version: 66.06
glider: 148
mission: 9
dive: 107
start: 11 25 110 0 57 57
data:
$ID,148
$MISSION,9
$DIVE,107
$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,-859733.38
$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,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,29
$R_STBD_OVSHOOT,82
$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
$GPS1,004734,2248.619,-15802.205,11,4.1,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-64.8
$GPS2,005702,2248.568,-15802.209,12,1.4,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.080,0.247
$KALMAN_X,-54266.0,164.8,249.7,67008.6,-492.0
$KALMAN_Y,20948.3,-223.2,294.2,106167.2,61.5
$MHEAD_RNG_PITCHd_Wd,332.0,2977,-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,16,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,-82.55,0.000,2,0.000,0.000,410,1826,3389,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.8,-6.4,11,131,11.50,2.40,-5.85,0.000,4,0.159,0.039,2571,3334,3716,0,0,0,0,0,0
$GC,229,-1.14,-146.0,33.1,-16.7,28,234,0.17,2.47,0.00,0.000,6,0.102,0.022,2609,1772,3718,0,0,0,0,0,0
$GC,497,-1.14,-146.0,72.9,-13.0,52,502,0.00,2.47,0.00,0.000,4,0.000,0.031,2608,3330,3718,0,0,0,0,0,0
$GC,581,-1.14,-146.0,84.6,-12.7,59,585,0.00,2.42,0.00,0.000,6,0.000,0.022,2608,1796,3718,0,0,0,0,0,0
$GC,846,-1.14,-146.0,117.6,-11.1,83,850,0.00,2.45,0.00,0.000,4,0.000,0.030,2609,3333,3719,0,0,0,0,0,0
$GC,969,-1.24,-146.0,130.7,-9.0,94,978,0.00,2.40,0.00,0.000,6,0.000,0.023,2608,1823,3719,0,0,0,0,0,0
$GC,1232,-1.32,-146.0,153.9,-8.8,119,1237,0.15,2.40,0.00,0.000,4,0.055,0.029,2537,3334,3720,0,0,0,0,0,0
$GC,1278,-1.25,-146.0,159.1,-11.7,123,1283,0.22,2.38,0.00,0.000,6,0.088,0.022,2587,1825,3720,0,0,0,0,0,0
$GC,1540,-1.25,-146.0,188.0,-11.1,147,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1825,3721,0,0,0,0,0,0
$GC,1817,-1.25,-146.0,218.1,-10.8,162,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1824,3721,0,0,0,0,0,0
$GC,2061,-1.25,-146.0,243.3,-10.4,168,2065,0.00,2.42,0.00,0.000,4,0.000,0.031,2586,3338,3721,0,0,0,0,0,0
$GC,2094,-1.32,-146.0,246.8,-10.5,168,2098,0.00,2.38,0.00,0.000,6,0.000,0.023,2587,1834,3721,0,0,0,0,0,0
$GC,2345,-1.39,-146.0,272.5,-10.2,174,2350,0.12,2.40,0.00,0.000,4,0.065,0.033,2529,3334,3721,0,0,0,0,0,0
$GC,2383,-1.32,-146.0,277.1,-11.7,174,2389,0.20,2.35,0.00,0.000,6,0.091,0.023,2574,1845,3721,0,0,0,0,0,0
$GC,2634,-1.32,-146.0,299.9,-8.8,181,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1845,3721,0,0,0,0,0,0
$GC,2876,-1.32,-146.0,323.7,-9.9,187,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1845,3721,0,0,0,0,0,0
$GC,3120,-1.32,-146.0,349.2,-10.7,193,3124,0.00,2.40,0.00,0.000,4,0.000,0.040,2574,3327,3720,0,0,0,0,0,0
$GC,3163,-1.39,-146.0,353.8,-10.3,194,3167,0.00,2.35,0.00,0.000,6,0.000,0.026,2574,1851,3720,0,0,0,0,0,0
$GC,3451,-1.46,-146.0,380.8,-8.9,201,3456,0.12,2.72,0.00,0.000,4,0.066,0.052,2517,221,3719,0,0,0,0,0,0
$GC,3489,-1.39,-146.0,385.4,-12.4,201,3495,0.17,2.50,0.00,0.000,6,0.099,0.024,2556,1801,3718,0,0,0,0,0,0
$GC,3740,-1.39,-146.0,408.8,-9.3,208,3745,0.00,2.53,0.00,0.000,4,0.000,0.041,2555,3365,3717,0,0,0,0,0,0
$GC,3792,-1.45,-146.0,414.1,-10.0,209,3796,0.00,2.42,0.00,0.000,6,0.000,0.028,2556,1856,3717,0,0,0,0,0,0
$GC,4069,-1.45,-146.0,442.3,-10.3,216,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1856,3715,0,0,0,0,0,0
$GC,4314,-1.45,-146.0,465.7,-9.5,222,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1855,3713,0,0,0,0,0,0
$GC,4557,-1.45,-146.0,488.0,-9.0,228,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1855,3711,0,0,0,0,0,0
$STATE,4716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4717,begin apogee
$GC,4722,-0.31,0.0,503.7,9.7,232,4843,1.05,0.00,117.53,0.875,6,0.076,0.000,2793,1676,3120,0,0,0,0,0,0
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4848,1.28,146.0,509.2,0.0,235,4980,1.40,2.65,121.35,0.861,4,0.023,0.072,3162,184,2523,0,0,0,0,0,0
$GC,4987,0.97,239.3,511.7,5.7,238,5074,0.45,2.42,79.00,0.846,6,0.124,0.029,3075,1673,2144,0,0,0,0,0,0
$GC,5343,0.89,239.3,471.4,12.5,247,5347,0.00,2.58,0.00,0.000,4,0.000,0.060,3075,183,2135,0,0,0,0,0,0
$GC,5387,0.76,239.3,465.8,13.7,248,5393,0.22,2.45,0.00,0.000,6,0.109,0.030,3027,1682,2134,0,0,0,0,0,0
$GC,5675,0.80,276.4,439.9,8.3,255,5712,0.00,2.65,31.50,0.810,4,0.000,0.060,3027,183,1992,0,0,0,0,0,0
$GC,5737,0.83,303.1,434.9,8.8,255,5770,0.00,2.42,25.62,0.790,6,0.000,0.027,3027,1676,1884,0,0,0,0,0,0
$GC,6049,0.94,317.7,406.7,9.4,263,6070,0.15,2.67,13.20,0.741,4,0.058,0.049,3093,3254,1823,0,0,0,0,0,0
$GC,6118,0.94,317.7,397.8,12.5,264,6123,0.15,2.60,0.00,0.000,6,0.107,0.035,3062,1693,1820,0,0,0,0,0,0
$GC,6382,0.94,317.7,366.9,11.3,271,6387,0.00,2.62,0.00,0.000,4,0.000,0.064,3062,167,1817,0,0,0,0,0,0
$GC,6434,0.94,317.7,361.0,12.3,272,6439,0.00,2.42,0.00,0.000,6,0.000,0.025,3061,1679,1816,0,0,0,0,0,0
$GC,6711,0.94,317.7,331.9,10.8,279,6716,0.00,2.60,0.00,0.000,4,0.000,0.044,3062,3257,1814,0,0,0,0,0,0
$GC,6734,0.94,317.7,329.1,11.8,279,6739,0.00,2.60,0.00,0.000,6,0.000,0.031,3062,1666,1814,0,0,0,0,0,0
$GC,6995,0.94,317.7,298.7,12.0,286,6999,0.00,2.55,0.00,0.000,4,0.000,0.062,3062,171,1813,0,0,0,0,0,0
$GC,7037,0.94,317.7,293.5,12.2,287,7042,0.00,2.38,0.00,0.000,6,0.000,0.023,3062,1670,1813,0,0,0,0,0,0
$GC,7324,0.94,317.7,264.0,10.2,294,7328,0.00,2.60,0.00,0.000,4,0.000,0.039,3062,3257,1811,0,0,0,0,0,0
$GC,7387,1.08,342.0,258.1,8.9,295,7414,0.12,2.58,20.15,0.688,6,0.067,0.031,3119,1664,1725,0,0,0,0,0,0
$GC,7659,0.99,342.0,220.3,14.2,302,7661,0.20,0.00,0.00,0.000,6,0.104,0.000,3077,1664,1721,0,0,0,0,0,0
$GC,7904,0.99,342.0,189.9,12.6,311,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1664,1720,0,0,0,0,0,0
$GC,8157,0.99,342.0,158.0,12.5,335,8162,0.00,2.60,0.00,0.000,4,0.000,0.035,3077,3257,1719,0,0,0,0,0,0
$GC,8185,0.99,342.0,155.0,12.7,337,8189,0.00,2.55,0.00,0.000,6,0.000,0.028,3077,1664,1718,0,0,0,0,0,0
$GC,8452,0.99,342.0,122.5,11.5,361,8456,0.00,2.45,0.00,0.000,4,0.000,0.046,3077,175,1718,0,0,0,0,0,0
$GC,8482,0.99,342.0,118.0,12.8,363,8488,0.00,2.35,0.00,0.000,6,0.000,0.021,3076,1677,1718,0,0,0,0,0,0
$GC,8746,1.11,373.9,91.7,8.6,388,8781,0.10,2.62,28.85,0.559,4,0.078,0.033,3135,3251,1594,0,0,0,0,0,0
$GC,8812,1.11,373.9,84.2,11.7,394,8817,0.15,2.55,0.00,0.000,6,0.103,0.027,3103,1667,1590,0,0,0,0,0,0
$GC,9076,1.11,373.9,56.6,11.1,418,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1667,1589,0,0,0,0,0,0
$GC,9333,1.11,373.9,26.4,11.7,444,9342,0.00,2.60,0.00,0.000,4,0.000,0.034,3103,3255,1589,0,0,0,0,0,0
$GC,9357,1.11,373.9,23.5,12.1,447,9366,0.00,2.58,0.00,0.000,6,0.000,0.026,3103,1664,1588,0,0,0,0,0,0
$STATE,9531,end climb,SURFACE_DEPTH_REACHED
$STATE,9531,begin surface coast
$FINISH,0.7,1.011214
$STATE,9570,end surface coast,CONTROL_FINISHED_OK
$STATE,9570,begin surface
$SM_CCo,9590,42.35,0.390,1,0,1284,450.13
$SM_GC,1.54,0.00,0.00,42.35,0.000,0.000,0.390,412,1851,1284,-11.27,1.72,450.13
$IRIDIUM_FIX,2239.35,-15804.53,190200,000023
$TT8_MAMPS,0.026845
$HUMID,42.40
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.6,17.926
$10V_AH,10.4,14.878
$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,27.525,105.425,437.200,42.350,0.000,52.610,70.384,245.075,0.000,0.000,14.153,979.324,6298.734,489.305,1802.286,642.132,33.360,1226.775,0.000,1809.153,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,72.098,875.147,389.636,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.546,292.150,371.983,562.419,994.298,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,38307,480
$CAP_FILE_SIZE,106934,0
$CFSIZE,260165632,165916672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251110,033946,2249.587,-15802.468,10,4.4,29,10.1