version: 66.06
glider: 148
mission: 9
dive: 155
start: 11 30 110 14 41 19
data:
$ID,148
$MISSION,9
$DIVE,155
$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,-860930.69
$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,21
$R_STBD_OVSHOOT,47
$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
$GPS1,143107,2249.955,-15757.073,47,1.2,47,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.8
$GPS2,144025,2249.978,-15757.054,15,1.1,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.087,-0.245
$KALMAN_X,-65263.6,-244.5,-159.8,87707.5,188.8
$KALMAN_Y,11733.1,67.9,431.8,117564.8,-466.9
$MHEAD_RNG_PITCHd_Wd,189.4,5660,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.20,0.000,2,0.000,0.000,410,1858,3351,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.5,-5.5,11,130,11.93,2.72,-6.68,0.000,4,0.173,0.046,2574,189,3717,0,0,0,0,0,0
$GC,239,-1.28,-146.0,33.5,-15.8,29,243,0.00,2.47,0.00,0.000,6,0.000,0.021,2574,1786,3719,0,0,0,0,0,0
$GC,506,-1.09,-146.0,77.6,-18.9,53,511,0.22,2.53,0.00,0.000,4,0.101,0.031,2622,3376,3719,0,0,0,0,0,0
$GC,550,-1.09,-146.0,85.0,-12.0,56,559,0.00,2.55,0.00,0.000,6,0.000,0.024,2622,1787,3720,0,0,0,0,0,0
$GC,815,-1.09,-146.0,111.8,-10.0,81,820,0.00,2.53,0.00,0.000,4,0.000,0.029,2622,3368,3720,0,0,0,0,0,0
$GC,876,-1.22,-146.0,118.6,-10.3,86,885,0.10,2.47,0.00,0.000,6,0.028,0.022,2522,1815,3721,0,0,0,0,0,0
$GC,1137,-1.02,-146.0,160.3,-15.4,111,1150,0.50,2.58,0.00,0.000,4,0.090,0.036,2635,204,3721,0,0,0,0,0,0
$GC,1196,-1.32,-146.0,166.9,-8.8,116,1202,0.25,2.50,0.00,0.000,6,0.037,0.018,2521,1823,3722,0,0,0,0,0,0
$GC,1477,-1.15,-146.0,206.1,-14.6,140,1483,0.35,2.42,0.00,0.000,4,0.087,0.031,2602,3359,3722,0,0,0,0,0,0
$GC,1527,-1.27,-146.0,211.1,-8.6,141,1531,0.00,2.45,0.00,0.000,6,0.000,0.022,2602,1795,3722,0,0,0,0,0,0
$GC,1809,-1.37,-146.0,235.8,-8.8,148,1811,0.17,0.00,0.00,0.000,6,0.051,0.000,2527,1795,3723,0,0,0,0,0,0
$GC,2052,-1.24,-146.0,268.0,-13.2,154,2058,0.25,2.53,0.00,0.000,4,0.091,0.031,2587,3360,3723,0,0,0,0,0,0
$GC,2073,-1.24,-146.0,270.7,-13.0,154,2078,0.00,2.45,0.00,0.000,6,0.000,0.022,2587,1795,3722,0,0,0,0,0,0
$GC,2337,-1.32,-146.0,295.8,-9.2,161,2342,0.00,2.50,0.00,0.000,4,0.000,0.033,2587,3361,3723,0,0,0,0,0,0
$GC,2384,-1.43,-146.0,299.4,-7.5,162,2389,0.15,2.42,0.00,0.000,6,0.053,0.025,2496,1823,3722,0,0,0,0,0,0
$GC,2669,-1.24,-146.0,336.6,-13.9,169,2676,0.43,2.65,0.00,0.000,4,0.087,0.048,2586,207,3722,0,0,0,0,0,0
$GC,2686,-1.24,-146.0,339.1,-11.8,169,2690,0.00,2.50,0.00,0.000,6,0.000,0.023,2586,1804,3722,0,0,0,0,0,0
$GC,2956,-1.34,-146.0,362.7,-9.1,176,2960,0.00,2.55,0.00,0.000,4,0.000,0.042,2585,3364,3721,0,0,0,0,0,0
$GC,2971,-1.42,-146.0,364.4,-9.7,176,2976,0.15,2.47,0.00,0.000,6,0.054,0.034,2501,1816,3722,0,0,0,0,0,0
$GC,3240,-1.26,-146.0,402.7,-14.4,183,3247,0.40,2.58,0.00,0.000,4,0.087,0.043,2581,3367,3719,0,0,0,0,0,0
$GC,3262,-1.26,-146.0,405.4,-12.0,183,3267,0.00,2.50,0.00,0.000,6,0.000,0.028,2581,1816,3720,0,0,0,0,0,0
$GC,3527,-1.37,-146.0,428.9,-8.7,190,3531,0.00,2.58,0.00,0.000,4,0.000,0.046,2581,3365,3718,0,0,0,0,0,0
$GC,3546,-1.46,-146.0,430.8,-9.5,190,3551,0.17,2.50,0.00,0.000,6,0.048,0.029,2493,1818,3717,0,0,0,0,0,0
$GC,3812,-1.30,-146.0,464.8,-13.2,197,3819,0.38,2.60,0.00,0.000,4,0.089,0.048,2574,3368,3716,0,0,0,0,0,0
$GC,3829,-1.24,-146.0,467.3,-12.4,197,3833,0.00,2.47,0.00,0.000,6,0.000,0.027,2575,1816,3716,0,0,0,0,0,0
$GC,4099,-1.34,-146.0,487.8,-7.3,204,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1816,3713,0,0,0,0,0,0
$STATE,4257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4257,begin apogee
$GC,4263,-0.31,0.0,501.2,8.3,208,4383,0.95,0.00,117.22,0.865,6,0.076,0.000,2790,1675,3120,0,0,0,0,0,0
$STATE,4384,end apogee,CONTROL_FINISHED_OK
$STATE,4384,begin climb
$GC,4386,1.28,146.0,506.5,0.0,211,4517,1.42,2.65,120.30,0.854,4,0.028,0.069,3154,178,2522,0,0,0,0,0,0
$GC,4536,0.85,202.9,508.4,7.4,214,4595,0.52,2.42,48.08,0.831,6,0.112,0.028,3048,1674,2290,0,0,0,0,0,0
$GC,4838,0.87,216.4,481.4,9.4,222,4855,0.00,2.62,11.65,0.749,4,0.000,0.061,3048,185,2237,0,0,0,0,0,0
$GC,4912,0.79,216.4,473.1,12.1,223,4917,0.00,2.42,0.00,0.000,6,0.000,0.028,3048,1668,2234,0,0,0,0,0,0
$GC,5168,0.80,227.5,447.8,9.5,230,5184,0.00,2.62,10.20,0.732,4,0.000,0.058,3048,183,2191,0,0,0,0,0,0
$GC,5208,0.72,227.5,443.7,10.5,230,5215,0.15,2.40,0.00,0.000,6,0.127,0.028,3018,1673,2190,0,0,0,0,0,0
$GC,5460,0.87,295.8,425.8,6.9,237,5523,0.12,0.00,60.40,0.818,6,0.066,0.000,3082,1673,1914,0,0,0,0,0,0
$GC,5747,0.80,295.8,390.6,13.2,244,5754,0.22,2.70,0.00,0.000,4,0.103,0.048,3036,3265,1905,0,0,0,0,0,0
$GC,5768,0.80,295.8,387.5,12.1,244,5773,0.00,2.62,0.00,0.000,6,0.000,0.033,3035,1677,1903,0,0,0,0,0,0
$GC,6034,0.87,295.8,358.3,10.7,251,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1677,1902,0,0,0,0,0,0
$GC,6276,0.95,308.7,334.8,9.4,257,6293,0.12,2.65,10.82,0.696,4,0.066,0.065,3099,164,1860,0,0,0,0,0,0
$GC,6347,0.82,308.7,325.8,14.0,258,6353,0.28,2.42,0.00,0.000,6,0.101,0.025,3042,1677,1860,0,0,0,0,0,0
$GC,6612,0.90,315.0,299.5,9.7,265,6625,0.00,2.67,6.57,0.607,4,0.000,0.043,3042,3253,1835,0,0,0,0,0,0
$GC,6655,1.00,315.0,295.2,10.4,265,6661,0.15,2.62,0.00,0.000,6,0.057,0.032,3112,1667,1833,0,0,0,0,0,0
$GC,6904,0.89,315.0,261.8,13.6,272,6910,0.25,2.62,0.00,0.000,4,0.104,0.039,3057,3254,1832,0,0,0,0,0,0
$GC,6930,0.89,315.0,258.6,11.0,272,6934,0.00,2.58,0.00,0.000,6,0.000,0.031,3056,1681,1830,0,0,0,0,0,0
$GC,7189,0.89,320.4,233.2,9.8,279,7201,0.00,2.60,5.57,0.542,4,0.000,0.054,3056,169,1812,0,0,0,0,0,0
$GC,7229,0.89,320.4,228.3,11.8,279,7235,0.00,2.40,0.00,0.000,6,0.000,0.023,3056,1691,1812,0,0,0,0,0,0
$GC,7479,0.89,320.4,200.7,10.9,286,7483,0.00,2.53,0.00,0.000,4,0.000,0.035,3056,3262,1811,0,0,0,0,0,0
$GC,7508,0.98,320.4,197.5,11.1,286,7513,0.00,2.58,0.00,0.000,6,0.000,0.029,3056,1669,1809,0,0,0,0,0,0
$GC,7775,1.04,320.4,170.2,10.1,311,7780,0.12,2.50,0.00,0.000,4,0.067,0.048,3120,167,1809,0,0,0,0,0,0
$GC,7805,0.94,320.4,167.0,13.4,313,7811,0.25,2.38,0.00,0.000,6,0.099,0.023,3066,1683,1809,0,0,0,0,0,0
$GC,8070,0.94,320.4,139.6,10.3,337,8075,0.00,2.53,0.00,0.000,4,0.000,0.034,3066,3266,1809,0,0,0,0,0,0
$GC,8098,1.01,320.4,136.5,10.3,339,8102,0.00,2.55,0.00,0.000,6,0.000,0.028,3066,1674,1808,0,0,0,0,0,0
$GC,8366,1.10,333.6,113.1,9.4,363,8384,0.15,2.60,12.20,0.542,4,0.057,0.032,3147,3267,1759,0,0,0,0,0,0
$GC,8389,1.10,333.6,109.6,11.2,365,8396,0.22,2.55,0.00,0.000,6,0.101,0.025,3100,1677,1758,0,0,0,0,0,0
$GC,8658,1.10,333.6,78.8,10.5,390,8662,0.00,2.55,0.00,0.000,4,0.000,0.031,3100,3261,1756,0,0,0,0,0,0
$GC,8743,1.20,333.6,69.2,10.7,397,8747,0.00,2.50,0.00,0.000,6,0.000,0.025,3100,1701,1755,0,0,0,0,0,0
$GC,9011,1.20,333.6,38.2,11.2,421,9016,0.00,2.50,0.00,0.000,4,0.000,0.044,3100,172,1755,0,0,0,0,0,0
$GC,9064,1.21,339.4,32.9,9.8,425,9078,0.10,2.38,6.55,0.423,6,0.078,0.020,3155,1708,1735,0,0,0,0,0,0
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9286,begin surface coast
$FINISH,0.7,1.001439
$STATE,9318,end surface coast,CONTROL_FINISHED_OK
$STATE,9318,begin surface
$SM_CCo,9338,59.17,0.413,1,0,1284,450.13
$SM_GC,1.53,0.00,0.00,59.17,0.000,0.000,0.413,410,1870,1284,-11.27,2.26,450.13
$IRIDIUM_FIX,2241.69,-15757.16,240200,121209
$TT8_MAMPS,0.026845
$HUMID,42.95
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.70
$XPDR_PINGS,4
$24V_AH,23.6,23.549
$10V_AH,10.4,19.823
$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,31.625,132.000,409.575,59.175,0.000,30.602,34.442,341.856,1.000,0.000,34.320,987.029,6029.619,518.572,1753.614,674.554,33.367,1249.883,0.000,1733.783,0.000,0.538,0.000
$DEVICE_MAMPS,172.575,75.933,865.176,412.646,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.885,273.219,353.360,534.969,944.991,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,35245,463
$CAP_FILE_SIZE,114655,0
$CFSIZE,260165632,163315712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301110,171906,2248.781,-15757.631,8,1.2,24,10.1