version: 66.06
glider: 148
mission: 9
dive: 238
start: 12 10 110 8 45 55
data:
$ID,148
$MISSION,9
$DIVE,238
$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,-862968.5
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,083707,2248.486,-15757.667,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.7
$GPS2,084501,2248.539,-15757.530,16,1.0,21,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.065,-0.252
$KALMAN_X,-67470.8,20.1,-177.5,88850.4,507.7
$KALMAN_Y,2330.9,-1073.5,-347.6,126234.6,1659.0
$MHEAD_RNG_PITCHd_Wd,184.4,2887,-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,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,96,0.00,0.00,-74.90,0.000,2,0.000,0.000,412,1845,3132,0,0,0,0,0,0
$GC,99,-1.28,-146.0,3.1,-4.9,10,132,11.35,2.47,-11.95,0.000,4,0.152,0.040,2574,3368,3718,0,0,0,0,0,0
$GC,147,-0.82,-146.0,14.3,-19.6,16,157,0.45,2.55,0.00,0.000,6,0.081,0.022,2677,1782,3719,0,0,0,0,0,0
$GC,433,-0.95,-146.0,43.3,-9.4,52,438,0.10,2.55,0.00,0.000,4,0.077,0.030,2615,3366,3719,0,0,0,0,0,0
$GC,500,-0.95,-146.0,51.4,-11.5,57,509,0.12,2.50,0.00,0.000,6,0.076,0.023,2647,1800,3719,0,0,0,0,0,0
$GC,768,-0.95,-146.0,80.9,-11.3,82,772,0.00,2.50,0.00,0.000,4,0.000,0.030,2647,3366,3720,0,0,0,0,0,0
$GC,831,-1.07,-146.0,88.7,-10.3,87,837,0.00,2.42,0.00,0.000,6,0.000,0.022,2647,1814,3720,0,0,0,0,0,0
$GC,1095,-1.18,-146.0,115.1,-10.4,112,1100,0.20,2.47,0.00,0.000,4,0.044,0.027,2546,3367,3721,0,0,0,0,0,0
$GC,1155,-1.10,-146.0,122.4,-12.9,117,1160,0.32,2.42,0.00,0.000,6,0.081,0.023,2619,1819,3721,0,0,0,0,0,0
$GC,1419,-1.19,-146.0,148.6,-8.6,141,1423,0.00,2.45,0.00,0.000,4,0.000,0.029,2619,3365,3721,0,0,0,0,0,0
$GC,1463,-1.32,-146.0,152.5,-8.8,145,1468,0.20,2.42,0.00,0.000,6,0.042,0.023,2516,1829,3722,0,0,0,0,0,0
$GC,1728,-1.12,-146.0,189.1,-14.1,169,1734,0.43,0.00,0.00,0.000,6,0.086,0.000,2608,1829,3722,0,0,0,0,0,0
$GC,2014,-1.21,-146.0,212.1,-7.3,185,2018,0.00,2.45,0.00,0.000,4,0.000,0.030,2608,3371,3723,0,0,0,0,0,0
$GC,2064,-1.35,-146.0,215.9,-7.6,186,2069,0.17,2.40,0.00,0.000,6,0.046,0.023,2512,1841,3723,0,0,0,0,0,0
$GC,2347,-1.14,-146.0,258.3,-15.6,193,2354,0.47,2.62,0.00,0.000,4,0.085,0.040,2608,214,3723,0,0,0,0,0,0
$GC,2395,-1.30,-146.0,263.4,-9.3,194,2400,0.12,2.55,0.00,0.000,6,0.063,0.021,2535,1844,3723,0,0,0,0,0,0
$GC,2683,-1.21,-146.0,296.3,-11.5,201,2688,0.25,2.42,0.00,0.000,4,0.087,0.031,2593,3371,3723,0,0,0,0,0,0
$GC,2723,-1.33,-146.0,300.0,-8.1,201,2728,0.00,2.40,0.00,0.000,6,0.000,0.025,2593,1850,3723,0,0,0,0,0,0
$GC,2973,-1.43,-146.0,320.1,-8.1,208,2975,0.17,0.00,0.00,0.000,6,0.050,0.000,2506,1850,3722,0,0,0,0,0,0
$GC,3216,-1.28,-146.0,351.8,-13.5,214,3223,0.32,2.70,0.00,0.000,4,0.088,0.049,2579,214,3721,0,0,0,0,0,0
$GC,3231,-1.19,-146.0,353.6,-13.4,214,3236,0.10,2.58,0.00,0.000,6,0.120,0.024,2600,1856,3721,0,0,0,0,0,0
$GC,3505,-1.32,-146.0,375.2,-7.3,221,3510,0.12,2.42,0.00,0.000,4,0.063,0.038,2536,3360,3720,0,0,0,0,0,0
$GC,3552,-1.32,-146.0,379.6,-9.7,222,3557,0.15,2.40,0.00,0.000,6,0.096,0.027,2571,1864,3719,0,0,0,0,0,0
$GC,3837,-1.39,-146.0,404.6,-9.2,229,3841,0.00,2.45,0.00,0.000,4,0.000,0.041,2571,3358,3718,0,0,0,0,0,0
$GC,3869,-1.47,-146.0,408.0,-10.1,229,3874,0.12,2.40,0.00,0.000,6,0.064,0.029,2495,1872,3718,0,0,0,0,0,0
$GC,4121,-1.32,-146.0,441.6,-13.8,235,4129,0.32,2.80,0.00,0.000,4,0.090,0.060,2569,217,3716,0,0,0,0,0,0
$GC,4138,-1.32,-146.0,444.2,-12.4,235,4143,0.00,2.60,0.00,0.000,6,0.000,0.029,2569,1847,3716,0,0,0,0,0,0
$GC,4407,-1.39,-146.0,466.5,-8.0,242,4411,0.00,2.45,0.00,0.000,4,0.000,0.045,2569,3353,3714,0,0,0,0,0,0
$GC,4427,-1.39,-146.0,468.0,-7.2,242,4432,0.00,2.40,0.00,0.000,6,0.000,0.030,2569,1869,3714,0,0,0,0,0,0
$GC,4691,-1.46,-146.0,487.3,-7.1,249,4698,0.12,2.85,0.00,0.000,4,0.066,0.066,2516,220,3712,0,0,0,0,0,0
$GC,4708,-1.46,-146.0,489.1,-9.4,249,4713,0.10,2.62,0.00,0.000,6,0.121,0.031,2539,1851,3712,0,0,0,0,0,0
$STATE,4853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4853,begin apogee
$GC,4860,-0.31,0.0,503.3,9.7,253,4981,1.12,0.00,117.18,0.877,6,0.084,0.000,2789,1675,3120,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4982,begin climb
$GC,4984,1.28,146.0,508.3,0.0,256,5118,1.45,2.70,121.07,0.861,4,0.024,0.048,3154,3243,2523,0,0,0,0,0,0
$GC,5221,0.97,154.5,502.9,9.6,261,5236,0.40,2.58,7.45,0.690,6,0.107,0.036,3072,1701,2490,0,0,0,0,0,0
$GC,5481,0.92,223.4,484.8,6.8,268,5545,0.00,2.78,58.80,0.844,4,0.000,0.075,3072,169,2209,0,0,0,0,0,0
$GC,5658,0.74,223.4,468.0,11.0,272,5663,0.25,2.42,0.00,0.000,6,0.102,0.028,3020,1658,2204,0,0,0,0,0,0
$GC,5947,0.78,261.6,444.4,8.3,279,5991,0.00,2.60,33.00,0.816,4,0.000,0.058,3019,167,2052,0,0,0,0,0,0
$GC,6005,0.78,261.7,438.7,10.0,280,6010,0.00,2.42,0.00,0.000,6,0.000,0.027,3019,1666,2050,0,0,0,0,0,0
$GC,6280,0.87,270.6,412.2,9.6,287,6291,0.12,0.00,8.40,0.695,6,0.067,0.000,3077,1667,2016,0,0,0,0,0,0
$GC,6522,0.79,270.6,384.8,11.1,293,6527,0.20,2.60,0.00,0.000,4,0.104,0.059,3034,166,2012,0,0,0,0,0,0
$GC,6550,0.79,270.6,381.7,10.1,293,6555,0.00,2.40,0.00,0.000,6,0.000,0.026,3034,1662,2011,0,0,0,0,0,0
$GC,6811,0.80,278.1,357.5,9.7,300,6823,0.00,2.72,7.07,0.651,4,0.000,0.047,3034,3252,1985,0,0,0,0,0,0
$GC,6875,0.91,281.4,350.5,9.9,301,6888,0.10,2.62,4.62,0.549,6,0.078,0.035,3082,1667,1972,0,0,0,0,0,0
$GC,7152,0.84,281.4,315.4,12.6,308,7157,0.17,2.60,0.00,0.000,4,0.104,0.064,3046,166,1969,0,0,0,0,0,0
$GC,7227,0.84,281.4,306.7,10.6,309,7231,0.00,2.40,0.00,0.000,6,0.000,0.026,3046,1671,1969,0,0,0,0,0,0
$GC,7482,0.91,331.7,285.9,7.7,316,7530,0.00,0.00,45.50,0.739,6,0.000,0.000,3046,1673,1767,0,0,0,0,0,0
$GC,7765,0.98,335.3,259.8,9.9,323,7767,0.12,0.00,0.00,0.000,6,0.067,0.000,3110,1674,1761,0,0,0,0,0,0
$GC,8008,0.88,335.3,226.7,13.7,329,8013,0.25,2.58,0.00,0.000,4,0.097,0.053,3053,167,1759,0,0,0,0,0,0
$GC,8034,0.88,335.3,223.2,14.0,329,8038,0.00,2.40,0.00,0.000,6,0.000,0.023,3053,1674,1758,0,0,0,0,0,0
$GC,8295,0.95,335.3,193.4,11.4,339,8299,0.00,2.58,0.00,0.000,4,0.000,0.036,3053,3258,1757,0,0,0,0,0,0
$GC,8331,1.06,335.3,189.2,12.3,342,8336,0.15,2.60,0.00,0.000,6,0.057,0.030,3120,1659,1754,0,0,0,0,0,0
$GC,8592,0.95,335.3,150.4,14.8,366,8594,0.25,0.00,0.00,0.000,6,0.096,0.000,3066,1659,1754,0,0,0,0,0,0
$GC,8848,1.03,347.5,123.3,9.5,390,8866,0.00,0.00,13.05,0.561,6,0.000,0.000,3066,1659,1702,0,0,0,0,0,0
$GC,9125,1.17,371.3,96.9,8.9,416,9159,0.20,2.67,22.00,0.558,4,0.047,0.033,3154,3248,1604,0,0,0,0,0,0
$GC,9171,1.09,371.3,91.5,12.2,420,9184,0.28,2.58,0.00,0.000,6,0.091,0.028,3095,1673,1603,0,0,0,0,0,0
$GC,9438,1.09,371.3,60.6,11.5,445,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1673,1601,0,0,0,0,0,0
$GC,9694,1.09,371.3,31.7,11.4,469,9698,0.00,2.58,0.00,0.000,4,0.000,0.032,3095,3262,1601,0,0,0,0,0,0
$GC,9722,1.15,371.3,28.7,11.5,471,9731,0.00,2.58,0.00,0.000,6,0.000,0.027,3095,1679,1600,0,0,0,0,0,0
$STATE,9936,end climb,SURFACE_DEPTH_REACHED
$STATE,9936,begin surface coast
$FINISH,0.9,1.023566
$STATE,9975,end surface coast,CONTROL_FINISHED_OK
$STATE,9975,begin surface
$SM_CCo,9997,42.72,0.388,1,0,1284,450.13
$SM_GC,1.56,0.00,0.00,42.72,0.000,0.000,0.388,414,1832,1284,-11.25,1.19,450.13
$IRIDIUM_FIX,2241.69,-15754.99,050300,060654
$TT8_MAMPS,0.026845
$HUMID,45.43
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.6,33.666
$10V_AH,10.4,28.418
$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,31.700,122.125,438.150,42.725,0.000,24.946,38.465,269.248,0.000,0.000,22.761,1063.932,6327.089,556.121,1939.837,632.181,33.358,1315.745,0.000,1948.312,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,75.166,876.681,388.102,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.118,322.681,401.678,631.022,1116.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,38347,511
$CAP_FILE_SIZE,117015,0
$CFSIZE,260165632,158793728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,113436,2247.454,-15757.971,33,0.9,37,10.1