version: 66.06
glider: 148
mission: 9
dive: 150
start: 11 30 110 0 41 26
data:
$ID,148
$MISSION,9
$DIVE,150
$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,-860812.38
$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,32
$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,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
$GPS1,002854,2249.669,-15802.950,37,1.1,37,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.2
$GPS2,004031,2249.655,-15802.962,9,1.2,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.260,-0.015
$KALMAN_X,-64172.7,302.4,-91.6,75831.8,-217.4
$KALMAN_Y,14143.6,-119.0,9.5,115166.2,297.4
$MHEAD_RNG_PITCHd_Wd,83.2,10196,-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,-82.03,0.000,2,0.000,0.000,409,1872,3353,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.5,-6.0,11,131,11.52,2.70,-6.70,0.000,4,0.159,0.044,2574,198,3717,0,0,0,0,0,0
$GC,166,-1.09,-146.0,21.4,-21.8,19,176,0.17,2.53,0.00,0.000,6,0.076,0.021,2618,1788,3719,0,0,0,0,0,0
$GC,440,-1.09,-146.0,60.9,-14.4,48,445,0.00,2.53,0.00,0.000,4,0.000,0.031,2618,3376,3718,0,0,0,0,0,0
$GC,517,-1.09,-146.0,71.4,-13.3,54,522,0.00,2.50,0.00,0.000,6,0.000,0.022,2618,1794,3719,0,0,0,0,0,0
$GC,779,-1.09,-146.0,108.5,-13.0,78,784,0.00,2.53,0.00,0.000,4,0.000,0.036,2618,207,3719,0,0,0,0,0,0
$GC,818,-1.17,-146.0,113.4,-12.5,81,823,0.00,2.47,0.00,0.000,6,0.000,0.018,2619,1811,3719,0,0,0,0,0,0
$GC,1086,-1.25,-146.0,138.8,-9.5,105,1091,0.12,2.45,0.00,0.000,4,0.062,0.030,2541,3363,3719,0,0,0,0,0,0
$GC,1157,-1.12,-146.0,147.7,-12.8,111,1162,0.32,2.45,0.00,0.000,6,0.084,0.021,2613,1792,3719,0,0,0,0,0,0
$GC,1418,-1.22,-146.0,173.4,-9.5,135,1423,0.00,2.50,0.00,0.000,4,0.000,0.030,2613,3357,3721,0,0,0,0,0,0
$GC,1459,-1.35,-146.0,177.4,-9.7,138,1469,0.15,2.47,0.00,0.000,6,0.025,0.022,2519,1806,3720,0,0,0,0,0,0
$GC,1736,-1.18,-146.0,220.8,-16.1,156,1739,0.38,0.00,0.00,0.000,6,0.087,0.000,2601,1806,3721,0,0,0,0,0,0
$GC,1979,-1.25,-146.0,245.7,-9.6,162,1983,0.00,2.58,0.00,0.000,4,0.000,0.041,2601,204,3721,0,0,0,0,0,0
$GC,2009,-1.38,-146.0,248.4,-9.4,162,2014,0.17,2.47,0.00,0.000,6,0.048,0.020,2514,1810,3721,0,0,0,0,0,0
$GC,2265,-1.21,-146.0,282.0,-13.0,169,2272,0.38,2.50,0.00,0.000,4,0.087,0.032,2594,3369,3721,0,0,0,0,0,0
$GC,2286,-1.21,-146.0,284.4,-9.9,169,2290,0.00,2.47,0.00,0.000,6,0.000,0.024,2594,1796,3721,0,0,0,0,0,0
$GC,2552,-1.31,-146.0,304.6,-8.0,176,2556,0.00,2.53,0.00,0.000,4,0.000,0.036,2594,3366,3721,0,0,0,0,0,0
$GC,2576,-1.41,-146.0,306.9,-9.1,176,2581,0.17,2.47,0.00,0.000,6,0.048,0.025,2500,1813,3721,0,0,0,0,0,0
$GC,2837,-1.24,-146.0,346.9,-16.1,183,2845,0.40,2.53,0.00,0.000,4,0.086,0.039,2586,3361,3720,0,0,0,0,0,0
$GC,2854,-1.24,-146.0,349.8,-14.8,183,2858,0.00,2.47,0.00,0.000,6,0.000,0.025,2587,1803,3720,0,0,0,0,0,0
$GC,3122,-1.34,-146.0,378.0,-10.3,190,3127,0.00,2.53,0.00,0.000,4,0.000,0.041,2587,3354,3719,0,0,0,0,0,0
$GC,3143,-1.43,-146.0,379.9,-9.1,190,3148,0.17,2.47,0.00,0.000,6,0.048,0.028,2498,1812,3719,0,0,0,0,0,0
$GC,3408,-1.29,-146.0,414.7,-13.3,197,3415,0.35,2.67,0.00,0.000,4,0.087,0.056,2574,214,3717,0,0,0,0,0,0
$GC,3435,-1.36,-146.0,417.9,-10.7,197,3439,0.00,2.55,0.00,0.000,6,0.000,0.028,2574,1805,3717,0,0,0,0,0,0
$GC,3696,-1.45,-146.0,438.8,-7.8,204,3701,0.12,2.60,0.00,0.000,4,0.067,0.049,2516,3364,3715,0,0,0,0,0,0
$GC,3720,-1.45,-146.0,441.6,-11.7,204,3725,0.12,2.47,0.00,0.000,6,0.108,0.029,2543,1816,3715,0,0,0,0,0,0
$GC,3981,-1.45,-146.0,467.3,-9.9,211,3985,0.00,2.60,0.00,0.000,4,0.000,0.052,2543,3363,3713,0,0,0,0,0,0
$GC,3999,-1.45,-146.0,469.6,-10.9,211,4004,0.00,2.50,0.00,0.000,6,0.000,0.030,2543,1819,3713,0,0,0,0,0,0
$GC,4263,-1.45,-146.0,496.4,-10.2,218,4267,0.00,2.58,0.00,0.000,4,0.000,0.052,2543,3363,3710,0,0,0,0,0,0
$GC,4276,-1.45,-146.0,498.1,-10.1,218,4281,0.00,2.47,0.00,0.000,6,0.000,0.031,2543,1825,3710,0,0,0,0,0,0
$STATE,4298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4298,begin apogee
$GC,4306,-0.31,0.0,500.3,10.1,219,4426,1.10,0.00,116.90,0.867,6,0.078,0.000,2790,1673,3120,0,0,0,0,0,0
$STATE,4427,end apogee,CONTROL_FINISHED_OK
$STATE,4427,begin climb
$GC,4429,1.28,146.0,505.2,0.0,222,4560,1.42,2.65,120.70,0.852,4,0.025,0.067,3146,184,2523,0,0,0,0,0,0
$GC,4589,0.83,158.3,504.5,9.5,225,4606,0.50,2.45,11.07,0.739,6,0.114,0.029,3043,1679,2474,0,0,0,0,0,0
$GC,4893,0.88,201.0,479.7,8.1,233,4936,0.00,2.62,36.28,0.824,4,0.000,0.060,3043,183,2301,0,0,0,0,0,0
$GC,4979,0.79,201.0,471.4,10.7,234,4985,0.00,2.45,0.00,0.000,6,0.000,0.029,3043,1679,2299,0,0,0,0,0,0
$GC,5230,0.83,229.8,449.6,8.7,241,5263,0.00,2.65,25.27,0.802,4,0.000,0.059,3043,177,2181,0,0,0,0,0,0
$GC,5295,0.76,229.8,443.3,10.1,242,5300,0.00,2.42,0.00,0.000,6,0.000,0.028,3043,1677,2179,0,0,0,0,0,0
$GC,5559,0.77,237.0,418.0,9.7,249,5571,0.00,2.62,6.57,0.654,4,0.000,0.059,3043,185,2154,0,0,0,0,0,0
$GC,5614,0.77,237.0,412.3,10.2,250,5619,0.00,2.40,0.00,0.000,6,0.000,0.027,3043,1666,2153,0,0,0,0,0,0
$GC,5892,0.79,251.0,386.0,9.4,257,5912,0.00,2.75,13.57,0.751,4,0.000,0.048,3043,3253,2095,0,0,0,0,0,0
$GC,5923,0.80,265.0,383.1,9.4,257,5944,0.00,2.62,13.35,0.739,6,0.000,0.034,3043,1679,2038,0,0,0,0,0,0
$GC,6227,0.81,269.9,353.5,9.8,265,6240,0.00,2.62,5.25,0.587,4,0.000,0.063,3043,168,2018,0,0,0,0,0,0
$GC,6264,0.81,269.9,349.1,12.1,265,6269,0.00,2.40,0.00,0.000,6,0.000,0.025,3043,1674,2018,0,0,0,0,0,0
$GC,6514,0.81,269.9,322.3,10.7,271,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1674,2016,0,0,0,0,0,0
$GC,6757,0.81,269.9,297.3,10.1,277,6762,0.00,2.65,0.00,0.000,4,0.000,0.046,3043,3260,2014,0,0,0,0,0,0
$GC,6795,0.91,269.9,293.1,12.0,277,6802,0.00,2.60,0.00,0.000,6,0.000,0.033,3043,1659,2013,0,0,0,0,0,0
$GC,7046,0.97,269.9,267.4,10.0,284,7051,0.12,2.55,0.00,0.000,4,0.066,0.062,3107,170,2012,0,0,0,0,0,0
$GC,7090,0.82,269.9,261.5,14.2,285,7095,0.32,2.38,0.00,0.000,6,0.096,0.024,3038,1668,2012,0,0,0,0,0,0
$GC,7379,0.94,298.6,235.5,8.7,292,7408,0.10,0.00,25.70,0.690,6,0.077,0.000,3089,1671,1901,0,0,0,0,0,0
$GC,7621,0.94,298.6,206.6,12.2,298,7626,0.12,2.55,0.00,0.000,4,0.114,0.051,3063,168,1897,0,0,0,0,0,0
$GC,7705,0.94,298.6,196.2,12.0,299,7710,0.00,2.33,0.00,0.000,6,0.000,0.022,3063,1640,1897,0,0,0,0,0,0
$GC,7968,0.94,298.6,169.2,10.3,324,7973,0.00,2.60,0.00,0.000,4,0.000,0.035,3063,3256,1895,0,0,0,0,0,0
$GC,7987,0.95,308.4,167.6,9.6,325,8005,0.00,2.65,9.18,0.564,6,0.000,0.028,3063,1615,1861,0,0,0,0,0,0
$GC,8262,0.96,319.0,140.4,9.5,351,8286,0.00,2.75,10.65,0.558,4,0.000,0.035,3063,3254,1817,0,0,0,0,0,0
$GC,8317,1.08,323.6,134.8,9.8,356,8331,0.12,2.62,5.38,0.464,6,0.064,0.028,3128,1626,1799,0,0,0,0,0,0
$GC,8586,1.02,323.6,101.4,11.5,381,8591,0.20,2.42,0.00,0.000,4,0.182,0.045,3083,163,1797,0,0,0,0,0,0
$GC,8654,1.02,324.2,94.3,10.0,387,8659,0.00,2.30,0.00,0.000,6,0.000,0.020,3083,1641,1797,0,0,0,0,0,0
$GC,8923,1.12,346.6,70.8,9.0,411,8949,0.00,2.62,20.58,0.528,4,0.000,0.031,3083,3253,1706,0,0,0,0,0,0
$GC,8965,1.23,371.0,66.8,8.9,414,8994,0.17,2.65,22.83,0.522,6,0.048,0.026,3169,1620,1606,0,0,0,0,0,0
$GC,9260,1.07,371.0,22.1,16.3,444,9268,0.32,0.00,0.00,0.000,6,0.098,0.000,3096,1620,1602,0,0,0,0,0,0
$STATE,9411,end climb,SURFACE_DEPTH_REACHED
$STATE,9411,begin surface coast
$FINISH,0.8,1.023609
$STATE,9454,end surface coast,CONTROL_FINISHED_OK
$STATE,9454,begin surface
$SM_CCo,9474,44.08,0.390,1,0,1284,450.13
$SM_GC,1.63,0.00,0.00,44.08,0.000,0.000,0.390,413,1843,1284,-11.26,1.50,450.13
$IRIDIUM_FIX,2241.69,-15801.49,240200,000044
$TT8_MAMPS,0.026845
$HUMID,43.03
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,22.950
$10V_AH,10.4,19.302
$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,29.900,137.425,443.275,44.075,0.000,57.582,117.770,329.022,0.500,0.000,16.285,1001.652,6124.999,525.207,1790.182,781.903,33.365,1302.372,0.000,1790.668,0.000,0.538,0.000
$DEVICE_MAMPS,181.779,67.496,866.710,389.636,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.606,287.127,364.966,542.223,959.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,38260,474
$CAP_FILE_SIZE,117729,0
$CFSIZE,260165632,163590144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301110,032123,2249.531,-15801.553,14,2.4,33,10.1