version: 66.06
glider: 148
mission: 9
dive: 49
start: 11 18 110 0 6 2
data:
$ID,148
$MISSION,9
$DIVE,49
$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,-858448.94
$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,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,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
$GPS1,235849,2256.558,-15744.154,7,1.6,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.8
$GPS2,000507,2256.611,-15744.155,39,0.9,39,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,INT2
$TGT_LATLONG,2257.000,-15743.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,0.027
$KALMAN_X,-31052.7,2.5,-40.2,75335.4,-646.6
$KALMAN_Y,14710.4,216.3,-216.0,127374.4,433.4
$MHEAD_RNG_PITCHd_Wd,74.0,2098,-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,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.72,0.000,2,0.000,0.000,414,1822,3331,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.5,-5.3,11,132,11.75,2.38,-6.80,0.000,4,0.165,0.041,2585,3312,3703,0,0,0,0,0,0
$GC,166,-1.03,-146.0,21.5,-19.8,19,175,0.22,2.47,0.00,0.000,6,0.083,0.023,2638,1772,3705,0,0,0,0,0,0
$GC,440,-1.03,-146.0,56.8,-12.6,48,444,0.00,2.45,0.00,0.000,4,0.000,0.031,2639,3304,3706,0,0,0,0,0,0
$GC,489,-1.03,-146.0,63.4,-11.8,52,498,0.00,2.45,0.00,0.000,6,0.000,0.023,2639,1778,3706,0,0,0,0,0,0
$GC,755,-1.03,-146.0,94.8,-10.3,77,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,1778,3707,0,0,0,0,0,0
$GC,1017,-1.16,-146.0,118.9,-7.3,102,1021,0.00,2.42,0.00,0.000,4,0.000,0.029,2639,3311,3708,0,0,0,0,0,0
$GC,1104,-1.38,-146.0,125.3,-7.4,110,1109,0.28,2.42,0.00,0.000,6,0.034,0.024,2531,1767,3708,0,0,0,0,0,0
$GC,1365,-1.21,-146.0,162.9,-15.0,134,1370,0.30,2.53,0.00,0.000,4,0.093,0.036,2601,187,3708,0,0,0,0,0,0
$GC,1385,-1.21,-146.0,165.7,-14.1,135,1393,0.00,2.40,0.00,0.000,6,0.000,0.020,2600,1722,3709,0,0,0,0,0,0
$GC,1652,-1.28,-146.0,191.6,-9.0,160,1657,0.00,2.58,0.00,0.000,4,0.000,0.029,2600,3349,3709,0,0,0,0,0,0
$GC,1706,-1.41,-146.0,196.8,-9.1,165,1711,0.15,2.50,0.00,0.000,6,0.056,0.024,2511,1771,3709,0,0,0,0,0,0
$GC,1989,-1.21,-146.0,237.4,-14.8,174,1996,0.43,2.58,0.00,0.000,4,0.092,0.038,2602,184,3709,0,0,0,0,0,0
$GC,2010,-1.21,-146.0,240.6,-12.6,174,2014,0.00,2.47,0.00,0.000,6,0.000,0.021,2602,1786,3710,0,0,0,0,0,0
$GC,2274,-1.30,-146.0,264.1,-8.6,181,2278,0.00,2.45,0.00,0.000,4,0.000,0.031,2601,3346,3709,0,0,0,0,0,0
$GC,2341,-1.48,-146.0,269.6,-8.3,182,2346,0.22,2.47,0.00,0.000,6,0.039,0.025,2500,1789,3709,0,0,0,0,0,0
$GC,2606,-1.29,-146.0,306.7,-14.1,189,2613,0.38,2.60,0.00,0.000,4,0.091,0.046,2584,191,3710,0,0,0,0,0,0
$GC,2624,-1.23,-146.0,308.6,-11.3,189,2628,0.00,2.47,0.00,0.000,6,0.000,0.022,2584,1786,3710,0,0,0,0,0,0
$GC,2893,-1.29,-146.0,330.5,-8.0,196,2897,0.00,2.47,0.00,0.000,4,0.000,0.036,2584,3341,3709,0,0,0,0,0,0
$GC,2912,-1.37,-146.0,332.1,-7.7,196,2916,0.00,2.50,0.00,0.000,6,0.000,0.026,2584,1779,3709,0,0,0,0,0,0
$GC,3177,-1.46,-146.0,352.3,-7.8,203,3182,0.15,2.55,0.00,0.000,4,0.060,0.041,2525,3339,3708,0,0,0,0,0,0
$GC,3197,-1.46,-146.0,354.4,-9.7,203,3202,0.12,2.47,0.00,0.000,6,0.110,0.032,2553,1796,3708,0,0,0,0,0,0
$GC,3461,-1.46,-146.0,381.0,-10.1,210,3465,0.00,2.67,0.00,0.000,4,0.000,0.053,2552,195,3706,0,0,0,0,0,0
$GC,3487,-1.46,-146.0,383.5,-11.4,210,3491,0.00,2.53,0.00,0.000,6,0.000,0.026,2552,1796,3706,0,0,0,0,0,0
$GC,3746,-1.46,-146.0,407.7,-9.1,217,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1796,3704,0,0,0,0,0,0
$GC,3990,-1.46,-146.0,429.1,-8.7,223,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1796,3703,0,0,0,0,0,0
$GC,4235,-1.46,-146.0,450.4,-8.6,229,4239,0.00,2.55,0.00,0.000,4,0.000,0.045,2552,3349,3702,0,0,0,0,0,0
$GC,4290,-1.46,-146.0,455.8,-9.6,230,4295,0.00,2.50,0.00,0.000,6,0.000,0.031,2552,1795,3702,0,0,0,0,0,0
$GC,4563,-1.46,-146.0,481.4,-9.5,237,4568,0.00,2.58,0.00,0.000,4,0.000,0.050,2553,3345,3699,0,0,0,0,0,0
$GC,4592,-1.46,-146.0,484.3,-10.1,237,4597,0.00,2.53,0.00,0.000,6,0.000,0.033,2552,1795,3699,0,0,0,0,0,0
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4804,begin apogee
$GC,4809,-0.31,0.0,503.2,8.7,243,4931,1.12,0.00,117.75,0.883,6,0.082,0.000,2803,1640,3105,0,0,0,0,0,0
$STATE,4931,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4934,1.28,146.0,507.0,0.0,246,5065,1.42,2.65,121.22,0.867,4,0.029,0.072,3158,183,2508,0,0,0,0,0,0
$GC,5178,0.80,146.0,495.2,12.7,251,5185,0.55,2.40,0.00,0.000,6,0.121,0.030,3048,1648,2502,0,0,0,0,0,0
$GC,5440,0.87,255.9,479.7,4.9,258,5543,0.00,2.60,92.57,0.858,4,0.000,0.061,3048,183,2061,0,0,0,0,0,0
$GC,5599,0.91,286.7,469.0,8.6,261,5632,0.00,2.40,27.80,0.818,6,0.000,0.030,3048,1643,1936,0,0,0,0,0,0
$GC,5898,0.94,310.5,443.8,8.9,269,5926,0.10,2.80,21.33,0.802,4,0.082,0.054,3096,3233,1838,0,0,0,0,0,0
$GC,5987,0.94,310.5,431.9,14.3,270,5993,0.10,2.65,0.00,0.000,6,0.131,0.038,3077,1657,1833,0,0,0,0,0,0
$GC,6236,0.86,310.5,395.8,14.5,277,6241,0.00,2.58,0.00,0.000,4,0.000,0.068,3076,173,1831,0,0,0,0,0,0
$GC,6289,0.77,310.5,387.5,16.5,278,6294,0.17,2.38,0.00,0.000,6,0.117,0.026,3041,1652,1829,0,0,0,0,0,0
$GC,6567,0.77,310.5,352.2,12.5,285,6571,0.00,2.53,0.00,0.000,4,0.000,0.057,3041,165,1828,0,0,0,0,0,0
$GC,6590,0.77,310.5,348.9,14.1,285,6594,0.00,2.38,0.00,0.000,6,0.000,0.026,3041,1643,1828,0,0,0,0,0,0
$GC,6850,0.77,310.5,318.3,11.5,292,6854,0.00,2.62,0.00,0.000,4,0.000,0.047,3040,3227,1827,0,0,0,0,0,0
$GC,6893,0.90,312.8,313.7,9.9,293,6899,0.10,2.62,0.00,0.000,6,0.081,0.035,3086,1640,1825,0,0,0,0,0,0
$GC,7184,0.90,312.8,278.1,12.5,300,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1639,1825,0,0,0,0,0,0
$GC,7426,0.90,312.8,247.3,12.7,306,7430,0.00,2.60,0.00,0.000,4,0.000,0.040,3087,3221,1823,0,0,0,0,0,0
$GC,7454,0.90,312.8,243.6,12.2,306,7458,0.00,2.58,0.00,0.000,6,0.000,0.032,3087,1651,1822,0,0,0,0,0,0
$GC,7708,0.90,312.8,212.6,12.4,313,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1651,1822,0,0,0,0,0,0
$GC,7962,0.90,312.8,185.3,10.9,328,7967,0.00,2.58,0.00,0.000,4,0.000,0.035,3087,3233,1822,0,0,0,0,0,0
$GC,8000,0.90,312.8,181.1,11.5,331,8005,0.00,2.55,0.00,0.000,6,0.000,0.030,3087,1661,1821,0,0,0,0,0,0
$GC,8267,0.90,312.8,149.6,12.7,355,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1661,1821,0,0,0,0,0,0
$GC,8528,0.90,312.8,116.8,11.9,380,8532,0.00,2.45,0.00,0.000,4,0.000,0.046,3087,168,1820,0,0,0,0,0,0
$GC,8547,0.90,312.8,114.8,12.7,381,8552,0.00,2.35,0.00,0.000,6,0.000,0.021,3087,1675,1820,0,0,0,0,0,0
$GC,8814,0.90,312.8,85.6,11.7,405,8819,0.00,2.45,0.00,0.000,4,0.000,0.033,3087,3222,1820,0,0,0,0,0,0
$GC,8875,1.03,312.8,76.9,13.8,410,8884,0.00,2.55,0.00,0.000,6,0.000,0.029,3087,1658,1820,0,0,0,0,0,0
$GC,9142,1.07,345.7,51.5,8.5,435,9172,0.00,0.00,27.98,0.533,6,0.000,0.000,3087,1657,1695,0,0,0,0,0,0
$GC,9433,1.08,356.4,24.2,9.5,466,9450,0.00,0.00,10.62,0.466,6,0.000,0.000,3087,1657,1651,0,0,0,0,0,0
$STATE,9633,end climb,SURFACE_DEPTH_REACHED
$STATE,9633,begin surface coast
$FINISH,0.7,1.023593
$STATE,9678,end surface coast,CONTROL_FINISHED_OK
$STATE,9678,begin surface
$SM_CCo,9698,51.30,0.412,1,0,1270,450.13
$SM_GC,1.52,0.00,0.00,51.30,0.000,0.000,0.412,412,1842,1270,-11.31,2.04,450.13
$IRIDIUM_FIX,2248.70,-15742.79,110200,212113
$TT8_MAMPS,0.026845
$HUMID,40.03
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,23.00
$XPDR_PINGS,4
$24V_AH,23.6,10.297
$10V_AH,10.5,8.626
$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,28.450,116.075,419.275,51.300,0.000,28.857,33.523,163.343,1.000,0.000,41.243,1019.327,6192.941,493.507,1934.335,498.068,33.369,1270.138,0.000,1918.626,0.000,0.538,0.000
$DEVICE_MAMPS,164.905,72.098,882.817,411.879,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.116,312.978,399.291,619.387,1092.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,38378,504
$CAP_FILE_SIZE,106856,0
$CFSIZE,260165632,169140224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181110,024946,2257.173,-15743.091,8,99.0,27,10.1