version: 66.06
glider: 148
mission: 9
dive: 66
start: 11 20 110 0 23 45
data:
$ID,148
$MISSION,9
$DIVE,66
$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,-858795
$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,2900
$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,33
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3070
$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
$GPS1,001207,2255.006,-15755.133,30,1.5,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.8
$GPS2,002250,2254.970,-15755.160,11,1.7,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.031,0.258
$KALMAN_X,-38226.4,-189.5,-48.8,63763.9,-188.0
$KALMAN_Y,21313.9,73.6,-307.2,117965.6,-105.1
$MHEAD_RNG_PITCHd_Wd,356.8,5618,-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,-145.4,0.0,0.0,0,103,0.00,0.00,-82.93,0.000,2,0.000,0.000,411,1842,3290,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.0,-3.8,11,132,11.77,2.70,-7.15,0.000,4,0.160,0.054,2614,187,3667,0,0,0,0,0,0
$GC,196,-1.28,-146.0,23.4,-13.8,24,205,0.00,2.50,0.00,0.000,6,0.000,0.021,2614,1768,3669,0,0,0,0,0,0
$GC,479,-1.21,-146.0,60.6,-13.3,53,484,0.10,2.55,0.00,0.000,4,0.127,0.031,2635,3353,3669,0,0,0,0,0,0
$GC,545,-1.28,-146.0,69.2,-11.7,58,549,0.00,2.50,0.00,0.000,6,0.000,0.023,2635,1767,3669,0,0,0,0,0,0
$GC,808,-1.28,-146.0,99.2,-10.6,82,812,0.00,2.53,0.00,0.000,4,0.000,0.031,2636,3355,3669,0,0,0,0,0,0
$GC,846,-1.41,-146.0,103.4,-10.8,85,852,0.17,2.47,0.00,0.000,6,0.048,0.023,2542,1786,3670,0,0,0,0,0,0
$GC,1112,-1.25,-146.0,143.0,-13.9,109,1118,0.40,2.47,0.00,0.000,4,0.089,0.028,2624,3348,3670,0,0,0,0,0,0
$GC,1130,-1.18,-146.0,145.5,-12.6,110,1134,0.00,2.42,0.00,0.000,6,0.000,0.022,2624,1795,3670,0,0,0,0,0,0
$GC,1397,-1.29,-146.0,168.1,-8.6,135,1402,0.00,2.58,0.00,0.000,4,0.000,0.041,2624,195,3671,0,0,0,0,0,0
$GC,1420,-1.43,-146.0,170.1,-8.5,136,1426,0.15,2.47,0.00,0.000,6,0.057,0.020,2554,1816,3671,0,0,0,0,0,0
$GC,1682,-1.35,-146.0,200.4,-11.7,161,1687,0.22,2.40,0.00,0.000,4,0.094,0.029,2603,3340,3671,0,0,0,0,0,0
$GC,1709,-1.35,-146.0,203.2,-10.0,161,1713,0.00,2.40,0.00,0.000,6,0.000,0.023,2603,1806,3671,0,0,0,0,0,0
$GC,1969,-1.42,-146.0,226.9,-9.1,168,1973,0.00,2.62,0.00,0.000,4,0.000,0.041,2603,188,3671,0,0,0,0,0,0
$GC,1997,-1.51,-146.0,229.9,-9.5,168,2002,0.15,2.50,0.00,0.000,6,0.058,0.021,2536,1808,3671,0,0,0,0,0,0
$GC,2254,-1.40,-146.0,260.5,-12.3,175,2259,0.25,2.45,0.00,0.000,4,0.093,0.032,2594,3345,3671,0,0,0,0,0,0
$GC,2273,-1.40,-146.0,263.4,-12.8,175,2277,0.00,2.42,0.00,0.000,6,0.000,0.023,2594,1796,3671,0,0,0,0,0,0
$GC,2539,-1.47,-146.0,288.9,-9.8,182,2543,0.00,2.47,0.00,0.000,4,0.000,0.033,2594,3349,3671,0,0,0,0,0,0
$GC,2567,-1.57,-146.0,292.0,-9.6,182,2572,0.15,2.42,0.00,0.000,6,0.054,0.025,2508,1809,3671,0,0,0,0,0,0
$GC,2822,-1.39,-146.0,326.7,-13.5,189,2825,0.43,0.00,0.00,0.000,6,0.089,0.000,2594,1809,3671,0,0,0,0,0,0
$GC,3068,-1.49,-146.0,347.2,-8.1,195,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1809,3671,0,0,0,0,0,0
$GC,3310,-1.59,-146.0,368.6,-8.9,201,3317,0.17,2.67,0.00,0.000,4,0.052,0.052,2525,198,3670,0,0,0,0,0,0
$GC,3336,-1.52,-146.0,371.9,-13.4,201,3341,0.20,2.55,0.00,0.000,6,0.098,0.024,2568,1810,3669,0,0,0,0,0,0
$GC,3598,-1.52,-146.0,398.8,-9.9,208,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1809,3668,0,0,0,0,0,0
$GC,3840,-1.52,-146.0,419.0,-8.1,214,3844,0.00,2.53,0.00,0.000,4,0.000,0.044,2568,3349,3667,0,0,0,0,0,0
$GC,3868,-1.58,-146.0,421.1,-8.2,214,3872,0.00,2.45,0.00,0.000,6,0.000,0.029,2568,1827,3667,0,0,0,0,0,0
$GC,4124,-1.58,-146.0,440.1,-7.5,221,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1827,3665,0,0,0,0,0,0
$GC,4366,-1.64,-146.0,458.6,-7.6,227,4371,0.10,2.53,0.00,0.000,4,0.082,0.049,2520,3341,3663,0,0,0,0,0,0
$GC,4395,-1.57,-146.0,461.5,-9.7,227,4401,0.17,2.45,0.00,0.000,6,0.099,0.031,2558,1822,3662,0,0,0,0,0,0
$GC,4652,-1.57,-146.0,485.2,-9.5,234,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1822,3661,0,0,0,0,0,0
$STATE,4811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4811,begin apogee
$GC,4816,-0.31,0.0,500.6,9.5,238,4937,1.23,0.00,117.57,0.877,6,0.080,0.000,2832,1643,3070,0,0,0,0,0,0
$STATE,4938,end apogee,CONTROL_FINISHED_OK
$STATE,4938,begin climb
$GC,4940,1.28,146.0,505.4,0.0,241,5070,1.42,0.00,121.55,0.861,6,0.028,0.000,3183,1643,2474,0,0,0,0,0,0
$GC,5307,0.87,146.0,475.0,12.9,250,5314,0.43,2.72,0.00,0.000,4,0.125,0.058,3096,3219,2466,0,0,0,0,0,0
$GC,5335,0.72,169.9,472.2,8.9,250,5364,0.20,2.58,20.67,0.802,6,0.114,0.036,3055,1666,2376,0,0,0,0,0,0
$GC,5642,0.76,254.7,451.5,6.1,258,5727,0.00,2.65,72.22,0.834,4,0.000,0.068,3055,170,2031,0,0,0,0,0,0
$GC,5742,0.73,285.7,444.5,8.6,260,5777,0.00,2.40,28.65,0.800,6,0.000,0.028,3055,1648,1904,0,0,0,0,0,0
$GC,6060,0.74,288.9,414.6,9.9,268,6064,0.00,2.70,0.00,0.000,4,0.000,0.054,3055,3232,1895,0,0,0,0,0,0
$GC,6084,0.74,288.9,412.0,10.7,268,6089,0.00,2.62,0.00,0.000,6,0.000,0.035,3055,1647,1893,0,0,0,0,0,0
$GC,6343,0.74,288.9,384.9,10.3,275,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1647,1892,0,0,0,0,0,0
$GC,6589,0.74,288.9,356.0,12.2,281,6593,0.00,2.55,0.00,0.000,4,0.000,0.064,3055,162,1890,0,0,0,0,0,0
$GC,6668,0.74,288.9,344.8,14.2,282,6673,0.00,2.38,0.00,0.000,6,0.000,0.025,3055,1661,1889,0,0,0,0,0,0
$GC,6918,0.74,288.9,314.7,11.7,288,6922,0.00,2.60,0.00,0.000,4,0.000,0.048,3055,3225,1888,0,0,0,0,0,0
$GC,6974,0.83,288.9,308.4,11.0,289,6979,0.10,2.58,0.00,0.000,6,0.081,0.035,3100,1657,1886,0,0,0,0,0,0
$GC,7250,0.75,288.9,273.8,12.9,296,7255,0.17,2.55,0.00,0.000,4,0.112,0.061,3065,165,1886,0,0,0,0,0,0
$GC,7276,0.75,288.9,270.4,12.4,296,7280,0.00,2.35,0.00,0.000,6,0.000,0.023,3064,1665,1886,0,0,0,0,0,0
$GC,7536,0.75,288.9,240.4,11.6,303,7540,0.00,2.55,0.00,0.000,4,0.000,0.040,3064,3221,1885,0,0,0,0,0,0
$GC,7582,0.83,288.9,235.1,10.9,304,7587,0.00,2.55,0.00,0.000,6,0.000,0.031,3064,1661,1884,0,0,0,0,0,0
$GC,7864,0.83,288.9,205.7,10.4,311,7868,0.00,2.55,0.00,0.000,4,0.000,0.037,3064,3228,1884,0,0,0,0,0,0
$GC,7879,0.83,288.9,204.1,10.4,311,7884,0.00,2.50,0.00,0.000,6,0.000,0.028,3064,1669,1884,0,0,0,0,0,0
$GC,8147,0.83,288.9,176.3,10.3,332,8151,0.00,2.45,0.00,0.000,4,0.000,0.048,3064,169,1884,0,0,0,0,0,0
$GC,8162,0.83,288.9,174.6,10.5,333,8166,0.00,2.38,0.00,0.000,6,0.000,0.023,3064,1684,1884,0,0,0,0,0,0
$GC,8430,0.83,288.9,148.1,10.3,358,8434,0.00,2.47,0.00,0.000,4,0.000,0.036,3064,3231,1884,0,0,0,0,0,0
$GC,8450,0.83,288.9,145.5,10.3,359,8456,0.00,2.50,0.00,0.000,6,0.000,0.028,3064,1678,1884,0,0,0,0,0,0
$GC,8714,0.93,314.5,119.1,8.8,384,8745,0.15,0.00,22.38,0.580,6,0.060,0.000,3133,1678,1786,0,0,0,0,0,0
$GC,9000,0.85,314.5,88.0,10.8,411,9005,0.22,2.47,0.00,0.000,4,0.102,0.044,3085,164,1783,0,0,0,0,0,0
$GC,9021,0.85,314.5,85.1,11.6,412,9029,0.00,2.40,0.00,0.000,6,0.000,0.021,3085,1681,1783,0,0,0,0,0,0
$GC,9286,0.95,332.2,60.8,9.2,437,9306,0.10,0.00,15.82,0.515,6,0.080,0.000,3134,1683,1715,0,0,0,0,0,0
$GC,9565,0.95,332.2,27.7,12.9,464,9574,0.12,2.53,0.00,0.000,4,0.113,0.036,3109,3219,1713,0,0,0,0,0,0
$GC,9583,0.95,332.2,25.3,12.9,466,9592,0.00,2.50,0.00,0.000,6,0.000,0.026,3109,1676,1711,0,0,0,0,0,0
$STATE,9775,end climb,SURFACE_DEPTH_REACHED
$STATE,9775,begin surface coast
$FINISH,0.5,1.023028
$STATE,9814,end surface coast,CONTROL_FINISHED_OK
$STATE,9814,begin surface
$SM_CCo,9836,62.65,0.423,1,0,1234,450.13
$SM_GC,1.49,0.00,0.00,62.65,0.000,0.000,0.423,408,1831,1234,-11.46,1.72,450.13
$IRIDIUM_FIX,2244.02,-15754.11,130200,212146
$TT8_MAMPS,0.026845
$HUMID,40.19
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,12.428
$10V_AH,10.4,10.422
$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,29.425,121.000,398.875,62.650,0.000,27.171,34.336,454.490,0.250,0.000,13.193,1025.698,6427.934,516.057,1792.410,788.641,33.368,1239.313,0.000,1804.419,0.000,0.537,0.000
$DEVICE_MAMPS,159.536,68.263,876.681,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.926,311.800,390.754,593.289,1048.444,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,38491,502
$CAP_FILE_SIZE,113302,0
$CFSIZE,260165632,168214528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201110,031003,2256.163,-15755.552,15,3.2,34,10.1