version: 66.06
glider: 148
mission: 9
dive: 237
start: 12 10 110 5 57 8
data:
$ID,148
$MISSION,9
$DIVE,237
$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,-862945.12
$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,18
$R_STBD_OVSHOOT,87
$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
$GPS1,054907,2249.748,-15757.281,39,0.9,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.5
$GPS2,055613,2249.774,-15757.248,10,1.2,10,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.067,-0.251
$KALMAN_X,-67845.1,117.4,-70.4,89506.1,501.9
$KALMAN_Y,2640.7,-1071.4,-854.5,128706.8,1635.5
$MHEAD_RNG_PITCHd_Wd,184.7,5223,-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,20,-1.28,-146.0,0.0,0.0,0,105,0.00,0.00,-82.75,0.000,2,0.000,0.000,413,1841,3308,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.1,-3.8,11,135,11.38,2.70,-7.72,0.000,4,0.154,0.053,2572,186,3716,0,0,0,0,0,0
$GC,169,-1.10,-146.0,20.3,-20.0,19,178,0.17,2.47,0.00,0.000,6,0.085,0.021,2614,1742,3718,0,0,0,0,0,0
$GC,448,-1.10,-146.0,61.5,-14.3,49,453,0.00,2.60,0.00,0.000,4,0.000,0.030,2614,3371,3719,0,0,0,0,0,0
$GC,535,-1.10,-146.0,72.7,-12.3,56,539,0.00,2.50,0.00,0.000,6,0.000,0.023,2614,1784,3719,0,0,0,0,0,0
$GC,798,-1.10,-146.0,108.9,-12.7,80,802,0.00,2.53,0.00,0.000,4,0.000,0.030,2614,3371,3720,0,0,0,0,0,0
$GC,857,-1.23,-146.0,114.9,-9.6,85,862,0.10,2.45,0.00,0.000,6,0.072,0.022,2536,1811,3720,0,0,0,0,0,0
$GC,1125,-1.01,-146.0,157.4,-16.4,109,1134,0.50,2.50,0.00,0.000,4,0.087,0.028,2635,3371,3721,0,0,0,0,0,0
$GC,1139,-0.87,-146.0,160.5,-14.8,110,1145,0.15,2.45,0.00,0.000,6,0.102,0.020,2669,1809,3721,0,0,0,0,0,0
$GC,1403,-1.14,-146.0,178.7,-7.5,135,1412,0.25,0.00,0.00,0.000,6,0.036,0.000,2545,1809,3722,0,0,0,0,0,0
$GC,1680,-1.03,-146.0,216.4,-13.4,153,1687,0.38,2.53,0.00,0.000,4,0.081,0.030,2632,3377,3722,0,0,0,0,0,0
$GC,1716,-1.19,-146.0,220.3,-9.0,153,1721,0.12,2.42,0.00,0.000,6,0.061,0.022,2556,1831,3722,0,0,0,0,0,0
$GC,1968,-1.10,-146.0,252.2,-13.2,159,1970,0.32,0.00,0.00,0.000,6,0.085,0.000,2618,1832,3722,0,0,0,0,0,0
$GC,2210,-1.24,-146.0,272.2,-7.6,165,2215,0.12,2.50,0.00,0.000,4,0.064,0.032,2552,3373,3722,0,0,0,0,0,0
$GC,2258,-1.24,-146.0,276.9,-10.1,166,2263,0.15,2.42,0.00,0.000,6,0.096,0.024,2588,1833,3722,0,0,0,0,0,0
$GC,2542,-1.32,-146.0,302.9,-9.2,173,2546,0.00,2.47,0.00,0.000,4,0.000,0.034,2588,3368,3722,0,0,0,0,0,0
$GC,2593,-1.43,-146.0,307.6,-8.9,174,2598,0.17,2.42,0.00,0.000,6,0.048,0.025,2494,1834,3722,0,0,0,0,0,0
$GC,2873,-1.20,-146.0,348.8,-15.2,181,2881,0.50,2.65,0.00,0.000,4,0.085,0.046,2591,214,3722,0,0,0,0,0,0
$GC,2924,-1.38,-146.0,354.4,-8.9,182,2929,0.12,2.58,0.00,0.000,6,0.063,0.025,2526,1849,3722,0,0,0,0,0,0
$GC,3208,-1.30,-146.0,384.1,-10.7,189,3213,0.22,2.47,0.00,0.000,4,0.090,0.041,2577,3364,3721,0,0,0,0,0,0
$GC,3223,-1.30,-146.0,385.9,-10.1,189,3227,0.00,2.45,0.00,0.000,6,0.000,0.026,2576,1836,3721,0,0,0,0,0,0
$GC,3491,-1.37,-146.0,406.1,-7.8,196,3496,0.00,2.50,0.00,0.000,4,0.000,0.042,2576,3367,3719,0,0,0,0,0,0
$GC,3537,-1.50,-146.0,409.6,-7.3,197,3542,0.17,2.42,0.00,0.000,6,0.048,0.030,2483,1853,3719,0,0,0,0,0,0
$GC,3824,-1.28,-146.0,449.4,-13.9,204,3832,0.45,2.78,0.00,0.000,4,0.089,0.061,2574,216,3717,0,0,0,0,0,0
$GC,3852,-1.28,-146.0,452.6,-10.1,204,3856,0.00,2.62,0.00,0.000,6,0.000,0.031,2574,1838,3718,0,0,0,0,0,0
$GC,4112,-1.37,-146.0,472.4,-7.6,211,4116,0.00,2.55,0.00,0.000,4,0.000,0.048,2574,3377,3716,0,0,0,0,0,0
$GC,4136,-1.45,-146.0,474.5,-8.5,211,4141,0.12,2.47,0.00,0.000,6,0.063,0.031,2494,1853,3715,0,0,0,0,0,0
$STATE,4352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4352,begin apogee
$GC,4359,-0.31,0.0,501.4,12.6,217,4481,1.38,0.00,117.62,0.867,6,0.088,0.000,2792,1673,3120,0,0,0,0,0,0
$STATE,4482,end apogee,CONTROL_FINISHED_OK
$STATE,4482,begin climb
$GC,4484,1.28,146.0,506.0,0.0,220,4615,1.40,2.65,120.80,0.853,4,0.025,0.072,3147,184,2523,0,0,0,0,0,0
$GC,4853,0.83,146.0,481.2,10.6,228,4860,0.50,2.45,0.00,0.000,6,0.109,0.028,3044,1686,2514,0,0,0,0,0,0
$GC,5129,0.88,236.6,463.6,5.8,235,5212,0.00,2.70,76.03,0.835,4,0.000,0.059,3044,180,2153,0,0,0,0,0,0
$GC,5257,0.80,236.6,453.4,10.1,238,5261,0.00,2.45,0.00,0.000,6,0.000,0.028,3044,1682,2151,0,0,0,0,0,0
$GC,5544,0.84,261.8,427.8,8.9,245,5572,0.00,2.60,21.45,0.785,4,0.000,0.058,3044,184,2052,0,0,0,0,0,0
$GC,5602,0.84,261.8,421.9,11.0,246,5606,0.00,2.42,0.00,0.000,6,0.000,0.028,3044,1681,2051,0,0,0,0,0,0
$GC,5874,0.84,261.8,393.9,10.6,253,5878,0.00,2.67,0.00,0.000,4,0.000,0.051,3044,3258,2046,0,0,0,0,0,0
$GC,5897,0.84,261.8,391.3,11.0,253,5902,0.00,2.60,0.00,0.000,6,0.000,0.033,3044,1688,2044,0,0,0,0,0,0
$GC,6157,0.84,261.8,363.1,11.0,260,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1688,2043,0,0,0,0,0,0
$GC,6400,0.84,265.7,338.6,9.9,266,6404,0.00,2.62,0.00,0.000,4,0.000,0.066,3045,168,2042,0,0,0,0,0,0
$GC,6433,0.84,269.4,335.3,9.9,266,6445,0.00,2.42,6.50,0.624,6,0.000,0.025,3044,1684,2021,0,0,0,0,0,0
$GC,6735,0.86,279.9,307.5,9.6,274,6751,0.00,2.67,10.73,0.682,4,0.000,0.059,3044,168,1977,0,0,0,0,0,0
$GC,6770,0.86,279.9,303.3,10.9,274,6774,0.00,2.42,0.00,0.000,6,0.000,0.024,3044,1676,1977,0,0,0,0,0,0
$GC,7020,0.86,285.7,278.2,9.8,280,7032,0.00,2.67,6.03,0.581,4,0.000,0.047,3044,3243,1955,0,0,0,0,0,0
$GC,7062,0.95,285.7,274.1,10.2,280,7068,0.10,2.60,0.00,0.000,6,0.077,0.032,3105,1671,1953,0,0,0,0,0,0
$GC,7311,0.85,285.7,244.0,12.0,287,7317,0.25,2.55,0.00,0.000,4,0.100,0.059,3047,167,1953,0,0,0,0,0,0
$GC,7374,0.86,292.7,237.5,9.7,288,7387,0.00,2.38,7.75,0.597,6,0.000,0.022,3047,1681,1926,0,0,0,0,0,0
$GC,7646,0.95,308.6,212.5,9.3,295,7667,0.00,2.60,15.23,0.640,4,0.000,0.038,3047,3250,1862,0,0,0,0,0,0
$GC,7686,1.04,308.6,208.5,10.1,295,7692,0.15,2.60,0.00,0.000,6,0.056,0.030,3129,1672,1859,0,0,0,0,0,0
$GC,7946,0.90,308.6,172.7,13.2,314,7951,0.32,2.47,0.00,0.000,4,0.097,0.047,3056,173,1857,0,0,0,0,0,0
$GC,8055,0.91,315.6,161.0,9.7,324,8069,0.00,2.35,7.32,0.535,6,0.000,0.021,3056,1666,1832,0,0,0,0,0,0
$GC,8323,1.03,336.8,136.0,9.1,349,8349,0.12,2.62,19.38,0.584,4,0.064,0.033,3128,3260,1744,0,0,0,0,0,0
$GC,8362,0.93,336.8,131.6,11.6,352,8375,0.30,2.62,0.00,0.000,6,0.090,0.027,3063,1654,1743,0,0,0,0,0,0
$GC,8629,1.15,405.3,106.5,6.9,377,8699,0.20,2.67,59.42,0.574,4,0.044,0.032,3137,3260,1465,0,0,0,0,0,0
$GC,8736,1.15,405.3,94.9,13.2,387,8741,0.12,2.60,0.00,0.000,6,0.112,0.030,3111,1658,1461,0,0,0,0,0,0
$GC,9003,1.15,405.3,61.8,12.9,411,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1658,1460,0,0,0,0,0,0
$GC,9271,1.15,405.3,26.5,13.1,438,9280,0.00,2.60,0.00,0.000,4,0.000,0.032,3112,3244,1459,0,0,0,0,0,0
$GC,9320,1.22,405.3,19.9,13.6,445,9329,0.00,2.58,0.00,0.000,6,0.000,0.027,3112,1665,1458,0,0,0,0,0,0
$STATE,9440,end climb,SURFACE_DEPTH_REACHED
$STATE,9440,begin surface coast
$FINISH,0.5,1.013880
$STATE,9478,end surface coast,CONTROL_FINISHED_OK
$STATE,9478,begin surface
$SM_CCo,9498,23.40,0.063,0,0,1284,450.13
$SM_GC,1.63,0.00,0.00,23.40,0.000,0.000,0.063,412,1845,1284,-11.26,1.55,450.13
$IRIDIUM_FIX,2241.69,-15754.11,050300,030320
$TT8_MAMPS,0.026845
$HUMID,45.15
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.6,33.542
$10V_AH,10.4,28.306
$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,31.200,127.550,468.250,23.400,0.000,32.167,36.244,235.917,0.500,0.000,12.083,993.034,6017.747,518.987,1851.137,570.338,33.368,1323.300,0.000,1850.761,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,72.098,866.710,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.116,278.925,359.813,537.465,950.516,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,35172,469
$CAP_FILE_SIZE,113728,0
$CFSIZE,260165632,158859264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101210,083707,2248.486,-15757.667,38,1.1,38,10.1