version: 66.06
glider: 148
mission: 9
dive: 144
start: 11 29 110 7 53 9
data:
$ID,148
$MISSION,9
$DIVE,144
$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,-860711.38
$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,26
$R_STBD_OVSHOOT,91
$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
$GPS1,073507,2247.356,-15757.568,43,0.9,43,10.1
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.0
$GPS2,075214,2247.296,-15757.669,12,1.4,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,0.003
$KALMAN_X,-63417.0,-13.9,66.2,84342.7,-932.0
$KALMAN_Y,15246.6,-69.0,-307.2,109955.7,-239.9
$MHEAD_RNG_PITCHd_Wd,260.6,9119,-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,-82.43,0.000,2,0.000,0.000,409,1837,3403,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.9,-6.6,11,131,11.32,2.40,-5.47,0.000,4,0.151,0.038,2572,3328,3717,0,0,0,0,0,0
$GC,197,-1.12,-146.0,30.6,-21.2,24,206,0.15,2.50,0.00,0.000,6,0.080,0.024,2611,1774,3717,0,0,0,0,0,0
$GC,465,-1.03,-146.0,68.9,-15.1,49,470,0.10,2.50,0.00,0.000,4,0.132,0.031,2632,3320,3718,0,0,0,0,0,0
$GC,499,-1.03,-146.0,74.8,-13.3,51,508,0.00,2.45,0.00,0.000,6,0.000,0.024,2632,1793,3718,0,0,0,0,0,0
$GC,760,-1.11,-146.0,107.8,-10.8,76,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1793,3718,0,0,0,0,0,0
$GC,1016,-1.23,-146.0,133.0,-9.5,100,1021,0.17,2.45,0.00,0.000,4,0.049,0.028,2546,3323,3719,0,0,0,0,0,0
$GC,1055,-1.15,-146.0,137.5,-12.6,103,1060,0.28,2.40,0.00,0.000,6,0.086,0.022,2607,1796,3719,0,0,0,0,0,0
$GC,1320,-1.22,-146.0,163.2,-10.0,127,1324,0.00,2.45,0.00,0.000,4,0.000,0.031,2607,3328,3720,0,0,0,0,0,0
$GC,1386,-1.33,-146.0,169.8,-10.1,133,1391,0.15,2.40,0.00,0.000,6,0.054,0.031,2512,1808,3720,0,0,0,0,0,0
$GC,1667,-1.09,-146.0,215.1,-16.8,153,1675,0.55,2.55,0.00,0.000,4,0.091,0.036,2617,214,3720,0,0,0,0,0,0
$GC,1717,-1.29,-146.0,222.1,-11.0,154,1722,0.15,2.38,0.00,0.000,6,0.054,0.020,2536,1762,3720,0,0,0,0,0,0
$GC,2002,-1.17,-146.0,261.0,-13.9,161,2007,0.30,2.55,0.00,0.000,4,0.087,0.030,2600,3360,3720,0,0,0,0,0,0
$GC,2072,-1.31,-146.0,268.1,-8.6,162,2078,0.10,2.45,0.00,0.000,6,0.074,0.024,2524,1817,3720,0,0,0,0,0,0
$GC,2334,-1.17,-146.0,301.4,-13.0,169,2341,0.35,2.62,0.00,0.000,4,0.087,0.041,2600,204,3720,0,0,0,0,0,0
$GC,2369,-1.33,-146.0,305.7,-10.1,169,2375,0.12,2.50,0.00,0.000,6,0.063,0.022,2531,1800,3720,0,0,0,0,0,0
$GC,2619,-1.25,-146.0,334.4,-11.6,175,2624,0.25,2.53,0.00,0.000,4,0.089,0.035,2590,3374,3720,0,0,0,0,0,0
$GC,2650,-1.36,-146.0,337.1,-8.5,175,2655,0.12,2.50,0.00,0.000,6,0.063,0.027,2513,1814,3720,0,0,0,0,0,0
$GC,2906,-1.25,-146.0,370.9,-14.0,182,2913,0.30,2.67,0.00,0.000,4,0.090,0.051,2581,211,3719,0,0,0,0,0,0
$GC,2947,-1.39,-146.0,376.0,-11.7,182,2954,0.10,2.53,0.00,0.000,6,0.076,0.025,2528,1812,3719,0,0,0,0,0,0
$GC,3197,-1.39,-146.0,407.1,-12.2,189,3202,0.12,2.58,0.00,0.000,4,0.110,0.043,2556,3375,3717,0,0,0,0,0,0
$GC,3220,-1.39,-146.0,409.9,-11.4,189,3225,0.00,2.50,0.00,0.000,6,0.000,0.028,2555,1810,3717,0,0,0,0,0,0
$GC,3481,-1.39,-146.0,434.3,-9.3,196,3486,0.00,2.55,0.00,0.000,4,0.000,0.044,2556,3367,3715,0,0,0,0,0,0
$GC,3505,-1.39,-146.0,436.6,-9.5,196,3509,0.00,2.53,0.00,0.000,6,0.000,0.031,2555,1810,3715,0,0,0,0,0,0
$GC,3764,-1.39,-146.0,460.6,-9.3,203,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1807,3713,0,0,0,0,0,0
$GC,4009,-1.39,-146.0,482.8,-9.1,209,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1807,3711,0,0,0,0,0,0
$STATE,4208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4208,begin apogee
$GC,4214,-0.31,0.0,502.6,9.9,214,4334,1.05,0.00,116.62,0.870,6,0.079,0.000,2792,1676,3120,0,0,0,0,0,0
$STATE,4335,end apogee,CONTROL_FINISHED_OK
$STATE,4335,begin climb
$GC,4337,1.28,146.0,509.0,0.0,217,4467,1.42,2.72,120.93,0.854,4,0.023,0.073,3142,181,2523,0,0,0,0,0,0
$GC,4568,0.85,146.0,502.8,11.1,222,4575,0.47,2.45,0.00,0.000,6,0.112,0.030,3045,1676,2516,0,0,0,0,0,0
$GC,4836,0.93,211.9,483.8,7.0,229,4897,0.00,2.67,54.78,0.838,4,0.000,0.061,3045,183,2256,0,0,0,0,0,0
$GC,4971,0.84,211.9,470.9,10.5,232,4975,0.00,2.45,0.00,0.000,6,0.000,0.029,3045,1678,2252,0,0,0,0,0,0
$GC,5253,0.85,220.5,443.4,9.6,239,5266,0.00,2.62,7.35,0.680,4,0.000,0.060,3045,175,2221,0,0,0,0,0,0
$GC,5392,0.78,220.5,427.8,11.3,242,5397,0.00,2.42,0.00,0.000,6,0.000,0.025,3045,1675,2219,0,0,0,0,0,0
$GC,5680,0.79,228.1,399.1,9.7,249,5693,0.00,2.70,7.45,0.674,4,0.000,0.049,3045,3260,2189,0,0,0,0,0,0
$GC,5703,0.82,253.7,396.7,8.9,249,5732,0.00,2.65,24.05,0.779,6,0.000,0.034,3045,1670,2085,0,0,0,0,0,0
$GC,6008,0.88,303.5,371.0,7.7,257,6060,0.00,2.65,44.42,0.784,4,0.000,0.064,3046,167,1880,0,0,0,0,0,0
$GC,6080,0.88,303.5,364.1,11.1,258,6084,0.00,2.42,0.00,0.000,6,0.000,0.024,3045,1665,1880,0,0,0,0,0,0
$GC,6336,0.88,303.5,335.2,11.8,265,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1666,1873,0,0,0,0,0,0
$GC,6578,0.88,305.1,310.0,10.0,271,6582,0.00,2.65,0.00,0.000,4,0.000,0.043,3045,3259,1871,0,0,0,0,0,0
$GC,6657,1.02,314.3,302.7,9.6,272,6674,0.15,2.65,8.70,0.647,6,0.055,0.033,3108,1658,1837,0,0,0,0,0,0
$GC,6959,0.93,314.3,263.5,13.3,280,6964,0.20,2.55,0.00,0.000,4,0.104,0.058,3065,167,1835,0,0,0,0,0,0
$GC,6997,0.93,314.3,258.0,12.5,280,7003,0.00,2.40,0.00,0.000,6,0.000,0.021,3065,1683,1834,0,0,0,0,0,0
$GC,7248,0.93,314.3,230.4,11.1,287,7252,0.00,2.55,0.00,0.000,4,0.000,0.036,3065,3250,1833,0,0,0,0,0,0
$GC,7282,1.01,314.3,226.3,10.8,287,7287,0.00,2.58,0.00,0.000,6,0.000,0.030,3065,1670,1832,0,0,0,0,0,0
$GC,7532,1.01,314.3,200.4,10.4,293,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1669,1831,0,0,0,0,0,0
$GC,7786,1.01,314.3,174.6,10.3,314,7790,0.00,2.58,0.00,0.000,4,0.000,0.034,3065,3254,1831,0,0,0,0,0,0
$GC,7821,1.08,314.3,170.6,10.5,317,7827,0.12,2.55,0.00,0.000,6,0.064,0.028,3112,1672,1830,0,0,0,0,0,0
$GC,8088,1.02,314.3,134.5,13.2,341,8093,0.15,2.60,0.00,0.000,4,0.109,0.035,3082,3264,1830,0,0,0,0,0,0
$GC,8116,1.02,314.3,131.0,11.0,343,8120,0.00,2.55,0.00,0.000,6,0.000,0.028,3081,1671,1830,0,0,0,0,0,0
$GC,8383,1.05,336.3,103.3,9.0,367,8407,0.00,2.53,18.85,0.551,4,0.000,0.053,3081,170,1747,0,0,0,0,0,0
$GC,8468,1.07,349.4,95.5,9.4,375,8489,0.00,2.35,13.05,0.522,6,0.000,0.020,3081,1686,1693,0,0,0,0,0,0
$GC,8745,1.17,358.9,72.2,9.6,401,8764,0.15,0.00,9.48,0.480,6,0.056,0.000,3148,1690,1655,0,0,0,0,0,0
$GC,9019,1.07,358.9,35.2,13.1,427,9028,0.25,0.00,0.00,0.000,6,0.099,0.000,3094,1690,1654,0,0,0,0,0,0
$GC,9324,1.25,434.5,7.8,6.5,472,9364,0.15,0.00,36.85,0.479,2,0.057,0.000,3158,1690,1485,0,0,0,0,0,0
$STATE,9365,end climb,SURFACE_DEPTH_REACHED
$STATE,9365,begin surface coast
$FINISH,0.7,1.015219
$STATE,9410,end surface coast,CONTROL_FINISHED_OK
$STATE,9410,begin surface
$SM_CCo,9431,32.20,0.351,1,0,1285,450.13
$SM_GC,1.54,0.00,0.00,32.20,0.000,0.000,0.351,412,1821,1285,-11.26,0.88,450.13
$IRIDIUM_FIX,2239.35,-15747.62,230200,070730
$TT8_MAMPS,0.026845
$HUMID,41.69
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,23.6,22.234
$10V_AH,10.4,18.678
$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,29.925,111.600,462.525,32.200,0.000,116.005,279.593,325.320,0.500,0.000,13.483,1000.030,6132.079,520.572,1858.130,988.120,33.360,1284.667,0.000,1868.944,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,72.865,869.778,351.286,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.085,309.715,381.824,588.157,1040.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38401,484
$CAP_FILE_SIZE,112212,0
$CFSIZE,260165632,163926016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291110,103207,2247.219,-15759.431,30,1.5,30,10.1