version: 66.06
glider: 148
mission: 9
dive: 152
start: 11 30 110 6 20 34
data:
$ID,148
$MISSION,9
$DIVE,152
$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,-860841.06
$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,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,34
$R_STBD_OVSHOOT,48
$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
$GPS1,061137,2249.599,-15800.199,31,0.9,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.7
$GPS2,061939,2249.564,-15800.220,11,1.5,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.233,0.115
$KALMAN_X,-64246.3,-126.7,153.5,80807.7,-318.1
$KALMAN_Y,13184.3,-192.6,30.2,116011.4,-858.8
$MHEAD_RNG_PITCHd_Wd,53.5,5555,-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,-82.55,0.000,2,0.000,0.000,412,1863,3376,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.9,-6.5,11,131,11.48,2.38,-6.10,0.000,4,0.157,0.040,2574,3367,3717,0,0,0,0,0,0
$GC,146,-0.28,-146.0,19.1,-36.0,16,155,0.98,2.53,0.00,0.000,6,0.084,0.020,2793,1783,3719,0,0,0,0,0,0
$GC,445,-1.12,-146.0,40.7,-9.2,55,454,0.73,0.00,0.00,0.000,6,0.051,0.000,2614,1784,3720,0,0,0,0,0,0
$GC,710,-1.12,-146.0,71.8,-12.9,80,715,0.00,2.53,0.00,0.000,4,0.000,0.031,2613,3368,3720,0,0,0,0,0,0
$GC,740,-1.04,-146.0,76.0,-13.1,82,745,0.00,2.50,0.00,0.000,6,0.000,0.021,2613,1783,3720,0,0,0,0,0,0
$GC,1001,-1.04,-146.0,104.4,-10.1,106,1005,0.00,2.53,0.00,0.000,4,0.000,0.030,2613,3363,3721,0,0,0,0,0,0
$GC,1043,-1.04,-146.0,108.5,-9.2,109,1049,0.00,2.47,0.00,0.000,6,0.000,0.028,2613,1796,3721,0,0,0,0,0,0
$GC,1306,-1.11,-146.0,133.8,-9.9,134,1310,0.00,2.50,0.00,0.000,4,0.000,0.031,2612,3362,3722,0,0,0,0,0,0
$GC,1327,-1.18,-146.0,135.6,-10.6,135,1332,0.00,2.45,0.00,0.000,6,0.000,0.021,2613,1792,3722,0,0,0,0,0,0
$GC,1590,-1.27,-146.0,160.7,-9.5,159,1595,0.12,2.50,0.00,0.000,4,0.061,0.031,2533,3362,3723,0,0,0,0,0,0
$GC,1622,-1.17,-146.0,164.7,-13.6,161,1628,0.32,2.45,0.00,0.000,6,0.085,0.022,2604,1796,3723,0,0,0,0,0,0
$GC,1885,-1.25,-146.0,190.5,-9.1,186,1889,0.00,2.50,0.00,0.000,4,0.000,0.031,2604,3370,3723,0,0,0,0,0,0
$GC,1916,-1.35,-146.0,193.7,-9.4,188,1922,0.17,2.47,0.00,0.000,6,0.049,0.023,2499,1806,3723,0,0,0,0,0,0
$GC,2178,-1.14,-146.0,231.3,-14.5,199,2185,0.47,2.55,0.00,0.000,4,0.090,0.038,2607,214,3723,0,0,0,0,0,0
$GC,2199,-1.14,-146.0,234.2,-11.8,199,2204,0.00,2.45,0.00,0.000,6,0.000,0.020,2607,1806,3723,0,0,0,0,0,0
$GC,2465,-1.26,-146.0,256.2,-7.9,206,2469,0.00,2.47,0.00,0.000,4,0.000,0.032,2607,3361,3723,0,0,0,0,0,0
$GC,2512,-1.42,-146.0,259.9,-7.9,207,2517,0.25,2.45,0.00,0.000,6,0.035,0.024,2492,1806,3723,0,0,0,0,0,0
$GC,2797,-1.21,-146.0,301.5,-15.9,214,2799,0.50,0.00,0.00,0.000,6,0.088,0.000,2597,1806,3723,0,0,0,0,0,0
$GC,3039,-1.33,-146.0,325.5,-9.3,220,3044,0.12,2.53,0.00,0.000,4,0.064,0.036,2541,3356,3723,0,0,0,0,0,0
$GC,3100,-1.33,-146.0,332.3,-11.2,221,3105,0.12,2.45,0.00,0.000,6,0.104,0.026,2568,1811,3723,0,0,0,0,0,0
$GC,3370,-1.33,-146.0,358.3,-9.3,228,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1811,3722,0,0,0,0,0,0
$GC,3613,-1.33,-146.0,380.4,-9.2,234,3617,0.00,2.67,0.00,0.000,4,0.000,0.054,2568,210,3720,0,0,0,0,0,0
$GC,3641,-1.39,-146.0,383.1,-9.9,234,3646,0.00,2.53,0.00,0.000,6,0.000,0.025,2568,1799,3720,0,0,0,0,0,0
$GC,3898,-1.46,-146.0,406.4,-9.4,241,3903,0.12,2.58,0.00,0.000,4,0.067,0.046,2518,3368,3718,0,0,0,0,0,0
$GC,3944,-1.46,-146.0,412.0,-12.0,242,3950,0.12,2.50,0.00,0.000,6,0.109,0.030,2545,1821,3718,0,0,0,0,0,0
$GC,4229,-1.46,-146.0,441.4,-10.4,249,4233,0.00,2.58,0.00,0.000,4,0.000,0.050,2544,3361,3716,0,0,0,0,0,0
$GC,4271,-1.46,-146.0,446.1,-10.4,250,4276,0.00,2.47,0.00,0.000,6,0.000,0.030,2545,1817,3716,0,0,0,0,0,0
$GC,4558,-1.46,-146.0,475.5,-10.2,257,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1817,3714,0,0,0,0,0,0
$GC,4803,-1.46,-146.0,498.5,-9.3,263,4808,0.00,2.60,0.00,0.000,4,0.000,0.054,2545,3359,3712,0,0,0,0,0,0
$STATE,4815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4815,begin apogee
$GC,4823,-0.31,0.0,500.1,9.0,263,4944,1.08,0.00,117.22,0.874,6,0.077,0.000,2789,1681,3120,0,0,0,0,0,0
$STATE,4945,end apogee,CONTROL_FINISHED_OK
$STATE,4945,begin climb
$GC,4947,1.28,146.0,503.1,0.0,266,5078,1.42,2.67,120.47,0.857,4,0.027,0.067,3150,166,2522,0,0,0,0,0,0
$GC,5252,0.82,146.0,484.1,11.1,272,5258,0.55,2.42,0.00,0.000,6,0.111,0.028,3038,1675,2515,0,0,0,0,0,0
$GC,5501,0.92,229.7,467.4,6.2,279,5581,0.10,2.67,69.80,0.837,4,0.081,0.058,3080,176,2181,0,0,0,0,0,0
$GC,5647,0.75,229.7,452.7,12.3,282,5652,0.28,2.42,0.00,0.000,6,0.100,0.028,3024,1663,2177,0,0,0,0,0,0
$GC,5921,0.79,265.0,429.7,8.4,289,5957,0.00,2.78,30.00,0.803,4,0.000,0.049,3024,3258,2038,0,0,0,0,0,0
$GC,5993,0.92,279.4,423.2,9.4,290,6014,0.15,2.65,13.80,0.750,6,0.058,0.035,3084,1678,1980,0,0,0,0,0,0
$GC,6301,0.85,279.4,381.2,13.8,298,6307,0.17,2.62,0.00,0.000,4,0.108,0.066,3048,166,1974,0,0,0,0,0,0
$GC,6341,0.85,279.4,375.8,14.0,298,6346,0.00,2.42,0.00,0.000,6,0.000,0.025,3048,1683,1973,0,0,0,0,0,0
$GC,6590,0.85,279.4,345.8,11.9,305,6594,0.00,2.60,0.00,0.000,4,0.000,0.058,3048,160,1971,0,0,0,0,0,0
$GC,6674,0.85,279.4,335.6,12.2,306,6680,0.00,2.42,0.00,0.000,6,0.000,0.025,3048,1671,1970,0,0,0,0,0,0
$GC,6924,0.88,297.4,311.5,9.2,313,6942,0.00,0.00,15.82,0.720,6,0.000,0.000,3048,1673,1907,0,0,0,0,0,0
$GC,7168,0.93,337.4,291.6,8.2,319,7210,0.00,2.70,35.70,0.736,4,0.000,0.044,3048,3256,1743,0,0,0,0,0,0
$GC,7229,1.01,352.9,286.1,9.3,320,7250,0.12,2.65,15.05,0.683,6,0.067,0.032,3104,1664,1680,0,0,0,0,0,0
$GC,7506,0.94,352.9,246.3,14.7,327,7508,0.17,0.00,0.00,0.000,6,0.106,0.000,3066,1664,1675,0,0,0,0,0,0
$GC,7748,0.94,352.9,215.2,12.6,333,7753,0.00,2.53,0.00,0.000,4,0.000,0.053,3066,160,1673,0,0,0,0,0,0
$GC,7764,0.94,352.9,213.3,12.9,333,7768,0.00,2.40,0.00,0.000,6,0.000,0.021,3066,1679,1673,0,0,0,0,0,0
$GC,8028,0.94,352.9,181.5,11.3,351,8033,0.00,2.53,0.00,0.000,4,0.000,0.040,3066,3247,1672,0,0,0,0,0,0
$GC,8065,1.02,352.9,177.8,10.3,354,8070,0.00,2.60,0.00,0.000,6,0.000,0.029,3066,1650,1669,0,0,0,0,0,0
$GC,8327,1.02,352.9,150.0,10.7,378,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1650,1669,0,0,0,0,0,0
$GC,8583,1.09,361.5,123.6,9.6,402,8597,0.12,2.45,7.50,0.509,4,0.067,0.052,3127,174,1645,0,0,0,0,0,0
$GC,8632,0.97,361.5,116.4,15.6,406,8641,0.22,2.38,0.00,0.000,6,0.084,0.022,3074,1664,1645,0,0,0,0,0,0
$GC,8899,1.05,361.5,88.4,10.2,431,8903,0.00,2.55,0.00,0.000,4,0.000,0.033,3075,3264,1643,0,0,0,0,0,0
$GC,8947,1.21,361.5,83.0,10.5,435,8952,0.20,2.58,0.00,0.000,6,0.044,0.028,3163,1668,1641,0,0,0,0,0,0
$GC,9215,1.09,361.5,46.3,14.0,459,9224,0.28,0.00,0.00,0.000,6,0.098,0.000,3101,1668,1642,0,0,0,0,0,0
$GC,9497,1.09,361.5,15.7,11.4,494,9505,0.00,2.58,0.00,0.000,4,0.000,0.032,3101,3250,1642,0,0,0,0,0,0
$GC,9533,1.15,361.5,12.0,10.4,499,9542,0.00,2.55,0.00,0.000,6,0.000,0.027,3101,1679,1642,0,0,0,0,0,0
$STATE,9601,end climb,SURFACE_DEPTH_REACHED
$STATE,9601,begin surface coast
$FINISH,0.7,1.023571
$STATE,9640,end surface coast,CONTROL_FINISHED_OK
$STATE,9640,begin surface
$SM_CCo,9662,41.62,0.061,0,0,1285,450.13
$SM_GC,1.52,0.00,0.00,41.62,0.000,0.000,0.061,417,1874,1285,-11.24,2.37,450.13
$IRIDIUM_FIX,2239.35,-15915.70,240200,030322
$TT8_MAMPS,0.027612
$HUMID,43.97
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,4
$24V_AH,23.6,23.193
$10V_AH,10.4,19.516
$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,31.275,121.725,425.375,41.625,0.000,30.542,32.101,289.301,1.000,0.000,13.604,1053.693,6013.734,498.247,1997.607,625.774,33.368,1291.393,0.000,2000.890,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,67.496,874.380,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.439,325.304,411.782,643.842,1138.842,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41419,515
$CAP_FILE_SIZE,114065,0
$CFSIZE,260165632,163475456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301110,090328,2249.695,-15759.142,11,99.0,30,10.1