version: 66.06
glider: 148
mission: 9
dive: 138
start: 11 28 110 15 1 10
data:
$ID,148
$MISSION,9
$DIVE,138
$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,-860570.06
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,144407,2249.638,-15801.285,28,1.4,29,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.2
$GPS2,150016,2249.583,-15801.289,13,2.5,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.255,0.049
$KALMAN_X,-60043.7,-391.8,100.9,75081.6,-209.8
$KALMAN_Y,17866.3,-255.6,257.4,111202.3,-250.2
$MHEAD_RNG_PITCHd_Wd,68.9,7362,-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,-82.68,0.000,2,0.000,0.000,409,1866,3425,0,0,0,0,0,0
$GC,106,-1.28,-146.0,4.4,-9.0,11,130,11.60,0.00,-4.97,0.000,6,0.161,0.000,2574,1866,3717,0,0,0,0,0,0
$GC,396,-1.08,-146.0,67.1,-17.5,43,401,0.22,2.40,0.00,0.000,4,0.100,0.031,2622,3367,3719,0,0,0,0,0,0
$GC,427,-0.97,-146.0,72.2,-16.6,45,432,0.12,2.47,0.00,0.000,6,0.110,0.021,2648,1781,3719,0,0,0,0,0,0
$GC,696,-1.09,-146.0,106.0,-10.8,69,701,0.12,2.55,0.00,0.000,4,0.065,0.030,2581,3377,3720,0,0,0,0,0,0
$GC,746,-1.09,-146.0,113.9,-14.3,73,752,0.17,2.50,0.00,0.000,6,0.103,0.022,2619,1797,3720,0,0,0,0,0,0
$GC,1009,-1.16,-146.0,141.4,-10.4,98,1014,0.00,2.50,0.00,0.000,4,0.000,0.031,2619,3373,3720,0,0,0,0,0,0
$GC,1030,-1.24,-146.0,143.7,-9.6,99,1036,0.12,2.47,0.00,0.000,6,0.061,0.021,2523,1798,3720,0,0,0,0,0,0
$GC,1297,-1.09,-146.0,181.2,-14.6,124,1303,0.43,0.00,0.00,0.000,6,0.089,0.000,2620,1798,3721,0,0,0,0,0,0
$GC,1577,-1.22,-146.0,207.2,-8.7,145,1582,0.12,2.53,0.00,0.000,4,0.064,0.031,2555,3367,3721,0,0,0,0,0,0
$GC,1616,-1.22,-146.0,211.8,-12.7,145,1623,0.17,2.47,0.00,0.000,6,0.093,0.022,2594,1801,3721,0,0,0,0,0,0
$GC,1867,-1.28,-146.0,237.2,-10.0,152,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1801,3721,0,0,0,0,0,0
$GC,2110,-1.36,-146.0,258.8,-8.6,158,2116,0.12,2.53,0.00,0.000,4,0.065,0.031,2526,3371,3721,0,0,0,0,0,0
$GC,2145,-1.28,-146.0,262.5,-10.8,158,2150,0.25,2.47,0.00,0.000,6,0.087,0.024,2581,1812,3721,0,0,0,0,0,0
$GC,2395,-1.28,-146.0,285.3,-9.0,164,2400,0.00,2.60,0.00,0.000,4,0.000,0.044,2581,208,3721,0,0,0,0,0,0
$GC,2428,-1.36,-146.0,288.6,-9.5,164,2433,0.00,2.53,0.00,0.000,6,0.000,0.022,2581,1827,3721,0,0,0,0,0,0
$GC,2680,-1.36,-146.0,310.2,-8.5,170,2684,0.00,2.45,0.00,0.000,4,0.000,0.037,2581,3367,3720,0,0,0,0,0,0
$GC,2712,-1.44,-146.0,313.0,-7.7,170,2718,0.15,2.45,0.00,0.000,6,0.056,0.025,2496,1830,3720,0,0,0,0,0,0
$GC,2964,-1.28,-146.0,344.7,-13.2,176,2971,0.38,2.67,0.00,0.000,4,0.088,0.047,2579,214,3719,0,0,0,0,0,0
$GC,2986,-1.28,-146.0,347.6,-11.6,176,2991,0.00,2.55,0.00,0.000,6,0.000,0.024,2579,1833,3719,0,0,0,0,0,0
$GC,3251,-1.36,-146.0,371.9,-9.3,183,3255,0.00,2.53,0.00,0.000,4,0.000,0.044,2579,3375,3718,0,0,0,0,0,0
$GC,3331,-1.48,-146.0,380.0,-9.6,184,3337,0.17,2.45,0.00,0.000,6,0.048,0.028,2489,1839,3717,0,0,0,0,0,0
$GC,3581,-1.32,-146.0,415.7,-14.6,190,3588,0.32,2.72,0.00,0.000,4,0.092,0.055,2564,214,3715,0,0,0,0,0,0
$GC,3602,-1.32,-146.0,418.9,-13.7,190,3607,0.00,2.58,0.00,0.000,6,0.000,0.028,2565,1835,3715,0,0,0,0,0,0
$GC,3867,-1.32,-146.0,445.8,-10.3,197,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1835,3714,0,0,0,0,0,0
$GC,4110,-1.39,-146.0,470.0,-9.9,203,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1835,3711,0,0,0,0,0,0
$GC,4354,-1.46,-146.0,492.3,-9.1,209,4358,0.00,2.55,0.00,0.000,4,0.000,0.054,2565,3369,3710,0,0,0,0,0,0
$GC,4379,-1.52,-146.0,494.6,-9.3,209,4384,0.15,2.47,0.00,0.000,6,0.056,0.031,2482,1834,3709,0,0,0,0,0,0
$STATE,4433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4439,-0.31,0.0,501.5,12.2,211,4560,1.40,0.00,117.22,0.875,6,0.087,0.000,2789,1664,3120,0,0,0,0,0,0
$STATE,4561,end apogee,CONTROL_FINISHED_OK
$STATE,4561,begin climb
$GC,4563,1.28,146.0,506.3,0.0,214,4696,1.45,2.65,121.45,0.856,4,0.027,0.068,3144,181,2523,0,0,0,0,0,0
$GC,4841,0.85,146.0,490.6,12.5,220,4848,0.47,2.45,0.00,0.000,6,0.114,0.028,3047,1682,2516,0,0,0,0,0,0
$GC,5103,0.89,180.1,467.2,8.5,227,5139,0.00,2.62,28.62,0.815,4,0.000,0.058,3047,180,2384,0,0,0,0,0,0
$GC,5214,0.76,180.1,456.1,10.5,229,5218,0.00,2.45,0.00,0.000,6,0.000,0.027,3047,1684,2381,0,0,0,0,0,0
$GC,5477,0.81,216.4,432.9,8.4,236,5513,0.00,2.65,31.00,0.808,4,0.000,0.059,3047,184,2236,0,0,0,0,0,0
$GC,5626,0.74,216.4,418.9,10.0,239,5631,0.12,2.40,0.00,0.000,6,0.120,0.025,3022,1666,2232,0,0,0,0,0,0
$GC,5900,0.90,298.4,400.6,6.2,246,5981,0.15,2.75,71.43,0.808,4,0.058,0.051,3088,3264,1902,0,0,0,0,0,0
$GC,5996,0.83,298.4,391.6,11.1,247,6003,0.22,2.65,0.00,0.000,6,0.096,0.035,3041,1686,1898,0,0,0,0,0,0
$GC,6271,0.85,315.7,366.4,9.2,254,6289,0.00,0.00,15.25,0.732,6,0.000,0.000,3041,1685,1833,0,0,0,0,0,0
$GC,6517,0.91,315.7,341.1,10.6,260,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1686,1828,0,0,0,0,0,0
$GC,6759,0.97,315.7,316.2,10.2,266,6764,0.12,2.65,0.00,0.000,4,0.067,0.043,3096,3258,1826,0,0,0,0,0,0
$GC,6797,0.97,315.7,311.5,12.5,266,6803,0.12,2.62,0.00,0.000,6,0.114,0.034,3070,1660,1824,0,0,0,0,0,0
$GC,7047,0.97,315.7,283.2,11.3,273,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1659,1823,0,0,0,0,0,0
$GC,7290,0.97,315.7,256.0,11.1,279,7294,0.00,2.53,0.00,0.000,4,0.000,0.059,3070,172,1822,0,0,0,0,0,0
$GC,7356,0.97,315.7,247.7,12.8,280,7360,0.00,2.38,0.00,0.000,6,0.000,0.023,3070,1673,1821,0,0,0,0,0,0
$GC,7621,0.97,315.7,216.4,12.3,287,7625,0.00,2.55,0.00,0.000,4,0.000,0.037,3070,3250,1820,0,0,0,0,0,0
$GC,7639,0.97,315.7,213.8,12.1,287,7644,0.00,2.62,0.00,0.000,6,0.000,0.029,3070,1638,1819,0,0,0,0,0,0
$GC,7898,0.97,315.7,183.7,11.2,302,7902,0.00,2.62,0.00,0.000,4,0.000,0.035,3070,3254,1819,0,0,0,0,0,0
$GC,7918,0.97,315.7,181.5,11.1,303,7926,0.00,2.62,0.00,0.000,6,0.000,0.028,3070,1652,1818,0,0,0,0,0,0
$GC,8183,0.97,315.7,154.1,10.6,328,8187,0.00,2.60,0.00,0.000,4,0.000,0.034,3070,3254,1818,0,0,0,0,0,0
$GC,8198,0.98,321.0,152.2,9.8,329,8203,0.00,2.60,0.00,0.000,6,0.000,0.028,3070,1642,1818,0,0,0,0,0,0
$GC,8467,1.07,332.6,128.2,9.5,353,8489,0.10,2.47,13.43,0.561,4,0.077,0.044,3122,173,1763,0,0,0,0,0,0
$GC,8504,0.97,332.6,122.9,13.0,356,8512,0.20,2.35,0.00,0.000,6,0.084,0.021,3075,1647,1763,0,0,0,0,0,0
$GC,8772,1.09,350.0,98.1,9.2,381,8794,0.10,2.45,16.50,0.541,4,0.077,0.046,3141,176,1692,0,0,0,0,0,0
$GC,8818,0.98,350.0,93.0,11.9,385,8823,0.32,2.28,0.00,0.000,6,0.098,0.020,3073,1632,1691,0,0,0,0,0,0
$GC,9082,1.10,350.0,66.0,11.0,409,9087,0.10,2.60,0.00,0.000,4,0.077,0.032,3133,3252,1689,0,0,0,0,0,0
$GC,9113,1.10,350.0,62.3,13.0,411,9118,0.15,2.62,0.00,0.000,6,0.103,0.025,3099,1616,1687,0,0,0,0,0,0
$GC,9381,1.10,350.0,33.2,12.8,435,9385,0.00,2.62,0.00,0.000,4,0.000,0.031,3100,3256,1687,0,0,0,0,0,0
$GC,9399,1.10,350.0,30.3,12.3,436,9404,0.00,2.60,0.00,0.000,6,0.000,0.025,3100,1630,1688,0,0,0,0,0,0
$STATE,9618,end climb,SURFACE_DEPTH_REACHED
$STATE,9618,begin surface coast
$FINISH,0.7,1.023649
$STATE,9664,end surface coast,CONTROL_FINISHED_OK
$STATE,9665,begin surface
$SM_CCo,9685,53.33,0.404,1,0,1284,450.13
$SM_GC,1.60,0.00,0.00,53.33,0.000,0.000,0.404,409,1862,1284,-11.27,2.04,450.13
$IRIDIUM_FIX,2241.69,-15801.49,220200,151503
$TT8_MAMPS,0.026845
$HUMID,42.12
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,21.530
$10V_AH,10.4,18.053
$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,30.400,122.350,414.900,53.325,0.000,89.789,152.942,444.690,0.250,0.000,34.978,1004.130,6403.205,521.691,1817.726,967.591,33.368,1258.405,0.000,1801.098,0.000,0.538,0.000
$DEVICE_MAMPS,161.070,68.263,875.147,404.209,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.320,291.548,368.179,552.376,976.326,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,38339,477
$CAP_FILE_SIZE,118481,0
$CFSIZE,260165632,164241408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281110,174501,2249.428,-15759.820,48,1.4,48,10.1