version: 66.06
glider: 148
mission: 9
dive: 120
start: 11 26 110 12 32 16
data:
$ID,148
$MISSION,9
$DIVE,120
$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,-860041.81
$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,30
$R_STBD_OVSHOOT,68
$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
$GPS1,122125,2247.077,-15802.537,61,1.2,61,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.7
$GPS2,123122,2247.026,-15802.545,10,1.3,18,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.007,0.260
$KALMAN_X,-55430.7,50.2,-61.1,68029.7,-197.9
$KALMAN_Y,19395.2,-237.0,451.4,104719.4,-675.3
$MHEAD_RNG_PITCHd_Wd,348.3,5562,-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,-75.50,0.000,2,0.000,0.000,412,1819,3216,0,0,0,0,0,0
$GC,99,-1.28,-146.0,3.6,-6.3,10,132,11.45,2.50,-9.62,0.000,4,0.156,0.044,2573,3347,3719,0,0,0,0,0,0
$GC,149,-0.73,-146.0,16.7,-22.5,16,158,0.52,2.53,0.00,0.000,6,0.078,0.024,2694,1778,3719,0,0,0,0,0,0
$GC,434,-0.93,-146.0,43.0,-5.9,51,439,0.15,2.53,0.00,0.000,4,0.055,0.031,2621,3346,3720,0,0,0,0,0,0
$GC,491,-0.93,-146.0,48.4,-11.4,55,496,0.17,2.45,0.00,0.000,6,0.096,0.023,2658,1799,3720,0,0,0,0,0,0
$GC,758,-1.01,-146.0,76.9,-10.6,79,762,0.00,2.45,0.00,0.000,4,0.000,0.031,2658,3343,3720,0,0,0,0,0,0
$GC,791,-1.11,-146.0,81.0,-10.5,81,797,0.17,2.40,0.00,0.000,6,0.050,0.021,2558,1804,3720,0,0,0,0,0,0
$GC,1053,-0.99,-146.0,118.2,-13.5,106,1055,0.38,0.00,0.00,0.000,6,0.087,0.000,2642,1804,3721,0,0,0,0,0,0
$GC,1309,-1.13,-146.0,139.8,-8.2,130,1314,0.12,2.47,0.00,0.000,4,0.065,0.032,2578,3347,3722,0,0,0,0,0,0
$GC,1339,-1.13,-146.0,143.3,-10.9,132,1348,0.12,2.42,0.00,0.000,6,0.076,0.022,2611,1821,3722,0,0,0,0,0,0
$GC,1603,-1.21,-146.0,168.8,-8.9,157,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1820,3722,0,0,0,0,0,0
$GC,1865,-1.30,-146.0,189.8,-6.7,182,1870,0.15,2.42,0.00,0.000,4,0.058,0.031,2535,3343,3723,0,0,0,0,0,0
$GC,1906,-1.22,-146.0,193.9,-10.4,185,1912,0.28,2.38,0.00,0.000,6,0.087,0.023,2595,1822,3722,0,0,0,0,0,0
$GC,2189,-1.22,-146.0,218.9,-9.0,198,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1822,3722,0,0,0,0,0,0
$GC,2433,-1.22,-146.0,242.3,-9.7,204,2437,0.00,2.42,0.00,0.000,4,0.000,0.032,2595,3349,3722,0,0,0,0,0,0
$GC,2467,-1.30,-146.0,245.6,-9.5,204,2471,0.00,2.40,0.00,0.000,6,0.000,0.023,2595,1816,3722,0,0,0,0,0,0
$GC,2717,-1.38,-146.0,271.4,-10.5,210,2719,0.15,0.00,0.00,0.000,6,0.057,0.000,2517,1816,3722,0,0,0,0,0,0
$GC,2961,-1.25,-146.0,305.3,-14.1,216,2968,0.30,2.60,0.00,0.000,4,0.091,0.041,2585,207,3722,0,0,0,0,0,0
$GC,2983,-1.25,-146.0,308.2,-12.1,216,2988,0.00,2.50,0.00,0.000,6,0.000,0.022,2585,1811,3722,0,0,0,0,0,0
$GC,3247,-1.33,-146.0,331.6,-8.7,223,3252,0.00,2.47,0.00,0.000,4,0.000,0.038,2585,3361,3722,0,0,0,0,0,0
$GC,3280,-1.43,-146.0,334.7,-9.2,223,3285,0.15,2.42,0.00,0.000,6,0.056,0.025,2509,1828,3722,0,0,0,0,0,0
$GC,3532,-1.31,-146.0,367.5,-13.4,229,3534,0.30,0.00,0.00,0.000,6,0.090,0.000,2575,1828,3721,0,0,0,0,0,0
$GC,3774,-1.38,-146.0,391.1,-9.4,235,3779,0.00,2.53,0.00,0.000,4,0.000,0.046,2575,3362,3720,0,0,0,0,0,0
$GC,3819,-1.50,-146.0,395.2,-8.6,236,3824,0.17,2.42,0.00,0.000,6,0.050,0.029,2496,1841,3720,0,0,0,0,0,0
$GC,4107,-1.36,-146.0,432.3,-12.9,243,4114,0.28,2.75,0.00,0.000,4,0.096,0.058,2560,217,3718,0,0,0,0,0,0
$GC,4166,-1.47,-146.0,438.8,-9.7,244,4170,0.00,2.60,0.00,0.000,6,0.000,0.032,2560,1826,3718,0,0,0,0,0,0
$GC,4440,-1.47,-146.0,462.6,-8.7,251,4445,0.00,2.55,0.00,0.000,4,0.000,0.051,2560,3368,3716,0,0,0,0,0,0
$GC,4489,-1.57,-146.0,467.2,-9.4,252,4494,0.17,2.47,0.00,0.000,6,0.051,0.032,2485,1845,3716,0,0,0,0,0,0
$STATE,4769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4770,begin apogee
$GC,4776,-0.31,0.0,505.4,14.0,259,4898,1.38,0.00,118.18,0.873,6,0.087,0.000,2789,1680,3120,0,0,0,0,0,0
$STATE,4899,end apogee,CONTROL_FINISHED_OK
$STATE,4899,begin climb
$GC,4901,1.28,146.0,511.5,0.0,262,5034,1.42,2.70,121.85,0.857,4,0.028,0.071,3145,176,2524,0,0,0,0,0,0
$GC,5147,0.84,146.0,503.0,11.1,267,5155,0.50,2.47,0.00,0.000,6,0.114,0.029,3044,1686,2516,0,0,0,0,0,0
$GC,5406,0.94,223.4,485.4,6.5,274,5479,0.00,2.62,65.22,0.844,4,0.000,0.059,3043,184,2208,0,0,0,0,0,0
$GC,5601,0.94,223.4,466.2,11.3,278,5605,0.00,2.42,0.00,0.000,6,0.000,0.030,3044,1677,2203,0,0,0,0,0,0
$GC,5870,0.94,223.4,439.2,10.1,285,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1678,2198,0,0,0,0,0,0
$GC,6113,0.94,226.1,414.8,9.9,291,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1678,2196,0,0,0,0,0,0
$GC,6356,1.01,280.0,395.5,7.5,297,6413,0.15,2.60,48.42,0.807,4,0.060,0.055,3113,180,1977,0,0,0,0,0,0
$GC,6481,0.83,280.0,379.6,15.2,299,6486,0.32,2.42,0.00,0.000,6,0.106,0.027,3045,1668,1974,0,0,0,0,0,0
$GC,6730,0.83,280.0,353.4,10.4,305,6735,0.00,2.67,0.00,0.000,4,0.000,0.047,3045,3261,1969,0,0,0,0,0,0
$GC,6765,0.92,286.2,349.9,9.8,305,6775,0.00,2.65,5.22,0.579,6,0.000,0.035,3044,1667,1953,0,0,0,0,0,0
$GC,7018,0.92,286.2,323.8,10.3,312,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1667,1950,0,0,0,0,0,0
$GC,7262,0.92,288.9,299.4,9.9,318,7266,0.00,2.55,0.00,0.000,4,0.000,0.061,3045,170,1948,0,0,0,0,0,0
$GC,7337,0.92,288.9,291.4,10.7,319,7342,0.00,2.38,0.00,0.000,6,0.000,0.022,3044,1674,1948,0,0,0,0,0,0
$GC,7592,1.00,299.8,267.0,9.5,326,7613,0.15,2.62,13.10,0.673,4,0.058,0.041,3116,3246,1897,0,0,0,0,0,0
$GC,7644,0.94,299.8,260.6,13.1,327,7651,0.22,2.62,0.00,0.000,6,0.101,0.031,3067,1652,1894,0,0,0,0,0,0
$GC,7929,0.94,299.8,227.7,11.4,334,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1652,1892,0,0,0,0,0,0
$GC,8173,0.94,299.8,199.7,11.4,340,8177,0.00,2.62,0.00,0.000,4,0.000,0.035,3066,3259,1892,0,0,0,0,0,0
$GC,8202,0.94,299.8,196.5,11.3,342,8210,0.00,2.62,0.00,0.000,6,0.000,0.029,3067,1662,1891,0,0,0,0,0,0
$GC,8467,0.94,299.8,168.6,10.1,367,8471,0.00,2.60,0.00,0.000,4,0.000,0.035,3067,3261,1891,0,0,0,0,0,0
$GC,8482,0.95,304.5,166.5,9.8,368,8492,0.00,2.55,4.75,0.463,6,0.000,0.027,3066,1665,1878,0,0,0,0,0,0
$GC,8750,0.97,323.2,142.1,9.2,393,8770,0.00,0.00,17.83,0.588,6,0.000,0.000,3067,1665,1802,0,0,0,0,0,0
$GC,9029,1.04,328.7,115.5,9.8,419,9040,0.00,2.53,5.57,0.456,4,0.000,0.046,3067,176,1780,0,0,0,0,0,0
$GC,9085,1.12,328.7,109.0,10.1,424,9095,0.12,2.38,0.00,0.000,6,0.028,0.021,3131,1672,1780,0,0,0,0,0,0
$GC,9353,1.12,328.7,77.1,11.7,449,9358,0.12,2.55,0.00,0.000,4,0.114,0.035,3106,3254,1779,0,0,0,0,0,0
$GC,9386,1.19,328.8,73.0,10.0,451,9395,0.00,2.58,0.00,0.000,6,0.000,0.028,3106,1676,1777,0,0,0,0,0,0
$GC,9652,1.19,328.8,49.6,10.7,476,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1675,1777,0,0,0,0,0,0
$GC,9930,1.22,347.8,22.8,9.2,507,9954,0.00,0.00,18.23,0.486,6,0.000,0.000,3105,1675,1700,0,0,0,0,0,0
$STATE,10103,end climb,SURFACE_DEPTH_REACHED
$STATE,10103,begin surface coast
$FINISH,0.7,1.023526
$STATE,10148,end surface coast,CONTROL_FINISHED_OK
$STATE,10148,begin surface
$SM_CCo,10168,55.85,0.411,1,0,1284,450.13
$SM_GC,1.42,0.00,0.00,55.85,0.000,0.000,0.411,409,1809,1284,-11.27,0.59,450.13
$IRIDIUM_FIX,2237.01,-15800.20,200200,121213
$TT8_MAMPS,0.026845
$HUMID,41.33
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,19.398
$10V_AH,10.4,16.211
$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,30.325,106.300,418.375,55.850,0.000,58.430,78.503,242.092,0.250,0.000,20.368,1085.680,6516.057,518.320,2033.444,674.108,33.366,1297.412,0.000,2034.951,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,71.331,872.846,411.112,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.201,343.368,432.737,676.707,1197.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355328
$DATA_FILE_SIZE,41672,540
$CAP_FILE_SIZE,113420,0
$CFSIZE,260165632,165220352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261110,152352,2248.469,-15802.536,8,99.0,27,10.1