version: 66.06
glider: 148
mission: 9
dive: 119
start: 11 26 110 9 41 15
data:
$ID,148
$MISSION,9
$DIVE,119
$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,-860020.81
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,092813,2246.482,-15800.964,15,1.5,31,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.9
$GPS2,094021,2246.491,-15800.936,12,2.1,31,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.245,0.086
$KALMAN_X,-55226.2,62.9,45.6,70473.3,-251.3
$KALMAN_Y,19439.0,21.0,23.3,103861.3,-145.7
$MHEAD_RNG_PITCHd_Wd,279.2,3649,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.35,0.000,2,0.000,0.000,408,1844,3220,0,0,0,0,0,0
$GC,99,-1.28,-146.0,3.5,-6.1,10,132,11.45,2.47,-9.35,0.000,4,0.156,0.044,2572,3361,3720,0,0,0,0,0,0
$GC,234,-1.13,-146.0,34.2,-15.8,28,243,0.15,2.53,0.00,0.000,6,0.083,0.024,2609,1788,3720,0,0,0,0,0,0
$GC,502,-1.04,-146.0,71.1,-13.7,53,507,0.10,2.55,0.00,0.000,4,0.134,0.033,2629,3361,3721,0,0,0,0,0,0
$GC,546,-1.04,-146.0,78.0,-14.3,56,550,0.00,2.47,0.00,0.000,6,0.000,0.021,2629,1782,3721,0,0,0,0,0,0
$GC,808,-1.04,-146.0,114.6,-13.1,80,812,0.00,2.53,0.00,0.000,4,0.000,0.031,2630,3368,3721,0,0,0,0,0,0
$GC,853,-1.04,-146.0,120.5,-12.3,84,858,0.00,2.45,0.00,0.000,6,0.000,0.021,2629,1802,3721,0,0,0,0,0,0
$GC,1118,-1.13,-146.0,145.8,-8.9,108,1122,0.00,2.50,0.00,0.000,4,0.000,0.029,2629,3370,3722,0,0,0,0,0,0
$GC,1136,-1.23,-146.0,147.1,-8.3,109,1141,0.15,2.45,0.00,0.000,6,0.054,0.021,2540,1809,3722,0,0,0,0,0,0
$GC,1401,-1.06,-146.0,188.0,-15.9,133,1410,0.43,2.55,0.00,0.000,4,0.087,0.036,2625,211,3722,0,0,0,0,0,0
$GC,1474,-1.29,-146.0,196.5,-9.1,140,1481,0.20,2.47,0.00,0.000,6,0.045,0.019,2533,1817,3722,0,0,0,0,0,0
$GC,1757,-1.17,-146.0,231.3,-12.1,150,1762,0.30,2.42,0.00,0.000,4,0.088,0.030,2603,3357,3722,0,0,0,0,0,0
$GC,1787,-1.23,-146.0,234.4,-8.7,150,1791,0.00,2.42,0.00,0.000,6,0.000,0.021,2603,1809,3723,0,0,0,0,0,0
$GC,2041,-1.33,-146.0,257.1,-9.2,157,2043,0.15,0.00,0.00,0.000,6,0.057,0.000,2531,1809,3723,0,0,0,0,0,0
$GC,2286,-1.23,-146.0,289.3,-13.4,163,2291,0.25,2.50,0.00,0.000,4,0.092,0.034,2589,3356,3723,0,0,0,0,0,0
$GC,2314,-1.23,-146.0,293.0,-10.4,163,2319,0.00,2.45,0.00,0.000,6,0.000,0.024,2589,1812,3723,0,0,0,0,0,0
$GC,2569,-1.32,-146.0,317.3,-9.7,170,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1812,3723,0,0,0,0,0,0
$GC,2814,-1.41,-146.0,338.0,-8.2,176,2819,0.15,2.53,0.00,0.000,4,0.057,0.039,2515,3349,3722,0,0,0,0,0,0
$GC,2861,-1.33,-146.0,343.5,-11.6,177,2867,0.25,2.42,0.00,0.000,6,0.089,0.026,2570,1816,3722,0,0,0,0,0,0
$GC,3146,-1.33,-146.0,368.4,-8.5,184,3150,0.00,2.53,0.00,0.000,4,0.000,0.044,2570,3346,3721,0,0,0,0,0,0
$GC,3184,-1.43,-146.0,371.9,-8.4,184,3189,0.00,2.45,0.00,0.000,6,0.000,0.029,2570,1823,3721,0,0,0,0,0,0
$GC,3433,-1.50,-146.0,396.5,-10.2,191,3438,0.15,2.55,0.00,0.000,4,0.058,0.048,2504,3345,3719,0,0,0,0,0,0
$GC,3454,-1.50,-146.0,399.2,-12.2,191,3459,0.12,2.45,0.00,0.000,6,0.111,0.028,2531,1819,3719,0,0,0,0,0,0
$GC,3718,-1.50,-146.0,432.8,-12.6,198,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1820,3717,0,0,0,0,0,0
$GC,3962,-1.50,-146.0,459.8,-10.7,204,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1819,3715,0,0,0,0,0,0
$GC,4207,-1.50,-146.0,484.7,-10.0,210,4211,0.00,2.58,0.00,0.000,4,0.000,0.054,2531,3350,3713,0,0,0,0,0,0
$GC,4244,-1.50,-146.0,488.7,-10.2,210,4249,0.00,2.45,0.00,0.000,6,0.000,0.031,2532,1830,3713,0,0,0,0,0,0
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4375,-0.31,0.0,501.3,10.0,214,4496,1.15,0.00,117.75,0.867,6,0.083,0.000,2789,1662,3119,0,0,0,0,0,0
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4501,1.28,146.0,505.6,0.0,217,4631,1.42,2.65,120.95,0.851,4,0.028,0.067,3149,191,2523,0,0,0,0,0,0
$GC,4671,0.80,146.0,503.9,10.2,221,4679,0.55,2.40,0.00,0.000,6,0.110,0.029,3037,1656,2519,0,0,0,0,0,0
$GC,4961,0.90,228.7,484.1,6.2,228,5033,0.00,0.00,69.82,0.841,6,0.000,0.000,3037,1657,2187,0,0,0,0,0,0
$GC,5248,0.93,248.8,460.0,9.1,235,5273,0.10,2.83,17.85,0.783,4,0.079,0.056,3083,3256,2104,0,0,0,0,0,0
$GC,5288,0.83,248.8,455.5,11.4,235,5294,0.20,2.62,0.00,0.000,6,0.100,0.035,3042,1694,2102,0,0,0,0,0,0
$GC,5538,0.83,249.5,430.3,10.0,242,5542,0.00,2.65,0.00,0.000,4,0.000,0.068,3042,164,2098,0,0,0,0,0,0
$GC,5582,0.83,249.5,425.6,11.1,243,5586,0.00,2.45,0.00,0.000,6,0.000,0.027,3042,1683,2098,0,0,0,0,0,0
$GC,5869,0.84,260.4,398.0,9.5,250,5885,0.00,2.67,9.88,0.716,4,0.000,0.059,3042,173,2057,0,0,0,0,0,0
$GC,5903,0.84,260.4,394.3,10.4,250,5908,0.00,2.40,0.00,0.000,6,0.000,0.025,3042,1668,2057,0,0,0,0,0,0
$GC,6154,0.84,260.4,368.9,10.2,256,6159,0.00,2.67,0.00,0.000,4,0.000,0.047,3042,3265,2053,0,0,0,0,0,0
$GC,6177,0.84,260.4,366.2,11.3,256,6182,0.00,2.65,0.00,0.000,6,0.000,0.033,3042,1664,2052,0,0,0,0,0,0
$GC,6436,0.84,260.4,339.6,10.1,263,6440,0.00,2.65,0.00,0.000,4,0.000,0.042,3042,3258,2051,0,0,0,0,0,0
$GC,6452,0.84,261.1,338.1,10.0,263,6456,0.00,2.62,0.00,0.000,6,0.000,0.033,3042,1664,2050,0,0,0,0,0,0
$GC,6720,0.87,282.1,312.9,9.1,270,6741,0.00,0.00,19.40,0.734,6,0.000,0.000,3042,1664,1970,0,0,0,0,0,0
$GC,6964,0.96,303.0,291.1,9.1,276,6992,0.12,2.60,20.10,0.713,4,0.067,0.061,3096,168,1883,0,0,0,0,0,0
$GC,7063,0.87,303.0,278.1,13.5,278,7069,0.22,2.40,0.00,0.000,6,0.104,0.023,3050,1670,1882,0,0,0,0,0,0
$GC,7342,0.94,303.0,249.0,10.4,285,7346,0.00,2.55,0.00,0.000,4,0.000,0.051,3050,165,1878,0,0,0,0,0,0
$GC,7371,0.94,303.0,245.8,11.0,285,7375,0.00,2.38,0.00,0.000,6,0.000,0.022,3050,1663,1878,0,0,0,0,0,0
$GC,7626,1.02,315.9,222.1,9.4,292,7643,0.15,2.65,11.50,0.624,4,0.058,0.038,3116,3257,1831,0,0,0,0,0,0
$GC,7686,1.02,315.9,214.2,13.0,293,7692,0.15,2.60,0.00,0.000,6,0.108,0.030,3085,1657,1829,0,0,0,0,0,0
$GC,7953,1.02,315.9,179.7,12.0,311,7958,0.00,2.62,0.00,0.000,4,0.000,0.035,3085,3260,1828,0,0,0,0,0,0
$GC,7968,1.02,315.9,177.8,11.5,312,7973,0.00,2.58,0.00,0.000,6,0.000,0.027,3085,1654,1827,0,0,0,0,0,0
$GC,8231,1.02,315.9,148.3,12.6,336,8236,0.00,2.42,0.00,0.000,4,0.000,0.047,3085,168,1828,0,0,0,0,0,0
$GC,8277,1.02,315.9,141.8,13.4,340,8281,0.00,2.33,0.00,0.000,6,0.000,0.021,3085,1666,1827,0,0,0,0,0,0
$GC,8541,1.02,315.9,111.9,10.7,364,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1667,1826,0,0,0,0,0,0
$GC,8794,1.12,338.3,86.2,9.0,388,8819,0.00,2.60,19.92,0.543,4,0.000,0.035,3085,3254,1739,0,0,0,0,0,0
$GC,8866,1.30,349.5,79.5,9.5,394,8888,0.20,2.62,10.90,0.501,6,0.021,0.028,3181,1655,1694,0,0,0,0,0,0
$GC,9144,1.14,349.5,36.2,16.6,420,9152,0.32,0.00,0.00,0.000,6,0.099,0.000,3108,1655,1692,0,0,0,0,0,0
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9395,begin surface coast
$FINISH,0.6,1.023746
$STATE,9440,end surface coast,CONTROL_FINISHED_OK
$STATE,9440,begin surface
$SM_CCo,9461,48.47,0.061,0,0,1285,450.13
$SM_GC,1.47,0.00,0.00,48.47,0.000,0.000,0.061,412,1819,1285,-11.26,0.82,450.13
$IRIDIUM_FIX,2237.01,-15803.24,200200,090950
$TT8_MAMPS,0.026845
$HUMID,42.51
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,19.276
$10V_AH,10.4,16.093
$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,29.325,116.800,418.075,48.475,0.000,85.571,199.935,173.749,0.250,0.000,33.784,966.093,6329.154,507.514,1723.569,714.550,33.366,1216.942,0.000,1706.169,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,68.263,867.477,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.497,275.830,352.235,528.105,931.477,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355336
$DATA_FILE_SIZE,35195,465
$CAP_FILE_SIZE,107692,0
$CFSIZE,260165632,165285888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261110,122125,2247.077,-15802.537,61,1.2,61,10.1