version: 66.06
glider: 148
mission: 9
dive: 145
start: 11 29 110 10 45 3
data:
$ID,148
$MISSION,9
$DIVE,145
$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,-860724.5
$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,31
$R_STBD_OVSHOOT,74
$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
$GPS1,103207,2247.219,-15759.431,30,1.5,30,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.4
$GPS2,104408,2247.268,-15759.466,11,1.5,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.248,-0.079
$KALMAN_X,-63673.5,-140.9,-55.5,81752.7,-425.7
$KALMAN_Y,15179.1,-33.4,-354.1,109986.8,547.3
$MHEAD_RNG_PITCHd_Wd,242.3,6055,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-81.30,0.000,2,0.000,0.000,412,1822,3318,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.3,-4.7,11,130,11.48,2.62,-7.50,0.000,4,0.157,0.047,2574,206,3717,0,0,0,0,0,0
$GC,261,-1.18,-146.0,38.3,-18.5,32,270,0.10,2.45,0.00,0.000,6,0.082,0.021,2600,1753,3719,0,0,0,0,0,0
$GC,529,-1.06,-146.0,81.0,-13.8,57,534,0.12,2.62,0.00,0.000,4,0.117,0.035,2626,3371,3718,0,0,0,0,0,0
$GC,580,-1.06,-146.0,88.9,-11.6,61,586,0.00,2.50,0.00,0.000,6,0.000,0.020,2627,1780,3718,0,0,0,0,0,0
$GC,844,-1.14,-146.0,117.4,-9.1,86,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1781,3719,0,0,0,0,0,0
$GC,1109,-1.26,-146.0,143.6,-9.1,111,1114,0.17,2.58,0.00,0.000,4,0.048,0.030,2542,3383,3720,0,0,0,0,0,0
$GC,1145,-1.14,-146.0,148.5,-14.0,114,1151,0.30,2.47,0.00,0.000,6,0.084,0.021,2609,1808,3720,0,0,0,0,0,0
$GC,1406,-1.22,-146.0,174.8,-8.7,138,1410,0.00,2.50,0.00,0.000,4,0.000,0.031,2609,3371,3720,0,0,0,0,0,0
$GC,1471,-1.36,-146.0,180.4,-8.0,144,1476,0.20,2.47,0.00,0.000,6,0.043,0.023,2509,1805,3721,0,0,0,0,0,0
$GC,1740,-1.14,-146.0,221.8,-17.1,160,1748,0.47,2.55,0.00,0.000,4,0.087,0.037,2608,212,3720,0,0,0,0,0,0
$GC,1762,-1.14,-146.0,225.8,-14.8,160,1766,0.00,2.47,0.00,0.000,6,0.000,0.020,2607,1824,3721,0,0,0,0,0,0
$GC,2027,-1.23,-146.0,251.7,-9.7,167,2032,0.00,2.45,0.00,0.000,4,0.000,0.031,2608,3365,3721,0,0,0,0,0,0
$GC,2064,-1.37,-146.0,255.9,-10.2,167,2071,0.20,2.47,0.00,0.000,6,0.041,0.023,2492,1804,3720,0,0,0,0,0,0
$GC,2314,-1.17,-146.0,294.7,-15.4,174,2322,0.47,2.58,0.00,0.000,4,0.088,0.039,2599,211,3720,0,0,0,0,0,0
$GC,2328,-1.06,-146.0,296.7,-15.4,174,2334,0.12,2.50,0.00,0.000,6,0.117,0.021,2625,1816,3721,0,0,0,0,0,0
$GC,2603,-1.26,-146.0,315.3,-6.1,181,2608,0.17,2.50,0.00,0.000,4,0.047,0.035,2522,3365,3720,0,0,0,0,0,0
$GC,2675,-1.26,-146.0,322.3,-9.4,182,2680,0.28,2.45,0.00,0.000,6,0.082,0.026,2584,1826,3720,0,0,0,0,0,0
$GC,2935,-1.35,-146.0,346.1,-9.5,189,2940,0.00,2.50,0.00,0.000,4,0.000,0.039,2584,3364,3720,0,0,0,0,0,0
$GC,2954,-1.43,-146.0,348.4,-10.8,189,2959,0.15,2.45,0.00,0.000,6,0.055,0.026,2507,1831,3720,0,0,0,0,0,0
$GC,3220,-1.30,-146.0,384.7,-13.7,196,3227,0.28,2.70,0.00,0.000,4,0.090,0.054,2570,213,3718,0,0,0,0,0,0
$GC,3279,-1.44,-146.0,391.2,-9.8,197,3284,0.12,2.53,0.00,0.000,6,0.064,0.026,2509,1810,3717,0,0,0,0,0,0
$GC,3554,-1.34,-146.0,422.8,-12.0,204,3559,0.25,2.58,0.00,0.000,4,0.091,0.044,2568,3373,3716,0,0,0,0,0,0
$GC,3573,-1.34,-146.0,425.5,-11.7,204,3578,0.00,2.50,0.00,0.000,6,0.000,0.028,2568,1823,3716,0,0,0,0,0,0
$GC,3839,-1.40,-146.0,451.4,-9.6,211,3844,0.00,2.55,0.00,0.000,4,0.000,0.047,2569,3368,3713,0,0,0,0,0,0
$GC,3883,-1.50,-146.0,455.7,-9.2,212,3888,0.15,2.50,0.00,0.000,6,0.054,0.031,2485,1828,3713,0,0,0,0,0,0
$GC,4170,-1.34,-146.0,491.2,-12.6,219,4178,0.35,2.78,0.00,0.000,4,0.090,0.064,2564,212,3710,0,0,0,0,0,0
$GC,4208,-1.44,-146.0,495.1,-9.5,219,4212,0.00,2.60,0.00,0.000,6,0.000,0.035,2564,1821,3710,0,0,0,0,0,0
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4293,begin apogee
$GC,4298,-0.31,0.0,502.4,8.3,221,4418,1.00,0.00,116.68,0.871,6,0.078,0.000,2790,1658,3120,0,0,0,0,0,0
$STATE,4419,end apogee,CONTROL_FINISHED_OK
$STATE,4419,begin climb
$GC,4423,1.28,146.0,506.4,0.0,224,4553,1.42,2.62,120.22,0.855,4,0.025,0.065,3159,197,2524,0,0,0,0,0,0
$GC,4725,0.80,146.0,484.8,12.4,230,4731,0.60,2.42,0.00,0.000,6,0.114,0.028,3037,1685,2515,0,0,0,0,0,0
$GC,4974,0.86,198.0,464.8,7.6,237,5025,0.00,2.67,43.28,0.825,4,0.000,0.059,3037,187,2311,0,0,0,0,0,0
$GC,5095,0.80,198.9,453.7,10.0,239,5099,0.00,2.42,0.00,0.000,6,0.000,0.027,3037,1678,2307,0,0,0,0,0,0
$GC,5349,0.86,248.8,433.3,7.7,246,5398,0.00,2.62,43.30,0.815,4,0.000,0.058,3037,191,2105,0,0,0,0,0,0
$GC,5424,0.86,248.8,426.8,10.3,247,5429,0.00,2.42,0.00,0.000,6,0.000,0.027,3037,1678,2102,0,0,0,0,0,0
$GC,5678,0.86,248.8,401.1,10.1,254,5683,0.00,2.65,0.00,0.000,4,0.000,0.055,3037,3264,2097,0,0,0,0,0,0
$GC,5716,0.96,260.1,397.3,9.5,254,5734,0.12,2.60,9.88,0.712,6,0.066,0.034,3095,1686,2058,0,0,0,0,0,0
$GC,6014,0.85,260.1,362.9,11.5,262,6020,0.22,2.62,0.00,0.000,4,0.104,0.064,3048,167,2054,0,0,0,0,0,0
$GC,6061,0.85,260.1,357.2,11.9,263,6066,0.00,2.42,0.00,0.000,6,0.000,0.024,3048,1682,2053,0,0,0,0,0,0
$GC,6345,0.86,263.8,329.7,9.9,270,6349,0.00,2.58,0.00,0.000,4,0.000,0.056,3048,171,2051,0,0,0,0,0,0
$GC,6373,0.86,263.8,326.4,10.6,270,6377,0.00,2.40,0.00,0.000,6,0.000,0.024,3048,1675,2051,0,0,0,0,0,0
$GC,6627,0.88,282.8,302.3,9.2,277,6652,0.00,2.60,19.75,0.723,4,0.000,0.055,3048,168,1966,0,0,0,0,0,0
$GC,6663,0.91,307.8,299.0,8.9,277,6694,0.00,2.40,24.05,0.723,6,0.000,0.023,3048,1668,1864,0,0,0,0,0,0
$GC,6961,0.98,311.1,269.3,9.9,285,6966,0.10,2.65,0.00,0.000,4,0.079,0.043,3095,3253,1857,0,0,0,0,0,0
$GC,7046,0.98,311.1,259.7,11.0,286,7052,0.10,2.60,0.00,0.000,6,0.123,0.032,3075,1677,1854,0,0,0,0,0,0
$GC,7295,0.98,311.1,230.5,12.2,293,7300,0.00,2.53,0.00,0.000,4,0.000,0.054,3075,160,1853,0,0,0,0,0,0
$GC,7329,0.98,311.1,225.9,14.3,293,7333,0.00,2.42,0.00,0.000,6,0.000,0.022,3075,1689,1853,0,0,0,0,0,0
$GC,7578,0.98,311.1,197.0,11.2,299,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1693,1852,0,0,0,0,0,0
$GC,7833,0.98,311.1,168.5,11.8,323,7837,0.00,2.53,0.00,0.000,4,0.000,0.035,3075,3254,1852,0,0,0,0,0,0
$GC,7862,0.98,311.1,165.6,11.8,325,7866,0.00,2.55,0.00,0.000,6,0.000,0.028,3075,1666,1851,0,0,0,0,0,0
$GC,8128,0.99,321.7,137.1,9.6,349,8149,0.00,2.65,11.10,0.553,4,0.000,0.035,3075,3254,1807,0,0,0,0,0,0
$GC,8182,1.11,343.2,131.8,9.0,354,8208,0.12,2.55,19.62,0.577,6,0.067,0.028,3134,1683,1719,0,0,0,0,0,0
$GC,8463,1.11,343.2,94.6,12.2,380,8468,0.15,2.47,0.00,0.000,4,0.109,0.044,3102,177,1716,0,0,0,0,0,0
$GC,8596,1.11,343.2,79.2,11.5,392,8605,0.00,2.38,0.00,0.000,6,0.000,0.021,3102,1678,1715,0,0,0,0,0,0
$GC,8862,1.11,343.2,46.8,13.8,417,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,1715,0,0,0,0,0,0
$GC,9145,1.11,343.2,13.7,11.1,452,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1681,1715,0,0,0,0,0,0
$STATE,9228,end climb,SURFACE_DEPTH_REACHED
$STATE,9228,begin surface coast
$FINISH,0.6,1.001267
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9292,51.50,0.061,0,0,1285,450.13
$SM_GC,1.64,0.00,0.00,51.50,0.000,0.000,0.061,413,1828,1285,-11.26,1.10,450.13
$IRIDIUM_FIX,2239.35,-15802.37,230200,101057
$TT8_MAMPS,0.026845
$HUMID,42.99
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,22.358
$10V_AH,10.4,18.783
$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,30.125,127.075,407.875,51.500,0.000,58.092,112.647,360.846,0.500,0.000,12.500,1002.056,5892.022,496.100,1876.333,801.153,33.372,1285.886,0.000,1874.974,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,65.195,871.312,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.424,287.167,365.743,555.226,981.229,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,38385,471
$CAP_FILE_SIZE,116147,0
$CFSIZE,260165632,163864576
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,132141,2247.283,-15800.904,6,1.8,15,10.1