version: 66.06
glider: 148
mission: 9
dive: 177
start: 12 3 110 6 56 10
data:
$ID,148
$MISSION,9
$DIVE,177
$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,-861540.19
$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,36
$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
$GPS1,064112,2249.769,-15801.908,35,1.4,41,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-62.6
$GPS2,065516,2249.773,-15801.921,10,99.0,29,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.254,0.054
$KALMAN_X,-74891.6,-83.1,149.9,88487.7,-492.7
$KALMAN_Y,8871.2,-472.0,483.3,120538.0,-432.3
$MHEAD_RNG_PITCHd_Wd,68.0,8410,-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,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-82.93,0.000,2,0.000,0.000,408,1900,3427,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.0,-6.7,11,132,11.45,2.38,-4.95,0.000,4,0.156,0.038,2574,3377,3717,0,0,0,0,0,0
$GC,155,-0.67,-146.0,22.8,-35.5,17,164,0.60,2.55,0.00,0.000,6,0.081,0.022,2710,1789,3717,0,0,0,0,0,0
$GC,436,-0.91,-146.0,42.0,-4.2,46,441,0.20,2.55,0.00,0.000,4,0.043,0.029,2588,3377,3719,0,0,0,0,0,0
$GC,481,-0.82,-146.0,47.1,-12.1,49,490,0.38,2.53,0.00,0.000,6,0.076,0.022,2676,1796,3719,0,0,0,0,0,0
$GC,748,-0.96,-146.0,66.9,-8.2,74,753,0.10,2.53,0.00,0.000,4,0.077,0.030,2607,3368,3719,0,0,0,0,0,0
$GC,791,-0.96,-146.0,71.8,-12.2,77,797,0.20,2.47,0.00,0.000,6,0.091,0.021,2651,1802,3719,0,0,0,0,0,0
$GC,1059,-1.09,-146.0,98.6,-9.1,101,1064,0.12,2.50,0.00,0.000,4,0.064,0.028,2572,3374,3719,0,0,0,0,0,0
$GC,1089,-1.09,-146.0,102.0,-12.2,103,1094,0.22,2.45,0.00,0.000,6,0.086,0.022,2623,1808,3719,0,0,0,0,0,0
$GC,1356,-1.19,-146.0,130.5,-10.2,127,1361,0.10,2.58,0.00,0.000,4,0.077,0.041,2565,207,3720,0,0,0,0,0,0
$GC,1386,-1.19,-146.0,134.4,-13.6,129,1391,0.15,2.47,0.00,0.000,6,0.097,0.019,2600,1821,3720,0,0,0,0,0,0
$GC,1646,-1.19,-146.0,162.1,-9.6,153,1651,0.00,2.42,0.00,0.000,4,0.000,0.029,2600,3369,3721,0,0,0,0,0,0
$GC,1713,-1.32,-146.0,168.0,-9.5,159,1718,0.12,2.45,0.00,0.000,6,0.061,0.023,2530,1816,3721,0,0,0,0,0,0
$GC,1995,-1.17,-146.0,205.7,-13.6,182,2002,0.30,2.58,0.00,0.000,4,0.090,0.037,2600,208,3721,0,0,0,0,0,0
$GC,2065,-1.35,-146.0,213.0,-8.8,183,2070,0.15,2.47,0.00,0.000,6,0.055,0.020,2519,1819,3721,0,0,0,0,0,0
$GC,2329,-1.17,-146.0,250.6,-15.0,190,2335,0.38,2.42,0.00,0.000,4,0.087,0.030,2599,3357,3721,0,0,0,0,0,0
$GC,2375,-1.29,-146.0,255.4,-9.3,191,2380,0.00,2.45,0.00,0.000,6,0.000,0.024,2599,1809,3721,0,0,0,0,0,0
$GC,2662,-1.39,-146.0,281.1,-8.7,198,2667,0.17,2.50,0.00,0.000,4,0.050,0.032,2514,3356,3721,0,0,0,0,0,0
$GC,2691,-1.27,-146.0,284.2,-11.6,198,2696,0.30,2.45,0.00,0.000,6,0.085,0.023,2581,1810,3721,0,0,0,0,0,0
$GC,2949,-1.34,-146.0,307.0,-8.9,205,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1811,3721,0,0,0,0,0,0
$GC,3191,-1.41,-146.0,326.2,-7.9,211,3196,0.12,2.53,0.00,0.000,4,0.066,0.037,2523,3354,3721,0,0,0,0,0,0
$GC,3217,-1.35,-146.0,328.7,-9.8,211,3222,0.20,2.45,0.00,0.000,6,0.092,0.025,2567,1819,3721,0,0,0,0,0,0
$GC,3477,-1.35,-146.0,353.5,-9.6,218,3481,0.00,2.50,0.00,0.000,4,0.000,0.039,2568,3361,3719,0,0,0,0,0,0
$GC,3509,-1.41,-146.0,357.1,-10.3,218,3513,0.00,2.45,0.00,0.000,6,0.000,0.028,2567,1829,3719,0,0,0,0,0,0
$GC,3765,-1.41,-146.0,382.3,-10.0,225,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1830,3717,0,0,0,0,0,0
$GC,4007,-1.41,-146.0,406.3,-9.9,231,4011,0.00,2.53,0.00,0.000,4,0.000,0.045,2568,3353,3715,0,0,0,0,0,0
$GC,4021,-1.41,-146.0,407.7,-9.8,231,4025,0.00,2.45,0.00,0.000,6,0.000,0.028,2567,1819,3715,0,0,0,0,0,0
$GC,4292,-1.48,-146.0,431.8,-8.9,238,4294,0.12,0.00,0.00,0.000,6,0.067,0.000,2511,1816,3713,0,0,0,0,0,0
$GC,4533,-1.39,-146.0,458.6,-11.2,244,4535,0.20,0.00,0.00,0.000,6,0.098,0.000,2555,1816,3711,0,0,0,0,0,0
$GC,4777,-1.39,-146.0,479.5,-8.3,250,4781,0.00,2.58,0.00,0.000,4,0.000,0.053,2555,3347,3709,0,0,0,0,0,0
$GC,4813,-1.45,-146.0,482.5,-8.1,250,4817,0.00,2.47,0.00,0.000,6,0.000,0.033,2556,1831,3709,0,0,0,0,0,0
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5019,begin apogee
$GC,5025,-0.31,0.0,501.0,8.8,255,5145,1.05,0.00,116.57,0.874,6,0.077,0.000,2791,1666,3120,0,0,0,0,0,0
$STATE,5146,end apogee,CONTROL_FINISHED_OK
$STATE,5146,begin climb
$GC,5148,1.28,146.0,505.2,0.0,258,5279,1.40,2.62,120.65,0.857,4,0.025,0.071,3144,185,2522,0,0,0,0,0,0
$GC,5346,0.83,146.0,500.8,11.1,262,5353,0.50,2.40,0.00,0.000,6,0.109,0.030,3042,1655,2517,0,0,0,0,0,0
$GC,5609,0.93,230.0,483.4,6.1,269,5686,0.00,2.65,70.22,0.842,4,0.000,0.061,3042,183,2181,0,0,0,0,0,0
$GC,5743,0.93,230.0,472.7,11.0,272,5747,0.00,2.42,0.00,0.000,6,0.000,0.031,3042,1673,2179,0,0,0,0,0,0
$GC,6031,0.97,261.8,447.3,8.6,279,6061,0.12,0.00,27.60,0.809,6,0.066,0.000,3104,1673,2052,0,0,0,0,0,0
$GC,6273,0.83,261.8,416.9,12.7,285,6279,0.28,2.58,0.00,0.000,4,0.099,0.057,3042,183,2045,0,0,0,0,0,0
$GC,6331,0.83,261.8,409.8,12.0,286,6335,0.00,2.42,0.00,0.000,6,0.000,0.028,3042,1679,2044,0,0,0,0,0,0
$GC,6604,0.83,261.8,379.7,11.1,293,6608,0.00,2.55,0.00,0.000,4,0.000,0.059,3042,182,2041,0,0,0,0,0,0
$GC,6640,0.83,261.8,375.1,13.5,293,6646,0.00,2.40,0.00,0.000,6,0.000,0.026,3042,1669,2041,0,0,0,0,0,0
$GC,6891,0.83,261.8,347.6,10.8,300,6896,0.00,2.65,0.00,0.000,4,0.000,0.048,3042,3260,2039,0,0,0,0,0,0
$GC,6919,0.83,261.8,344.6,10.3,300,6924,0.00,2.62,0.00,0.000,6,0.000,0.034,3042,1675,2037,0,0,0,0,0,0
$GC,7175,0.85,277.0,320.2,9.3,307,7195,0.00,2.60,12.43,0.708,4,0.000,0.063,3042,172,1988,0,0,0,0,0,0
$GC,7224,0.85,277.0,315.4,10.9,308,7229,0.00,2.40,0.00,0.000,6,0.000,0.025,3042,1660,1988,0,0,0,0,0,0
$GC,7506,0.89,314.5,291.4,8.3,315,7546,0.00,0.00,34.38,0.735,6,0.000,0.000,3042,1660,1837,0,0,0,0,0,0
$GC,7790,0.99,331.5,265.4,9.2,322,7811,0.15,2.60,15.02,0.676,4,0.058,0.056,3110,170,1767,0,0,0,0,0,0
$GC,7823,0.86,331.5,261.7,12.7,322,7828,0.30,2.38,0.00,0.000,6,0.100,0.024,3048,1659,1766,0,0,0,0,0,0
$GC,8078,0.94,331.5,234.5,10.4,329,8083,0.00,2.62,0.00,0.000,4,0.000,0.041,3048,3254,1762,0,0,0,0,0,0
$GC,8108,1.05,331.5,231.3,10.9,329,8115,0.17,2.65,0.00,0.000,6,0.051,0.031,3113,1640,1760,0,0,0,0,0,0
$GC,8365,0.96,331.5,196.7,13.8,336,8367,0.20,0.00,0.00,0.000,6,0.104,0.000,3072,1640,1760,0,0,0,0,0,0
$GC,8620,0.96,331.5,168.4,10.9,360,8624,0.00,2.40,0.00,0.000,4,0.000,0.048,3072,173,1759,0,0,0,0,0,0
$GC,8667,0.96,331.5,163.2,12.6,364,8671,0.00,2.33,0.00,0.000,6,0.000,0.023,3072,1660,1759,0,0,0,0,0,0
$GC,8929,0.96,331.5,135.6,10.6,388,8933,0.00,2.58,0.00,0.000,4,0.000,0.035,3072,3265,1758,0,0,0,0,0,0
$GC,8976,1.05,331.5,130.6,10.2,392,8981,0.00,2.62,0.00,0.000,6,0.000,0.030,3072,1645,1756,0,0,0,0,0,0
$GC,9239,1.12,331.5,101.6,11.1,416,9244,0.12,2.42,0.00,0.000,4,0.066,0.045,3152,166,1756,0,0,0,0,0,0
$GC,9362,0.96,331.5,83.3,16.2,427,9367,0.38,2.33,0.00,0.000,6,0.106,0.021,3074,1649,1756,0,0,0,0,0,0
$GC,9629,1.13,365.9,56.9,8.4,451,9667,0.12,2.65,29.60,0.523,4,0.061,0.031,3140,3251,1625,0,0,0,0,0,0
$GC,9706,1.13,365.9,47.4,13.4,457,9711,0.15,2.60,0.00,0.000,6,0.104,0.029,3107,1638,1622,0,0,0,0,0,0
$GC,9988,1.13,365.9,16.5,13.2,490,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1638,1621,0,0,0,0,0,0
$STATE,10070,end climb,SURFACE_DEPTH_REACHED
$STATE,10070,begin surface coast
$FINISH,0.6,1.023599
$STATE,10103,end surface coast,CONTROL_FINISHED_OK
$STATE,10103,begin surface
$SM_CCo,10123,44.33,0.387,1,0,1284,450.13
$SM_GC,1.63,0.00,0.00,44.33,0.000,0.000,0.387,413,1812,1284,-11.26,0.62,450.13
$IRIDIUM_FIX,2241.69,-15804.53,270200,060651
$TT8_MAMPS,0.026845
$HUMID,43.97
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,26.532
$10V_AH,10.4,22.173
$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,31.325,125.675,426.475,44.325,0.000,80.596,108.739,359.892,0.500,0.000,32.129,1066.585,6645.710,520.186,1930.743,855.318,33.361,1281.659,0.000,1920.827,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,70.564,874.380,387.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.811,318.872,395.287,621.035,1098.504,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,38299,508
$CAP_FILE_SIZE,123003,0
$CFSIZE,260165632,162082816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,094709,2249.842,-15800.580,37,1.7,45,10.1