version: 66.06
glider: 148
mission: 9
dive: 127
start: 11 27 110 8 34 33
data:
$ID,148
$MISSION,9
$DIVE,127
$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,-860227.19
$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,28
$R_STBD_OVSHOOT,49
$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
$GPS1,082433,2249.975,-15757.124,57,1.6,59,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.1
$GPS2,083338,2249.970,-15757.164,12,1.1,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.022,-0.259
$KALMAN_X,-56539.8,-26.9,15.2,78403.9,-338.8
$KALMAN_Y,18636.1,-408.1,-359.1,111915.9,-200.9
$MHEAD_RNG_PITCHd_Wd,174.7,5608,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.18,0.000,2,0.000,0.000,412,1853,3387,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.8,-5.9,11,132,11.55,2.65,-5.75,0.000,4,0.161,0.042,2572,202,3717,0,0,0,0,0,0
$GC,215,-1.28,-146.0,32.8,-17.5,26,220,0.00,2.47,0.00,0.000,6,0.000,0.020,2572,1790,3719,0,0,0,0,0,0
$GC,484,-1.08,-146.0,75.9,-17.9,50,489,0.25,2.53,0.00,0.000,4,0.099,0.030,2628,3368,3720,0,0,0,0,0,0
$GC,536,-1.08,-146.0,85.8,-13.9,54,545,0.00,2.53,0.00,0.000,6,0.000,0.022,2628,1788,3720,0,0,0,0,0,0
$GC,803,-1.18,-146.0,113.8,-9.2,79,808,0.10,2.53,0.00,0.000,4,0.077,0.029,2566,3370,3720,0,0,0,0,0,0
$GC,851,-1.18,-146.0,119.2,-10.9,83,857,0.17,2.45,0.00,0.000,6,0.097,0.022,2604,1801,3720,0,0,0,0,0,0
$GC,1116,-1.24,-146.0,144.1,-8.9,107,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1801,3721,0,0,0,0,0,0
$GC,1379,-1.31,-146.0,167.7,-9.0,132,1384,0.12,2.53,0.00,0.000,4,0.065,0.031,2529,3365,3722,0,0,0,0,0,0
$GC,1416,-1.18,-146.0,172.1,-12.2,135,1422,0.32,2.42,0.00,0.000,6,0.084,0.021,2601,1810,3721,0,0,0,0,0,0
$GC,1677,-1.26,-146.0,199.0,-10.3,159,1682,0.00,2.50,0.00,0.000,4,0.000,0.031,2601,3370,3722,0,0,0,0,0,0
$GC,1737,-1.39,-146.0,204.8,-9.8,161,1742,0.17,2.42,0.00,0.000,6,0.048,0.023,2504,1823,3722,0,0,0,0,0,0
$GC,2010,-1.16,-146.0,249.1,-16.6,168,2017,0.47,2.58,0.00,0.000,4,0.089,0.036,2603,213,3722,0,0,0,0,0,0
$GC,2031,-1.16,-146.0,252.2,-13.1,168,2036,0.00,2.50,0.00,0.000,6,0.000,0.021,2603,1827,3722,0,0,0,0,0,0
$GC,2297,-1.26,-146.0,274.2,-8.4,175,2301,0.00,2.45,0.00,0.000,4,0.000,0.032,2602,3368,3722,0,0,0,0,0,0
$GC,2330,-1.38,-146.0,277.8,-9.5,175,2335,0.17,2.42,0.00,0.000,6,0.048,0.023,2502,1822,3721,0,0,0,0,0,0
$GC,2581,-1.17,-146.0,315.1,-15.3,181,2588,0.47,2.60,0.00,0.000,4,0.089,0.041,2597,215,3722,0,0,0,0,0,0
$GC,2617,-1.34,-146.0,319.3,-9.6,181,2622,0.12,2.53,0.00,0.000,6,0.063,0.023,2532,1828,3721,0,0,0,0,0,0
$GC,2867,-1.27,-146.0,347.3,-11.4,187,2872,0.22,2.47,0.00,0.000,4,0.091,0.038,2582,3367,3721,0,0,0,0,0,0
$GC,2883,-1.27,-146.0,349.1,-11.4,187,2887,0.00,2.42,0.00,0.000,6,0.000,0.025,2582,1830,3721,0,0,0,0,0,0
$GC,3152,-1.37,-146.0,370.9,-8.2,194,3156,0.00,2.53,0.00,0.000,4,0.000,0.041,2581,3364,3720,0,0,0,0,0,0
$GC,3198,-1.49,-146.0,375.1,-9.1,195,3203,0.20,2.42,0.00,0.000,6,0.043,0.028,2486,1841,3720,0,0,0,0,0,0
$GC,3483,-1.32,-146.0,414.0,-14.3,202,3490,0.38,2.75,0.00,0.000,4,0.092,0.055,2569,211,3719,0,0,0,0,0,0
$GC,3542,-1.46,-146.0,421.0,-10.3,203,3547,0.12,2.58,0.00,0.000,6,0.064,0.030,2511,1819,3718,0,0,0,0,0,0
$GC,3817,-1.38,-146.0,454.4,-12.4,210,3822,0.22,2.58,0.00,0.000,4,0.094,0.047,2560,3375,3716,0,0,0,0,0,0
$GC,3855,-1.45,-146.0,459.0,-10.9,210,3861,0.00,2.47,0.00,0.000,6,0.000,0.029,2560,1830,3716,0,0,0,0,0,0
$GC,4107,-1.51,-146.0,481.2,-8.6,217,4112,0.12,2.60,0.00,0.000,4,0.066,0.050,2505,3373,3714,0,0,0,0,0,0
$GC,4131,-1.44,-146.0,484.0,-11.1,217,4136,0.17,2.47,0.00,0.000,6,0.097,0.032,2544,1834,3714,0,0,0,0,0,0
$STATE,4307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4307,begin apogee
$GC,4312,-0.31,0.0,500.5,9.3,222,4434,1.10,0.00,117.85,0.864,6,0.081,0.000,2790,1665,3120,0,0,0,0,0,0
$STATE,4435,end apogee,CONTROL_FINISHED_OK
$STATE,4435,begin climb
$GC,4438,1.28,146.0,504.4,0.0,225,4570,1.45,2.80,121.82,0.851,4,0.028,0.049,3144,3254,2523,0,0,0,0,0,0
$GC,4614,0.98,146.0,502.0,10.3,229,4622,0.35,2.62,0.00,0.000,6,0.129,0.038,3077,1693,2519,0,0,0,0,0,0
$GC,4886,0.91,208.1,480.7,7.2,236,4945,0.00,2.78,52.05,0.834,4,0.000,0.074,3076,170,2270,0,0,0,0,0,0
$GC,5076,0.72,208.1,462.5,10.6,240,5081,0.28,2.45,0.00,0.000,6,0.111,0.028,3019,1671,2265,0,0,0,0,0,0
$GC,5354,0.81,286.2,444.0,6.4,247,5428,0.00,2.65,67.25,0.829,4,0.000,0.058,3019,167,1952,0,0,0,0,0,0
$GC,5454,0.83,299.1,436.1,9.4,249,5474,0.00,2.45,12.80,0.740,6,0.000,0.027,3019,1663,1900,0,0,0,0,0,0
$GC,5729,0.95,317.7,410.8,9.2,256,5753,0.20,2.72,16.88,0.764,4,0.045,0.047,3084,3258,1823,0,0,0,0,0,0
$GC,5775,0.95,317.7,405.5,12.3,257,5779,0.00,2.65,0.00,0.000,6,0.000,0.035,3084,1664,1820,0,0,0,0,0,0
$GC,6061,0.95,317.7,368.4,13.3,264,6066,0.00,2.67,0.00,0.000,4,0.000,0.042,3084,3258,1816,0,0,0,0,0,0
$GC,6081,0.95,317.7,365.6,13.9,264,6086,0.00,2.62,0.00,0.000,6,0.000,0.033,3084,1665,1815,0,0,0,0,0,0
$GC,6345,0.95,317.7,329.1,13.8,271,6349,0.00,2.65,0.00,0.000,4,0.000,0.041,3084,3262,1814,0,0,0,0,0,0
$GC,6368,0.95,317.7,325.9,14.3,271,6372,0.00,2.62,0.00,0.000,6,0.000,0.033,3084,1664,1812,0,0,0,0,0,0
$GC,6627,0.95,317.7,293.2,12.3,278,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1664,1812,0,0,0,0,0,0
$GC,6872,0.95,317.7,264.3,11.9,284,6876,0.00,2.55,0.00,0.000,4,0.000,0.060,3084,169,1811,0,0,0,0,0,0
$GC,6919,0.95,317.7,257.8,13.2,285,6924,0.00,2.40,0.00,0.000,6,0.000,0.024,3084,1680,1809,0,0,0,0,0,0
$GC,7201,0.95,317.7,226.5,10.9,292,7206,0.00,2.55,0.00,0.000,4,0.000,0.036,3084,3253,1809,0,0,0,0,0,0
$GC,7221,0.95,317.7,224.1,12.4,292,7226,0.00,2.62,0.00,0.000,6,0.000,0.029,3084,1639,1808,0,0,0,0,0,0
$GC,7479,0.95,317.7,193.7,11.8,301,7484,0.00,2.62,0.00,0.000,4,0.000,0.034,3084,3265,1807,0,0,0,0,0,0
$GC,7498,0.95,317.7,190.9,11.5,302,7503,0.00,2.60,0.00,0.000,6,0.000,0.028,3084,1658,1806,0,0,0,0,0,0
$GC,7761,0.95,317.7,159.2,12.7,327,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1658,1807,0,0,0,0,0,0
$GC,8016,0.95,319.4,131.2,10.0,351,8021,0.00,2.42,0.00,0.000,4,0.000,0.046,3084,176,1807,0,0,0,0,0,0
$GC,8078,0.95,319.4,123.5,11.7,356,8087,0.00,2.35,0.00,0.000,6,0.000,0.021,3083,1659,1806,0,0,0,0,0,0
$GC,8343,0.98,340.3,97.9,9.1,381,8367,0.00,2.65,17.60,0.548,4,0.000,0.032,3084,3262,1731,0,0,0,0,0,0
$GC,8420,1.15,351.3,90.5,9.5,388,8438,0.08,2.62,11.00,0.510,6,0.032,0.031,3161,1671,1686,0,0,0,0,0,0
$GC,8696,1.04,351.3,56.6,12.6,414,8701,0.32,2.45,0.00,0.000,4,0.095,0.041,3087,171,1684,0,0,0,0,0,0
$GC,8740,1.12,351.3,52.0,10.7,417,8745,0.00,2.33,0.00,0.000,6,0.000,0.021,3087,1672,1683,0,0,0,0,0,0
$GC,9013,1.21,361.6,26.6,9.6,444,9030,0.15,2.55,10.75,0.459,4,0.056,0.031,3161,3259,1643,0,0,0,0,0,0
$GC,9041,1.21,361.6,23.0,11.3,447,9050,0.15,2.60,0.00,0.000,6,0.081,0.025,3125,1659,1642,0,0,0,0,0,0
$STATE,9202,end climb,SURFACE_DEPTH_REACHED
$STATE,9202,begin surface coast
$FINISH,0.8,1.010402
$STATE,9247,end surface coast,CONTROL_FINISHED_OK
$STATE,9247,begin surface
$SM_CCo,9269,49.05,0.399,1,0,1285,450.13
$SM_GC,1.51,0.00,0.00,49.05,0.000,0.000,0.399,406,1853,1285,-11.29,1.78,450.13
$IRIDIUM_FIX,2239.35,-15754.99,210200,080822
$TT8_MAMPS,0.026845
$HUMID,42.63
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,20.259
$10V_AH,10.4,16.934
$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,30.375,132.875,428.000,49.050,0.000,59.283,112.825,184.262,0.250,0.000,14.233,1009.868,5868.050,530.774,1838.066,625.386,33.363,1285.830,0.000,1843.569,0.000,0.537,0.000
$DEVICE_MAMPS,161.070,74.399,864.409,398.840,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.128,296.904,380.019,565.327,999.847,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,38475,479
$CAP_FILE_SIZE,112575,0
$CFSIZE,260165632,164835328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271110,111104,2248.870,-15757.705,8,99.0,27,10.1