version: 66.06
glider: 148
mission: 9
dive: 151
start: 11 30 110 3 30 27
data:
$ID,148
$MISSION,9
$DIVE,151
$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,-860826.81
$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,24
$R_STBD_OVSHOOT,96
$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
$GPS1,032123,2249.531,-15801.553,14,2.4,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.8
$GPS2,032932,2249.533,-15801.560,12,1.9,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.240,0.100
$KALMAN_X,-64274.2,126.7,14.4,78417.2,-278.4
$KALMAN_Y,13638.4,-184.7,508.7,115015.3,-764.4
$MHEAD_RNG_PITCHd_Wd,57.3,7830,-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,-82.43,0.000,2,0.000,0.000,412,1843,3381,0,0,0,0,0,0
$GC,106,-1.28,-146.0,4.0,-7.5,11,130,11.50,0.00,-6.00,0.000,6,0.158,0.000,2572,1842,3717,0,0,0,0,0,0
$GC,400,-1.05,-146.0,66.2,-18.6,44,405,0.25,2.35,0.00,0.000,4,0.100,0.031,2629,3318,3719,0,0,0,0,0,0
$GC,419,-0.87,-146.0,69.8,-18.4,45,424,0.17,2.42,0.00,0.000,6,0.100,0.020,2668,1772,3719,0,0,0,0,0,0
$GC,688,-0.98,-146.0,97.7,-9.2,69,692,0.00,2.45,0.00,0.000,4,0.000,0.029,2668,3317,3720,0,0,0,0,0,0
$GC,716,-1.14,-146.0,100.7,-8.9,71,721,0.22,2.42,0.00,0.000,6,0.041,0.022,2585,1785,3720,0,0,0,0,0,0
$GC,983,-1.14,-146.0,132.4,-12.5,95,988,0.12,2.45,0.00,0.000,4,0.110,0.031,2612,3318,3721,0,0,0,0,0,0
$GC,1012,-1.14,-146.0,136.0,-10.6,97,1017,0.00,2.38,0.00,0.000,6,0.000,0.022,2612,1796,3721,0,0,0,0,0,0
$GC,1279,-1.23,-146.0,161.8,-9.4,121,1283,0.00,2.40,0.00,0.000,4,0.000,0.030,2612,3316,3722,0,0,0,0,0,0
$GC,1319,-1.36,-146.0,166.1,-8.9,124,1326,0.20,2.38,0.00,0.000,6,0.041,0.023,2506,1813,3722,0,0,0,0,0,0
$GC,1590,-1.15,-146.0,207.9,-16.0,147,1598,0.43,2.55,0.00,0.000,4,0.091,0.035,2602,215,3722,0,0,0,0,0,0
$GC,1651,-1.31,-146.0,214.9,-9.2,148,1656,0.12,2.40,0.00,0.000,6,0.064,0.019,2536,1774,3723,0,0,0,0,0,0
$GC,1926,-1.21,-146.0,249.6,-13.1,155,1932,0.25,2.55,0.00,0.000,4,0.091,0.038,2595,210,3723,0,0,0,0,0,0
$GC,1946,-1.21,-146.0,252.4,-12.4,155,1950,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,1801,3723,0,0,0,0,0,0
$GC,2211,-1.31,-146.0,275.4,-8.7,162,2216,0.00,2.47,0.00,0.000,4,0.000,0.034,2594,3361,3723,0,0,0,0,0,0
$GC,2263,-1.44,-146.0,280.2,-9.0,163,2268,0.20,2.45,0.00,0.000,6,0.042,0.025,2493,1810,3723,0,0,0,0,0,0
$GC,2543,-1.22,-146.0,323.2,-16.5,170,2550,0.47,2.53,0.00,0.000,4,0.089,0.035,2589,3360,3723,0,0,0,0,0,0
$GC,2555,-1.07,-146.0,325.6,-15.8,170,2560,0.17,2.45,0.00,0.000,6,0.095,0.024,2627,1808,3723,0,0,0,0,0,0
$GC,2831,-1.29,-146.0,347.9,-7.9,177,2836,0.20,2.53,0.00,0.000,4,0.044,0.037,2532,3363,3722,0,0,0,0,0,0
$GC,2850,-1.29,-146.0,350.1,-9.5,177,2856,0.20,2.47,0.00,0.000,6,0.090,0.026,2578,1817,3722,0,0,0,0,0,0
$GC,3115,-1.37,-146.0,374.4,-9.0,184,3120,0.00,2.70,0.00,0.000,4,0.000,0.055,2577,208,3720,0,0,0,0,0,0
$GC,3141,-1.46,-146.0,376.6,-9.4,184,3146,0.15,2.55,0.00,0.000,6,0.054,0.025,2504,1810,3721,0,0,0,0,0,0
$GC,3401,-1.34,-146.0,408.3,-12.4,191,3406,0.25,2.55,0.00,0.000,4,0.094,0.047,2563,3363,3718,0,0,0,0,0,0
$GC,3425,-1.34,-146.0,411.1,-11.2,191,3429,0.00,2.47,0.00,0.000,6,0.000,0.029,2563,1819,3718,0,0,0,0,0,0
$GC,3685,-1.34,-146.0,433.7,-8.6,198,3690,0.00,2.55,0.00,0.000,4,0.000,0.048,2563,3362,3717,0,0,0,0,0,0
$GC,3713,-1.34,-146.0,436.4,-8.8,198,3718,0.00,2.50,0.00,0.000,6,0.000,0.030,2562,1820,3717,0,0,0,0,0,0
$GC,3968,-1.34,-146.0,458.1,-8.6,205,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1820,3714,0,0,0,0,0,0
$GC,4213,-1.40,-146.0,479.5,-8.9,211,4218,0.00,2.60,0.00,0.000,4,0.000,0.054,2563,3367,3712,0,0,0,0,0,0
$GC,4251,-1.49,-146.0,483.4,-9.4,211,4257,0.12,2.50,0.00,0.000,6,0.064,0.031,2495,1831,3712,0,0,0,0,0,0
$STATE,4417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4417,begin apogee
$GC,4423,-0.31,0.0,503.2,12.0,216,4544,1.35,0.00,117.10,0.877,6,0.087,0.000,2792,1665,3120,0,0,0,0,0,0
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4545,begin climb
$GC,4548,1.28,146.0,507.6,0.0,219,4676,1.45,0.00,121.32,0.861,6,0.029,0.000,3148,1665,2524,0,0,0,0,0,0
$GC,4906,0.96,151.9,489.0,9.8,228,4919,0.35,2.65,5.18,0.607,4,0.114,0.070,3074,186,2499,0,0,0,0,0,0
$GC,4995,0.78,199.1,481.4,7.8,229,5043,0.20,2.38,41.08,0.832,6,0.114,0.028,3033,1665,2308,0,0,0,0,0,0
$GC,5285,0.83,243.8,458.9,8.0,237,5330,0.00,2.60,38.62,0.823,4,0.000,0.058,3032,183,2125,0,0,0,0,0,0
$GC,5379,0.83,243.8,449.9,10.5,239,5383,0.00,2.42,0.00,0.000,6,0.000,0.028,3033,1666,2123,0,0,0,0,0,0
$GC,5667,0.86,262.4,422.9,9.2,246,5691,0.00,2.72,16.30,0.773,4,0.000,0.050,3033,3257,2048,0,0,0,0,0,0
$GC,5720,0.94,265.8,417.9,9.9,247,5731,0.12,2.65,4.05,0.519,6,0.067,0.035,3084,1681,2036,0,0,0,0,0,0
$GC,6003,0.86,265.8,384.8,12.2,254,6008,0.17,2.65,0.00,0.000,4,0.107,0.066,3047,161,2032,0,0,0,0,0,0
$GC,6027,0.86,265.8,381.2,11.6,254,6031,0.00,2.42,0.00,0.000,6,0.000,0.025,3047,1683,2032,0,0,0,0,0,0
$GC,6286,0.86,267.7,355.1,10.0,261,6290,0.00,2.60,0.00,0.000,4,0.000,0.057,3047,164,2030,0,0,0,0,0,0
$GC,6347,0.86,267.7,348.3,11.4,262,6352,0.00,2.40,0.00,0.000,6,0.000,0.025,3047,1665,2029,0,0,0,0,0,0
$GC,6616,0.88,283.8,322.8,9.3,269,6640,0.00,2.60,16.62,0.734,4,0.000,0.055,3047,169,1961,0,0,0,0,0,0
$GC,6692,0.88,283.8,314.9,10.6,270,6696,0.00,2.38,0.00,0.000,6,0.000,0.025,3047,1650,1960,0,0,0,0,0,0
$GC,6952,0.88,283.8,287.6,10.5,277,6957,0.00,2.65,0.00,0.000,4,0.000,0.044,3048,3254,1956,0,0,0,0,0,0
$GC,7010,0.99,283.8,281.7,10.6,278,7015,0.12,2.65,0.00,0.000,6,0.067,0.032,3100,1651,1954,0,0,0,0,0,0
$GC,7286,0.91,283.8,249.9,11.5,285,7288,0.20,0.00,0.00,0.000,6,0.102,0.000,3059,1651,1954,0,0,0,0,0,0
$GC,7527,0.93,307.3,228.3,9.0,291,7555,0.00,2.53,20.60,0.672,4,0.000,0.054,3060,173,1867,0,0,0,0,0,0
$GC,7634,0.93,307.3,216.2,11.4,293,7638,0.00,2.38,0.00,0.000,6,0.000,0.022,3060,1672,1866,0,0,0,0,0,0
$GC,7897,0.93,307.3,186.8,10.8,308,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1676,1863,0,0,0,0,0,0
$GC,8153,0.94,313.7,160.6,9.7,332,8163,0.00,0.00,6.43,0.515,6,0.000,0.000,3060,1676,1841,0,0,0,0,0,0
$GC,8423,1.01,369.5,136.9,7.4,357,8482,0.00,2.60,49.33,0.605,4,0.000,0.048,3059,171,1612,0,0,0,0,0,0
$GC,8498,1.03,387.2,130.3,9.2,364,8528,0.08,2.38,16.73,0.565,6,0.038,0.021,3113,1657,1540,0,0,0,0,0,0
$GC,8782,1.03,387.2,96.2,11.8,391,8787,0.12,2.58,0.00,0.000,4,0.114,0.035,3086,3250,1534,0,0,0,0,0,0
$GC,8860,1.19,388.3,87.8,10.0,398,8865,0.12,2.60,0.00,0.000,6,0.064,0.028,3140,1647,1532,0,0,0,0,0,0
$GC,9124,1.11,388.3,51.9,14.7,422,9133,0.17,0.00,0.00,0.000,6,0.105,0.000,3104,1647,1532,0,0,0,0,0,0
$GC,9404,1.11,388.3,16.9,12.2,455,9413,0.00,2.62,0.00,0.000,4,0.000,0.034,3104,3251,1531,0,0,0,0,0,0
$GC,9434,1.11,388.3,13.2,12.1,459,9443,0.00,2.58,0.00,0.000,6,0.000,0.025,3104,1657,1531,0,0,0,0,0,0
$STATE,9507,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,0.9,1.023543
$STATE,9546,end surface coast,CONTROL_FINISHED_OK
$STATE,9549,begin surface
$SM_CCo,9569,30.58,0.061,0,0,1285,450.13
$SM_GC,1.29,0.00,0.00,30.58,0.000,0.000,0.061,412,1863,1285,-11.26,2.06,450.13
$IRIDIUM_FIX,2241.69,-15802.37,240200,000032
$TT8_MAMPS,0.026845
$HUMID,43.73
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.6,23.073
$10V_AH,10.4,19.403
$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,30.325,121.025,453.350,30.575,0.000,27.167,44.489,286.819,0.000,0.000,13.816,996.401,6157.588,515.847,1779.011,643.096,33.365,1279.226,0.000,1791.427,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,69.797,876.681,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.658,296.073,368.878,535.004,946.075,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,38385,476
$CAP_FILE_SIZE,113156,0
$CFSIZE,260165632,163536896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301110,061137,2249.599,-15800.199,31,0.9,31,10.1