version: 66.06
glider: 148
mission: 9
dive: 94
start: 11 23 110 12 7 48
data:
$ID,148
$MISSION,9
$DIVE,94
$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,-859438.06
$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,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,32
$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
$GPS1,115322,2254.993,-15750.227,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-66.1
$GPS2,120652,2254.908,-15750.283,38,1.7,53,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.230,-0.122
$KALMAN_X,-51194.8,-366.8,461.2,84789.1,-782.5
$KALMAN_Y,17854.7,-355.2,601.6,120819.4,-1195.7
$MHEAD_RNG_PITCHd_Wd,231.9,14630,-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,16,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,-82.30,0.000,2,0.000,0.000,416,1843,3301,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.2,-4.8,11,131,11.55,2.42,-6.97,0.000,4,0.153,0.042,2615,3357,3667,0,0,0,0,0,0
$GC,276,-1.28,-146.0,34.2,-12.9,35,281,0.00,2.53,0.00,0.000,6,0.000,0.022,2615,1757,3668,0,0,0,0,0,0
$GC,543,-1.28,-146.0,70.6,-13.0,59,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1757,3669,0,0,0,0,0,0
$GC,804,-1.28,-146.0,106.4,-12.4,84,809,0.00,2.53,0.00,0.000,4,0.000,0.030,2615,3350,3669,0,0,0,0,0,0
$GC,846,-1.37,-146.0,110.1,-8.2,87,851,0.00,2.47,0.00,0.000,6,0.000,0.023,2615,1781,3669,0,0,0,0,0,0
$GC,1110,-1.44,-146.0,134.7,-8.7,112,1115,0.12,2.50,0.00,0.000,4,0.062,0.031,2551,3351,3670,0,0,0,0,0,0
$GC,1160,-1.36,-146.0,140.9,-11.4,116,1171,0.20,2.47,0.00,0.000,6,0.073,0.022,2601,1793,3670,0,0,0,0,0,0
$GC,1425,-1.43,-146.0,165.9,-9.3,141,1429,0.00,2.45,0.00,0.000,4,0.000,0.030,2601,3349,3670,0,0,0,0,0,0
$GC,1445,-1.49,-146.0,168.2,-10.1,142,1452,0.10,2.45,0.00,0.000,6,0.078,0.022,2535,1792,3670,0,0,0,0,0,0
$GC,1739,-1.36,-146.0,206.1,-12.9,167,1741,0.30,0.00,0.00,0.000,6,0.091,0.000,2601,1792,3670,0,0,0,0,0,0
$GC,1980,-1.44,-146.0,228.3,-8.7,173,1985,0.00,2.50,0.00,0.000,4,0.000,0.031,2601,3356,3671,0,0,0,0,0,0
$GC,2027,-1.57,-146.0,232.4,-8.4,174,2032,0.17,2.45,0.00,0.000,6,0.048,0.024,2502,1806,3671,0,0,0,0,0,0
$GC,2312,-1.33,-146.0,276.0,-15.8,181,2320,0.52,2.60,0.00,0.000,4,0.091,0.040,2604,193,3671,0,0,0,0,0,0
$GC,2362,-1.54,-146.0,281.8,-9.1,182,2367,0.17,2.53,0.00,0.000,6,0.050,0.021,2525,1812,3671,0,0,0,0,0,0
$GC,2647,-1.43,-146.0,316.3,-12.6,189,2649,0.28,0.00,0.00,0.000,6,0.090,0.000,2587,1812,3671,0,0,0,0,0,0
$GC,2889,-1.52,-146.0,338.5,-8.8,195,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1812,3671,0,0,0,0,0,0
$GC,3133,-1.61,-146.0,359.4,-8.6,201,3138,0.17,2.47,0.00,0.000,4,0.051,0.040,2517,3343,3670,0,0,0,0,0,0
$GC,3191,-1.54,-146.0,366.1,-11.4,202,3196,0.20,2.47,0.00,0.000,6,0.094,0.026,2562,1794,3670,0,0,0,0,0,0
$GC,3465,-1.54,-146.0,391.8,-9.3,209,3469,0.00,2.55,0.00,0.000,4,0.000,0.044,2562,3339,3668,0,0,0,0,0,0
$GC,3485,-1.54,-146.0,393.8,-10.4,209,3489,0.00,2.47,0.00,0.000,6,0.000,0.027,2562,1795,3667,0,0,0,0,0,0
$GC,3748,-1.54,-146.0,418.9,-9.6,216,3753,0.00,2.55,0.00,0.000,4,0.000,0.045,2562,3339,3665,0,0,0,0,0,0
$GC,3771,-1.54,-146.0,421.3,-10.2,216,3776,0.00,2.47,0.00,0.000,6,0.000,0.029,2562,1800,3665,0,0,0,0,0,0
$GC,4032,-1.54,-146.0,445.4,-9.2,223,4036,0.00,2.55,0.00,0.000,4,0.000,0.048,2562,3337,3663,0,0,0,0,0,0
$GC,4052,-1.54,-146.0,447.4,-9.4,223,4057,0.00,2.47,0.00,0.000,6,0.000,0.029,2562,1802,3664,0,0,0,0,0,0
$GC,4316,-1.54,-146.0,470.8,-8.8,230,4320,0.00,2.55,0.00,0.000,4,0.000,0.049,2562,3337,3662,0,0,0,0,0,0
$GC,4345,-1.54,-146.0,473.5,-9.1,230,4350,0.00,2.47,0.00,0.000,6,0.000,0.031,2562,1808,3661,0,0,0,0,0,0
$GC,4600,-1.54,-146.0,494.9,-8.4,237,4604,0.00,2.58,0.00,0.000,4,0.000,0.051,2562,3343,3660,0,0,0,0,0,0
$GC,4623,-1.54,-146.0,497.1,-9.0,237,4628,0.00,2.47,0.00,0.000,6,0.000,0.031,2562,1817,3660,0,0,0,0,0,0
$STATE,4678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4686,-0.31,0.0,501.8,8.6,239,4807,1.20,0.00,117.78,0.875,6,0.078,0.000,2832,1635,3070,0,0,0,0,0,0
$STATE,4808,end apogee,CONTROL_FINISHED_OK
$STATE,4808,begin climb
$GC,4810,1.28,146.0,506.9,0.0,242,4940,1.40,2.75,121.70,0.858,4,0.025,0.051,3180,3212,2473,0,0,0,0,0,0
$GC,5075,0.91,146.0,492.8,11.0,248,5082,0.40,2.58,0.00,0.000,6,0.117,0.035,3100,1668,2467,0,0,0,0,0,0
$GC,5362,0.75,177.6,468.4,8.6,255,5395,0.17,2.70,26.88,0.814,4,0.120,0.074,3066,170,2346,0,0,0,0,0,0
$GC,5411,0.63,203.5,464.2,8.8,256,5440,0.12,2.38,23.35,0.799,6,0.133,0.027,3042,1637,2240,0,0,0,0,0,0
$GC,5693,0.64,213.8,437.8,9.6,263,5704,0.00,0.00,9.45,0.722,6,0.000,0.000,3041,1638,2198,0,0,0,0,0,0
$GC,5934,0.64,213.8,413.8,10.1,269,5938,0.00,2.53,0.00,0.000,4,0.000,0.058,3041,167,2194,0,0,0,0,0,0
$GC,5976,0.64,213.8,408.7,11.9,270,5981,0.00,2.38,0.00,0.000,6,0.000,0.026,3041,1645,2193,0,0,0,0,0,0
$GC,6264,0.65,222.0,380.2,9.7,277,6277,0.00,2.70,7.82,0.680,4,0.000,0.050,3041,3233,2163,0,0,0,0,0,0
$GC,6291,0.70,260.5,377.6,8.3,277,6332,0.00,2.65,34.92,0.789,6,0.000,0.034,3041,1638,2007,0,0,0,0,0,0
$GC,6594,0.75,301.7,351.7,8.1,285,6634,0.10,0.00,37.10,0.770,6,0.080,0.000,3089,1638,1840,0,0,0,0,0,0
$GC,6875,0.69,301.7,317.9,12.7,292,6880,0.17,2.55,0.00,0.000,4,0.107,0.064,3052,169,1832,0,0,0,0,0,0
$GC,6904,0.69,301.7,314.1,12.9,292,6908,0.00,2.35,0.00,0.000,6,0.000,0.024,3053,1659,1832,0,0,0,0,0,0
$GC,7163,0.69,301.7,282.8,12.4,299,7168,0.00,2.58,0.00,0.000,4,0.000,0.043,3053,3219,1829,0,0,0,0,0,0
$GC,7198,0.78,301.7,278.3,12.6,299,7202,0.00,2.58,0.00,0.000,6,0.000,0.032,3052,1652,1827,0,0,0,0,0,0
$GC,7447,0.78,301.7,250.9,10.5,305,7451,0.00,2.60,0.00,0.000,4,0.000,0.038,3052,3229,1826,0,0,0,0,0,0
$GC,7476,0.86,301.7,248.1,10.3,305,7481,0.15,2.55,0.00,0.000,6,0.058,0.031,3122,1671,1825,0,0,0,0,0,0
$GC,7732,0.74,301.7,213.5,14.0,312,7737,0.25,2.53,0.00,0.000,4,0.103,0.050,3065,162,1825,0,0,0,0,0,0
$GC,7753,0.68,301.7,210.6,14.2,312,7757,0.00,2.40,0.00,0.000,6,0.000,0.022,3065,1686,1824,0,0,0,0,0,0
$GC,8014,0.68,301.7,181.4,10.6,330,8019,0.00,2.45,0.00,0.000,4,0.000,0.035,3065,3220,1824,0,0,0,0,0,0
$GC,8053,0.76,301.7,177.1,10.5,333,8062,0.00,2.53,0.00,0.000,6,0.000,0.029,3065,1679,1823,0,0,0,0,0,0
$GC,8319,0.76,301.7,149.3,10.6,358,8324,0.00,2.47,0.00,0.000,4,0.000,0.046,3065,173,1824,0,0,0,0,0,0
$GC,8348,0.76,301.7,145.6,10.3,360,8357,0.00,2.38,0.00,0.000,6,0.000,0.022,3065,1674,1823,0,0,0,0,0,0
$GC,8617,0.88,341.2,122.3,8.2,385,8659,0.10,2.58,32.25,0.588,4,0.081,0.032,3113,3225,1677,0,0,0,0,0,0
$GC,8670,0.88,341.2,116.2,11.6,390,8675,0.10,2.53,0.00,0.000,6,0.123,0.027,3092,1674,1675,0,0,0,0,0,0
$GC,8931,0.94,344.3,88.6,9.9,414,8935,0.00,2.47,0.00,0.000,4,0.000,0.052,3092,170,1673,0,0,0,0,0,0
$GC,8971,0.94,344.3,84.1,11.4,417,8977,0.00,2.35,0.00,0.000,6,0.000,0.021,3092,1676,1673,0,0,0,0,0,0
$GC,9238,0.94,344.3,57.4,10.0,442,9242,0.00,2.45,0.00,0.000,4,0.000,0.032,3092,3220,1673,0,0,0,0,0,0
$GC,9256,0.94,344.3,55.2,10.4,443,9260,0.00,2.50,0.00,0.000,6,0.000,0.025,3092,1659,1672,0,0,0,0,0,0
$GC,9526,1.01,344.3,28.4,10.1,468,9536,0.10,2.45,0.00,0.000,4,0.079,0.044,3145,183,1672,0,0,0,0,0,0
$GC,9559,0.92,344.3,24.6,10.2,472,9567,0.17,2.33,0.00,0.000,6,0.091,0.021,3104,1665,1671,0,0,0,0,0,0
$STATE,9748,end climb,SURFACE_DEPTH_REACHED
$STATE,9748,begin surface coast
$FINISH,0.7,1.001638
$STATE,9793,end surface coast,CONTROL_FINISHED_OK
$STATE,9793,begin surface
$SM_CCo,9815,57.55,0.415,1,0,1233,450.13
$SM_GC,1.53,0.00,0.00,57.55,0.000,0.000,0.415,409,1836,1233,-11.46,1.87,450.13
$IRIDIUM_FIX,2248.70,-15748.01,170200,090920
$TT8_MAMPS,0.026845
$HUMID,40.86
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.20
$XPDR_PINGS,3
$24V_AH,23.6,16.334
$10V_AH,10.5,13.532
$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,29.125,130.650,411.250,57.550,0.000,23.647,32.008,583.987,0.750,0.000,54.487,1053.738,6247.951,523.416,1948.379,916.333,33.367,1289.335,0.000,1913.950,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,74.399,875.147,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.251,318.670,399.164,618.287,1092.916,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38338,509
$CAP_FILE_SIZE,120701,0
$CFSIZE,260165632,166617088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231110,145331,2254.010,-15751.764,9,1.7,26,10.1