version: 66.06
glider: 148
mission: 9
dive: 239
start: 12 10 110 11 46 27
data:
$ID,148
$MISSION,9
$DIVE,239
$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,-862981.62
$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,86
$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
$GPS1,113436,2247.454,-15757.971,33,0.9,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-65.4
$GPS2,114532,2247.474,-15757.864,11,1.8,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.249,-0.075
$KALMAN_X,-67289.6,-163.6,-107.3,88208.5,441.4
$KALMAN_Y,1835.6,-751.8,347.8,123738.4,541.9
$MHEAD_RNG_PITCHd_Wd,243.1,8814,-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,-82.90,0.000,2,0.000,0.000,414,1832,3382,0,0,0,0,0,0
$GC,109,-1.28,-146.0,4.1,-7.3,11,134,11.40,0.00,-5.88,0.000,6,0.154,0.000,2574,1832,3717,0,0,0,0,0,0
$GC,402,-1.07,-146.0,65.2,-17.9,44,407,0.22,2.40,0.00,0.000,4,0.100,0.029,2623,3332,3720,0,0,0,0,0,0
$GC,457,-1.07,-146.0,73.4,-14.3,48,461,0.00,2.45,0.00,0.000,6,0.000,0.022,2623,1775,3720,0,0,0,0,0,0
$GC,719,-1.07,-146.0,104.5,-10.6,72,723,0.00,2.50,0.00,0.000,4,0.000,0.029,2623,3338,3720,0,0,0,0,0,0
$GC,760,-1.18,-146.0,107.7,-8.2,75,764,0.00,2.45,0.00,0.000,6,0.000,0.023,2623,1794,3720,0,0,0,0,0,0
$GC,1026,-1.28,-146.0,132.7,-9.2,99,1031,0.17,2.47,0.00,0.000,4,0.050,0.029,2544,3335,3721,0,0,0,0,0,0
$GC,1078,-1.22,-146.0,139.2,-12.2,103,1084,0.22,2.42,0.00,0.000,6,0.085,0.024,2594,1808,3721,0,0,0,0,0,0
$GC,1340,-1.22,-146.0,164.3,-8.9,128,1345,0.00,2.42,0.00,0.000,4,0.000,0.029,2595,3328,3722,0,0,0,0,0,0
$GC,1370,-1.22,-146.0,166.7,-9.1,130,1374,0.00,2.40,0.00,0.000,6,0.000,0.023,2595,1810,3722,0,0,0,0,0,0
$GC,1636,-1.22,-146.0,195.1,-11.8,155,1640,0.00,2.42,0.00,0.000,4,0.000,0.030,2595,3327,3722,0,0,0,0,0,0
$GC,1654,-1.22,-146.0,197.6,-12.1,156,1663,0.00,2.40,0.00,0.000,6,0.000,0.022,2595,1820,3722,0,0,0,0,0,0
$GC,1927,-1.22,-146.0,224.6,-9.3,165,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1820,3722,0,0,0,0,0,0
$GC,2169,-1.29,-146.0,247.5,-9.6,171,2173,0.00,2.40,0.00,0.000,4,0.000,0.031,2595,3330,3722,0,0,0,0,0,0
$GC,2211,-1.42,-146.0,251.5,-9.5,171,2218,0.17,2.38,0.00,0.000,6,0.048,0.025,2496,1834,3722,0,0,0,0,0,0
$GC,2463,-1.24,-146.0,286.9,-14.8,178,2470,0.38,2.62,0.00,0.000,4,0.088,0.042,2584,215,3722,0,0,0,0,0,0
$GC,2489,-1.24,-146.0,290.6,-12.4,178,2493,0.00,2.45,0.00,0.000,6,0.000,0.022,2583,1789,3722,0,0,0,0,0,0
$GC,2748,-1.32,-146.0,315.1,-9.4,185,2753,0.00,2.53,0.00,0.000,4,0.000,0.035,2583,3370,3722,0,0,0,0,0,0
$GC,2787,-1.44,-146.0,319.0,-9.0,185,2794,0.15,2.45,0.00,0.000,6,0.054,0.027,2496,1838,3722,0,0,0,0,0,0
$GC,3037,-1.28,-146.0,355.3,-15.0,192,3045,0.35,2.70,0.00,0.000,4,0.090,0.050,2577,209,3720,0,0,0,0,0,0
$GC,3079,-1.43,-146.0,360.4,-10.4,192,3085,0.12,2.58,0.00,0.000,6,0.064,0.026,2511,1824,3720,0,0,0,0,0,0
$GC,3329,-1.32,-146.0,388.9,-11.1,199,3334,0.25,2.53,0.00,0.000,4,0.094,0.039,2570,3368,3719,0,0,0,0,0,0
$GC,3358,-1.32,-146.0,391.9,-9.1,199,3362,0.00,2.47,0.00,0.000,6,0.000,0.029,2570,1827,3719,0,0,0,0,0,0
$GC,3614,-1.39,-146.0,415.0,-9.4,206,3619,0.00,2.55,0.00,0.000,4,0.000,0.044,2570,3366,3717,0,0,0,0,0,0
$GC,3637,-1.39,-146.0,417.8,-10.9,206,3642,0.00,2.47,0.00,0.000,6,0.000,0.030,2570,1839,3717,0,0,0,0,0,0
$GC,3896,-1.45,-146.0,444.7,-10.7,213,3901,0.10,2.55,0.00,0.000,4,0.078,0.046,2514,3365,3715,0,0,0,0,0,0
$GC,3913,-1.45,-146.0,446.6,-10.6,213,3918,0.12,2.47,0.00,0.000,6,0.107,0.031,2543,1837,3716,0,0,0,0,0,0
$GC,4181,-1.45,-146.0,478.0,-11.4,220,4186,0.00,2.53,0.00,0.000,4,0.000,0.048,2543,3364,3713,0,0,0,0,0,0
$GC,4195,-1.45,-146.0,479.7,-11.1,220,4199,0.00,2.45,0.00,0.000,6,0.000,0.028,2543,1844,3713,0,0,0,0,0,0
$STATE,4420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4420,begin apogee
$GC,4428,-0.31,0.0,501.5,9.5,226,4549,1.12,0.00,117.38,0.871,6,0.084,0.000,2793,1676,3120,0,0,0,0,0,0
$STATE,4549,end apogee,CONTROL_FINISHED_OK
$STATE,4549,begin climb
$GC,4552,1.28,146.0,504.9,0.0,229,4681,1.40,2.75,121.80,0.853,4,0.026,0.051,3154,3258,2523,0,0,0,0,0,0
$GC,4701,0.96,170.2,503.2,8.9,232,4730,0.40,2.62,21.15,0.796,6,0.107,0.037,3072,1692,2425,0,0,0,0,0,0
$GC,5008,0.83,170.2,471.8,10.2,240,5013,0.15,2.67,0.00,0.000,4,0.117,0.074,3041,170,2418,0,0,0,0,0,0
$GC,5054,0.71,176.7,467.5,9.7,241,5066,0.12,2.45,6.00,0.639,6,0.123,0.028,3017,1680,2398,0,0,0,0,0,0
$GC,5346,0.80,249.3,447.3,6.7,248,5414,0.00,2.65,62.95,0.828,4,0.000,0.059,3017,166,2102,0,0,0,0,0,0
$GC,5433,0.81,259.1,440.0,9.6,250,5449,0.00,2.45,9.82,0.711,6,0.000,0.027,3017,1667,2061,0,0,0,0,0,0
$GC,5724,0.89,268.9,412.3,9.6,257,5735,0.15,0.00,8.70,0.696,6,0.058,0.000,3074,1668,2023,0,0,0,0,0,0
$GC,5968,0.82,268.9,384.6,11.4,263,5973,0.17,2.62,0.00,0.000,4,0.133,0.060,3037,160,2019,0,0,0,0,0,0
$GC,5987,0.82,268.9,382.2,10.7,263,5991,0.00,2.42,0.00,0.000,6,0.000,0.025,3037,1674,2019,0,0,0,0,0,0
$GC,6252,0.86,301.6,360.1,8.5,270,6289,0.00,2.75,29.88,0.774,4,0.000,0.048,3037,3250,1889,0,0,0,0,0,0
$GC,6303,0.87,306.8,354.8,9.8,271,6315,0.00,2.65,5.90,0.600,6,0.000,0.032,3037,1667,1868,0,0,0,0,0,0
$GC,6584,0.87,306.8,324.9,10.8,278,6588,0.00,2.58,0.00,0.000,4,0.000,0.064,3037,171,1863,0,0,0,0,0,0
$GC,6613,0.87,306.8,321.5,12.7,278,6617,0.00,2.42,0.00,0.000,6,0.000,0.025,3037,1678,1863,0,0,0,0,0,0
$GC,6869,0.94,307.3,295.4,10.0,285,6871,0.10,0.00,0.00,0.000,6,0.079,0.000,3090,1680,1861,0,0,0,0,0,0
$GC,7113,0.87,307.3,265.4,12.2,291,7118,0.20,2.60,0.00,0.000,4,0.104,0.057,3049,164,1860,0,0,0,0,0,0
$GC,7143,0.87,307.3,262.0,11.1,291,7147,0.00,2.42,0.00,0.000,6,0.000,0.024,3048,1685,1860,0,0,0,0,0,0
$GC,7397,0.87,307.3,236.4,10.1,298,7401,0.00,2.60,0.00,0.000,4,0.000,0.043,3049,3254,1859,0,0,0,0,0,0
$GC,7411,0.93,310.8,234.8,9.9,298,7416,0.00,2.60,0.00,0.000,6,0.000,0.030,3049,1668,1858,0,0,0,0,0,0
$GC,7682,1.04,341.4,211.2,8.6,305,7714,0.15,0.00,29.35,0.670,6,0.058,0.000,3112,1668,1727,0,0,0,0,0,0
$GC,7976,0.95,341.4,168.9,15.1,324,7981,0.20,2.50,0.00,0.000,4,0.101,0.048,3068,173,1722,0,0,0,0,0,0
$GC,8008,0.95,341.4,164.5,14.7,326,8013,0.00,2.38,0.00,0.000,6,0.000,0.023,3069,1673,1722,0,0,0,0,0,0
$GC,8273,0.95,343.0,134.8,10.0,351,8278,0.00,2.58,0.00,0.000,4,0.000,0.033,3068,3265,1721,0,0,0,0,0,0
$GC,8290,0.95,343.0,132.6,10.4,352,8294,0.00,2.60,0.00,0.000,6,0.000,0.027,3069,1661,1720,0,0,0,0,0,0
$GC,8552,1.03,343.0,106.7,10.8,376,8556,0.00,2.60,0.00,0.000,4,0.000,0.033,3069,3259,1720,0,0,0,0,0,0
$GC,8582,1.16,343.0,103.4,10.2,378,8592,0.15,2.60,0.00,0.000,6,0.025,0.028,3163,1672,1718,0,0,0,0,0,0
$GC,8850,1.03,343.0,66.6,14.2,403,8855,0.35,2.45,0.00,0.000,4,0.096,0.044,3084,170,1718,0,0,0,0,0,0
$GC,8893,1.09,343.0,60.8,11.6,406,8898,0.00,2.35,0.00,0.000,6,0.000,0.021,3084,1677,1718,0,0,0,0,0,0
$GC,9163,1.18,354.8,34.1,9.5,430,9188,0.12,2.53,12.10,0.477,4,0.064,0.031,3148,3250,1672,0,0,0,0,0,0
$GC,9204,1.10,354.8,29.0,12.4,433,9213,0.17,2.58,0.00,0.000,6,0.075,0.028,3104,1676,1670,0,0,0,0,0,0
$STATE,9420,end climb,SURFACE_DEPTH_REACHED
$STATE,9420,begin surface coast
$FINISH,0.9,1.023632
$STATE,9466,end surface coast,CONTROL_FINISHED_OK
$STATE,9467,begin surface
$SM_CCo,9487,51.50,0.405,1,0,1284,450.13
$SM_GC,1.45,0.00,0.00,51.50,0.000,0.000,0.405,406,1829,1284,-11.29,1.10,450.13
$IRIDIUM_FIX,2239.35,-15757.16,050300,111124
$TT8_MAMPS,0.026078
$HUMID,45.07
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.6,33.795
$10V_AH,10.3,28.520
$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,29.650,131.300,425.025,51.500,0.000,47.979,68.572,338.186,0.500,0.000,12.475,994.918,6202.410,542.312,1713.505,748.692,33.365,1251.645,0.000,1719.587,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,74.399,870.545,404.976,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.686,289.128,363.654,547.666,968.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,38394,474
$CAP_FILE_SIZE,115725,0
$CFSIZE,260165632,158736384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,142656,2247.244,-15759.234,24,99.0,43,10.1