version: 66.06
glider: 148
mission: 9
dive: 48
start: 11 17 110 21 15 30
data:
$ID,148
$MISSION,9
$DIVE,48
$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,320
$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,-858407.06
$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,2870
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$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
$GPS1,210406,2256.336,-15745.127,32,1.2,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.8
$GPS2,211435,2256.401,-15745.140,9,2.5,28,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,INT2
$TGT_LATLONG,2257.000,-15743.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,0.026
$KALMAN_X,-30169.8,-103.7,34.3,72782.0,-456.7
$KALMAN_Y,14434.4,229.4,-96.4,127129.2,377.3
$MHEAD_RNG_PITCHd_Wd,74.2,3816,-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,15,begin dive
$GC,17,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-83.12,0.000,2,0.000,0.000,412,1849,3366,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.6,-5.5,11,131,12.07,2.40,-5.97,0.000,4,0.175,0.039,2584,3357,3703,0,0,0,0,0,0
$GC,209,-1.18,-146.0,29.4,-15.3,26,219,0.10,2.58,0.00,0.000,6,0.096,0.025,2608,1766,3704,0,0,0,0,0,0
$GC,478,-1.08,-146.0,69.2,-14.5,51,483,0.12,2.58,0.00,0.000,4,0.125,0.031,2633,3353,3705,0,0,0,0,0,0
$GC,522,-1.08,-146.0,75.8,-12.9,54,526,0.00,2.50,0.00,0.000,6,0.000,0.023,2633,1771,3705,0,0,0,0,0,0
$GC,785,-1.08,-146.0,102.0,-7.7,78,789,0.00,2.53,0.00,0.000,4,0.000,0.030,2633,3354,3705,0,0,0,0,0,0
$GC,807,-1.15,-146.0,103.8,-7.0,79,813,0.00,2.50,0.00,0.000,6,0.000,0.022,2633,1776,3705,0,0,0,0,0,0
$GC,1070,-1.26,-146.0,124.5,-8.8,104,1075,0.15,2.53,0.00,0.000,4,0.056,0.031,2557,3354,3706,0,0,0,0,0,0
$GC,1151,-1.19,-146.0,134.5,-12.9,111,1156,0.22,2.47,0.00,0.000,6,0.092,0.023,2607,1792,3706,0,0,0,0,0,0
$GC,1413,-1.19,-146.0,165.4,-11.2,135,1418,0.00,2.58,0.00,0.000,4,0.000,0.041,2607,195,3707,0,0,0,0,0,0
$GC,1433,-1.26,-146.0,167.3,-11.4,136,1438,0.00,2.50,0.00,0.000,6,0.000,0.020,2607,1817,3707,0,0,0,0,0,0
$GC,1699,-1.34,-146.0,192.3,-8.5,160,1704,0.12,2.42,0.00,0.000,4,0.067,0.031,2548,3345,3708,0,0,0,0,0,0
$GC,1740,-1.26,-146.0,196.3,-10.7,163,1745,0.20,2.45,0.00,0.000,6,0.095,0.023,2593,1797,3708,0,0,0,0,0,0
$GC,2021,-1.26,-146.0,220.6,-8.2,172,2026,0.00,2.47,0.00,0.000,4,0.000,0.031,2593,3343,3708,0,0,0,0,0,0
$GC,2040,-1.26,-146.0,222.3,-8.7,172,2044,0.00,2.45,0.00,0.000,6,0.000,0.023,2593,1797,3708,0,0,0,0,0,0
$GC,2305,-1.26,-146.0,245.6,-8.9,179,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1797,3708,0,0,0,0,0,0
$GC,2547,-1.26,-146.0,266.8,-8.7,185,2551,0.00,2.47,0.00,0.000,4,0.000,0.032,2593,3339,3708,0,0,0,0,0,0
$GC,2590,-1.40,-146.0,270.2,-7.6,186,2595,0.12,2.42,0.00,0.000,6,0.064,0.025,2521,1799,3708,0,0,0,0,0,0
$GC,2879,-1.26,-146.0,305.1,-12.2,193,2882,0.35,0.00,0.00,0.000,6,0.091,0.000,2593,1799,3707,0,0,0,0,0,0
$GC,3122,-1.35,-146.0,322.0,-6.8,199,3126,0.00,2.47,0.00,0.000,4,0.000,0.035,2593,3341,3707,0,0,0,0,0,0
$GC,3152,-1.46,-146.0,324.2,-7.1,199,3157,0.17,2.47,0.00,0.000,6,0.048,0.027,2508,1798,3706,0,0,0,0,0,0
$GC,3407,-1.31,-146.0,353.5,-11.9,206,3414,0.32,2.65,0.00,0.000,4,0.094,0.048,2582,191,3705,0,0,0,0,0,0
$GC,3466,-1.48,-146.0,359.7,-8.4,207,3471,0.15,2.50,0.00,0.000,6,0.058,0.025,2520,1778,3705,0,0,0,0,0,0
$GC,3741,-1.38,-146.0,394.5,-13.3,214,3743,0.22,0.00,0.00,0.000,6,0.100,0.000,2567,1779,3703,0,0,0,0,0,0
$GC,3983,-1.38,-146.0,419.8,-9.9,220,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1778,3702,0,0,0,0,0,0
$GC,4227,-1.38,-146.0,442.0,-8.7,226,4232,0.00,2.58,0.00,0.000,4,0.000,0.044,2567,3344,3700,0,0,0,0,0,0
$GC,4247,-1.38,-146.0,443.7,-8.6,226,4252,0.00,2.50,0.00,0.000,6,0.000,0.036,2567,1788,3701,0,0,0,0,0,0
$GC,4512,-1.45,-146.0,464.5,-7.8,233,4516,0.00,2.60,0.00,0.000,4,0.000,0.047,2567,3346,3699,0,0,0,0,0,0
$GC,4560,-1.55,-146.0,468.1,-7.2,234,4565,0.15,2.50,0.00,0.000,6,0.058,0.032,2497,1796,3699,0,0,0,0,0,0
$STATE,4840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4841,begin apogee
$GC,4846,-0.31,0.0,500.7,11.7,241,4968,1.40,0.00,118.10,0.875,6,0.091,0.000,2801,1642,3105,0,0,0,0,0,0
$STATE,4969,end apogee,CONTROL_FINISHED_OK
$STATE,4969,begin climb
$GC,4971,1.28,146.0,505.1,0.0,244,5105,1.45,2.78,122.12,0.859,4,0.025,0.051,3155,3211,2508,0,0,0,0,0,0
$GC,5152,0.95,146.0,501.5,10.4,248,5160,0.38,2.60,0.00,0.000,6,0.117,0.038,3080,1661,2504,0,0,0,0,0,0
$GC,5421,0.84,184.7,479.1,8.2,255,5464,0.12,2.70,33.05,0.833,4,0.133,0.076,3055,166,2351,0,0,0,0,0,0
$GC,5534,0.70,188.4,468.7,9.9,257,5544,0.17,2.38,3.97,0.523,6,0.117,0.028,3021,1631,2337,0,0,0,0,0,0
$GC,5800,0.79,265.1,450.5,6.5,264,5873,0.00,2.80,66.47,0.842,4,0.000,0.051,3021,3227,2023,0,0,0,0,0,0
$GC,5927,0.96,301.7,441.4,8.3,266,5969,0.25,2.65,33.17,0.809,6,0.044,0.038,3105,1642,1874,0,0,0,0,0,0
$GC,6219,0.82,301.7,400.5,14.7,274,6224,0.25,2.55,0.00,0.000,4,0.107,0.067,3050,170,1866,0,0,0,0,0,0
$GC,6258,0.82,301.7,394.8,14.1,274,6264,0.00,2.40,0.00,0.000,6,0.000,0.026,3050,1667,1865,0,0,0,0,0,0
$GC,6507,0.82,301.7,363.7,12.3,281,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1669,1862,0,0,0,0,0,0
$GC,6751,0.82,301.7,334.0,12.2,287,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1669,1861,0,0,0,0,0,0
$GC,6995,0.82,305.4,308.9,9.9,293,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1670,1859,0,0,0,0,0,0
$GC,7240,0.84,322.8,286.2,9.2,299,7260,0.00,0.00,16.75,0.713,6,0.000,0.000,3050,1671,1788,0,0,0,0,0,0
$GC,7528,0.91,322.8,257.7,10.2,306,7533,0.00,2.55,0.00,0.000,4,0.000,0.041,3050,3225,1783,0,0,0,0,0,0
$GC,7581,1.02,322.8,252.1,10.3,307,7586,0.17,2.62,0.00,0.000,6,0.054,0.032,3117,1632,1781,0,0,0,0,0,0
$GC,7861,0.90,322.8,211.2,15.3,314,7866,0.25,2.45,0.00,0.000,4,0.104,0.051,3065,170,1780,0,0,0,0,0,0
$GC,7889,0.90,322.8,206.5,14.6,314,7894,0.00,2.35,0.00,0.000,6,0.000,0.025,3065,1649,1779,0,0,0,0,0,0
$GC,8155,0.90,322.8,172.8,12.8,336,8160,0.00,2.55,0.00,0.000,4,0.000,0.035,3065,3234,1779,0,0,0,0,0,0
$GC,8214,1.01,322.8,165.4,12.2,341,8221,0.10,2.58,0.00,0.000,6,0.081,0.030,3112,1639,1778,0,0,0,0,0,0
$GC,8478,0.93,322.8,131.1,12.6,366,8483,0.17,2.40,0.00,0.000,4,0.110,0.046,3075,176,1778,0,0,0,0,0,0
$GC,8504,0.93,322.8,127.5,11.9,368,8509,0.00,2.30,0.00,0.000,6,0.000,0.023,3075,1652,1778,0,0,0,0,0,0
$GC,8768,1.03,352.4,103.0,8.7,392,8802,0.00,2.60,25.48,0.578,4,0.000,0.033,3075,3220,1666,0,0,0,0,0,0
$GC,8837,1.16,361.4,96.2,9.6,398,8855,0.15,2.58,9.05,0.511,6,0.028,0.028,3147,1654,1630,0,0,0,0,0,0
$GC,9113,1.06,361.4,61.1,13.0,424,9118,0.22,2.42,0.00,0.000,4,0.107,0.043,3100,174,1628,0,0,0,0,0,0
$GC,9155,1.06,361.4,56.1,12.1,427,9160,0.00,2.33,0.00,0.000,6,0.000,0.021,3100,1660,1628,0,0,0,0,0,0
$GC,9425,1.06,361.4,27.9,11.0,452,9434,0.00,2.53,0.00,0.000,4,0.000,0.033,3100,3217,1628,0,0,0,0,0,0
$GC,9468,1.14,361.4,22.7,11.4,458,9476,0.00,2.53,0.00,0.000,6,0.000,0.027,3100,1665,1626,0,0,0,0,0,0
$STATE,9632,end climb,SURFACE_DEPTH_REACHED
$STATE,9633,begin surface coast
$FINISH,0.6,1.012050
$STATE,9673,end surface coast,CONTROL_FINISHED_OK
$STATE,9673,begin surface
$SM_CCo,9694,48.15,0.409,1,0,1270,450.13
$SM_GC,1.45,0.00,0.00,48.15,0.000,0.000,0.409,414,1822,1270,-11.30,1.47,450.13
$IRIDIUM_FIX,2251.04,-15748.01,110200,212117
$TT8_MAMPS,0.026845
$HUMID,39.17
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.5,10.180
$10V_AH,10.4,8.517
$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,30.475,116.125,428.175,48.150,0.000,55.016,82.334,265.041,0.500,0.000,30.770,1009.168,6353.604,528.218,1804.370,675.042,33.372,1248.744,0.000,1789.820,0.000,0.537,0.000
$DEVICE_MAMPS,174.876,75.933,875.147,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.997,303.778,378.580,570.361,1007.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,38499,490
$CAP_FILE_SIZE,112993,0
$CFSIZE,260165632,169189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171110,235849,2256.558,-15744.154,7,1.6,12,10.1