version: 66.06
glider: 148
mission: 9
dive: 188
start: 12 4 110 15 30 10
data:
$ID,148
$MISSION,9
$DIVE,188
$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,-861910.06
$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,50
$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
$GPS1,151904,2249.640,-15802.923,11,3.0,30,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-64.4
$GPS2,152916,2249.733,-15802.946,13,99.0,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.253,-0.060
$KALMAN_X,-79702.0,106.7,-72.2,91565.1,-153.8
$KALMAN_Y,8197.2,70.3,-143.4,121213.8,710.9
$MHEAD_RNG_PITCHd_Wd,93.2,10162,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.20,0.000,2,0.000,0.000,413,1873,3161,0,0,0,0,0,0
$GC,99,-1.28,-146.0,3.0,-4.4,10,132,11.30,2.42,-11.12,0.000,4,0.151,0.044,2575,3359,3718,0,0,0,0,0,0
$GC,244,-1.14,-146.0,31.0,-18.3,31,253,0.12,2.53,0.00,0.000,6,0.084,0.021,2607,1778,3719,0,0,0,0,0,0
$GC,513,-1.06,-146.0,73.5,-14.3,56,518,0.10,2.58,0.00,0.000,4,0.130,0.030,2627,3370,3720,0,0,0,0,0,0
$GC,545,-1.06,-146.0,78.7,-15.2,58,549,0.00,2.47,0.00,0.000,6,0.000,0.021,2627,1790,3720,0,0,0,0,0,0
$GC,806,-1.06,-146.0,111.5,-11.8,82,811,0.00,2.50,0.00,0.000,4,0.000,0.029,2627,3369,3721,0,0,0,0,0,0
$GC,867,-1.21,-146.0,117.1,-7.8,87,872,0.12,2.45,0.00,0.000,6,0.062,0.022,2552,1816,3721,0,0,0,0,0,0
$GC,1131,-1.08,-146.0,151.4,-12.6,111,1140,0.35,0.00,0.00,0.000,6,0.084,0.000,2625,1815,3722,0,0,0,0,0,0
$GC,1399,-1.21,-146.0,173.3,-8.0,136,1404,0.12,2.50,0.00,0.000,4,0.064,0.031,2563,3367,3722,0,0,0,0,0,0
$GC,1466,-1.21,-146.0,180.2,-9.7,142,1471,0.15,2.42,0.00,0.000,6,0.097,0.022,2597,1817,3722,0,0,0,0,0,0
$GC,1728,-1.21,-146.0,204.8,-9.5,163,1733,0.00,2.58,0.00,0.000,4,0.000,0.039,2597,210,3722,0,0,0,0,0,0
$GC,1752,-1.27,-146.0,207.4,-10.2,163,1756,0.00,2.53,0.00,0.000,6,0.000,0.019,2597,1840,3722,0,0,0,0,0,0
$GC,2013,-1.27,-146.0,232.0,-9.5,170,2016,0.00,2.40,0.00,0.000,4,0.000,0.031,2597,3355,3722,0,0,0,0,0,0
$GC,2082,-1.37,-146.0,238.3,-9.2,171,2087,0.15,2.40,0.00,0.000,6,0.056,0.022,2521,1836,3722,0,0,0,0,0,0
$GC,2348,-1.23,-146.0,272.5,-13.6,178,2353,0.30,2.45,0.00,0.000,4,0.089,0.032,2590,3364,3722,0,0,0,0,0,0
$GC,2367,-1.23,-146.0,275.3,-12.8,178,2371,0.00,2.40,0.00,0.000,6,0.000,0.022,2590,1843,3722,0,0,0,0,0,0
$GC,2631,-1.31,-146.0,300.1,-9.4,185,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1843,3721,0,0,0,0,0,0
$GC,2876,-1.39,-146.0,322.5,-9.3,191,2881,0.15,2.47,0.00,0.000,4,0.057,0.037,2522,3356,3722,0,0,0,0,0,0
$GC,2900,-1.39,-146.0,325.3,-11.9,191,2905,0.15,2.38,0.00,0.000,6,0.101,0.025,2555,1852,3722,0,0,0,0,0,0
$GC,3159,-1.39,-146.0,352.5,-10.6,198,3164,0.00,2.45,0.00,0.000,4,0.000,0.038,2555,3359,3721,0,0,0,0,0,0
$GC,3173,-1.39,-146.0,354.1,-10.7,198,3177,0.00,2.38,0.00,0.000,6,0.000,0.025,2555,1858,3721,0,0,0,0,0,0
$GC,3443,-1.39,-146.0,380.4,-9.5,205,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1858,3719,0,0,0,0,0,0
$GC,3685,-1.39,-146.0,403.5,-9.7,211,3689,0.00,2.47,0.00,0.000,4,0.000,0.045,2555,3350,3718,0,0,0,0,0,0
$GC,3712,-1.39,-146.0,406.5,-10.0,211,3717,0.00,2.38,0.00,0.000,6,0.000,0.029,2555,1867,3718,0,0,0,0,0,0
$GC,3968,-1.39,-146.0,432.4,-10.3,218,3972,0.00,2.78,0.00,0.000,4,0.000,0.060,2555,221,3716,0,0,0,0,0,0
$GC,4015,-1.49,-146.0,437.7,-10.9,219,4019,0.00,2.58,0.00,0.000,6,0.000,0.030,2555,1832,3715,0,0,0,0,0,0
$GC,4299,-1.49,-146.0,465.3,-9.6,226,4303,0.00,2.53,0.00,0.000,4,0.000,0.049,2555,3368,3713,0,0,0,0,0,0
$GC,4317,-1.49,-146.0,467.5,-10.6,226,4321,0.00,2.45,0.00,0.000,6,0.000,0.029,2555,1850,3713,0,0,0,0,0,0
$GC,4580,-1.49,-146.0,493.3,-9.9,233,4585,0.00,2.55,0.00,0.000,4,0.000,0.051,2555,3367,3711,0,0,0,0,0,0
$GC,4608,-1.49,-146.0,496.3,-10.5,233,4612,0.00,2.42,0.00,0.000,6,0.000,0.031,2555,1871,3711,0,0,0,0,0,0
$STATE,4657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4657,begin apogee
$GC,4664,-0.31,0.0,501.3,10.1,235,4785,1.05,0.00,117.12,0.873,6,0.077,0.000,2792,1677,3120,0,0,0,0,0,0
$STATE,4785,end apogee,CONTROL_FINISHED_OK
$STATE,4785,begin climb
$GC,4788,1.28,146.0,507.7,0.0,238,4917,1.40,2.80,120.47,0.856,4,0.028,0.052,3141,3257,2522,0,0,0,0,0,0
$GC,4962,1.09,239.1,510.8,5.7,242,5051,0.22,2.65,78.22,0.842,6,0.115,0.039,3097,1690,2146,0,0,0,0,0,0
$GC,5338,0.95,243.7,476.1,9.8,251,5345,0.15,0.00,4.22,0.539,6,0.123,0.000,3067,1690,2125,0,0,0,0,0,0
$GC,5582,0.90,249.4,453.0,9.8,257,5594,0.00,2.72,6.20,0.650,4,0.000,0.071,3067,169,2103,0,0,0,0,0,0
$GC,5657,0.80,249.4,443.8,13.3,258,5662,0.15,2.45,0.00,0.000,6,0.120,0.028,3037,1674,2102,0,0,0,0,0,0
$GC,5917,0.81,258.7,418.3,9.6,265,5933,0.00,2.60,9.40,0.719,4,0.000,0.058,3036,170,2064,0,0,0,0,0,0
$GC,6004,0.81,258.7,409.0,11.2,266,6009,0.00,2.42,0.00,0.000,6,0.000,0.026,3036,1665,2062,0,0,0,0,0,0
$GC,6253,0.82,264.6,384.6,9.8,273,6265,0.00,2.72,5.82,0.613,4,0.000,0.048,3037,3251,2040,0,0,0,0,0,0
$GC,6301,0.92,274.2,380.1,9.6,274,6318,0.10,2.62,10.45,0.716,6,0.077,0.032,3087,1665,2001,0,0,0,0,0,0
$GC,6593,0.85,274.2,344.3,12.4,281,6595,0.20,0.00,0.00,0.000,6,0.107,0.000,3046,1665,1996,0,0,0,0,0,0
$GC,6835,0.85,274.2,319.1,10.2,287,6839,0.00,2.58,0.00,0.000,4,0.000,0.063,3045,166,1995,0,0,0,0,0,0
$GC,6873,0.85,274.2,315.2,11.0,287,6879,0.00,2.42,0.00,0.000,6,0.000,0.025,3046,1678,1994,0,0,0,0,0,0
$GC,7123,0.86,283.2,291.3,9.6,294,7133,0.00,0.00,8.30,0.645,6,0.000,0.000,3046,1679,1965,0,0,0,0,0,0
$GC,7367,0.86,285.5,267.0,9.9,300,7371,0.00,2.60,0.00,0.000,4,0.000,0.055,3046,166,1962,0,0,0,0,0,0
$GC,7411,0.86,285.5,262.6,10.3,301,7415,0.00,2.38,0.00,0.000,6,0.000,0.024,3046,1673,1961,0,0,0,0,0,0
$GC,7698,0.96,308.2,236.4,9.0,308,7724,0.10,0.00,23.48,0.683,6,0.079,0.000,3100,1677,1863,0,0,0,0,0,0
$GC,7943,0.90,308.2,207.5,11.9,314,7948,0.20,2.62,0.00,0.000,4,0.100,0.039,3058,3258,1857,0,0,0,0,0,0
$GC,7966,0.90,308.2,204.5,10.7,314,7971,0.00,2.62,0.00,0.000,6,0.000,0.029,3057,1646,1856,0,0,0,0,0,0
$GC,8236,0.93,331.5,179.0,9.0,336,8266,0.00,2.50,20.45,0.624,4,0.000,0.047,3057,170,1766,0,0,0,0,0,0
$GC,8311,1.01,331.5,171.7,12.0,343,8316,0.10,2.35,0.00,0.000,6,0.079,0.022,3109,1665,1765,0,0,0,0,0,0
$GC,8575,1.01,331.5,136.7,13.1,367,8580,0.12,2.60,0.00,0.000,4,0.113,0.036,3083,3253,1763,0,0,0,0,0,0
$GC,8625,1.11,331.5,131.0,11.7,371,8629,0.00,2.58,0.00,0.000,6,0.000,0.029,3083,1662,1760,0,0,0,0,0,0
$GC,8891,1.17,331.5,100.8,11.9,395,8896,0.12,2.42,0.00,0.000,4,0.065,0.051,3150,174,1760,0,0,0,0,0,0
$GC,8961,1.05,331.5,92.7,10.7,401,8966,0.28,2.30,0.00,0.000,6,0.098,0.021,3091,1656,1760,0,0,0,0,0,0
$GC,9225,1.06,335.0,67.0,9.9,425,9229,0.00,2.58,0.00,0.000,4,0.000,0.033,3091,3260,1760,0,0,0,0,0,0
$GC,9256,1.13,335.0,64.0,10.6,427,9261,0.00,2.58,0.00,0.000,6,0.000,0.027,3091,1646,1759,0,0,0,0,0,0
$GC,9523,1.13,335.0,35.2,11.0,451,9527,0.00,2.40,0.00,0.000,4,0.000,0.043,3091,174,1760,0,0,0,0,0,0
$GC,9555,1.26,386.2,32.2,7.7,453,9610,0.17,2.28,46.97,0.505,6,0.049,0.021,3184,1650,1544,0,0,0,0,0,0
$STATE,9731,end climb,SURFACE_DEPTH_REACHED
$STATE,9731,begin surface coast
$FINISH,0.8,1.010741
$STATE,9758,end surface coast,CONTROL_FINISHED_OK
$STATE,9758,begin surface
$SM_CCo,9780,36.28,0.367,1,0,1284,450.13
$SM_GC,1.48,0.00,0.00,36.28,0.000,0.000,0.367,412,1841,1284,-11.26,1.44,450.13
$IRIDIUM_FIX,2241.69,-15759.32,280200,151549
$TT8_MAMPS,0.027612
$HUMID,43.66
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.6,28.022
$10V_AH,10.4,23.354
$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,28.650,125.750,451.125,36.275,0.000,53.014,73.679,266.276,0.500,0.000,35.198,1009.204,6433.943,506.898,1813.044,672.478,33.365,1272.663,0.000,1789.188,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,71.331,872.846,367.393,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.706,282.050,367.762,537.495,950.537,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355376
$DATA_FILE_SIZE,38449,482
$CAP_FILE_SIZE,116093,0
$CFSIZE,260165632,161484800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,181507,2249.602,-15801.343,36,1.4,36,10.1