version: 66.06
glider: 148
mission: 9
dive: 114
start: 11 25 110 19 55 41
data:
$ID,148
$MISSION,9
$DIVE,114
$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,-859902.56
$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,2860
$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,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$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
$GPS1,194634,2250.104,-15756.934,13,99.0,32,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.7
$GPS2,195444,2250.149,-15756.931,11,1.3,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.017,-0.259
$KALMAN_X,-54308.5,-73.0,11.1,76621.0,-255.6
$KALMAN_Y,20267.9,-277.8,-188.1,110311.1,910.5
$MHEAD_RNG_PITCHd_Wd,173.7,6019,-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,17,-1.28,-146.0,0.0,0.0,0,95,0.00,0.00,-75.80,0.000,2,0.000,0.000,409,1813,3173,0,0,0,0,0,0
$GC,100,-1.28,-146.0,3.1,-4.9,10,132,11.43,2.67,-10.60,0.000,4,0.156,0.051,2575,203,3719,0,0,0,0,0,0
$GC,229,-1.21,-146.0,30.3,-15.6,29,238,0.00,2.47,0.00,0.000,6,0.000,0.021,2575,1769,3719,0,0,0,0,0,0
$GC,496,-1.01,-146.0,76.3,-17.9,54,501,0.25,2.55,0.00,0.000,4,0.104,0.031,2631,3374,3720,0,0,0,0,0,0
$GC,537,-1.01,-146.0,83.3,-14.1,57,542,0.00,2.47,0.00,0.000,6,0.000,0.021,2632,1786,3720,0,0,0,0,0,0
$GC,802,-1.01,-146.0,114.1,-11.2,81,807,0.00,2.53,0.00,0.000,4,0.000,0.030,2632,3370,3720,0,0,0,0,0,0
$GC,839,-1.12,-146.0,118.5,-11.1,84,843,0.00,2.47,0.00,0.000,6,0.000,0.022,2632,1789,3721,0,0,0,0,0,0
$GC,1102,-1.23,-146.0,147.0,-10.0,108,1107,0.17,2.55,0.00,0.000,4,0.049,0.038,2552,211,3721,0,0,0,0,0,0
$GC,1122,-1.23,-146.0,149.2,-11.2,109,1127,0.17,2.47,0.00,0.000,6,0.098,0.019,2591,1829,3721,0,0,0,0,0,0
$GC,1386,-1.23,-146.0,179.9,-10.6,133,1390,0.00,2.40,0.00,0.000,4,0.000,0.030,2591,3362,3722,0,0,0,0,0,0
$GC,1417,-1.23,-146.0,183.5,-10.9,135,1426,0.00,2.47,0.00,0.000,6,0.000,0.021,2590,1803,3722,0,0,0,0,0,0
$GC,1703,-1.23,-146.0,213.4,-10.5,154,1708,0.00,2.50,0.00,0.000,4,0.000,0.031,2590,3368,3722,0,0,0,0,0,0
$GC,1736,-1.30,-146.0,216.6,-9.7,154,1741,0.00,2.45,0.00,0.000,6,0.000,0.022,2591,1812,3722,0,0,0,0,0,0
$GC,1988,-1.30,-146.0,238.4,-8.6,160,1992,0.00,2.47,0.00,0.000,4,0.000,0.031,2590,3367,3722,0,0,0,0,0,0
$GC,2011,-1.30,-146.0,240.8,-9.5,160,2015,0.00,2.42,0.00,0.000,6,0.000,0.021,2591,1820,3722,0,0,0,0,0,0
$GC,2270,-1.37,-146.0,263.8,-9.0,167,2275,0.12,2.50,0.00,0.000,4,0.064,0.032,2526,3368,3722,0,0,0,0,0,0
$GC,2310,-1.28,-146.0,268.4,-12.4,167,2316,0.25,2.42,0.00,0.000,6,0.087,0.023,2582,1828,3722,0,0,0,0,0,0
$GC,2559,-1.28,-146.0,292.9,-9.5,174,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1828,3722,0,0,0,0,0,0
$GC,2803,-1.36,-146.0,315.8,-9.6,180,2808,0.00,2.47,0.00,0.000,4,0.000,0.035,2582,3358,3722,0,0,0,0,0,0
$GC,2837,-1.44,-146.0,319.6,-10.9,180,2842,0.15,2.40,0.00,0.000,6,0.056,0.025,2501,1839,3722,0,0,0,0,0,0
$GC,3087,-1.28,-146.0,357.7,-15.4,186,3094,0.35,2.67,0.00,0.000,4,0.091,0.048,2575,207,3721,0,0,0,0,0,0
$GC,3142,-1.41,-146.0,364.4,-11.7,187,3147,0.00,2.55,0.00,0.000,6,0.000,0.025,2575,1828,3721,0,0,0,0,0,0
$GC,3420,-1.49,-146.0,390.3,-9.3,194,3426,0.17,2.55,0.00,0.000,4,0.053,0.045,2501,3371,3720,0,0,0,0,0,0
$GC,3464,-1.40,-146.0,395.5,-12.5,195,3470,0.25,2.42,0.00,0.000,6,0.087,0.028,2556,1845,3720,0,0,0,0,0,0
$GC,3753,-1.40,-146.0,423.3,-9.3,202,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1845,3718,0,0,0,0,0,0
$GC,3996,-1.40,-146.0,447.3,-10.0,208,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1845,3717,0,0,0,0,0,0
$GC,4239,-1.40,-146.0,468.6,-8.4,214,4244,0.00,2.53,0.00,0.000,4,0.000,0.052,2556,3363,3714,0,0,0,0,0,0
$GC,4288,-1.49,-146.0,472.4,-7.4,215,4292,0.00,2.45,0.00,0.000,6,0.000,0.031,2556,1849,3714,0,0,0,0,0,0
$GC,4570,-1.49,-146.0,495.4,-8.5,222,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1849,3712,0,0,0,0,0,0
$STATE,4650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4650,begin apogee
$GC,4657,-0.31,0.0,502.7,8.8,224,4779,1.05,0.00,118.18,0.873,6,0.077,0.000,2794,1680,3120,0,0,0,0,0,0
$STATE,4779,end apogee,CONTROL_FINISHED_OK
$STATE,4779,begin climb
$GC,4782,1.28,146.0,507.6,0.0,227,4912,1.40,2.67,121.80,0.858,4,0.025,0.070,3146,184,2523,0,0,0,0,0,0
$GC,4984,0.83,146.0,504.0,10.8,231,4992,0.50,2.45,0.00,0.000,6,0.112,0.030,3044,1677,2517,0,0,0,0,0,0
$GC,5242,0.92,214.1,485.4,6.9,238,5306,0.00,2.67,57.40,0.842,4,0.000,0.060,3044,183,2245,0,0,0,0,0,0
$GC,5331,0.83,220.2,478.4,9.8,240,5343,0.00,2.45,6.43,0.652,6,0.000,0.030,3044,1687,2221,0,0,0,0,0,0
$GC,5616,0.85,240.1,452.3,9.1,247,5640,0.00,2.75,17.75,0.789,4,0.000,0.051,3044,3264,2141,0,0,0,0,0,0
$GC,5656,0.86,242.9,448.5,9.9,247,5666,0.00,2.60,4.05,0.521,6,0.000,0.035,3044,1697,2128,0,0,0,0,0,0
$GC,5948,0.86,249.5,420.2,9.7,255,5960,0.00,2.70,6.80,0.666,4,0.000,0.067,3044,160,2102,0,0,0,0,0,0
$GC,6027,0.86,249.5,411.1,12.1,256,6031,0.00,2.45,0.00,0.000,6,0.000,0.027,3044,1686,2100,0,0,0,0,0,0
$GC,6281,0.86,250.8,385.1,10.0,263,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1686,2097,0,0,0,0,0,0
$GC,6525,0.89,274.1,362.9,9.0,269,6553,0.00,2.67,21.80,0.770,4,0.000,0.057,3044,176,2001,0,0,0,0,0,0
$GC,6573,0.91,288.8,358.6,9.4,270,6594,0.00,2.42,14.65,0.731,6,0.000,0.025,3044,1676,1942,0,0,0,0,0,0
$GC,6860,0.92,297.0,331.4,9.7,277,6873,0.00,2.67,7.82,0.652,4,0.000,0.046,3044,3255,1909,0,0,0,0,0,0
$GC,6916,1.05,297.0,325.6,10.4,278,6922,0.17,2.60,0.00,0.000,6,0.051,0.034,3119,1675,1906,0,0,0,0,0,0
$GC,7192,0.93,297.0,287.9,13.9,285,7197,0.25,2.58,0.00,0.000,4,0.104,0.058,3063,167,1904,0,0,0,0,0,0
$GC,7231,0.93,297.0,283.1,12.0,285,7237,0.00,2.40,0.00,0.000,6,0.000,0.023,3063,1690,1904,0,0,0,0,0,0
$GC,7480,0.94,307.0,258.3,9.6,292,7492,0.00,0.00,9.85,0.640,6,0.000,0.000,3063,1694,1868,0,0,0,0,0,0
$GC,7724,0.94,307.0,233.3,10.6,298,7728,0.00,2.55,0.00,0.000,4,0.000,0.038,3063,3261,1864,0,0,0,0,0,0
$GC,7758,1.00,307.0,229.5,11.3,298,7763,0.00,2.58,0.00,0.000,6,0.000,0.030,3063,1682,1863,0,0,0,0,0,0
$GC,8008,1.00,307.0,202.3,10.7,304,8012,0.00,2.50,0.00,0.000,4,0.000,0.048,3063,173,1863,0,0,0,0,0,0
$GC,8050,1.00,307.0,197.4,12.3,305,8054,0.00,2.35,0.00,0.000,6,0.000,0.023,3063,1685,1862,0,0,0,0,0,0
$GC,8313,1.00,307.0,168.9,11.2,329,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1689,1862,0,0,0,0,0,0
$GC,8569,1.07,307.0,142.9,10.7,353,8574,0.12,2.53,0.00,0.000,4,0.067,0.035,3127,3257,1862,0,0,0,0,0,0
$GC,8588,1.07,307.0,139.9,11.8,354,8597,0.12,2.58,0.00,0.000,6,0.087,0.028,3095,1676,1862,0,0,0,0,0,0
$GC,8854,1.09,327.8,113.6,9.1,379,8882,0.00,2.50,18.48,0.565,4,0.000,0.047,3095,167,1783,0,0,0,0,0,0
$GC,8897,1.09,327.8,108.6,10.6,383,8903,0.00,2.38,0.00,0.000,6,0.000,0.021,3095,1688,1782,0,0,0,0,0,0
$GC,9161,1.09,329.7,82.6,10.0,408,9165,0.00,2.53,0.00,0.000,4,0.000,0.034,3095,3255,1780,0,0,0,0,0,0
$GC,9200,1.21,337.2,78.7,9.7,411,9216,0.12,2.53,8.82,0.486,6,0.065,0.027,3177,1674,1746,0,0,0,0,0,0
$GC,9481,1.05,337.2,40.8,14.0,437,9486,0.38,2.45,0.00,0.000,4,0.097,0.042,3092,168,1745,0,0,0,0,0,0
$GC,9524,1.05,337.2,35.4,13.0,440,9528,0.00,2.35,0.00,0.000,6,0.000,0.020,3092,1687,1744,0,0,0,0,0,0
$GC,9826,1.12,337.2,4.5,11.0,484,9835,0.00,2.53,0.00,0.000,4,0.000,0.045,3092,175,1744,0,0,0,0,0,0
$STATE,9842,end climb,SURFACE_DEPTH_REACHED
$STATE,9842,begin surface coast
$FINISH,2.1,1.023484
$STATE,9850,end surface coast,CONTROL_FINISHED_OK
$STATE,9850,begin surface
$SM_CCo,9874,60.22,0.416,1,0,1285,450.13
$SM_GC,1.49,0.00,0.00,60.22,0.000,0.000,0.416,415,1846,1285,-11.25,1.58,450.13
$IRIDIUM_FIX,2241.69,-15757.16,190200,191914
$TT8_MAMPS,0.026845
$HUMID,41.41
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,18.701
$10V_AH,10.4,15.585
$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,28.225,131.125,413.825,60.225,0.000,54.284,115.052,139.895,0.250,0.000,12.798,1020.861,6511.624,517.155,1813.764,571.608,33.368,1278.502,0.000,1817.127,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,69.797,872.846,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.161,293.638,372.218,552.675,977.443,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,38299,487
$CAP_FILE_SIZE,112607,0
$CFSIZE,260165632,165543936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251110,224254,2249.229,-15757.199,40,1.0,54,10.1