version: 66.06
glider: 148
mission: 9
dive: 92
start: 11 23 110 6 7 56
data:
$ID,148
$MISSION,9
$DIVE,92
$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,-859370.38
$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,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,34
$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
$GPS1,055405,2256.025,-15747.622,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.0
$GPS2,060701,2256.011,-15747.704,8,1.3,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.170,-0.196
$KALMAN_X,-50407.2,94.0,-408.4,88857.7,-248.6
$KALMAN_Y,17022.5,469.4,-293.6,123771.8,604.5
$MHEAD_RNG_PITCHd_Wd,210.8,19382,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,110,0.00,0.00,-88.85,0.000,2,0.000,0.000,409,1861,3540,0,0,0,0,0,0
$GC,113,-1.28,-146.0,4.5,-8.4,12,138,11.85,2.42,-2.10,0.000,4,0.162,0.042,2615,3351,3670,0,0,0,0,0,0
$GC,256,-1.28,-146.0,37.3,-12.9,30,261,0.00,2.53,0.00,0.000,6,0.000,0.024,2615,1770,3671,0,0,0,0,0,0
$GC,522,-1.20,-146.0,76.4,-15.2,54,527,0.10,2.55,0.00,0.000,4,0.126,0.032,2636,3353,3671,0,0,0,0,0,0
$GC,555,-1.20,-146.0,81.2,-14.2,56,559,0.00,2.50,0.00,0.000,6,0.000,0.022,2636,1772,3671,0,0,0,0,0,0
$GC,818,-1.29,-146.0,111.1,-9.3,80,822,0.00,2.53,0.00,0.000,4,0.000,0.040,2636,196,3672,0,0,0,0,0,0
$GC,848,-1.43,-146.0,114.4,-10.3,82,858,0.17,2.47,0.00,0.000,6,0.023,0.019,2542,1786,3672,0,0,0,0,0,0
$GC,1116,-1.30,-146.0,150.1,-14.4,107,1121,0.30,0.00,0.00,0.000,6,0.090,0.000,2610,1789,3673,0,0,0,0,0,0
$GC,1380,-1.39,-146.0,174.3,-8.4,132,1384,0.00,2.45,0.00,0.000,4,0.000,0.030,2610,3344,3674,0,0,0,0,0,0
$GC,1398,-1.48,-146.0,175.8,-8.3,133,1404,0.15,2.45,0.00,0.000,6,0.055,0.022,2538,1777,3674,0,0,0,0,0,0
$GC,1680,-1.36,-146.0,211.1,-12.9,153,1682,0.30,0.00,0.00,0.000,6,0.087,0.000,2605,1777,3674,0,0,0,0,0,0
$GC,1921,-1.45,-146.0,232.4,-8.5,159,1925,0.00,2.50,0.00,0.000,4,0.000,0.031,2604,3339,3674,0,0,0,0,0,0
$GC,1940,-1.53,-146.0,234.2,-9.2,159,1945,0.17,2.45,0.00,0.000,6,0.049,0.023,2510,1777,3674,0,0,0,0,0,0
$GC,2206,-1.34,-146.0,271.7,-14.6,166,2208,0.47,0.00,0.00,0.000,6,0.087,0.000,2606,1777,3674,0,0,0,0,0,0
$GC,2449,-1.46,-146.0,292.1,-7.6,172,2454,0.10,2.55,0.00,0.000,4,0.077,0.035,2554,3340,3673,0,0,0,0,0,0
$GC,2487,-1.46,-146.0,295.8,-9.5,172,2493,0.12,2.47,0.00,0.000,6,0.104,0.025,2582,1775,3673,0,0,0,0,0,0
$GC,2739,-1.53,-146.0,317.6,-8.7,179,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1775,3672,0,0,0,0,0,0
$GC,2981,-1.61,-146.0,340.4,-9.4,185,2986,0.15,2.58,0.00,0.000,4,0.058,0.039,2519,3337,3671,0,0,0,0,0,0
$GC,3019,-1.52,-146.0,345.1,-13.0,185,3025,0.22,2.47,0.00,0.000,6,0.092,0.026,2568,1780,3672,0,0,0,0,0,0
$GC,3269,-1.52,-146.0,372.7,-10.9,192,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1780,3670,0,0,0,0,0,0
$GC,3512,-1.52,-146.0,397.8,-10.1,198,3516,0.00,2.58,0.00,0.000,4,0.000,0.044,2568,3339,3669,0,0,0,0,0,0
$GC,3545,-1.60,-146.0,400.9,-8.7,198,3549,0.00,2.47,0.00,0.000,6,0.000,0.028,2568,1791,3669,0,0,0,0,0,0
$GC,3796,-1.60,-146.0,424.5,-9.6,204,3800,0.00,2.58,0.00,0.000,4,0.000,0.047,2568,3337,3667,0,0,0,0,0,0
$GC,3810,-1.60,-146.0,426.2,-9.7,204,3814,0.00,2.47,0.00,0.000,6,0.000,0.028,2568,1788,3667,0,0,0,0,0,0
$GC,4078,-1.60,-146.0,450.2,-8.8,211,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1788,3665,0,0,0,0,0,0
$GC,4324,-1.66,-146.0,472.5,-9.3,217,4329,0.12,2.62,0.00,0.000,4,0.067,0.052,2513,3337,3663,0,0,0,0,0,0
$GC,4362,-1.60,-146.0,476.8,-10.7,217,4368,0.17,2.50,0.00,0.000,6,0.101,0.031,2550,1797,3663,0,0,0,0,0,0
$GC,4612,-1.60,-146.0,499.4,-9.0,224,4616,0.00,2.58,0.00,0.000,4,0.000,0.051,2550,3330,3660,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4628,-0.31,0.0,500.4,8.9,224,4750,1.23,0.00,117.90,0.881,6,0.080,0.000,2828,1647,3070,0,0,0,0,0,0
$STATE,4751,end apogee,CONTROL_FINISHED_OK
$STATE,4751,begin climb
$GC,4753,1.28,146.0,504.6,0.0,227,4883,1.42,0.00,122.30,0.861,6,0.027,0.000,3186,1647,2474,0,0,0,0,0,0
$GC,5120,0.86,146.0,475.1,13.2,236,5127,0.45,2.55,0.00,0.000,4,0.118,0.063,3092,167,2466,0,0,0,0,0,0
$GC,5178,0.58,146.0,468.0,11.1,237,5183,0.30,2.38,0.00,0.000,6,0.111,0.027,3030,1633,2465,0,0,0,0,0,0
$GC,5453,0.68,224.9,449.4,6.4,244,5526,0.00,2.60,66.78,0.836,4,0.000,0.059,3029,180,2153,0,0,0,0,0,0
$GC,5557,0.68,227.0,441.5,9.9,246,5561,0.00,2.40,0.00,0.000,6,0.000,0.028,3029,1648,2151,0,0,0,0,0,0
$GC,5825,0.71,251.7,417.6,8.9,253,5851,0.10,0.00,23.67,0.798,6,0.081,0.000,3076,1649,2043,0,0,0,0,0,0
$GC,6069,0.64,251.7,391.2,10.8,259,6071,0.17,0.00,0.00,0.000,6,0.107,0.000,3039,1649,2037,0,0,0,0,0,0
$GC,6314,0.67,276.5,369.2,8.9,265,6342,0.00,2.75,22.15,0.773,4,0.000,0.051,3040,3220,1942,0,0,0,0,0,0
$GC,6366,0.75,290.3,364.4,9.4,266,6386,0.00,2.62,13.93,0.733,6,0.000,0.034,3040,1648,1885,0,0,0,0,0,0
$GC,6647,0.75,290.3,335.9,10.7,273,6652,0.10,2.70,0.00,0.000,4,0.080,0.044,3085,3238,1879,0,0,0,0,0,0
$GC,6666,0.75,290.3,333.3,11.8,273,6671,0.10,2.62,0.00,0.000,6,0.127,0.032,3064,1655,1877,0,0,0,0,0,0
$GC,6930,0.75,290.3,302.4,11.4,280,6934,0.00,2.55,0.00,0.000,4,0.000,0.061,3064,164,1876,0,0,0,0,0,0
$GC,6948,0.75,290.3,300.1,11.0,280,6953,0.00,2.40,0.00,0.000,6,0.000,0.023,3064,1673,1876,0,0,0,0,0,0
$GC,7213,0.75,290.3,271.4,10.8,287,7218,0.00,2.58,0.00,0.000,4,0.000,0.045,3064,3217,1875,0,0,0,0,0,0
$GC,7242,0.75,290.3,267.9,11.6,287,7247,0.00,2.55,0.00,0.000,6,0.000,0.032,3064,1667,1873,0,0,0,0,0,0
$GC,7496,0.75,290.3,240.9,10.6,294,7501,0.00,2.53,0.00,0.000,4,0.000,0.055,3064,167,1873,0,0,0,0,0,0
$GC,7516,0.75,290.3,238.7,11.4,294,7521,0.00,2.35,0.00,0.000,6,0.000,0.022,3064,1676,1873,0,0,0,0,0,0
$GC,7780,0.76,297.5,211.8,9.7,301,7792,0.00,2.53,5.35,0.525,4,0.000,0.037,3064,3223,1856,0,0,0,0,0,0
$GC,7815,0.76,297.5,208.3,10.3,301,7820,0.00,2.55,0.00,0.000,6,0.000,0.029,3064,1664,1855,0,0,0,0,0,0
$GC,8077,0.76,297.5,181.4,10.5,319,8081,0.00,2.53,0.00,0.000,4,0.000,0.035,3064,3219,1855,0,0,0,0,0,0
$GC,8095,0.76,297.5,179.0,10.2,320,8101,0.00,2.50,0.00,0.000,6,0.000,0.028,3064,1665,1854,0,0,0,0,0,0
$GC,8359,0.76,300.0,152.0,9.9,345,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1664,1853,0,0,0,0,0,0
$GC,8615,0.84,311.7,126.5,9.5,369,8636,0.00,2.50,13.43,0.568,4,0.000,0.045,3064,180,1798,0,0,0,0,0,0
$GC,8652,0.92,321.9,122.5,9.6,372,8671,0.10,2.38,10.60,0.542,6,0.035,0.021,3125,1672,1755,0,0,0,0,0,0
$GC,8925,0.92,321.9,91.3,11.5,398,8930,0.12,2.53,0.00,0.000,4,0.116,0.051,3099,166,1752,0,0,0,0,0,0
$GC,8986,0.92,321.9,84.6,12.1,403,8990,0.00,2.35,0.00,0.000,6,0.000,0.021,3099,1666,1752,0,0,0,0,0,0
$GC,9253,0.92,321.9,56.2,10.9,427,9257,0.00,2.50,0.00,0.000,4,0.000,0.033,3099,3222,1752,0,0,0,0,0,0
$GC,9275,0.92,325.7,53.3,9.9,428,9285,0.00,2.53,3.83,0.349,6,0.000,0.026,3099,1665,1741,0,0,0,0,0,0
$GC,9546,0.92,325.8,25.8,10.0,456,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1665,1741,0,0,0,0,0,0
$STATE,9775,end climb,SURFACE_DEPTH_REACHED
$STATE,9775,begin surface coast
$FINISH,0.6,1.001488
$STATE,9820,end surface coast,CONTROL_FINISHED_OK
$STATE,9820,begin surface
$SM_CCo,9840,65.97,0.428,1,0,1234,450.13
$SM_GC,1.41,0.00,0.00,65.97,0.000,0.000,0.428,410,1865,1234,-11.46,2.69,450.13
$IRIDIUM_FIX,2248.70,-15744.96,170200,030326
$TT8_MAMPS,0.026845
$HUMID,41.17
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,23.6,16.026
$10V_AH,10.4,13.309
$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,29.400,116.100,399.925,65.975,0.000,38.172,33.992,570.788,0.500,0.000,14.927,1008.100,6478.011,521.279,1769.327,913.328,33.359,1223.893,0.000,1778.903,0.000,0.538,0.000
$DEVICE_MAMPS,161.837,62.894,880.516,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.592,313.162,387.547,593.285,1049.186,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38334,499
$CAP_FILE_SIZE,113817,0
$CFSIZE,260165632,166735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231110,085424,2255.582,-15748.792,37,1.1,37,10.1