0
$GC,8404,1.03,320.8,127.4,10.1,359,8408,0.00,2.47,0.00,0.000,4,0.000,0.047,3072,173,1806,0,0,0,0,0,0
$GC,8439,1.03,320.8,123.3,10.7,362,8443,0.00,2.30,0.00,0.000,6,0.000,0.020,3072,1652,1806,0,0,0,0,0,0
$GC,8703,1.20,353.4,100.8,8.5,386,8738,0.20,2.62,28.55,0.558,4,0.045,0.032,3170,3253,1677,0,0,0,0,0,0
$GC,8805,1.13,353.4,87.6,14.2,395,8814,0.30,2.58,0.00,0.000,6,0.094,0.028,3106,1644,1674,0,0,0,0,0,0
$GC,9072,1.13,353.4,54.9,12.2,420,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1644,1673,0,0,0,0,0,0
$GC,9335,1.13,353.4,24.0,11.4,448,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1644,1673,0,0,0,0,0,0
$STATE,9511,end climb,SURFACE_DEPTH_REACHED
$STATE,9511,begin surface coast
$FINISH,0.7,1.023099
$STATE,9551,end surface coast,CONTROL_FINISHED_OK
$STATE,9552,begin surface
$SM_CCo,9573,52.25,0.404,1,0,1284,450.13
$SM_GC,1.46,0.00,0.00,52.25,0.000,0.000,0.404,411,1850,1284,-11.27,1.70,450.13
$IRIDIUM_FIX,2239.35,-15800.20,180200,191941
$TT8_MAMPS,0.026845
$HUMID,40.90
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.6,17.684
$10V_AH,10.4,14.677
$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,28.850,125.750,421.950,52.250,0.000,55.172,67.506,227.797,0.000,0.000,35.583,1002.592,6186.749,555.006,1830.746,624.759,33.361,1287.320,0.000,1814.948,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,64.428,865.943,404.209,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.472,299.753,375.458,562.835,995.383,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,38387,482
$CAP_FILE_SIZE,111848,0
$CFSIZE,260165632,166019072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241110,220007,2246.958,-15802.487,47,1.0,47,10.1