version: 66.06
glider: 148
mission: 9
dive: 56
start: 11 18 110 19 32 45
data:
$ID,148
$MISSION,9
$DIVE,56
$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,-858620.69
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,192304,2253.509,-15747.604,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.5
$GPS2,193150,2253.584,-15747.561,13,1.1,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.203,-0.162
$KALMAN_X,-35899.2,-97.3,69.4,74305.8,-401.5
$KALMAN_Y,18914.0,96.9,348.1,117116.6,179.8
$MHEAD_RNG_PITCHd_Wd,221.4,14781,-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,-82.85,0.000,2,0.000,0.000,413,1833,3307,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.4,-5.7,11,131,11.73,2.67,-6.90,0.000,4,0.159,0.054,2613,193,3666,0,0,0,0,0,0
$GC,209,-1.28,-146.0,25.4,-13.2,26,218,0.00,2.50,0.00,0.000,6,0.000,0.020,2613,1775,3668,0,0,0,0,0,0
$GC,482,-1.19,-146.0,62.1,-14.0,53,487,0.12,2.53,0.00,0.000,4,0.117,0.032,2639,3344,3668,0,0,0,0,0,0
$GC,537,-1.19,-146.0,69.3,-11.6,57,541,0.00,2.50,0.00,0.000,6,0.000,0.023,2639,1771,3669,0,0,0,0,0,0
$GC,808,-1.25,-146.0,97.1,-8.4,81,812,0.00,2.55,0.00,0.000,4,0.000,0.031,2639,3353,3669,0,0,0,0,0,0
$GC,843,-1.37,-146.0,101.4,-9.9,84,848,0.15,2.47,0.00,0.000,6,0.054,0.023,2549,1782,3669,0,0,0,0,0,0
$GC,1104,-1.19,-146.0,140.5,-14.0,108,1117,0.43,2.55,0.00,0.000,4,0.089,0.039,2636,190,3670,0,0,0,0,0,0
$GC,1142,-1.37,-146.0,144.7,-8.1,111,1149,0.15,2.47,0.00,0.000,6,0.058,0.019,2563,1794,3670,0,0,0,0,0,0
$GC,1409,-1.37,-146.0,174.3,-11.2,136,1414,0.17,2.47,0.00,0.000,4,0.099,0.031,2602,3346,3671,0,0,0,0,0,0
$GC,1449,-1.46,-146.0,178.5,-9.9,139,1453,0.00,2.47,0.00,0.000,6,0.000,0.023,2602,1779,3671,0,0,0,0,0,0
$GC,1721,-1.52,-146.0,203.8,-9.0,161,1723,0.15,0.00,0.00,0.000,6,0.060,0.000,2540,1779,3671,0,0,0,0,0,0
$GC,1962,-1.41,-146.0,234.2,-12.5,167,1964,0.25,0.00,0.00,0.000,6,0.093,0.000,2594,1779,3671,0,0,0,0,0,0
$GC,2208,-1.47,-146.0,258.4,-10.0,173,2212,0.00,2.47,0.00,0.000,4,0.000,0.033,2594,3334,3671,0,0,0,0,0,0
$GC,2235,-1.53,-146.0,261.7,-10.5,173,2240,0.12,2.45,0.00,0.000,6,0.065,0.024,2519,1789,3671,0,0,0,0,0,0
$GC,2490,-1.35,-146.0,294.2,-12.9,180,2498,0.38,2.58,0.00,0.000,4,0.091,0.041,2599,196,3671,0,0,0,0,0,0
$GC,2532,-1.48,-146.0,298.1,-8.5,180,2538,0.00,2.47,0.00,0.000,6,0.000,0.022,2599,1776,3671,0,0,0,0,0,0
$GC,2782,-1.58,-146.0,317.5,-8.0,187,2788,0.17,2.55,0.00,0.000,4,0.052,0.036,2526,3351,3671,0,0,0,0,0,0
$GC,2821,-1.51,-146.0,322.1,-12.3,187,2827,0.20,2.50,0.00,0.000,6,0.094,0.026,2570,1789,3671,0,0,0,0,0,0
$GC,3072,-1.51,-146.0,344.9,-8.5,194,3076,0.00,2.53,0.00,0.000,4,0.000,0.038,2570,3351,3670,0,0,0,0,0,0
$GC,3119,-1.59,-146.0,348.8,-7.5,195,3123,0.00,2.47,0.00,0.000,6,0.000,0.027,2570,1805,3670,0,0,0,0,0,0
$GC,3402,-1.59,-146.0,373.5,-9.1,202,3407,0.00,2.53,0.00,0.000,4,0.000,0.041,2570,3347,3669,0,0,0,0,0,0
$GC,3421,-1.59,-146.0,375.6,-10.2,202,3425,0.00,2.47,0.00,0.000,6,0.000,0.027,2570,1803,3669,0,0,0,0,0,0
$GC,3684,-1.59,-146.0,403.4,-10.9,209,3688,0.00,2.53,0.00,0.000,4,0.000,0.044,2570,3346,3667,0,0,0,0,0,0
$GC,3713,-1.59,-146.0,406.3,-9.8,209,3718,0.00,2.47,0.00,0.000,6,0.000,0.029,2570,1810,3667,0,0,0,0,0,0
$GC,3968,-1.65,-146.0,427.2,-7.9,216,3970,0.12,0.00,0.00,0.000,6,0.067,0.000,2517,1810,3666,0,0,0,0,0,0
$GC,4212,-1.56,-146.0,454.2,-11.6,222,4219,0.20,2.75,0.00,0.000,4,0.100,0.061,2560,197,3664,0,0,0,0,0,0
$GC,4225,-1.56,-146.0,455.7,-11.6,222,4230,0.00,2.58,0.00,0.000,6,0.000,0.029,2560,1800,3665,0,0,0,0,0,0
$GC,4498,-1.56,-146.0,481.6,-9.4,229,4503,0.00,2.58,0.00,0.000,4,0.000,0.052,2560,3346,3662,0,0,0,0,0,0
$GC,4559,-1.65,-146.0,487.0,-9.3,230,4563,0.00,2.50,0.00,0.000,6,0.000,0.033,2560,1813,3662,0,0,0,0,0,0
$STATE,4744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4744,begin apogee
$GC,4751,-0.31,0.0,502.1,8.1,235,4872,1.20,0.00,117.70,0.881,6,0.078,0.000,2831,1633,3069,0,0,0,0,0,0
$STATE,4873,end apogee,CONTROL_FINISHED_OK
$STATE,4873,begin climb
$GC,4875,1.28,146.0,506.6,0.0,238,5005,1.40,2.60,121.28,0.865,4,0.025,0.071,3182,185,2473,0,0,0,0,0,0
$GC,5058,0.74,146.0,499.2,15.5,242,5065,0.60,2.40,0.00,0.000,6,0.125,0.031,3064,1645,2470,0,0,0,0,0,0
$GC,5336,0.65,165.0,472.8,9.2,249,5360,0.12,2.58,16.45,0.797,4,0.127,0.061,3039,184,2396,0,0,0,0,0,0
$GC,5414,0.54,172.0,465.8,9.7,250,5429,0.10,2.40,7.35,0.690,6,0.137,0.028,3020,1657,2367,0,0,0,0,0,0
$GC,5673,0.63,245.1,447.7,6.7,257,5739,0.00,0.00,63.78,0.838,6,0.000,0.000,3020,1658,2070,0,0,0,0,0,0
$GC,5956,0.73,277.3,425.0,8.5,264,5993,0.15,2.72,28.27,0.808,4,0.060,0.055,3078,3230,1938,0,0,0,0,0,0
$GC,6010,0.65,277.3,418.9,12.9,265,6017,0.17,2.65,0.00,0.000,6,0.105,0.037,3042,1657,1935,0,0,0,0,0,0
$GC,6290,0.65,277.3,386.0,11.3,272,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1657,1931,0,0,0,0,0,0
$GC,6533,0.65,277.3,360.8,10.5,278,6538,0.00,2.65,0.00,0.000,4,0.000,0.044,3042,3229,1928,0,0,0,0,0,0
$GC,6568,0.73,277.3,357.2,11.1,278,6572,0.00,2.62,0.00,0.000,6,0.000,0.035,3042,1648,1927,0,0,0,0,0,0
$GC,6817,0.73,277.3,331.1,10.2,284,6821,0.00,2.65,0.00,0.000,4,0.000,0.043,3042,3230,1926,0,0,0,0,0,0
$GC,6860,0.83,279.5,327.0,9.9,285,6865,0.15,2.58,0.00,0.000,6,0.061,0.034,3101,1665,1925,0,0,0,0,0,0
$GC,7151,0.72,279.5,291.7,12.2,292,7156,0.20,2.62,0.00,0.000,4,0.107,0.042,3060,3231,1924,0,0,0,0,0,0
$GC,7170,0.72,279.5,289.2,11.1,292,7174,0.00,2.58,0.00,0.000,6,0.000,0.032,3059,1662,1924,0,0,0,0,0,0
$GC,7433,0.72,279.5,260.8,10.6,299,7438,0.00,2.53,0.00,0.000,4,0.000,0.058,3059,167,1923,0,0,0,0,0,0
$GC,7513,0.72,279.5,251.6,11.2,300,7517,0.00,2.38,0.00,0.000,6,0.000,0.023,3058,1674,1922,0,0,0,0,0,0
$GC,7763,0.72,279.5,225.6,10.2,306,7767,0.00,2.53,0.00,0.000,4,0.000,0.050,3059,166,1922,0,0,0,0,0,0
$GC,7790,0.72,279.5,222.5,11.1,306,7794,0.00,2.33,0.00,0.000,6,0.000,0.024,3059,1647,1922,0,0,0,0,0,0
$GC,8050,0.72,283.9,196.7,9.8,313,8058,0.00,0.00,3.70,0.420,6,0.000,0.000,3059,1650,1913,0,0,0,0,0,0
$GC,8315,0.72,283.9,167.0,11.5,338,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1651,1913,0,0,0,0,0,0
$GC,8570,0.73,287.8,142.1,9.9,362,8582,0.00,2.55,5.55,0.489,4,0.000,0.035,3059,3224,1897,0,0,0,0,0,0
$GC,8655,0.84,293.7,133.5,9.8,370,8669,0.10,2.55,6.97,0.519,6,0.080,0.029,3109,1648,1872,0,0,0,0,0,0
$GC,8925,0.78,293.7,100.0,13.2,395,8930,0.17,2.45,0.00,0.000,4,0.132,0.047,3072,170,1871,0,0,0,0,0,0
$GC,9014,0.84,293.7,88.4,12.2,403,9018,0.00,2.30,0.00,0.000,6,0.000,0.021,3072,1648,1870,0,0,0,0,0,0
$GC,9283,1.01,346.2,65.7,7.6,427,9335,0.20,2.47,45.88,0.551,4,0.047,0.043,3158,174,1657,0,0,0,0,0,0
$GC,9351,0.85,346.2,57.7,12.9,432,9356,0.35,2.30,0.00,0.000,6,0.099,0.021,3085,1633,1656,0,0,0,0,0,0
$GC,9615,0.91,346.2,29.0,10.8,456,9624,0.00,2.60,0.00,0.000,4,0.000,0.035,3085,3226,1652,0,0,0,0,0,0
$GC,9651,1.02,346.2,25.0,10.7,461,9661,0.10,2.60,0.00,0.000,6,0.032,0.028,3143,1630,1651,0,0,0,0,0,0
$STATE,9809,end climb,SURFACE_DEPTH_REACHED
$STATE,9809,begin surface coast
$FINISH,0.5,1.017643
$STATE,9842,end surface coast,CONTROL_FINISHED_OK
$STATE,9842,begin surface
$SM_CCo,9862,52.33,0.413,1,0,1234,450.13
$SM_GC,1.52,0.00,0.00,52.33,0.000,0.000,0.413,411,1825,1234,-11.45,1.53,450.13
$IRIDIUM_FIX,2244.02,-15751.06,120200,161602
$TT8_MAMPS,0.026845
$HUMID,40.54
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,3
$24V_AH,23.6,11.147
$10V_AH,10.5,9.351
$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,30.300,126.725,416.925,52.325,0.000,30.003,39.636,326.346,0.750,0.000,15.949,1030.782,6416.413,520.762,1815.900,665.780,33.359,1274.930,0.000,1822.269,0.000,0.538,0.000
$DEVICE_MAMPS,158.769,70.564,881.283,412.646,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.208,296.931,376.956,574.425,1016.675,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38457,490
$CAP_FILE_SIZE,114900,0
$CFSIZE,260165632,168763392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181110,221924,2252.970,-15749.165,38,1.2,38,10.1