version: 66.06
glider: 148
mission: 9
dive: 118
start: 11 26 110 6 49 59
data:
$ID,148
$MISSION,9
$DIVE,118
$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,-859986.38
$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,32
$R_STBD_OVSHOOT,44
$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
$GPS1,064137,2246.568,-15759.386,68,1.5,68,10.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.6
$GPS2,064904,2246.560,-15759.387,16,1.9,17,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,0.010
$KALMAN_X,-55185.8,53.6,93.1,73062.3,-299.7
$KALMAN_Y,19959.5,248.8,-496.3,103759.3,277.7
$MHEAD_RNG_PITCHd_Wd,262.1,6224,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-75.50,0.000,2,0.000,0.000,411,1849,3183,0,0,0,0,0,0
$GC,101,-1.28,-146.0,3.2,-4.4,10,134,11.48,2.47,-10.23,0.000,4,0.157,0.042,2574,3371,3719,0,0,0,0,0,0
$GC,279,-1.18,-146.0,39.6,-16.5,33,284,0.12,2.53,0.00,0.000,6,0.116,0.022,2601,1780,3720,0,0,0,0,0,0
$GC,546,-1.09,-146.0,79.5,-16.1,57,551,0.10,2.55,0.00,0.000,4,0.132,0.033,2621,3366,3721,0,0,0,0,0,0
$GC,578,-1.00,-146.0,84.8,-15.3,59,582,0.00,2.47,0.00,0.000,6,0.000,0.021,2621,1795,3720,0,0,0,0,0,0
$GC,845,-1.00,-146.0,120.6,-11.4,83,850,0.10,2.55,0.00,0.000,4,0.127,0.031,2642,3372,3721,0,0,0,0,0,0
$GC,860,-1.00,-146.0,123.1,-11.3,84,864,0.00,2.47,0.00,0.000,6,0.000,0.020,2641,1795,3721,0,0,0,0,0,0
$GC,1124,-1.16,-146.0,149.1,-9.1,108,1129,0.15,2.53,0.00,0.000,4,0.056,0.031,2567,3367,3721,0,0,0,0,0,0
$GC,1160,-1.16,-146.0,153.7,-13.1,111,1165,0.17,2.45,0.00,0.000,6,0.095,0.022,2605,1812,3722,0,0,0,0,0,0
$GC,1421,-1.23,-146.0,181.9,-10.1,135,1425,0.00,2.50,0.00,0.000,4,0.000,0.031,2605,3371,3722,0,0,0,0,0,0
$GC,1469,-1.34,-146.0,186.4,-9.3,139,1474,0.15,2.45,0.00,0.000,6,0.056,0.023,2524,1818,3722,0,0,0,0,0,0
$GC,1734,-1.19,-146.0,224.9,-14.9,152,1742,0.32,2.58,0.00,0.000,4,0.091,0.037,2597,214,3722,0,0,0,0,0,0
$GC,1774,-1.33,-146.0,230.1,-11.1,152,1781,0.12,2.53,0.00,0.000,6,0.064,0.021,2536,1832,3722,0,0,0,0,0,0
$GC,2026,-1.22,-146.0,261.9,-13.2,159,2031,0.25,2.45,0.00,0.000,4,0.091,0.032,2595,3364,3722,0,0,0,0,0,0
$GC,2041,-1.16,-146.0,264.0,-13.3,159,2045,0.00,2.40,0.00,0.000,6,0.000,0.021,2594,1823,3723,0,0,0,0,0,0
$GC,2310,-1.24,-146.0,288.2,-8.7,166,2314,0.00,2.47,0.00,0.000,4,0.000,0.035,2595,3366,3723,0,0,0,0,0,0
$GC,2339,-1.33,-146.0,290.8,-9.6,166,2345,0.12,2.40,0.00,0.000,6,0.064,0.024,2523,1836,3722,0,0,0,0,0,0
$GC,2595,-1.22,-146.0,323.2,-12.9,173,2602,0.30,2.67,0.00,0.000,4,0.088,0.044,2590,207,3722,0,0,0,0,0,0
$GC,2650,-1.41,-146.0,329.0,-10.0,174,2656,0.17,2.55,0.00,0.000,6,0.050,0.022,2516,1828,3723,0,0,0,0,0,0
$GC,2929,-1.31,-146.0,362.4,-12.1,181,2934,0.25,2.50,0.00,0.000,4,0.094,0.040,2575,3362,3722,0,0,0,0,0,0
$GC,2958,-1.31,-146.0,365.3,-9.1,181,2962,0.00,2.42,0.00,0.000,6,0.000,0.026,2575,1832,3722,0,0,0,0,0,0
$GC,3214,-1.39,-146.0,387.0,-8.8,188,3218,0.00,2.53,0.00,0.000,4,0.000,0.046,2575,3360,3721,0,0,0,0,0,0
$GC,3247,-1.48,-146.0,390.3,-9.0,188,3252,0.15,2.42,0.00,0.000,6,0.054,0.028,2494,1837,3721,0,0,0,0,0,0
$GC,3497,-1.32,-146.0,424.1,-13.8,194,3499,0.40,0.00,0.00,0.000,6,0.088,0.000,2573,1837,3719,0,0,0,0,0,0
$GC,3742,-1.40,-146.0,446.7,-9.1,200,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1837,3718,0,0,0,0,0,0
$GC,3985,-1.49,-146.0,470.0,-9.7,206,3990,0.17,2.58,0.00,0.000,4,0.052,0.056,2501,3360,3716,0,0,0,0,0,0
$GC,4013,-1.38,-146.0,473.8,-13.6,206,4019,0.25,2.47,0.00,0.000,6,0.090,0.031,2557,1834,3716,0,0,0,0,0,0
$STATE,4266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4267,begin apogee
$GC,4274,-0.31,0.0,501.2,10.6,213,4395,1.05,0.00,118.20,0.867,6,0.079,0.000,2793,1667,3120,0,0,0,0,0,0
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4396,begin climb
$GC,4398,1.28,146.0,506.6,0.0,216,4529,1.40,2.67,121.40,0.852,4,0.023,0.067,3153,183,2523,0,0,0,0,0,0
$GC,4695,0.82,146.0,490.9,12.3,222,4702,0.55,2.42,0.00,0.000,6,0.113,0.030,3042,1667,2516,0,0,0,0,0,0
$GC,4952,0.91,219.5,472.8,6.6,229,5016,0.00,0.00,62.15,0.834,6,0.000,0.000,3042,1667,2225,0,0,0,0,0,0
$GC,5236,0.95,251.4,449.1,8.6,236,5272,0.10,2.58,28.12,0.802,4,0.080,0.057,3086,185,2093,0,0,0,0,0,0
$GC,5284,0.80,255.2,444.5,9.9,237,5296,0.25,2.45,4.62,0.557,6,0.106,0.028,3035,1681,2078,0,0,0,0,0,0
$GC,5569,0.80,255.2,416.4,10.1,244,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1681,2072,0,0,0,0,0,0
$GC,5814,0.80,255.2,389.8,10.8,250,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1682,2070,0,0,0,0,0,0
$GC,6056,0.83,276.9,367.1,9.0,256,6081,0.00,2.72,18.50,0.759,4,0.000,0.048,3035,3254,1990,0,0,0,0,0,0
$GC,6119,1.00,319.2,361.8,8.1,257,6164,0.17,2.58,38.78,0.775,6,0.052,0.034,3104,1693,1818,0,0,0,0,0,0
$GC,6433,0.91,319.2,321.5,13.7,265,6435,0.20,0.00,0.00,0.000,6,0.107,0.000,3062,1693,1810,0,0,0,0,0,0
$GC,6676,0.91,319.2,293.4,11.5,271,6681,0.00,2.60,0.00,0.000,4,0.000,0.061,3061,171,1807,0,0,0,0,0,0
$GC,6756,0.91,319.2,283.5,11.9,272,6761,0.00,2.40,0.00,0.000,6,0.000,0.023,3061,1683,1807,0,0,0,0,0,0
$GC,7006,0.91,319.2,257.6,10.3,278,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1686,1805,0,0,0,0,0,0
$GC,7249,0.91,319.2,231.2,11.0,284,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1686,1804,0,0,0,0,0,0
$GC,7495,0.91,319.2,204.0,11.2,290,7499,0.00,2.55,0.00,0.000,4,0.000,0.037,3061,3256,1802,0,0,0,0,0,0
$GC,7553,1.04,319.2,197.8,10.9,292,7558,0.10,2.58,0.00,0.000,6,0.076,0.030,3126,1657,1801,0,0,0,0,0,0
$GC,7819,0.94,319.2,163.7,11.9,316,7824,0.25,2.42,0.00,0.000,4,0.100,0.045,3069,173,1801,0,0,0,0,0,0
$GC,7868,0.94,319.2,157.2,11.3,320,7873,0.00,2.35,0.00,0.000,6,0.000,0.021,3069,1677,1801,0,0,0,0,0,0
$GC,8134,1.04,319.2,130.9,10.1,345,8138,0.00,2.55,0.00,0.000,4,0.000,0.035,3069,3257,1801,0,0,0,0,0,0
$GC,8206,1.21,325.3,123.3,9.8,351,8212,0.22,2.55,0.00,0.000,6,0.042,0.028,3164,1676,1800,0,0,0,0,0,0
$GC,8469,1.10,325.3,89.6,11.8,376,8475,0.28,2.55,0.00,0.000,4,0.099,0.032,3101,3256,1800,0,0,0,0,0,0
$GC,8489,1.10,325.3,87.6,10.9,377,8493,0.00,2.53,0.00,0.000,6,0.000,0.026,3101,1665,1800,0,0,0,0,0,0
$GC,8756,1.12,342.8,64.4,9.2,401,8786,0.00,2.45,18.45,0.517,4,0.000,0.042,3101,173,1721,0,0,0,0,0,0
$GC,8793,1.14,358.1,60.4,9.3,404,8815,0.00,2.38,15.07,0.501,6,0.000,0.019,3100,1679,1659,0,0,0,0,0,0
$GC,9069,1.28,416.7,33.0,7.3,430,9128,0.15,2.60,50.75,0.505,4,0.058,0.032,3170,3246,1419,0,0,0,0,0,0
$GC,9147,1.13,416.7,24.0,15.5,438,9156,0.25,2.55,0.00,0.000,6,0.081,0.025,3111,1681,1417,0,0,0,0,0,0
$STATE,9318,end climb,SURFACE_DEPTH_REACHED
$STATE,9318,begin surface coast
$FINISH,0.7,1.023528
$STATE,9371,end surface coast,CONTROL_FINISHED_OK
$STATE,9371,begin surface
$SM_CCo,9392,25.85,0.321,1,0,1284,450.13
$SM_GC,1.63,0.00,0.00,25.85,0.000,0.000,0.321,408,1843,1284,-11.28,1.50,450.13
$IRIDIUM_FIX,2239.35,-15754.99,200200,040420
$TT8_MAMPS,0.026845
$HUMID,40.98
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.6,19.157
$10V_AH,10.5,15.993
$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,30.775,110.825,476.050,25.850,0.000,30.279,33.541,249.304,0.000,0.000,18.603,979.513,6045.652,510.937,1759.933,577.189,33.359,1248.632,0.000,1763.496,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,67.496,867.477,320.606,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.348,297.771,369.995,570.428,1008.832,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355352
$DATA_FILE_SIZE,38302,473
$CAP_FILE_SIZE,108700,0
$CFSIZE,260165632,165335040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,092813,2246.482,-15800.964,15,1.5,31,10.1