version: 66.06
glider: 148
mission: 9
dive: 67
start: 11 20 110 3 21 45
data:
$ID,148
$MISSION,9
$DIVE,67
$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,-858810
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,031003,2256.163,-15755.552,15,3.2,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.1
$GPS2,032050,2256.137,-15755.624,12,1.9,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.112,0.235
$KALMAN_X,-39110.9,-265.6,-183.0,64068.2,-303.1
$KALMAN_Y,20973.3,66.0,-362.0,120530.5,277.7
$MHEAD_RNG_PITCHd_Wd,15.3,3610,-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,-82.88,0.000,2,0.000,0.000,407,1832,3315,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.2,-4.8,11,131,11.77,2.67,-6.57,0.000,4,0.160,0.050,2613,183,3667,0,0,0,0,0,0
$GC,171,-1.28,-146.0,20.7,-16.6,20,180,0.00,2.50,0.00,0.000,6,0.000,0.021,2613,1762,3669,0,0,0,0,0,0
$GC,451,-1.19,-146.0,59.6,-14.5,50,456,0.12,2.53,0.00,0.000,4,0.118,0.031,2638,3350,3669,0,0,0,0,0,0
$GC,517,-1.26,-146.0,68.8,-12.1,55,521,0.00,2.50,0.00,0.000,6,0.000,0.023,2638,1763,3669,0,0,0,0,0,0
$GC,784,-1.33,-146.0,101.2,-11.5,79,791,0.12,0.00,0.00,0.000,6,0.064,0.000,2576,1762,3669,0,0,0,0,0,0
$GC,1046,-1.33,-146.0,137.9,-12.1,104,1051,0.15,2.55,0.00,0.000,4,0.106,0.030,2608,3351,3671,0,0,0,0,0,0
$GC,1106,-1.44,-146.0,143.7,-9.3,109,1111,0.00,2.47,0.00,0.000,6,0.000,0.023,2608,1772,3671,0,0,0,0,0,0
$GC,1374,-1.51,-146.0,166.6,-8.8,133,1379,0.15,0.00,0.00,0.000,6,0.058,0.000,2545,1772,3671,0,0,0,0,0,0
$GC,1637,-1.40,-146.0,200.6,-14.1,158,1643,0.22,2.53,0.00,0.000,4,0.094,0.029,2594,3350,3671,0,0,0,0,0,0
$GC,1662,-1.40,-146.0,204.4,-13.3,158,1666,0.00,2.45,0.00,0.000,6,0.000,0.022,2593,1786,3671,0,0,0,0,0,0
$GC,1920,-1.40,-146.0,233.2,-11.2,165,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1786,3671,0,0,0,0,0,0
$GC,2164,-1.40,-146.0,257.6,-10.2,171,2168,0.00,2.50,0.00,0.000,4,0.000,0.031,2594,3354,3671,0,0,0,0,0,0
$GC,2212,-1.51,-146.0,262.5,-9.2,172,2216,0.00,2.47,0.00,0.000,6,0.000,0.024,2594,1788,3671,0,0,0,0,0,0
$GC,2495,-1.57,-146.0,288.7,-9.0,179,2500,0.15,2.53,0.00,0.000,4,0.058,0.032,2529,3360,3671,0,0,0,0,0,0
$GC,2540,-1.49,-146.0,293.5,-10.6,180,2545,0.20,2.47,0.00,0.000,6,0.094,0.025,2574,1791,3672,0,0,0,0,0,0
$GC,2827,-1.49,-146.0,320.0,-8.6,187,2832,0.00,2.60,0.00,0.000,4,0.000,0.045,2574,192,3671,0,0,0,0,0,0
$GC,2874,-1.60,-146.0,324.9,-10.2,188,2879,0.10,2.50,0.00,0.000,6,0.078,0.023,2525,1798,3671,0,0,0,0,0,0
$GC,3158,-1.51,-146.0,359.1,-12.3,195,3163,0.20,2.50,0.00,0.000,4,0.099,0.037,2569,3347,3671,0,0,0,0,0,0
$GC,3173,-1.51,-146.0,361.2,-12.5,195,3177,0.00,2.47,0.00,0.000,6,0.000,0.025,2570,1792,3671,0,0,0,0,0,0
$GC,3443,-1.51,-146.0,387.0,-9.3,202,3447,0.00,2.67,0.00,0.000,4,0.000,0.054,2570,189,3670,0,0,0,0,0,0
$GC,3480,-1.58,-146.0,391.0,-10.3,202,3486,0.00,2.50,0.00,0.000,6,0.000,0.025,2569,1782,3670,0,0,0,0,0,0
$GC,3730,-1.58,-146.0,415.6,-10.1,209,3734,0.00,2.58,0.00,0.000,4,0.000,0.043,2570,3353,3668,0,0,0,0,0,0
$GC,3764,-1.66,-146.0,419.2,-9.8,209,3769,0.12,2.53,0.00,0.000,6,0.066,0.028,2503,1784,3668,0,0,0,0,0,0
$GC,4014,-1.53,-146.0,448.9,-11.7,215,4021,0.25,2.67,0.00,0.000,4,0.097,0.060,2562,196,3666,0,0,0,0,0,0
$GC,4040,-1.53,-146.0,451.3,-8.9,215,4044,0.00,2.53,0.00,0.000,6,0.000,0.030,2562,1781,3666,0,0,0,0,0,0
$GC,4301,-1.53,-146.0,471.1,-7.8,222,4305,0.00,2.60,0.00,0.000,4,0.000,0.048,2562,3353,3664,0,0,0,0,0,0
$GC,4334,-1.61,-146.0,474.2,-8.4,222,4338,0.00,2.53,0.00,0.000,6,0.000,0.032,2562,1790,3664,0,0,0,0,0,0
$GC,4584,-1.68,-146.0,498.1,-9.8,228,4589,0.12,2.62,0.00,0.000,4,0.067,0.051,2510,3347,3662,0,0,0,0,0,0
$STATE,4601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4601,begin apogee
$GC,4611,-0.31,0.0,500.5,11.6,228,4733,1.42,0.00,118.12,0.871,6,0.083,0.000,2831,1651,3070,0,0,0,0,0,0
$STATE,4734,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4736,1.28,146.0,505.3,0.0,231,4867,1.40,2.65,121.65,0.857,4,0.023,0.067,3197,178,2473,0,0,0,0,0,0
$GC,5017,0.72,146.0,481.7,16.4,237,5025,0.70,2.38,0.00,0.000,6,0.124,0.030,3058,1647,2466,0,0,0,0,0,0
$GC,5290,0.68,178.5,455.7,8.5,244,5322,0.00,2.58,27.42,0.812,4,0.000,0.060,3058,177,2341,0,0,0,0,0,0
$GC,5372,0.54,191.7,448.8,9.4,245,5392,0.20,2.40,12.45,0.752,6,0.115,0.028,3019,1651,2288,0,0,0,0,0,0
$GC,5671,0.64,269.9,428.8,6.4,253,5745,0.00,2.58,67.95,0.824,4,0.000,0.058,3018,176,1968,0,0,0,0,0,0
$GC,5761,0.66,287.6,421.6,9.2,255,5786,0.10,2.40,17.27,0.764,6,0.081,0.027,3057,1647,1897,0,0,0,0,0,0
$GC,6040,0.66,287.6,388.0,12.2,262,6044,0.00,2.65,0.00,0.000,4,0.000,0.050,3057,3223,1888,0,0,0,0,0,0
$GC,6054,0.66,287.6,386.3,11.9,262,6058,0.00,2.62,0.00,0.000,6,0.000,0.033,3057,1640,1886,0,0,0,0,0,0
$GC,6323,0.66,287.6,354.2,12.2,269,6327,0.00,2.53,0.00,0.000,4,0.000,0.064,3057,176,1885,0,0,0,0,0,0
$GC,6397,0.66,287.6,343.9,13.7,270,6401,0.00,2.35,0.00,0.000,6,0.000,0.025,3057,1644,1884,0,0,0,0,0,0
$GC,6651,0.66,287.6,313.4,11.9,277,6655,0.00,2.62,0.00,0.000,4,0.000,0.046,3057,3219,1881,0,0,0,0,0,0
$GC,6704,0.75,287.6,306.9,12.4,278,6708,0.00,2.58,0.00,0.000,6,0.000,0.035,3057,1653,1880,0,0,0,0,0,0
$GC,6981,0.75,287.6,273.6,12.3,285,6985,0.00,2.53,0.00,0.000,4,0.000,0.060,3057,166,1879,0,0,0,0,0,0
$GC,7004,0.75,287.6,271.0,12.4,285,7008,0.00,2.35,0.00,0.000,6,0.000,0.023,3057,1664,1878,0,0,0,0,0,0
$GC,7267,0.75,287.6,242.7,10.2,292,7271,0.00,2.53,0.00,0.000,4,0.000,0.037,3058,3219,1878,0,0,0,0,0,0
$GC,7304,0.85,302.8,239.1,9.3,292,7322,0.12,2.55,11.23,0.645,6,0.066,0.031,3116,1658,1835,0,0,0,0,0,0
$GC,7602,0.74,302.8,202.1,13.1,300,7604,0.25,0.00,0.00,0.000,6,0.104,0.000,3063,1658,1832,0,0,0,0,0,0
$GC,7852,0.74,302.8,174.7,10.5,321,7857,0.00,2.53,0.00,0.000,4,0.000,0.034,3063,3224,1831,0,0,0,0,0,0
$GC,7872,0.74,303.2,173.1,10.0,322,7877,0.00,2.50,0.00,0.000,6,0.000,0.028,3062,1661,1830,0,0,0,0,0,0
$GC,8134,0.76,318.0,148.4,9.4,346,8156,0.00,2.50,13.77,0.587,4,0.000,0.046,3062,178,1772,0,0,0,0,0,0
$GC,8192,0.84,318.0,142.8,11.0,351,8196,0.00,2.33,0.00,0.000,6,0.000,0.022,3063,1668,1772,0,0,0,0,0,0
$GC,8457,0.93,326.5,116.0,9.6,375,8479,0.17,2.53,8.77,0.520,4,0.053,0.034,3142,3229,1737,0,0,0,0,0,0
$GC,8484,0.93,326.5,112.5,11.7,377,8491,0.17,2.55,0.00,0.000,6,0.107,0.028,3105,1661,1736,0,0,0,0,0,0
$GC,8748,0.93,326.5,83.3,10.5,402,8752,0.00,2.42,0.00,0.000,4,0.000,0.044,3104,168,1735,0,0,0,0,0,0
$GC,8777,0.93,326.5,79.7,12.0,404,8785,0.00,2.35,0.00,0.000,6,0.000,0.021,3105,1658,1735,0,0,0,0,0,0
$GC,9042,0.93,326.5,52.2,10.9,429,9046,0.00,2.50,0.00,0.000,4,0.000,0.033,3105,3223,1734,0,0,0,0,0,0
$GC,9062,0.93,326.5,49.5,10.1,430,9071,0.00,2.53,0.00,0.000,6,0.000,0.027,3105,1664,1735,0,0,0,0,0,0
$GC,9340,0.93,326.5,19.6,11.0,462,9348,0.00,2.55,0.00,0.000,4,0.000,0.034,3105,3226,1734,0,0,0,0,0,0
$GC,9376,0.95,339.8,15.9,9.4,467,9395,0.00,2.53,12.77,0.468,6,0.000,0.028,3105,1667,1683,0,0,0,0,0,0
$STATE,9488,end climb,SURFACE_DEPTH_REACHED
$STATE,9488,begin surface coast
$FINISH,0.5,1.000746
$STATE,9534,end surface coast,CONTROL_FINISHED_OK
$STATE,9535,begin surface
$SM_CCo,9556,58.17,0.418,1,0,1234,450.13
$SM_GC,1.42,0.00,0.00,58.17,0.000,0.000,0.418,415,1853,1234,-11.43,2.35,450.13
$IRIDIUM_FIX,2246.36,-15756.28,140200,000052
$TT8_MAMPS,0.026845
$HUMID,39.91
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,12.560
$10V_AH,10.5,10.532
$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,29.175,136.525,411.425,58.175,0.000,24.838,40.985,450.875,0.250,0.000,14.347,1023.875,6031.148,516.470,1903.542,795.051,33.363,1307.379,0.000,1907.508,0.000,0.538,0.000
$DEVICE_MAMPS,159.536,66.729,870.545,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.615,302.483,387.588,590.768,1043.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38225,491
$CAP_FILE_SIZE,116752,0
$CFSIZE,260165632,168157184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201110,060325,2257.517,-15755.411,41,0.9,41,10.1