version: 66.06
glider: 148
mission: 9
dive: 255
start: 12 12 110 6 51 15
data:
$ID,148
$MISSION,9
$DIVE,255
$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,-863328.88
$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,38
$R_STBD_OVSHOOT,56
$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
$GPS1,064038,2246.968,-15757.744,14,2.0,14,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.1
$GPS2,065018,2246.998,-15757.755,12,2.5,31,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,-0.004
$KALMAN_X,-61436.3,255.0,86.2,81931.7,-169.4
$KALMAN_Y,1670.1,-154.1,-303.9,123060.6,44.6
$MHEAD_RNG_PITCHd_Wd,259.0,8956,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.55,0.000,2,0.000,0.000,412,1864,3373,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.8,-6.4,11,129,11.57,2.40,-6.30,0.000,4,0.160,0.040,2575,3367,3717,0,0,0,0,0,0
$GC,238,-1.13,-146.0,35.1,-16.4,29,244,0.17,2.53,0.00,0.000,6,0.100,0.023,2613,1781,3719,0,0,0,0,0,0
$GC,506,-1.07,-146.0,70.9,-12.9,53,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1781,3720,0,0,0,0,0,0
$GC,767,-1.07,-146.0,104.8,-11.1,78,771,0.00,2.50,0.00,0.000,4,0.000,0.028,2613,3361,3720,0,0,0,0,0,0
$GC,829,-1.21,-146.0,110.7,-9.4,83,833,0.00,2.50,0.00,0.000,6,0.000,0.023,2613,1785,3720,0,0,0,0,0,0
$GC,1096,-1.28,-146.0,136.9,-10.4,107,1101,0.12,2.53,0.00,0.000,4,0.064,0.031,2552,3364,3721,0,0,0,0,0,0
$GC,1125,-1.19,-146.0,140.8,-13.9,109,1130,0.20,2.45,0.00,0.000,6,0.091,0.021,2598,1800,3721,0,0,0,0,0,0
$GC,1389,-1.19,-146.0,170.4,-10.6,133,1393,0.00,2.50,0.00,0.000,4,0.000,0.030,2598,3364,3721,0,0,0,0,0,0
$GC,1407,-1.19,-146.0,172.8,-10.6,134,1413,0.00,2.42,0.00,0.000,6,0.000,0.021,2598,1811,3721,0,0,0,0,0,0
$GC,1670,-1.19,-146.0,198.8,-9.2,159,1674,0.00,2.45,0.00,0.000,4,0.000,0.031,2598,3354,3722,0,0,0,0,0,0
$GC,1710,-1.27,-146.0,202.9,-9.8,160,1716,0.00,2.42,0.00,0.000,6,0.000,0.023,2599,1822,3722,0,0,0,0,0,0
$GC,1960,-1.27,-146.0,228.3,-10.4,167,1964,0.00,2.45,0.00,0.000,4,0.000,0.031,2598,3354,3722,0,0,0,0,0,0
$GC,2013,-1.38,-146.0,233.7,-9.7,168,2018,0.17,2.42,0.00,0.000,6,0.048,0.023,2504,1826,3722,0,0,0,0,0,0
$GC,2291,-1.19,-146.0,274.4,-14.6,175,2299,0.43,2.60,0.00,0.000,4,0.086,0.039,2599,212,3722,0,0,0,0,0,0
$GC,2308,-1.19,-146.0,276.7,-13.1,175,2312,0.00,2.53,0.00,0.000,6,0.000,0.020,2599,1831,3722,0,0,0,0,0,0
$GC,2578,-1.29,-146.0,300.4,-8.7,182,2583,0.00,2.67,0.00,0.000,4,0.000,0.045,2599,217,3722,0,0,0,0,0,0
$GC,2593,-1.39,-146.0,302.0,-8.7,182,2598,0.17,2.50,0.00,0.000,6,0.048,0.021,2517,1827,3722,0,0,0,0,0,0
$GC,2862,-1.27,-146.0,337.2,-13.7,189,2867,0.28,2.50,0.00,0.000,4,0.089,0.037,2580,3368,3722,0,0,0,0,0,0
$GC,2917,-1.37,-146.0,342.9,-9.4,190,2921,0.00,2.45,0.00,0.000,6,0.000,0.027,2580,1842,3722,0,0,0,0,0,0
$GC,3195,-1.44,-146.0,369.0,-9.1,197,3200,0.15,2.50,0.00,0.000,4,0.056,0.040,2509,3360,3721,0,0,0,0,0,0
$GC,3215,-1.44,-146.0,371.4,-11.1,197,3220,0.15,2.42,0.00,0.000,6,0.099,0.027,2545,1848,3721,0,0,0,0,0,0
$GC,3480,-1.44,-146.0,397.6,-9.8,204,3484,0.00,2.50,0.00,0.000,4,0.000,0.044,2545,3360,3719,0,0,0,0,0,0
$GC,3516,-1.44,-146.0,401.6,-10.1,204,3522,0.00,2.42,0.00,0.000,6,0.000,0.029,2545,1860,3719,0,0,0,0,0,0
$GC,3767,-1.44,-146.0,427.6,-10.6,211,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,1860,3717,0,0,0,0,0,0
$GC,4010,-1.44,-146.0,453.6,-10.5,217,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1860,3716,0,0,0,0,0,0
$GC,4254,-1.44,-146.0,477.8,-9.9,223,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1860,3714,0,0,0,0,0,0
$STATE,4495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4495,begin apogee
$GC,4502,-0.31,0.0,500.7,9.4,229,4624,1.10,0.00,118.25,0.863,6,0.074,0.000,2794,1682,3120,0,0,0,0,0,0
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4627,1.28,146.0,505.2,0.0,232,4757,1.40,2.75,121.03,0.848,4,0.025,0.075,3143,183,2523,0,0,0,0,0,0
$GC,5004,0.85,146.0,481.4,10.6,240,5012,0.47,2.42,0.00,0.000,6,0.110,0.029,3045,1665,2515,0,0,0,0,0,0
$GC,5272,0.96,239.4,465.3,5.7,247,5360,0.10,2.65,78.75,0.829,4,0.080,0.059,3092,184,2142,0,0,0,0,0,0
$GC,5422,0.79,239.4,449.8,13.3,250,5428,0.28,2.42,0.00,0.000,6,0.102,0.028,3034,1678,2139,0,0,0,0,0,0
$GC,5691,0.79,239.4,422.6,10.1,257,5696,0.00,2.58,0.00,0.000,4,0.000,0.058,3034,181,2133,0,0,0,0,0,0
$GC,5765,0.79,239.4,414.3,11.6,258,5769,0.00,2.45,0.00,0.000,6,0.000,0.027,3034,1687,2132,0,0,0,0,0,0
$GC,6021,0.82,260.6,390.4,9.1,265,6040,0.00,0.00,17.62,0.756,6,0.000,0.000,3034,1687,2057,0,0,0,0,0,0
$GC,6263,0.83,271.0,367.6,9.6,271,6275,0.00,0.00,10.15,0.696,6,0.000,0.000,3034,1687,2015,0,0,0,0,0,0
$GC,6507,0.90,279.4,343.9,9.7,277,6524,0.10,2.70,8.68,0.667,4,0.076,0.051,3089,3258,1979,0,0,0,0,0,0
$GC,6540,0.83,279.4,340.4,11.5,277,6547,0.22,2.62,0.00,0.000,6,0.095,0.033,3042,1682,1978,0,0,0,0,0,0
$GC,6797,0.83,279.4,313.6,10.2,284,6801,0.00,2.65,0.00,0.000,4,0.000,0.043,3041,3258,1975,0,0,0,0,0,0
$GC,6817,0.83,279.4,311.5,10.8,284,6821,0.00,2.62,0.00,0.000,6,0.000,0.032,3042,1658,1974,0,0,0,0,0,0
$GC,7081,0.89,280.3,284.7,10.0,291,7085,0.00,2.55,0.00,0.000,4,0.000,0.062,3041,168,1974,0,0,0,0,0,0
$GC,7136,0.90,284.2,279.1,9.9,292,7148,0.00,2.38,4.90,0.529,6,0.000,0.023,3042,1677,1961,0,0,0,0,0,0
$GC,7414,1.01,308.7,254.8,8.9,299,7440,0.15,0.00,23.77,0.687,6,0.055,0.000,3114,1680,1861,0,0,0,0,0,0
$GC,7656,0.91,308.7,221.1,14.3,305,7661,0.25,2.58,0.00,0.000,4,0.098,0.051,3057,167,1856,0,0,0,0,0,0
$GC,7696,0.91,308.7,215.9,13.0,305,7701,0.00,2.38,0.00,0.000,6,0.000,0.023,3057,1661,1856,0,0,0,0,0,0
$GC,7950,0.91,308.7,186.5,10.8,318,7955,0.00,2.60,0.00,0.000,4,0.000,0.037,3057,3251,1854,0,0,0,0,0,0
$GC,7986,1.02,317.5,182.9,9.6,321,8000,0.10,2.60,8.05,0.558,6,0.078,0.029,3105,1656,1825,0,0,0,0,0,0
$GC,8254,1.02,317.5,150.5,12.6,346,8259,0.10,2.47,0.00,0.000,4,0.127,0.048,3084,174,1823,0,0,0,0,0,0
$GC,8334,1.02,317.5,140.3,12.8,353,8338,0.00,2.35,0.00,0.000,6,0.000,0.021,3084,1666,1823,0,0,0,0,0,0
$GC,8601,1.02,317.5,109.2,11.0,377,8605,0.00,2.58,0.00,0.000,4,0.000,0.035,3084,3254,1822,0,0,0,0,0,0
$GC,8637,1.09,317.5,104.8,10.2,380,8641,0.00,2.58,0.00,0.000,6,0.000,0.028,3084,1651,1821,0,0,0,0,0,0
$GC,8901,1.20,341.3,82.0,8.9,404,8931,0.15,0.00,21.52,0.536,6,0.056,0.000,3159,1650,1727,0,0,0,0,0,0
$GC,9185,1.07,341.3,43.2,13.2,431,9190,0.28,2.42,0.00,0.000,4,0.098,0.041,3097,172,1724,0,0,0,0,0,0
$GC,9283,1.07,341.3,31.6,10.1,439,9287,0.00,2.33,0.00,0.000,6,0.000,0.021,3097,1659,1724,0,0,0,0,0,0
$STATE,9562,end climb,SURFACE_DEPTH_REACHED
$STATE,9563,begin surface coast
$FINISH,1.0,1.023690
$STATE,9613,end surface coast,CONTROL_FINISHED_OK
$STATE,9614,begin surface
$SM_CCo,9635,58.05,0.407,1,0,1284,450.13
$SM_GC,1.61,0.00,0.00,58.05,0.000,0.000,0.407,413,1841,1284,-11.26,1.44,450.13
$IRIDIUM_FIX,2239.35,-15757.16,070300,060623
$TT8_MAMPS,0.026845
$HUMID,44.29
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.6,35.560
$10V_AH,10.3,30.121
$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,29.125,110.800,412.725,58.050,0.000,58.871,70.549,237.126,0.000,0.000,37.021,1012.581,6228.125,519.876,1881.166,642.444,33.362,1252.540,0.000,1866.060,0.000,0.538,0.000
$DEVICE_MAMPS,160.303,75.166,862.875,407.277,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.533,295.972,379.145,580.578,1024.967,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,38331,490
$CAP_FILE_SIZE,109376,0
$CFSIZE,260165632,157888512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121210,093427,2247.109,-15759.318,34,4.5,53,10.1