version: 66.06
glider: 148
mission: 9
dive: 249
start: 12 11 110 15 9 3
data:
$ID,148
$MISSION,9
$DIVE,249
$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,-863178.25
$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,31
$R_STBD_OVSHOOT,49
$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
$GPS1,150214,2249.610,-15759.971,10,1.9,10,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.8
$GPS2,150808,2249.577,-15759.914,12,1.6,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.255,0.051
$KALMAN_X,-62531.3,-468.3,-39.1,80156.0,515.9
$KALMAN_Y,2841.4,-483.7,3.4,126696.6,-34.1
$MHEAD_RNG_PITCHd_Wd,68.5,5035,-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,-83.18,0.000,2,0.000,0.000,411,1875,3350,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.6,-6.0,11,134,11.45,2.70,-6.62,0.000,4,0.156,0.044,2575,205,3717,0,0,0,0,0,0
$GC,230,-1.28,-146.0,31.8,-15.5,28,234,0.00,2.47,0.00,0.000,6,0.000,0.020,2575,1787,3719,0,0,0,0,0,0
$GC,497,-1.11,-146.0,77.0,-16.6,52,502,0.20,2.53,0.00,0.000,4,0.100,0.031,2618,3366,3720,0,0,0,0,0,0
$GC,558,-1.11,-146.0,86.5,-12.8,57,563,0.00,2.47,0.00,0.000,6,0.000,0.022,2618,1788,3720,0,0,0,0,0,0
$GC,824,-1.11,-146.0,117.0,-10.5,81,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1788,3721,0,0,0,0,0,0
$GC,1087,-1.20,-146.0,143.4,-9.8,106,1091,0.00,2.50,0.00,0.000,4,0.000,0.029,2618,3366,3722,0,0,0,0,0,0
$GC,1128,-1.33,-146.0,147.4,-8.3,109,1134,0.20,2.50,0.00,0.000,6,0.041,0.022,2513,1787,3722,0,0,0,0,0,0
$GC,1391,-1.15,-146.0,187.6,-16.1,134,1400,0.40,2.55,0.00,0.000,4,0.087,0.031,2606,3367,3722,0,0,0,0,0,0
$GC,1446,-1.28,-146.0,195.1,-10.6,139,1452,0.10,2.47,0.00,0.000,6,0.074,0.022,2518,1806,3723,0,0,0,0,0,0
$GC,1729,-1.13,-146.0,237.8,-15.0,149,1731,0.43,0.00,0.00,0.000,6,0.082,0.000,2612,1806,3723,0,0,0,0,0,0
$GC,1972,-1.26,-146.0,259.1,-8.1,155,1977,0.12,2.50,0.00,0.000,4,0.064,0.031,2544,3367,3723,0,0,0,0,0,0
$GC,2005,-1.26,-146.0,262.5,-10.8,155,2010,0.17,2.45,0.00,0.000,6,0.090,0.024,2583,1815,3723,0,0,0,0,0,0
$GC,2256,-1.33,-146.0,286.8,-9.8,161,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1815,3723,0,0,0,0,0,0
$GC,2498,-1.41,-146.0,311.4,-10.0,167,2503,0.12,2.53,0.00,0.000,4,0.064,0.035,2512,3371,3723,0,0,0,0,0,0
$GC,2565,-1.41,-146.0,319.5,-12.5,168,2570,0.17,2.50,0.00,0.000,6,0.094,0.027,2551,1814,3724,0,0,0,0,0,0
$GC,2829,-1.41,-146.0,348.8,-11.1,175,2834,0.00,2.50,0.00,0.000,4,0.000,0.038,2551,3361,3723,0,0,0,0,0,0
$GC,2848,-1.41,-146.0,350.9,-11.1,175,2852,0.00,2.45,0.00,0.000,6,0.000,0.026,2551,1819,3722,0,0,0,0,0,0
$GC,3113,-1.41,-146.0,380.3,-11.4,182,3117,0.00,2.53,0.00,0.000,4,0.000,0.040,2551,3360,3721,0,0,0,0,0,0
$GC,3131,-1.41,-146.0,382.8,-12.5,182,3135,0.00,2.45,0.00,0.000,6,0.000,0.028,2551,1825,3721,0,0,0,0,0,0
$GC,3394,-1.41,-146.0,411.8,-10.9,189,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1825,3719,0,0,0,0,0,0
$GC,3638,-1.41,-146.0,436.6,-10.1,195,3642,0.00,2.75,0.00,0.000,4,0.000,0.061,2551,209,3717,0,0,0,0,0,0
$GC,3658,-1.41,-146.0,438.7,-11.5,195,3662,0.00,2.60,0.00,0.000,6,0.000,0.027,2551,1830,3718,0,0,0,0,0,0
$GC,3922,-1.41,-146.0,465.0,-10.0,202,3926,0.00,2.53,0.00,0.000,4,0.000,0.045,2551,3366,3716,0,0,0,0,0,0
$GC,3965,-1.47,-146.0,469.5,-10.4,203,3969,0.00,2.50,0.00,0.000,6,0.000,0.033,2551,1833,3716,0,0,0,0,0,0
$GC,4253,-1.47,-146.0,499.1,-10.2,210,4257,0.00,2.55,0.00,0.000,4,0.000,0.048,2551,3370,3714,0,0,0,0,0,0
$STATE,4260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4260,begin apogee
$GC,4269,-0.31,0.0,500.3,10.2,210,4391,1.05,0.00,117.95,0.866,6,0.077,0.000,2789,1675,3120,0,0,0,0,0,0
$STATE,4391,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4395,1.28,146.0,505.0,0.0,213,4525,1.48,2.67,121.43,0.851,4,0.036,0.047,3144,3254,2522,0,0,0,0,0,0
$GC,4569,1.00,171.0,504.2,8.9,217,4599,0.32,2.65,21.67,0.797,6,0.125,0.035,3082,1679,2421,0,0,0,0,0,0
$GC,4882,0.86,175.6,474.2,9.8,225,4893,0.17,2.67,4.28,0.542,4,0.126,0.071,3047,168,2403,0,0,0,0,0,0
$GC,4977,0.75,175.6,464.2,10.6,227,4982,0.12,2.45,0.00,0.000,6,0.127,0.028,3023,1674,2401,0,0,0,0,0,0
$GC,5264,0.79,214.2,439.4,8.3,234,5307,0.00,2.78,33.80,0.812,4,0.000,0.053,3023,3254,2244,0,0,0,0,0,0
$GC,5318,0.84,249.9,434.9,8.4,235,5355,0.00,2.65,32.10,0.798,6,0.000,0.035,3023,1668,2101,0,0,0,0,0,0
$GC,5640,0.91,253.5,402.7,9.9,243,5645,0.15,2.62,0.00,0.000,4,0.057,0.066,3091,164,2093,0,0,0,0,0,0
$GC,5789,0.75,253.5,383.2,11.9,246,5794,0.32,2.45,0.00,0.000,6,0.113,0.026,3023,1678,2091,0,0,0,0,0,0
$GC,6065,0.90,316.3,362.5,7.1,253,6130,0.15,2.67,58.12,0.782,4,0.058,0.056,3096,172,1829,0,0,0,0,0,0
$GC,6142,0.78,316.3,353.4,13.4,254,6147,0.32,2.40,0.00,0.000,6,0.094,0.025,3028,1663,1828,0,0,0,0,0,0
$GC,6393,0.87,318.7,328.2,9.9,260,6399,0.10,2.70,0.00,0.000,4,0.077,0.050,3078,3253,1821,0,0,0,0,0,0
$GC,6437,0.87,318.7,322.8,12.7,261,6442,0.12,2.65,0.00,0.000,6,0.107,0.034,3051,1658,1819,0,0,0,0,0,0
$GC,6724,0.87,318.7,290.0,11.5,268,6729,0.00,2.67,0.00,0.000,4,0.000,0.043,3051,3257,1817,0,0,0,0,0,0
$GC,6769,0.98,318.7,285.1,12.0,269,6774,0.00,2.60,0.00,0.000,6,0.000,0.033,3051,1678,1815,0,0,0,0,0,0
$GC,7056,0.98,318.7,252.2,11.4,276,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1678,1815,0,0,0,0,0,0
$GC,7300,1.05,318.7,225.8,10.8,282,7305,0.15,2.62,0.00,0.000,4,0.056,0.037,3117,3258,1814,0,0,0,0,0,0
$GC,7323,1.05,318.7,222.8,12.8,282,7328,0.15,2.58,0.00,0.000,6,0.112,0.030,3086,1675,1813,0,0,0,0,0,0
$GC,7580,1.05,318.7,191.1,11.6,294,7584,0.00,2.50,0.00,0.000,4,0.000,0.049,3086,174,1813,0,0,0,0,0,0
$GC,7606,0.98,318.7,187.9,12.8,296,7610,0.00,2.40,0.00,0.000,6,0.000,0.022,3086,1696,1812,0,0,0,0,0,0
$GC,7869,0.98,318.7,156.6,12.0,320,7874,0.00,2.53,0.00,0.000,4,0.000,0.033,3086,3264,1812,0,0,0,0,0,0
$GC,7884,0.98,318.7,154.4,12.0,321,7889,0.00,2.55,0.00,0.000,6,0.000,0.027,3086,1680,1811,0,0,0,0,0,0
$GC,8152,0.99,326.8,126.5,9.7,345,8164,0.00,2.55,7.20,0.505,4,0.000,0.047,3086,169,1787,0,0,0,0,0,0
$GC,8235,0.99,326.8,116.9,10.1,353,8239,0.00,2.38,0.00,0.000,6,0.000,0.021,3086,1675,1786,0,0,0,0,0,0
$GC,8502,1.03,359.9,92.9,8.5,377,8544,0.00,2.58,30.17,0.558,4,0.000,0.051,3086,180,1651,0,0,0,0,0,0
$GC,8567,1.03,359.9,86.4,10.9,383,8571,0.00,2.35,0.00,0.000,6,0.000,0.020,3086,1670,1651,0,0,0,0,0,0
$GC,8836,1.09,359.9,59.1,10.2,407,8840,0.00,2.53,0.00,0.000,4,0.000,0.031,3086,3254,1648,0,0,0,0,0,0
$GC,8855,1.16,359.9,56.6,10.4,408,8860,0.10,2.58,0.00,0.000,6,0.076,0.025,3155,1659,1647,0,0,0,0,0,0
$GC,9138,1.02,359.9,13.3,16.3,440,9147,0.32,2.45,0.00,0.000,4,0.094,0.041,3084,174,1646,0,0,0,0,0,0
$GC,9199,1.08,359.9,4.8,13.0,449,9208,0.00,2.33,0.00,0.000,6,0.000,0.020,3084,1656,1647,0,0,0,0,0,0
$STATE,9215,end climb,SURFACE_DEPTH_REACHED
$STATE,9215,begin surface coast
$FINISH,0.7,1.012610
$STATE,9254,end surface coast,CONTROL_FINISHED_OK
$STATE,9254,begin surface
$SM_CCo,9276,48.90,0.397,1,0,1284,450.13
$SM_GC,1.63,0.00,0.00,48.90,0.000,0.000,0.397,404,1863,1284,-11.30,2.06,450.13
$IRIDIUM_FIX,2239.35,-15804.53,060300,121231
$TT8_MAMPS,0.026845
$HUMID,44.99
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.6,34.950
$10V_AH,10.4,29.522
$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,29.225,127.550,426.725,48.900,0.000,30.559,32.631,157.829,0.500,0.000,14.106,965.679,5942.349,508.896,1769.911,500.751,33.358,1261.600,0.000,1777.933,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,70.564,865.943,397.306,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.458,275.052,354.646,519.760,919.134,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,35267,457
$CAP_FILE_SIZE,108736,0
$CFSIZE,260165632,158203904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111210,174536,2249.517,-15758.241,23,1.9,23,10.1