version: 66.06
glider: 148
mission: 9
dive: 244
start: 12 11 110 1 52 9
data:
$ID,148
$MISSION,9
$DIVE,244
$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,-863081
$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,20
$R_STBD_OVSHOOT,48
$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
$GPS1,014530,2247.104,-15802.854,39,99.0,58,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.0
$GPS2,015114,2247.084,-15802.830,14,1.2,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.078,0.248
$KALMAN_X,-64908.7,378.8,56.8,76567.8,687.9
$KALMAN_Y,3372.6,456.9,367.4,120241.0,-807.5
$MHEAD_RNG_PITCHd_Wd,332.4,5408,-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,19,-1.28,-146.0,0.0,0.0,0,105,0.00,0.00,-83.15,0.000,2,0.000,0.000,410,1873,3355,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.6,-5.7,11,132,11.90,2.40,-6.47,0.000,4,0.172,0.041,2573,3368,3715,0,0,0,0,0,0
$GC,261,-1.15,-146.0,38.4,-16.3,31,270,0.12,2.55,0.00,0.000,6,0.094,0.023,2604,1778,3717,0,0,0,0,0,0
$GC,529,-1.08,-146.0,76.5,-13.2,56,533,0.00,2.55,0.00,0.000,4,0.000,0.031,2604,3371,3718,0,0,0,0,0,0
$GC,557,-0.99,-146.0,81.9,-15.4,58,562,0.17,2.53,0.00,0.000,6,0.104,0.021,2641,1776,3718,0,0,0,0,0,0
$GC,821,-1.12,-146.0,106.3,-8.2,82,826,0.10,2.55,0.00,0.000,4,0.077,0.029,2574,3369,3719,0,0,0,0,0,0
$GC,871,-1.12,-146.0,112.1,-10.6,86,881,0.15,2.50,0.00,0.000,6,0.074,0.024,2612,1803,3719,0,0,0,0,0,0
$GC,1138,-1.12,-146.0,137.3,-9.9,111,1143,0.00,2.50,0.00,0.000,4,0.000,0.031,2612,3371,3720,0,0,0,0,0,0
$GC,1196,-1.24,-146.0,143.5,-9.0,116,1200,0.00,2.47,0.00,0.000,6,0.000,0.023,2612,1796,3720,0,0,0,0,0,0
$GC,1460,-1.33,-146.0,167.7,-8.4,140,1465,0.17,2.50,0.00,0.000,4,0.049,0.030,2494,3364,3720,0,0,0,0,0,0
$GC,1509,-1.12,-146.0,174.9,-15.2,144,1518,0.50,2.47,0.00,0.000,6,0.080,0.022,2610,1817,3720,0,0,0,0,0,0
$GC,1776,-1.21,-146.0,200.7,-10.8,169,1780,0.00,2.45,0.00,0.000,4,0.000,0.031,2610,3363,3721,0,0,0,0,0,0
$GC,1813,-1.34,-146.0,205.6,-11.4,169,1819,0.17,2.45,0.00,0.000,6,0.048,0.023,2521,1817,3721,0,0,0,0,0,0
$GC,2063,-1.19,-146.0,241.5,-14.2,176,2070,0.35,2.58,0.00,0.000,4,0.087,0.038,2600,215,3721,0,0,0,0,0,0
$GC,2090,-1.25,-146.0,244.7,-10.5,176,2095,0.00,2.50,0.00,0.000,6,0.000,0.020,2600,1834,3721,0,0,0,0,0,0
$GC,2350,-1.37,-146.0,269.2,-9.2,183,2355,0.15,2.42,0.00,0.000,4,0.056,0.031,2520,3360,3721,0,0,0,0,0,0
$GC,2406,-1.37,-146.0,276.8,-13.0,184,2411,0.20,2.40,0.00,0.000,6,0.091,0.024,2564,1833,3721,0,0,0,0,0,0
$GC,2681,-1.37,-146.0,307.0,-10.7,191,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1833,3721,0,0,0,0,0,0
$GC,2923,-1.37,-146.0,331.6,-9.8,197,2928,0.00,2.47,0.00,0.000,4,0.000,0.035,2564,3357,3721,0,0,0,0,0,0
$GC,2946,-1.37,-146.0,334.0,-10.3,197,2950,0.00,2.42,0.00,0.000,6,0.000,0.026,2564,1842,3721,0,0,0,0,0,0
$GC,3207,-1.37,-146.0,358.8,-9.8,204,3211,0.00,2.47,0.00,0.000,4,0.000,0.038,2564,3362,3720,0,0,0,0,0,0
$GC,3239,-1.37,-146.0,362.4,-9.7,204,3243,0.00,2.42,0.00,0.000,6,0.000,0.028,2564,1854,3720,0,0,0,0,0,0
$GC,3489,-1.37,-146.0,387.1,-10.0,210,3493,0.00,2.47,0.00,0.000,4,0.000,0.041,2564,3362,3718,0,0,0,0,0,0
$GC,3519,-1.37,-146.0,390.0,-9.8,210,3523,0.00,2.42,0.00,0.000,6,0.000,0.029,2564,1855,3718,0,0,0,0,0,0
$GC,3773,-1.37,-146.0,414.6,-9.5,217,3777,0.00,2.47,0.00,0.000,4,0.000,0.044,2564,3353,3717,0,0,0,0,0,0
$GC,3796,-1.37,-146.0,417.2,-11.0,217,3800,0.00,2.40,0.00,0.000,6,0.000,0.030,2564,1858,3716,0,0,0,0,0,0
$GC,4056,-1.37,-146.0,442.4,-9.7,224,4061,0.00,2.78,0.00,0.000,4,0.000,0.061,2564,215,3715,0,0,0,0,0,0
$GC,4089,-1.37,-146.0,446.1,-10.6,224,4093,0.00,2.60,0.00,0.000,6,0.000,0.029,2564,1843,3715,0,0,0,0,0,0
$GC,4338,-1.37,-146.0,469.7,-9.4,230,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1844,3713,0,0,0,0,0,0
$GC,4584,-1.43,-146.0,492.8,-9.7,236,4588,0.00,2.50,0.00,0.000,4,0.000,0.050,2564,3359,3711,0,0,0,0,0,0
$GC,4612,-1.49,-146.0,495.9,-9.7,236,4617,0.12,2.42,0.00,0.000,6,0.064,0.031,2494,1869,3711,0,0,0,0,0,0
$STATE,4664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4664,begin apogee
$GC,4669,-0.31,0.0,502.2,12.2,238,4791,1.35,0.00,117.78,0.871,6,0.085,0.000,2792,1672,3120,0,0,0,0,0,0
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4792,begin climb
$GC,4796,1.28,146.0,508.1,0.0,241,4929,1.45,2.75,122.12,0.858,4,0.028,0.051,3144,3244,2522,0,0,0,0,0,0
$GC,4971,0.99,158.9,507.1,9.4,245,4989,0.32,2.60,11.38,0.747,6,0.109,0.038,3078,1694,2472,0,0,0,0,0,0
$GC,5237,0.85,168.6,482.3,9.6,251,5253,0.15,2.72,9.15,0.722,4,0.121,0.074,3049,163,2431,0,0,0,0,0,0
$GC,5326,0.72,168.6,472.6,11.3,252,5332,0.15,2.45,0.00,0.000,6,0.121,0.028,3019,1664,2429,0,0,0,0,0,0
$GC,5576,0.77,216.1,451.8,7.8,259,5624,0.00,2.67,41.55,0.825,4,0.000,0.058,3018,167,2236,0,0,0,0,0,0
$GC,5671,0.78,220.8,443.7,9.8,261,5683,0.00,2.45,4.95,0.582,6,0.000,0.027,3018,1677,2219,0,0,0,0,0,0
$GC,5953,0.93,286.9,422.7,7.0,268,6018,0.17,2.70,58.08,0.816,4,0.052,0.058,3092,167,1950,0,0,0,0,0,0
$GC,6096,0.80,286.9,406.6,13.1,271,6101,0.28,2.45,0.00,0.000,6,0.101,0.028,3035,1666,1947,0,0,0,0,0,0
$GC,6376,0.82,297.2,379.5,9.6,278,6392,0.00,2.70,9.45,0.694,4,0.000,0.051,3035,3255,1906,0,0,0,0,0,0
$GC,6424,0.92,297.2,374.7,10.5,279,6429,0.10,2.65,0.00,0.000,6,0.077,0.034,3093,1654,1904,0,0,0,0,0,0
$GC,6711,0.83,297.2,336.1,13.4,286,6713,0.25,0.00,0.00,0.000,6,0.100,0.000,3041,1654,1902,0,0,0,0,0,0
$GC,6955,0.83,300.7,311.5,9.9,292,6959,0.00,2.70,0.00,0.000,4,0.000,0.044,3041,3259,1900,0,0,0,0,0,0
$GC,7008,0.95,300.7,306.3,10.1,293,7013,0.10,2.65,0.00,0.000,6,0.079,0.032,3090,1657,1899,0,0,0,0,0,0
$GC,7286,0.88,300.7,269.0,13.5,300,7292,0.17,2.53,0.00,0.000,4,0.104,0.061,3054,173,1899,0,0,0,0,0,0
$GC,7326,0.88,300.7,263.7,12.8,300,7331,0.00,2.40,0.00,0.000,6,0.000,0.025,3054,1678,1898,0,0,0,0,0,0
$GC,7575,0.88,300.7,236.5,10.4,307,7579,0.00,2.55,0.00,0.000,4,0.000,0.055,3053,169,1897,0,0,0,0,0,0
$GC,7618,0.88,300.7,231.7,11.8,308,7622,0.00,2.38,0.00,0.000,6,0.000,0.024,3054,1664,1897,0,0,0,0,0,0
$GC,7906,0.88,300.7,202.1,10.6,315,7910,0.00,2.50,0.00,0.000,4,0.000,0.050,3054,167,1896,0,0,0,0,0,0
$GC,7938,0.88,300.7,198.7,10.4,315,7942,0.00,2.35,0.00,0.000,6,0.000,0.023,3054,1658,1896,0,0,0,0,0,0
$GC,8202,0.99,335.0,175.9,8.5,339,8242,0.00,0.00,32.05,0.637,6,0.000,0.000,3053,1660,1752,0,0,0,0,0,0
$GC,8497,1.07,335.0,147.1,10.6,367,8502,0.15,2.62,0.00,0.000,4,0.056,0.036,3114,3254,1748,0,0,0,0,0,0
$GC,8538,1.07,335.0,141.8,13.3,370,8547,0.08,2.65,0.00,0.000,6,0.086,0.030,3094,1649,1746,0,0,0,0,0,0
$GC,8804,1.07,335.0,108.8,13.0,395,8808,0.00,2.42,0.00,0.000,4,0.000,0.053,3093,169,1746,0,0,0,0,0,0
$GC,8822,1.07,335.0,105.5,12.8,396,8831,0.00,2.38,0.00,0.000,6,0.000,0.021,3094,1665,1746,0,0,0,0,0,0
$GC,9088,1.07,335.0,74.8,11.1,421,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1665,1746,0,0,0,0,0,0
$GC,9352,1.07,335.0,47.9,10.1,446,9356,0.00,2.47,0.00,0.000,4,0.000,0.045,3094,172,1745,0,0,0,0,0,0
$GC,9406,1.07,335.0,42.1,12.2,450,9410,0.00,2.33,0.00,0.000,6,0.000,0.021,3093,1660,1746,0,0,0,0,0,0
$GC,9695,1.11,371.3,13.9,8.4,487,9734,0.00,2.53,31.88,0.487,4,0.000,0.043,3093,149,1604,0,0,0,0,0,0
$GC,9751,1.11,371.3,7.5,13.4,494,9760,0.00,2.38,0.00,0.000,6,0.000,0.020,3093,1644,1604,0,0,0,0,0,0
$STATE,9779,end climb,SURFACE_DEPTH_REACHED
$STATE,9779,begin surface coast
$FINISH,0.6,1.023854
$STATE,9818,end surface coast,CONTROL_FINISHED_OK
$STATE,9818,begin surface
$SM_CCo,9838,44.30,0.389,1,0,1285,450.13
$SM_GC,1.58,0.00,0.00,44.30,0.000,0.000,0.389,412,1867,1285,-11.27,2.18,450.13
$IRIDIUM_FIX,2239.35,-15800.20,050300,232305
$TT8_MAMPS,0.026845
$HUMID,45.39
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.6,34.402
$10V_AH,10.3,29.036
$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,29.700,136.175,438.375,44.300,0.000,29.717,33.184,156.036,0.250,0.000,15.624,1047.122,6240.560,541.201,1903.374,505.042,33.360,1334.859,0.000,1909.233,0.000,0.537,0.000
$DEVICE_MAMPS,171.808,74.399,871.312,388.869,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.141,313.005,397.623,595.696,1052.364,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38503,504
$CAP_FILE_SIZE,114924,0
$CFSIZE,260165632,158461952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111210,043806,2247.927,-15803.003,28,1.3,28,10.1