version: 66.06
glider: 148
mission: 9
dive: 157
start: 11 30 110 20 8 25
data:
$ID,148
$MISSION,9
$DIVE,157
$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,-860991.19
$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,32
$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
$GPS1,195858,2247.259,-15758.017,7,4.0,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.6
$GPS2,200731,2247.236,-15758.029,43,1.7,43,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,0.027
$KALMAN_X,-66491.4,84.5,107.7,86663.3,-654.1
$KALMAN_Y,11886.0,234.1,-104.0,112700.1,-437.1
$MHEAD_RNG_PITCHd_Wd,266.0,8500,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-82.53,0.000,2,0.000,0.000,406,1854,3380,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.9,-6.8,11,131,11.43,2.42,-6.05,0.000,4,0.154,0.040,2574,3377,3717,0,0,0,0,0,0
$GC,273,-1.16,-146.0,41.4,-16.8,32,283,0.10,2.55,0.00,0.000,6,0.091,0.024,2600,1788,3719,0,0,0,0,0,0
$GC,540,-1.04,-146.0,81.2,-14.8,57,545,0.15,2.58,0.00,0.000,4,0.112,0.031,2632,3376,3719,0,0,0,0,0,0
$GC,582,-1.04,-146.0,87.2,-10.5,60,591,0.00,2.53,0.00,0.000,6,0.000,0.022,2632,1795,3720,0,0,0,0,0,0
$GC,849,-1.13,-146.0,112.2,-9.3,85,853,0.00,2.50,0.00,0.000,4,0.000,0.030,2632,3372,3720,0,0,0,0,0,0
$GC,910,-1.25,-146.0,118.5,-8.9,90,919,0.15,2.50,0.00,0.000,6,0.021,0.022,2550,1807,3721,0,0,0,0,0,0
$GC,1177,-1.14,-146.0,154.3,-14.6,115,1182,0.25,2.55,0.00,0.000,4,0.092,0.035,2608,207,3721,0,0,0,0,0,0
$GC,1246,-1.34,-146.0,162.1,-9.0,121,1252,0.17,2.50,0.00,0.000,6,0.049,0.019,2519,1820,3721,0,0,0,0,0,0
$GC,1537,-1.15,-146.0,206.4,-14.6,145,1542,0.40,2.42,0.00,0.000,4,0.088,0.028,2605,3363,3722,0,0,0,0,0,0
$GC,1591,-1.27,-146.0,212.1,-8.8,146,1595,0.00,2.45,0.00,0.000,6,0.000,0.022,2605,1808,3722,0,0,0,0,0,0
$GC,1869,-1.35,-146.0,239.3,-10.1,153,1874,0.17,2.58,0.00,0.000,4,0.051,0.042,2523,215,3722,0,0,0,0,0,0
$GC,1883,-1.35,-146.0,241.3,-10.7,153,1888,0.20,2.45,0.00,0.000,6,0.101,0.019,2566,1815,3722,0,0,0,0,0,0
$GC,2154,-1.35,-146.0,274.7,-12.1,160,2158,0.00,2.42,0.00,0.000,4,0.000,0.033,2566,3353,3722,0,0,0,0,0,0
$GC,2182,-1.35,-146.0,278.6,-12.7,160,2186,0.00,2.45,0.00,0.000,6,0.000,0.022,2565,1806,3722,0,0,0,0,0,0
$GC,2436,-1.35,-146.0,306.7,-10.9,167,2440,0.00,2.50,0.00,0.000,4,0.000,0.035,2565,3352,3722,0,0,0,0,0,0
$GC,2474,-1.35,-146.0,310.4,-10.1,167,2479,0.00,2.42,0.00,0.000,6,0.000,0.025,2565,1814,3722,0,0,0,0,0,0
$GC,2723,-1.35,-146.0,335.1,-10.1,174,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1814,3722,0,0,0,0,0,0
$GC,2967,-1.35,-146.0,361.1,-10.7,180,2971,0.00,2.53,0.00,0.000,4,0.000,0.039,2566,3357,3721,0,0,0,0,0,0
$GC,2987,-1.35,-146.0,363.0,-10.5,180,2991,0.00,2.47,0.00,0.000,6,0.000,0.026,2565,1810,3721,0,0,0,0,0,0
$GC,3250,-1.35,-146.0,387.7,-9.2,187,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1807,3720,0,0,0,0,0,0
$GC,3494,-1.35,-146.0,412.6,-10.4,193,3498,0.00,2.53,0.00,0.000,4,0.000,0.042,2566,3347,3719,0,0,0,0,0,0
$GC,3537,-1.44,-146.0,417.0,-10.7,194,3541,0.00,2.47,0.00,0.000,6,0.000,0.031,2565,1811,3719,0,0,0,0,0,0
$GC,3825,-1.44,-146.0,444.1,-9.1,201,3829,0.00,2.55,0.00,0.000,4,0.000,0.047,2565,3346,3717,0,0,0,0,0,0
$GC,3858,-1.50,-146.0,447.3,-8.9,201,3863,0.15,2.47,0.00,0.000,6,0.054,0.031,2479,1822,3717,0,0,0,0,0,0
$GC,4110,-1.30,-146.0,480.5,-13.7,207,4117,0.43,2.75,0.00,0.000,4,0.094,0.062,2569,214,3714,0,0,0,0,0,0
$GC,4164,-1.44,-146.0,486.8,-9.2,208,4169,0.10,2.55,0.00,0.000,6,0.079,0.032,2523,1790,3713,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4326,-0.31,0.0,503.1,10.6,212,4447,1.20,0.00,117.65,0.869,6,0.081,0.000,2790,1668,3120,0,0,0,0,0,0
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4450,1.28,146.0,507.3,0.0,215,4580,1.42,2.65,120.68,0.854,4,0.028,0.065,3155,195,2523,0,0,0,0,0,0
$GC,4588,0.97,222.3,507.8,6.5,218,4660,0.43,2.45,64.40,0.835,6,0.119,0.030,3072,1683,2212,0,0,0,0,0,0
$GC,4903,0.88,222.3,470.7,12.2,226,4908,0.00,2.60,0.00,0.000,4,0.000,0.059,3071,182,2204,0,0,0,0,0,0
$GC,4946,0.73,222.3,465.3,12.0,227,4952,0.25,2.45,0.00,0.000,6,0.118,0.028,3020,1684,2203,0,0,0,0,0,0
$GC,5234,0.85,270.0,441.3,7.8,234,5283,0.10,2.62,40.78,0.816,4,0.078,0.056,3069,189,2018,0,0,0,0,0,0
$GC,5301,0.75,270.0,435.1,10.5,235,5306,0.22,2.42,0.00,0.000,6,0.179,0.028,3022,1673,2017,0,0,0,0,0,0
$GC,5565,0.84,274.2,408.8,9.8,242,5574,0.00,2.70,3.85,0.499,4,0.000,0.048,3023,3261,2002,0,0,0,0,0,0
$GC,5614,0.98,287.1,404.1,9.4,243,5635,0.22,2.58,13.55,0.745,6,0.043,0.034,3111,1701,1948,0,0,0,0,0,0
$GC,5900,0.85,287.1,366.9,13.1,250,5907,0.28,2.62,0.00,0.000,4,0.099,0.063,3048,171,1943,0,0,0,0,0,0
$GC,5988,0.85,287.1,357.2,10.4,251,5993,0.00,2.42,0.00,0.000,6,0.000,0.025,3048,1681,1942,0,0,0,0,0,0
$GC,6237,0.85,291.5,332.7,9.8,258,6243,0.00,0.00,3.95,0.492,6,0.000,0.000,3048,1681,1931,0,0,0,0,0,0
$GC,6483,0.86,295.0,308.3,9.9,264,6494,0.00,2.62,4.78,0.542,4,0.000,0.041,3048,3252,1916,0,0,0,0,0,0
$GC,6518,0.94,297.0,304.6,9.9,264,6523,0.00,2.62,0.00,0.000,6,0.000,0.032,3048,1653,1915,0,0,0,0,0,0
$GC,6768,1.01,297.0,279.3,10.2,270,6770,0.12,0.00,0.00,0.000,6,0.065,0.000,3116,1652,1914,0,0,0,0,0,0
$GC,7013,0.89,297.0,247.4,13.4,276,7019,0.28,2.53,0.00,0.000,4,0.098,0.056,3054,163,1913,0,0,0,0,0,0
$GC,7062,0.89,297.0,241.5,10.8,277,7066,0.00,2.38,0.00,0.000,6,0.000,0.021,3054,1669,1912,0,0,0,0,0,0
$GC,7344,0.90,305.5,213.8,9.6,284,7360,0.00,2.60,10.35,0.607,4,0.000,0.050,3053,164,1873,0,0,0,0,0,0
$GC,7376,0.91,308.6,210.5,9.9,284,7389,0.00,2.38,4.62,0.475,6,0.000,0.022,3054,1663,1860,0,0,0,0,0,0
$GC,7640,0.97,308.6,183.1,10.2,300,7644,0.00,2.58,0.00,0.000,4,0.000,0.033,3054,3257,1858,0,0,0,0,0,0
$GC,7680,1.10,309.6,178.9,10.0,303,7690,0.15,2.62,0.00,0.000,6,0.026,0.028,3142,1657,1856,0,0,0,0,0,0
$GC,7943,0.94,309.6,142.5,14.0,328,7945,0.35,0.00,0.00,0.000,6,0.097,0.000,3067,1656,1856,0,0,0,0,0,0
$GC,8197,1.02,315.1,116.1,9.8,352,8211,0.00,2.45,6.80,0.489,4,0.000,0.044,3067,166,1834,0,0,0,0,0,0
$GC,8234,1.03,325.1,112.8,9.6,355,8256,0.00,2.35,10.25,0.526,6,0.000,0.021,3067,1666,1793,0,0,0,0,0,0
$GC,8511,1.20,348.3,88.9,9.0,381,8541,0.22,2.62,20.92,0.544,4,0.041,0.032,3176,3249,1698,0,0,0,0,0,0
$GC,8618,1.12,348.3,75.6,12.9,391,8630,0.32,2.55,0.00,0.000,6,0.090,0.028,3106,1663,1695,0,0,0,0,0,0
$GC,8884,1.12,348.3,47.6,10.2,416,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1664,1694,0,0,0,0,0,0
$GC,9156,1.12,348.3,18.1,11.9,448,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1664,1694,0,0,0,0,0,0
$STATE,9275,end climb,SURFACE_DEPTH_REACHED
$STATE,9276,begin surface coast
$FINISH,0.8,1.011715
$STATE,9319,end surface coast,CONTROL_FINISHED_OK
$STATE,9319,begin surface
$SM_CCo,9339,55.03,0.406,1,0,1283,450.13
$SM_GC,1.44,0.00,0.00,55.03,0.000,0.000,0.406,414,1872,1283,-11.25,2.32,450.13
$IRIDIUM_FIX,2241.69,-15759.32,240200,171759
$TT8_MAMPS,0.026845
$HUMID,42.28
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,23.786
$10V_AH,10.4,20.022
$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,30.225,116.325,422.575,55.025,0.000,29.973,35.497,287.550,0.500,0.000,44.786,983.810,5946.632,515.957,1842.489,629.275,33.366,1274.498,0.000,1818.327,0.000,0.538,0.000
$DEVICE_MAMPS,178.711,65.195,869.011,405.743,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.481,295.012,368.058,567.701,1004.328,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,38378,473
$CAP_FILE_SIZE,110953,0
$CFSIZE,260165632,163201024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301110,224613,2247.159,-15759.613,10,1.7,27,10.1