version: 66.06
glider: 148
mission: 9
dive: 153
start: 11 30 110 9 13 22
data:
$ID,148
$MISSION,9
$DIVE,153
$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,-860883
$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,42
$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
$GPS1,090328,2249.695,-15759.142,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.8
$GPS2,091228,2249.683,-15759.206,19,2.1,38,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,0.025
$KALMAN_X,-64505.4,-289.5,5.3,83126.1,-327.6
$KALMAN_Y,12772.5,-142.3,-538.1,117160.6,93.7
$MHEAD_RNG_PITCHd_Wd,74.3,3812,-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,17,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.97,0.000,2,0.000,0.000,418,1874,3390,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.6,-6.0,11,131,11.35,2.42,-5.88,0.000,4,0.154,0.040,2573,3370,3718,0,0,0,0,0,0
$GC,140,0.09,-146.0,17.4,-37.2,15,149,1.35,2.53,0.00,0.000,6,0.086,0.021,2872,1781,3719,0,0,0,0,0,0
$GC,433,-0.75,-146.0,40.6,-8.6,53,445,0.73,2.55,0.00,0.000,4,0.053,0.041,2696,217,3720,0,0,0,0,0,0
$GC,518,-1.41,-146.0,46.9,-6.2,60,531,0.57,2.53,0.00,0.000,6,0.035,0.017,2535,1874,3720,0,0,0,0,0,0
$GC,787,-1.16,-146.0,94.1,-17.1,85,792,0.30,2.38,0.00,0.000,4,0.095,0.029,2603,3374,3720,0,0,0,0,0,0
$GC,817,-1.06,-146.0,98.4,-13.5,87,822,0.12,2.42,0.00,0.000,6,0.109,0.021,2631,1815,3720,0,0,0,0,0,0
$GC,1085,-1.17,-146.0,122.2,-8.4,111,1089,0.12,2.50,0.00,0.000,4,0.065,0.030,2569,3370,3721,0,0,0,0,0,0
$GC,1134,-1.17,-146.0,128.0,-12.6,115,1139,0.15,2.42,0.00,0.000,6,0.098,0.022,2604,1820,3721,0,0,0,0,0,0
$GC,1400,-1.23,-146.0,154.2,-9.5,139,1405,0.00,2.60,0.00,0.000,4,0.000,0.038,2603,211,3722,0,0,0,0,0,0
$GC,1421,-1.30,-146.0,156.6,-9.7,140,1427,0.12,2.53,0.00,0.000,6,0.064,0.019,2539,1844,3722,0,0,0,0,0,0
$GC,1683,-1.19,-146.0,191.6,-13.5,165,1688,0.25,2.42,0.00,0.000,4,0.091,0.029,2598,3370,3722,0,0,0,0,0,0
$GC,1702,-1.12,-146.0,193.8,-13.0,166,1707,0.00,2.40,0.00,0.000,6,0.000,0.021,2598,1827,3722,0,0,0,0,0,0
$GC,1977,-1.20,-146.0,220.4,-9.7,177,1982,0.00,2.47,0.00,0.000,4,0.000,0.031,2598,3376,3723,0,0,0,0,0,0
$GC,2001,-1.27,-146.0,223.1,-10.6,177,2005,0.00,2.42,0.00,0.000,6,0.000,0.022,2598,1837,3723,0,0,0,0,0,0
$GC,2261,-1.34,-146.0,249.2,-10.2,184,2263,0.12,0.00,0.00,0.000,6,0.064,0.000,2537,1837,3723,0,0,0,0,0,0
$GC,2503,-1.25,-146.0,282.1,-13.6,190,2505,0.22,0.00,0.00,0.000,6,0.091,0.000,2587,1837,3722,0,0,0,0,0,0
$GC,2748,-1.32,-146.0,306.0,-9.3,196,2752,0.00,2.47,0.00,0.000,4,0.000,0.034,2587,3369,3722,0,0,0,0,0,0
$GC,2805,-1.46,-146.0,311.3,-9.3,197,2810,0.20,2.42,0.00,0.000,6,0.042,0.025,2505,1848,3722,0,0,0,0,0,0
$GC,3079,-1.32,-146.0,348.9,-13.9,204,3086,0.28,2.67,0.00,0.000,4,0.093,0.047,2569,220,3722,0,0,0,0,0,0
$GC,3128,-1.45,-146.0,355.3,-12.1,205,3133,0.12,2.55,0.00,0.000,6,0.064,0.024,2512,1842,3722,0,0,0,0,0,0
$GC,3413,-1.34,-146.0,394.4,-14.1,212,3420,0.25,2.72,0.00,0.000,4,0.094,0.051,2571,224,3721,0,0,0,0,0,0
$GC,3439,-1.41,-146.0,398.0,-11.9,212,3444,0.00,2.55,0.00,0.000,6,0.000,0.028,2571,1828,3720,0,0,0,0,0,0
$GC,3701,-1.48,-146.0,422.0,-9.0,219,3706,0.15,2.55,0.00,0.000,4,0.056,0.046,2499,3369,3719,0,0,0,0,0,0
$GC,3739,-1.38,-146.0,426.5,-11.5,219,3745,0.28,2.42,0.00,0.000,6,0.089,0.029,2561,1850,3719,0,0,0,0,0,0
$GC,3988,-1.38,-146.0,449.5,-8.9,226,3993,0.00,2.55,0.00,0.000,4,0.000,0.050,2560,3374,3716,0,0,0,0,0,0
$GC,4018,-1.38,-146.0,452.4,-9.4,226,4022,0.00,2.45,0.00,0.000,6,0.000,0.029,2560,1856,3716,0,0,0,0,0,0
$GC,4272,-1.38,-146.0,474.2,-8.5,233,4277,0.00,2.53,0.00,0.000,4,0.000,0.050,2561,3366,3714,0,0,0,0,0,0
$GC,4300,-1.38,-146.0,476.7,-8.7,233,4305,0.00,2.45,0.00,0.000,6,0.000,0.030,2560,1850,3714,0,0,0,0,0,0
$GC,4555,-1.38,-146.0,498.5,-8.7,240,4559,0.00,2.78,0.00,0.000,4,0.000,0.064,2560,227,3712,0,0,0,0,0,0
$STATE,4567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4567,begin apogee
$GC,4575,-0.31,0.0,500.1,8.9,240,4696,1.00,0.00,117.25,0.870,6,0.081,0.000,2788,1685,3120,0,0,0,0,0,0
$STATE,4696,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4700,1.28,146.0,504.3,0.0,243,4830,1.48,2.65,120.78,0.856,4,0.028,0.049,3149,3254,2522,0,0,0,0,0,0
$GC,4907,0.97,152.3,501.3,9.7,248,4920,0.38,2.60,5.70,0.627,6,0.108,0.036,3073,1694,2499,0,0,0,0,0,0
$GC,5181,0.91,206.7,480.7,7.5,255,5234,0.00,2.75,46.55,0.834,4,0.000,0.071,3073,173,2277,0,0,0,0,0,0
$GC,5360,0.74,206.7,461.0,12.3,259,5366,0.25,2.42,0.00,0.000,6,0.105,0.027,3021,1666,2271,0,0,0,0,0,0
$GC,5648,0.80,257.2,437.7,7.7,266,5698,0.00,2.78,43.88,0.817,4,0.000,0.048,3021,3257,2069,0,0,0,0,0,0
$GC,5715,0.93,305.1,432.5,7.8,267,5764,0.17,2.67,43.15,0.805,6,0.054,0.035,3085,1665,1876,0,0,0,0,0,0
$GC,6019,0.85,305.1,394.1,12.8,275,6026,0.17,2.70,0.00,0.000,4,0.104,0.046,3048,3260,1866,0,0,0,0,0,0
$GC,6037,0.85,305.1,391.6,13.6,275,6042,0.00,2.65,0.00,0.000,6,0.000,0.034,3047,1664,1864,0,0,0,0,0,0
$GC,6306,0.85,305.1,360.4,11.8,282,6310,0.00,2.58,0.00,0.000,4,0.000,0.064,3047,166,1862,0,0,0,0,0,0
$GC,6338,0.85,305.1,356.2,13.1,282,6342,0.00,2.40,0.00,0.000,6,0.000,0.025,3047,1671,1862,0,0,0,0,0,0
$GC,6589,0.85,305.1,328.9,10.7,288,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1672,1860,0,0,0,0,0,0
$GC,6831,0.88,325.1,306.4,9.1,294,6849,0.00,0.00,16.12,0.714,6,0.000,0.000,3047,1673,1794,0,0,0,0,0,0
$GC,7075,0.95,325.1,281.8,10.4,300,7079,0.00,2.62,0.00,0.000,4,0.000,0.041,3047,3257,1788,0,0,0,0,0,0
$GC,7114,1.07,325.1,277.9,10.2,300,7120,0.20,2.65,0.00,0.000,6,0.048,0.031,3129,1651,1787,0,0,0,0,0,0
$GC,7364,0.92,325.1,240.9,14.9,307,7369,0.30,2.50,0.00,0.000,4,0.095,0.054,3060,174,1786,0,0,0,0,0,0
$GC,7411,0.92,325.1,234.2,13.3,308,7415,0.00,2.38,0.00,0.000,6,0.000,0.023,3061,1675,1786,0,0,0,0,0,0
$GC,7694,0.92,325.1,201.5,11.5,315,7698,0.00,2.53,0.00,0.000,4,0.000,0.034,3060,3253,1785,0,0,0,0,0,0
$GC,7722,1.00,325.1,198.2,11.4,315,7727,0.00,2.60,0.00,0.000,6,0.000,0.029,3060,1653,1784,0,0,0,0,0,0
$GC,7994,1.06,325.1,168.7,11.4,340,8000,0.12,0.00,0.00,0.000,6,0.067,0.000,3120,1653,1784,0,0,0,0,0,0
$GC,8260,0.99,325.1,131.8,13.1,365,8265,0.20,2.45,0.00,0.000,4,0.098,0.045,3076,169,1784,0,0,0,0,0,0
$GC,8310,0.99,325.1,125.8,11.3,369,8314,0.00,2.33,0.00,0.000,6,0.000,0.021,3076,1669,1783,0,0,0,0,0,0
$GC,8577,1.12,354.7,99.3,8.7,394,8610,0.12,2.60,25.23,0.561,4,0.065,0.032,3147,3256,1673,0,0,0,0,0,0
$GC,8677,1.12,354.7,88.6,12.0,403,8682,0.20,2.58,0.00,0.000,6,0.095,0.028,3103,1655,1669,0,0,0,0,0,0
$GC,8944,1.12,354.7,60.2,10.1,427,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1655,1668,0,0,0,0,0,0
$GC,9209,1.12,354.7,31.5,11.1,452,9213,0.00,2.58,0.00,0.000,4,0.000,0.033,3103,3256,1668,0,0,0,0,0,0
$GC,9240,1.14,371.7,28.6,9.2,455,9264,0.00,2.58,16.15,0.479,6,0.000,0.027,3103,1665,1602,0,0,0,0,0,0
$STATE,9448,end climb,SURFACE_DEPTH_REACHED
$STATE,9448,begin surface coast
$FINISH,0.6,1.023513
$STATE,9481,end surface coast,CONTROL_FINISHED_OK
$STATE,9481,begin surface
$SM_CCo,9501,43.38,0.386,1,0,1284,450.13
$SM_GC,1.51,0.00,0.00,43.38,0.000,0.000,0.386,411,1834,1284,-11.27,1.24,450.13
$IRIDIUM_FIX,2239.35,-15759.32,240200,060628
$TT8_MAMPS,0.026845
$HUMID,42.43
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,23.320
$10V_AH,10.4,19.626
$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,32.150,126.850,434.800,43.375,0.000,24.428,36.668,318.150,0.250,0.000,41.299,1016.874,5979.223,524.484,1912.349,656.807,33.370,1285.957,0.000,1893.210,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,71.331,869.778,385.801,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.437,308.273,387.666,612.323,1083.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,38406,492
$CAP_FILE_SIZE,113828,0
$CFSIZE,260165632,163422208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301110,115336,2249.702,-15758.118,9,1.2,25,10.1