version: 66.06
glider: 148
mission: 9
dive: 128
start: 11 27 110 11 17 57
data:
$ID,148
$MISSION,9
$DIVE,128
$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,-860258.56
$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,34
$R_STBD_OVSHOOT,46
$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
$GPS1,111104,2248.870,-15757.705,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.5
$GPS2,111702,2248.883,-15757.701,24,1.8,29,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.024,-0.260
$KALMAN_X,-57061.8,-53.9,-139.3,78183.2,-356.2
$KALMAN_Y,18825.1,-614.9,208.0,109344.9,288.6
$MHEAD_RNG_PITCHd_Wd,164.6,3491,-17.5,-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,-1.27,-146.0,0.0,0.0,0,103,0.00,0.00,-82.20,0.000,2,0.000,0.000,406,1854,3409,0,0,0,0,0,0
$GC,107,-1.27,-146.0,4.3,-7.7,11,132,11.77,2.70,-5.20,0.000,4,0.166,0.044,2575,210,3717,0,0,0,0,0,0
$GC,268,-1.27,-146.0,45.1,-17.1,30,273,0.00,2.45,0.00,0.000,6,0.000,0.021,2575,1793,3719,0,0,0,0,0,0
$GC,532,-1.10,-146.0,91.0,-16.8,54,537,0.20,2.53,0.00,0.000,4,0.116,0.031,2617,3367,3720,0,0,0,0,0,0
$GC,600,-1.10,-146.0,102.4,-14.3,60,605,0.00,2.50,0.00,0.000,6,0.000,0.021,2617,1784,3720,0,0,0,0,0,0
$GC,865,-1.17,-146.0,131.2,-9.1,84,869,0.00,2.53,0.00,0.000,4,0.000,0.029,2617,3367,3721,0,0,0,0,0,0
$GC,947,-1.28,-146.0,139.5,-9.9,91,953,0.15,2.45,0.00,0.000,6,0.051,0.021,2529,1810,3721,0,0,0,0,0,0
$GC,1209,-1.12,-146.0,176.3,-14.3,116,1218,0.35,2.55,0.00,0.000,4,0.090,0.036,2609,214,3722,0,0,0,0,0,0
$GC,1249,-1.29,-146.0,181.0,-10.0,120,1255,0.12,2.47,0.00,0.000,6,0.064,0.020,2541,1823,3722,0,0,0,0,0,0
$GC,1529,-1.19,-146.0,216.6,-13.6,137,1534,0.25,2.45,0.00,0.000,4,0.089,0.030,2599,3367,3722,0,0,0,0,0,0
$GC,1590,-1.29,-146.0,223.7,-9.5,138,1595,0.00,2.42,0.00,0.000,6,0.000,0.021,2599,1815,3723,0,0,0,0,0,0
$GC,1861,-1.38,-146.0,248.3,-9.3,145,1866,0.17,2.47,0.00,0.000,4,0.051,0.031,2517,3361,3723,0,0,0,0,0,0
$GC,1885,-1.26,-146.0,251.5,-12.7,145,1890,0.30,2.42,0.00,0.000,6,0.087,0.021,2583,1809,3723,0,0,0,0,0,0
$GC,2144,-1.26,-146.0,280.5,-11.0,152,2149,0.00,2.58,0.00,0.000,4,0.000,0.042,2583,212,3723,0,0,0,0,0,0
$GC,2183,-1.38,-146.0,284.9,-12.2,152,2189,0.10,2.47,0.00,0.000,6,0.077,0.022,2523,1800,3723,0,0,0,0,0,0
$GC,2432,-1.28,-146.0,316.7,-12.8,159,2438,0.25,2.55,0.00,0.000,4,0.092,0.036,2582,3374,3723,0,0,0,0,0,0
$GC,2452,-1.28,-146.0,319.1,-11.5,159,2456,0.00,2.47,0.00,0.000,6,0.000,0.024,2582,1808,3723,0,0,0,0,0,0
$GC,2717,-1.36,-146.0,344.8,-10.0,166,2722,0.00,2.53,0.00,0.000,4,0.000,0.041,2582,3361,3723,0,0,0,0,0,0
$GC,2755,-1.46,-146.0,348.5,-9.1,166,2761,0.17,2.47,0.00,0.000,6,0.048,0.027,2486,1817,3723,0,0,0,0,0,0
$GC,3005,-1.29,-146.0,380.0,-12.5,173,3012,0.38,2.55,0.00,0.000,4,0.090,0.044,2573,3364,3722,0,0,0,0,0,0
$GC,3032,-1.29,-146.0,382.9,-9.8,173,3037,0.00,2.47,0.00,0.000,6,0.000,0.028,2573,1825,3721,0,0,0,0,0,0
$GC,3292,-1.36,-146.0,404.8,-8.8,180,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1825,3720,0,0,0,0,0,0
$GC,3536,-1.44,-146.0,427.7,-9.4,186,3541,0.12,2.60,0.00,0.000,4,0.068,0.049,2520,3367,3718,0,0,0,0,0,0
$GC,3581,-1.44,-146.0,432.9,-11.5,187,3586,0.12,2.47,0.00,0.000,6,0.109,0.028,2546,1830,3718,0,0,0,0,0,0
$GC,3868,-1.44,-146.0,462.6,-10.0,194,3872,0.00,2.75,0.00,0.000,4,0.000,0.061,2546,211,3716,0,0,0,0,0,0
$GC,3907,-1.44,-146.0,466.6,-9.9,194,3913,0.00,2.60,0.00,0.000,6,0.000,0.033,2546,1825,3716,0,0,0,0,0,0
$GC,4157,-1.44,-146.0,489.7,-9.2,201,4161,0.00,2.58,0.00,0.000,4,0.000,0.053,2547,3370,3713,0,0,0,0,0,0
$GC,4200,-1.44,-146.0,493.6,-8.7,202,4204,0.00,2.47,0.00,0.000,6,0.000,0.031,2547,1832,3713,0,0,0,0,0,0
$STATE,4281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4281,begin apogee
$GC,4288,-0.31,0.0,501.0,8.8,204,4410,1.10,0.00,118.05,0.870,6,0.078,0.000,2793,1663,3120,0,0,0,0,0,0
$STATE,4410,end apogee,CONTROL_FINISHED_OK
$STATE,4410,begin climb
$GC,4413,1.27,146.0,505.0,0.0,207,4544,1.42,2.60,120.72,0.855,4,0.032,0.067,3142,190,2525,0,0,0,0,0,0
$GC,4678,0.85,146.0,489.7,13.9,213,4685,0.47,2.42,0.00,0.000,6,0.114,0.029,3046,1686,2518,0,0,0,0,0,0
$GC,4965,0.90,186.3,465.3,8.2,220,5007,0.00,2.67,34.20,0.821,4,0.000,0.059,3046,190,2359,0,0,0,0,0,0
$GC,5037,0.78,186.5,458.6,10.0,221,5041,0.00,2.45,0.00,0.000,6,0.000,0.028,3046,1689,2357,0,0,0,0,0,0
$GC,5297,0.82,223.0,435.9,8.4,228,5334,0.00,2.65,31.62,0.811,4,0.000,0.058,3046,183,2210,0,0,0,0,0,0
$GC,5404,0.76,236.1,426.3,9.4,229,5425,0.00,2.42,12.60,0.746,6,0.000,0.027,3046,1675,2156,0,0,0,0,0,0
$GC,5670,0.80,265.9,403.9,8.7,236,5703,0.00,2.65,26.33,0.788,4,0.000,0.058,3046,187,2035,0,0,0,0,0,0
$GC,5717,0.80,265.9,399.1,10.6,237,5721,0.00,2.42,0.00,0.000,6,0.000,0.026,3046,1674,2035,0,0,0,0,0,0
$GC,6000,0.80,265.9,367.9,11.4,244,6004,0.00,2.55,0.00,0.000,4,0.000,0.057,3046,187,2029,0,0,0,0,0,0
$GC,6051,0.80,265.9,361.7,12.4,245,6055,0.00,2.40,0.00,0.000,6,0.000,0.025,3045,1674,2028,0,0,0,0,0,0
$GC,6328,0.84,297.6,336.4,8.6,252,6364,0.00,2.67,28.17,0.759,4,0.000,0.042,3046,3258,1905,0,0,0,0,0,0
$GC,6400,0.99,341.6,330.7,8.0,253,6446,0.12,2.62,39.28,0.753,6,0.065,0.033,3115,1684,1726,0,0,0,0,0,0
$GC,6702,0.90,341.6,289.9,13.8,261,6707,0.25,2.58,0.00,0.000,4,0.100,0.060,3058,171,1719,0,0,0,0,0,0
$GC,6740,0.90,341.6,284.3,13.0,261,6746,0.00,2.42,0.00,0.000,6,0.000,0.023,3058,1689,1718,0,0,0,0,0,0
$GC,6989,0.90,341.6,254.7,12.0,268,6994,0.00,2.58,0.00,0.000,4,0.000,0.053,3058,163,1716,0,0,0,0,0,0
$GC,7051,0.90,341.6,246.4,13.2,269,7055,0.00,2.38,0.00,0.000,6,0.000,0.023,3058,1657,1715,0,0,0,0,0,0
$GC,7319,0.90,341.6,212.7,12.5,276,7323,0.00,2.58,0.00,0.000,4,0.000,0.035,3058,3251,1713,0,0,0,0,0,0
$GC,7347,0.97,341.6,209.2,12.2,276,7351,0.00,2.62,0.00,0.000,6,0.000,0.029,3058,1638,1711,0,0,0,0,0,0
$GC,7614,0.97,341.6,180.8,10.6,295,7618,0.00,2.65,0.00,0.000,4,0.000,0.034,3058,3259,1711,0,0,0,0,0,0
$GC,7653,1.10,341.6,176.1,10.8,298,7659,0.17,2.60,0.00,0.000,6,0.050,0.029,3140,1660,1710,0,0,0,0,0,0
$GC,7922,0.96,341.6,137.5,15.3,323,7927,0.30,2.45,0.00,0.000,4,0.097,0.045,3071,166,1710,0,0,0,0,0,0
$GC,8011,1.08,341.6,126.0,11.9,331,8016,0.10,2.33,0.00,0.000,6,0.079,0.021,3123,1650,1710,0,0,0,0,0,0
$GC,8275,1.08,341.6,93.6,12.3,355,8280,0.12,2.58,0.00,0.000,4,0.110,0.032,3096,3258,1710,0,0,0,0,0,0
$GC,8304,1.14,341.6,90.7,10.1,357,8308,0.00,2.62,0.00,0.000,6,0.000,0.028,3096,1615,1709,0,0,0,0,0,0
$GC,8572,1.14,341.6,64.4,10.8,381,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1615,1709,0,0,0,0,0,0
$GC,8836,1.14,341.6,33.5,10.9,406,8840,0.00,2.62,0.00,0.000,4,0.000,0.031,3096,3253,1709,0,0,0,0,0,0
$GC,8878,1.23,357.7,29.7,9.3,409,8903,0.10,2.62,13.00,0.473,6,0.031,0.027,3163,1625,1660,0,0,0,0,0,0
$STATE,9087,end climb,SURFACE_DEPTH_REACHED
$STATE,9087,begin surface coast
$FINISH,0.7,1.017900
$STATE,9120,end surface coast,CONTROL_FINISHED_OK
$STATE,9120,begin surface
$SM_CCo,9140,50.53,0.404,1,0,1284,450.13
$SM_GC,1.56,0.00,0.00,50.53,0.000,0.000,0.404,409,1857,1284,-11.27,1.89,450.13
$IRIDIUM_FIX,2241.69,-15754.11,210200,080812
$TT8_MAMPS,0.026845
$HUMID,42.24
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,20.375
$10V_AH,10.4,17.031
$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,29.750,132.200,423.975,50.525,0.000,22.723,32.977,157.624,0.000,0.000,30.760,968.310,5775.209,511.662,1817.041,486.244,33.357,1283.882,0.000,1802.221,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,67.496,869.778,404.209,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.393,270.371,342.945,517.225,914.643,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355328
$DATA_FILE_SIZE,35252,446
$CAP_FILE_SIZE,111790,0
$CFSIZE,260165632,164782080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271110,135253,2247.912,-15757.990,40,3.5,59,10.1