version: 66.06
glider: 148
mission: 9
dive: 68
start: 11 20 110 6 14 44
data:
$ID,148
$MISSION,9
$DIVE,68
$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,-858821.62
$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,46
$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
$GPS1,060325,2257.517,-15755.411,41,0.9,41,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.3
$GPS2,061349,2257.528,-15755.438,9,1.6,9,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.131
$KALMAN_X,-39907.2,-247.7,-194.9,65174.5,-237.9
$KALMAN_Y,20754.8,-6.9,164.6,122869.1,-55.5
$MHEAD_RNG_PITCHd_Wd,110.2,27851,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.47,0.000,2,0.000,0.000,415,1853,3287,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.1,-4.6,11,131,11.57,2.72,-7.12,0.000,4,0.153,0.054,2615,189,3667,0,0,0,0,0,0
$GC,202,-1.28,-146.0,24.9,-14.2,25,211,0.00,2.50,0.00,0.000,6,0.000,0.019,2615,1779,3669,0,0,0,0,0,0
$GC,477,-1.20,-146.0,63.9,-14.6,52,482,0.10,2.47,0.00,0.000,4,0.130,0.030,2634,3343,3669,0,0,0,0,0,0
$GC,521,-1.20,-146.0,71.2,-12.4,55,530,0.00,2.53,0.00,0.000,6,0.000,0.023,2634,1768,3669,0,0,0,0,0,0
$GC,785,-1.27,-146.0,104.8,-12.1,80,789,0.00,2.50,0.00,0.000,4,0.000,0.029,2635,3348,3669,0,0,0,0,0,0
$GC,825,-1.38,-146.0,109.5,-11.6,83,830,0.15,2.45,0.00,0.000,6,0.054,0.022,2543,1783,3669,0,0,0,0,0,0
$GC,1087,-1.19,-146.0,152.2,-14.6,107,1096,0.45,2.47,0.00,0.000,4,0.091,0.028,2632,3347,3670,0,0,0,0,0,0
$GC,1119,-1.27,-146.0,155.9,-10.2,110,1124,0.00,2.45,0.00,0.000,6,0.000,0.022,2632,1790,3670,0,0,0,0,0,0
$GC,1382,-1.41,-146.0,173.8,-6.3,134,1387,0.17,2.58,0.00,0.000,4,0.051,0.041,2549,196,3671,0,0,0,0,0,0
$GC,1413,-1.41,-146.0,176.4,-10.3,136,1418,0.20,2.47,0.00,0.000,6,0.097,0.019,2592,1794,3671,0,0,0,0,0,0
$GC,1684,-1.41,-146.0,204.2,-10.1,158,1688,0.00,2.42,0.00,0.000,4,0.000,0.031,2592,3340,3670,0,0,0,0,0,0
$GC,1731,-1.49,-146.0,209.9,-11.6,159,1736,0.00,2.45,0.00,0.000,6,0.000,0.023,2592,1792,3671,0,0,0,0,0,0
$GC,2013,-1.49,-146.0,241.2,-10.7,166,2017,0.00,2.45,0.00,0.000,4,0.000,0.031,2592,3340,3671,0,0,0,0,0,0
$GC,2045,-1.49,-146.0,244.8,-10.6,166,2050,0.00,2.40,0.00,0.000,6,0.000,0.023,2592,1805,3671,0,0,0,0,0,0
$GC,2296,-1.49,-146.0,268.3,-9.4,172,2301,0.00,2.45,0.00,0.000,4,0.000,0.031,2592,3343,3671,0,0,0,0,0,0
$GC,2324,-1.57,-146.0,271.2,-10.1,172,2329,0.15,2.42,0.00,0.000,6,0.054,0.024,2514,1800,3671,0,0,0,0,0,0
$GC,2580,-1.41,-146.0,306.0,-14.7,179,2585,0.35,2.47,0.00,0.000,4,0.091,0.040,2591,3347,3671,0,0,0,0,0,0
$GC,2610,-1.49,-146.0,309.1,-8.8,179,2614,0.00,2.42,0.00,0.000,6,0.000,0.025,2591,1815,3671,0,0,0,0,0,0
$GC,2865,-1.58,-146.0,332.0,-9.0,186,2867,0.15,0.00,0.00,0.000,6,0.058,0.000,2524,1815,3670,0,0,0,0,0,0
$GC,3108,-1.47,-146.0,359.8,-11.5,192,3115,0.25,2.67,0.00,0.000,4,0.095,0.050,2582,199,3670,0,0,0,0,0,0
$GC,3145,-1.57,-146.0,363.4,-9.1,192,3151,0.10,2.55,0.00,0.000,6,0.079,0.025,2534,1813,3670,0,0,0,0,0,0
$GC,3395,-1.50,-146.0,390.6,-11.2,198,3402,0.17,2.70,0.00,0.000,4,0.101,0.051,2572,198,3668,0,0,0,0,0,0
$GC,3415,-1.50,-146.0,392.6,-10.7,198,3419,0.00,2.58,0.00,0.000,6,0.000,0.026,2572,1816,3668,0,0,0,0,0,0
$GC,3684,-1.56,-146.0,417.3,-9.1,205,3688,0.00,2.50,0.00,0.000,4,0.000,0.042,2572,3353,3667,0,0,0,0,0,0
$GC,3727,-1.66,-146.0,421.0,-8.1,206,3732,0.15,2.45,0.00,0.000,6,0.055,0.029,2490,1819,3667,0,0,0,0,0,0
$GC,4016,-1.49,-146.0,456.5,-12.2,213,4023,0.38,2.75,0.00,0.000,4,0.095,0.061,2570,193,3665,0,0,0,0,0,0
$GC,4043,-1.49,-146.0,459.4,-9.8,213,4047,0.00,2.62,0.00,0.000,6,0.000,0.031,2570,1816,3665,0,0,0,0,0,0
$GC,4304,-1.56,-146.0,476.8,-6.6,220,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1817,3663,0,0,0,0,0,0
$GC,4546,-1.65,-146.0,492.0,-6.1,226,4551,0.12,2.55,0.00,0.000,4,0.068,0.051,2515,3352,3661,0,0,0,0,0,0
$GC,4565,-1.65,-146.0,493.7,-8.5,226,4571,0.12,2.50,0.00,0.000,6,0.111,0.032,2540,1815,3661,0,0,0,0,0,0
$STATE,4665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4665,begin apogee
$GC,4672,-0.31,0.0,502.2,8.3,229,4793,1.30,0.00,117.62,0.882,6,0.081,0.000,2832,1634,3070,0,0,0,0,0,0
$STATE,4794,end apogee,CONTROL_FINISHED_OK
$STATE,4794,begin climb
$GC,4796,1.28,146.0,506.3,0.0,232,4928,1.40,2.60,121.70,0.865,4,0.027,0.067,3180,190,2474,0,0,0,0,0,0
$GC,4942,0.76,146.0,505.3,10.0,235,4950,0.57,2.38,0.00,0.000,6,0.127,0.030,3068,1648,2471,0,0,0,0,0,0
$GC,5209,0.68,187.8,483.5,8.1,242,5251,0.00,0.00,35.55,0.835,6,0.000,0.000,3068,1648,2304,0,0,0,0,0,0
$GC,5497,0.60,204.2,457.2,9.3,249,5518,0.17,2.60,14.32,0.783,4,0.118,0.059,3033,189,2236,0,0,0,0,0,0
$GC,5603,0.55,210.7,447.3,9.7,251,5616,0.00,2.38,7.35,0.692,6,0.000,0.028,3033,1663,2209,0,0,0,0,0,0
$GC,5880,0.58,235.3,422.9,8.9,258,5904,0.00,0.00,22.48,0.805,6,0.000,0.000,3033,1663,2110,0,0,0,0,0,0
$GC,6123,0.60,250.4,400.4,9.3,264,6139,0.00,0.00,13.70,0.762,6,0.000,0.000,3033,1663,2049,0,0,0,0,0,0
$GC,6368,0.61,262.1,377.4,9.5,270,6382,0.00,0.00,11.62,0.737,6,0.000,0.000,3033,1663,2001,0,0,0,0,0,0
$GC,6610,0.61,262.1,353.1,10.0,276,6615,0.00,2.53,0.00,0.000,4,0.000,0.056,3033,175,1995,0,0,0,0,0,0
$GC,6657,0.61,262.1,347.5,13.1,277,6661,0.00,2.35,0.00,0.000,6,0.000,0.025,3033,1655,1995,0,0,0,0,0,0
$GC,6939,0.68,262.1,316.9,10.7,284,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1656,1994,0,0,0,0,0,0
$GC,7183,0.76,265.9,291.8,9.9,290,7188,0.12,2.60,0.00,0.000,4,0.067,0.043,3091,3226,1993,0,0,0,0,0,0
$GC,7202,0.76,265.9,289.4,11.5,290,7207,0.12,2.58,0.00,0.000,6,0.117,0.032,3065,1661,1991,0,0,0,0,0,0
$GC,7468,0.76,265.9,259.7,11.3,297,7472,0.00,2.58,0.00,0.000,4,0.000,0.037,3065,3225,1991,0,0,0,0,0,0
$GC,7523,0.76,265.9,253.5,10.5,298,7527,0.00,2.58,0.00,0.000,6,0.000,0.032,3065,1652,1989,0,0,0,0,0,0
$GC,7796,0.76,267.9,226.0,10.0,305,7807,0.00,2.58,4.82,0.512,4,0.000,0.034,3065,3229,1976,0,0,0,0,0,0
$GC,7828,0.76,269.9,222.8,9.9,305,7832,0.00,2.55,0.00,0.000,6,0.000,0.031,3065,1659,1974,0,0,0,0,0,0
$GC,8082,0.76,269.9,196.5,10.3,312,8086,0.00,2.45,0.00,0.000,4,0.000,0.049,3065,164,1974,0,0,0,0,0,0
$GC,8100,0.76,269.9,194.8,10.3,313,8104,0.00,2.35,0.00,0.000,6,0.000,0.023,3065,1677,1974,0,0,0,0,0,0
$GC,8367,0.77,274.0,169.3,9.8,337,8380,0.00,2.55,6.70,0.534,4,0.000,0.047,3065,174,1953,0,0,0,0,0,0
$GC,8400,0.77,274.0,164.9,11.3,340,8406,0.00,2.35,0.00,0.000,6,0.000,0.022,3065,1664,1952,0,0,0,0,0,0
$GC,8668,0.78,282.2,139.1,9.7,365,8688,0.00,2.50,8.88,0.546,4,0.000,0.044,3065,164,1919,0,0,0,0,0,0
$GC,8723,0.78,282.2,132.5,11.7,370,8732,0.00,2.38,0.00,0.000,6,0.000,0.022,3065,1655,1918,0,0,0,0,0,0
$GC,8990,0.85,287.7,108.0,9.8,395,9002,0.00,2.58,6.47,0.481,4,0.000,0.035,3065,3219,1896,0,0,0,0,0,0
$GC,9043,1.02,305.1,102.4,9.2,400,9073,0.20,2.55,16.83,0.554,6,0.023,0.028,3169,1661,1825,0,0,0,0,0,0
$GC,9327,0.86,305.1,67.1,13.1,427,9336,0.38,0.00,0.00,0.000,6,0.100,0.000,3090,1661,1822,0,0,0,0,0,0
$GC,9593,0.86,308.5,41.8,9.9,452,9602,0.00,0.00,4.00,0.354,6,0.000,0.000,3090,1661,1811,0,0,0,0,0,0
$GC,9883,0.86,308.5,12.7,10.2,490,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1661,1811,0,0,0,0,0,0
$STATE,9965,end climb,SURFACE_DEPTH_REACHED
$STATE,9966,begin surface coast
$FINISH,0.6,1.023637
$STATE,10010,end surface coast,CONTROL_FINISHED_OK
$STATE,10011,begin surface
$SM_CCo,10032,71.57,0.433,1,0,1235,450.13
$SM_GC,1.42,0.00,0.00,71.57,0.000,0.000,0.433,412,1833,1235,-11.44,1.78,450.13
$IRIDIUM_FIX,2246.36,-15751.06,140200,030353
$TT8_MAMPS,0.026845
$HUMID,40.11
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,23.6,12.688
$10V_AH,10.4,10.642
$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,29.675,120.925,392.050,71.575,0.000,28.594,34.894,437.033,0.500,0.000,10.989,1043.230,6537.667,531.244,1851.146,772.572,33.359,1284.144,0.000,1864.509,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,67.496,882.050,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.094,320.255,398.103,605.923,1070.685,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,38452,510
$CAP_FILE_SIZE,116947,0
$CFSIZE,260165632,168099840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201110,090436,2256.688,-15754.629,39,2.0,44,10.1