version: 66.06
glider: 148
mission: 9
dive: 115
start: 11 25 110 22 49 33
data:
$ID,148
$MISSION,9
$DIVE,115
$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,-859916.81
$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,32
$R_STBD_OVSHOOT,91
$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
$GPS1,224254,2249.229,-15757.199,40,1.0,54,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.9
$GPS2,224838,2249.234,-15757.180,12,1.0,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.053,-0.255
$KALMAN_X,-54478.3,-45.2,-100.8,76447.3,-41.5
$KALMAN_Y,20385.9,-70.7,377.2,107727.7,336.4
$MHEAD_RNG_PITCHd_Wd,181.6,4271,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-83.07,0.000,2,0.000,0.000,415,1846,3385,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.7,-6.0,11,134,11.38,2.67,-5.82,0.000,4,0.155,0.054,2570,204,3718,0,0,0,0,0,0
$GC,199,-1.20,-146.0,29.3,-18.5,24,208,0.10,2.42,0.00,0.000,6,0.086,0.020,2596,1738,3720,0,0,0,0,0,0
$GC,467,-1.08,-146.0,71.8,-16.2,49,472,0.12,2.55,0.00,0.000,4,0.121,0.032,2622,3322,3720,0,0,0,0,0,0
$GC,522,-1.08,-146.0,81.6,-13.9,53,528,0.00,2.42,0.00,0.000,6,0.000,0.022,2622,1782,3721,0,0,0,0,0,0
$GC,783,-1.08,-146.0,116.4,-11.3,78,787,0.00,2.47,0.00,0.000,4,0.000,0.031,2622,3325,3721,0,0,0,0,0,0
$GC,827,-1.17,-146.0,121.3,-10.5,81,832,0.00,2.38,0.00,0.000,6,0.000,0.021,2622,1796,3722,0,0,0,0,0,0
$GC,1089,-1.27,-146.0,146.2,-9.1,106,1094,0.17,2.47,0.00,0.000,4,0.050,0.032,2546,3329,3722,0,0,0,0,0,0
$GC,1167,-1.20,-146.0,155.4,-11.9,113,1172,0.22,2.35,0.00,0.000,6,0.088,0.022,2597,1817,3722,0,0,0,0,0,0
$GC,1428,-1.20,-146.0,181.3,-9.5,137,1432,0.00,2.58,0.00,0.000,4,0.000,0.041,2597,207,3724,0,0,0,0,0,0
$GC,1444,-1.20,-146.0,182.8,-10.2,138,1449,0.00,2.42,0.00,0.000,6,0.000,0.018,2597,1790,3724,0,0,0,0,0,0
$GC,1714,-1.27,-146.0,208.0,-9.3,157,1718,0.00,2.50,0.00,0.000,4,0.000,0.031,2597,3360,3724,0,0,0,0,0,0
$GC,1767,-1.39,-146.0,213.1,-9.6,158,1772,0.17,2.42,0.00,0.000,6,0.049,0.023,2505,1816,3724,0,0,0,0,0,0
$GC,2045,-1.18,-146.0,256.6,-16.3,165,2052,0.45,2.58,0.00,0.000,4,0.091,0.038,2598,211,3724,0,0,0,0,0,0
$GC,2071,-1.18,-146.0,260.0,-11.5,165,2075,0.00,2.50,0.00,0.000,6,0.000,0.021,2598,1815,3724,0,0,0,0,0,0
$GC,2332,-1.28,-146.0,283.2,-9.0,172,2336,0.00,2.47,0.00,0.000,4,0.000,0.034,2598,3364,3724,0,0,0,0,0,0
$GC,2379,-1.43,-146.0,287.3,-7.9,173,2384,0.20,2.42,0.00,0.000,6,0.042,0.025,2503,1836,3723,0,0,0,0,0,0
$GC,2663,-1.26,-146.0,321.9,-12.4,180,2670,0.38,2.65,0.00,0.000,4,0.090,0.043,2581,206,3724,0,0,0,0,0,0
$GC,2699,-1.41,-146.0,326.2,-9.9,180,2704,0.12,2.53,0.00,0.000,6,0.064,0.024,2520,1819,3724,0,0,0,0,0,0
$GC,2949,-1.33,-146.0,356.8,-12.6,186,2954,0.22,2.53,0.00,0.000,4,0.094,0.041,2569,3363,3724,0,0,0,0,0,0
$GC,2979,-1.33,-146.0,360.0,-9.9,186,2984,0.00,2.45,0.00,0.000,6,0.000,0.027,2569,1825,3723,0,0,0,0,0,0
$GC,3234,-1.39,-146.0,382.2,-9.1,193,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1824,3722,0,0,0,0,0,0
$GC,3478,-1.45,-146.0,405.6,-9.6,199,3483,0.12,2.58,0.00,0.000,4,0.067,0.048,2516,3361,3721,0,0,0,0,0,0
$GC,3523,-1.45,-146.0,410.5,-11.7,200,3528,0.12,2.45,0.00,0.000,6,0.110,0.029,2543,1828,3721,0,0,0,0,0,0
$GC,3810,-1.45,-146.0,441.7,-10.9,207,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1828,3718,0,0,0,0,0,0
$GC,4055,-1.45,-146.0,467.8,-10.5,213,4060,0.00,2.60,0.00,0.000,4,0.000,0.054,2543,3367,3717,0,0,0,0,0,0
$GC,4073,-1.45,-146.0,470.0,-10.7,213,4078,0.00,2.47,0.00,0.000,6,0.000,0.028,2543,1831,3717,0,0,0,0,0,0
$GC,4337,-1.45,-146.0,497.7,-10.6,220,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1831,3714,0,0,0,0,0,0
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4381,-0.31,0.0,502.0,10.6,221,4503,1.12,0.00,118.38,0.871,6,0.084,0.000,2793,1664,3120,0,0,0,0,0,0
$STATE,4504,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4507,1.28,146.0,507.5,0.0,224,4638,1.40,2.67,121.43,0.856,4,0.029,0.070,3138,185,2524,0,0,0,0,0,0
$GC,4832,0.87,146.0,487.0,13.7,231,4840,0.43,2.40,0.00,0.000,6,0.117,0.029,3053,1670,2516,0,0,0,0,0,0
$GC,5106,0.83,174.8,462.6,8.7,238,5135,0.00,2.62,24.05,0.811,4,0.000,0.059,3053,180,2406,0,0,0,0,0,0
$GC,5219,0.71,188.0,451.5,9.4,240,5238,0.17,2.42,12.62,0.755,6,0.114,0.028,3017,1684,2353,0,0,0,0,0,0
$GC,5483,0.80,262.8,433.9,6.6,247,5555,0.00,2.70,64.40,0.824,4,0.000,0.049,3016,3258,2047,0,0,0,0,0,0
$GC,5567,0.93,301.1,427.7,8.3,249,5610,0.20,2.60,35.15,0.796,6,0.045,0.034,3098,1695,1891,0,0,0,0,0,0
$GC,5856,0.83,301.1,389.3,13.7,256,5863,0.25,2.65,0.00,0.000,4,0.105,0.062,3043,164,1883,0,0,0,0,0,0
$GC,5886,0.83,301.1,384.9,12.1,256,5891,0.00,2.45,0.00,0.000,6,0.000,0.026,3043,1687,1883,0,0,0,0,0,0
$GC,6142,0.84,309.6,360.3,9.6,263,6154,0.00,2.67,6.82,0.638,4,0.000,0.047,3043,3261,1857,0,0,0,0,0,0
$GC,6164,0.90,353.2,358.2,8.0,263,6210,0.00,2.60,39.83,0.770,6,0.000,0.031,3043,1679,1679,0,0,0,0,0,0
$GC,6469,0.96,353.2,325.9,11.1,271,6474,0.12,2.67,0.00,0.000,4,0.067,0.043,3095,3257,1672,0,0,0,0,0,0
$GC,6521,0.96,353.2,318.5,14.4,272,6526,0.12,2.60,0.00,0.000,6,0.113,0.032,3069,1688,1670,0,0,0,0,0,0
$GC,6799,0.96,353.2,283.0,12.6,279,6803,0.00,2.58,0.00,0.000,4,0.000,0.060,3069,164,1668,0,0,0,0,0,0
$GC,6814,0.96,353.2,281.3,12.3,279,6818,0.00,2.47,0.00,0.000,6,0.000,0.022,3069,1718,1668,0,0,0,0,0,0
$GC,7083,0.96,353.2,248.9,12.2,286,7087,0.00,2.50,0.00,0.000,4,0.000,0.042,3069,3251,1666,0,0,0,0,0,0
$GC,7106,0.96,353.2,245.8,12.9,286,7110,0.00,2.55,0.00,0.000,6,0.000,0.030,3069,1690,1665,0,0,0,0,0,0
$GC,7366,0.96,353.2,213.6,12.8,293,7371,0.00,2.58,0.00,0.000,4,0.000,0.038,3069,3253,1665,0,0,0,0,0,0
$GC,7399,1.03,353.2,208.9,14.3,293,7403,0.00,2.50,0.00,0.000,6,0.000,0.029,3069,1701,1664,0,0,0,0,0,0
$GC,7656,1.03,353.2,176.0,12.7,311,7660,0.00,2.55,0.00,0.000,4,0.000,0.037,3069,3259,1664,0,0,0,0,0,0
$GC,7693,1.09,353.2,171.8,12.6,314,7698,0.12,2.50,0.00,0.000,6,0.067,0.028,3129,1709,1663,0,0,0,0,0,0
$GC,7953,1.00,353.2,130.8,16.3,338,7959,0.22,2.53,0.00,0.000,4,0.102,0.046,3080,176,1663,0,0,0,0,0,0
$GC,7985,1.00,353.2,125.7,15.8,340,7994,0.00,2.45,0.00,0.000,6,0.000,0.022,3080,1714,1662,0,0,0,0,0,0
$GC,8251,1.06,353.2,94.2,10.5,365,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1714,1662,0,0,0,0,0,0
$GC,8517,1.19,365.6,69.8,9.5,390,8533,0.15,2.60,9.50,0.492,4,0.056,0.044,3158,175,1628,0,0,0,0,0,0
$GC,8555,1.04,365.6,64.9,14.6,393,8561,0.32,2.45,0.00,0.000,6,0.107,0.021,3090,1725,1628,0,0,0,0,0,0
$GC,8824,1.04,365.6,35.5,11.2,417,8828,0.00,2.45,0.00,0.000,4,0.000,0.035,3090,3264,1627,0,0,0,0,0,0
$GC,8842,1.12,365.6,33.0,11.2,418,8847,0.00,2.45,0.00,0.000,6,0.000,0.024,3090,1709,1627,0,0,0,0,0,0
$STATE,9102,end climb,SURFACE_DEPTH_REACHED
$STATE,9102,begin surface coast
$FINISH,0.7,1.012130
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9161,47.17,0.400,1,0,1284,450.13
$SM_GC,1.63,0.00,0.00,47.17,0.000,0.000,0.400,406,1857,1284,-11.29,1.89,450.13
$IRIDIUM_FIX,2239.35,-15754.99,190200,202001
$TT8_MAMPS,0.026845
$HUMID,42.36
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.6,18.819
$10V_AH,10.4,15.685
$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,29.275,126.500,432.175,47.175,0.000,29.484,36.762,149.054,0.750,0.000,13.633,984.531,5776.756,507.678,1811.112,480.895,33.365,1262.710,0.000,1813.639,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,69.797,871.312,400.374,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.266,286.225,361.063,546.091,962.885,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,35283,463
$CAP_FILE_SIZE,110084,0
$CFSIZE,260165632,165494784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,012416,2247.968,-15757.625,10,5.4,29,10.1