version: 66.06
glider: 148
mission: 9
dive: 257
start: 12 12 110 12 41 3
data:
$ID,148
$MISSION,9
$DIVE,257
$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,-863384.94
$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,32
$R_STBD_OVSHOOT,54
$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
$GPS1,123300,2247.156,-15800.660,39,1.1,44,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.2
$GPS2,124008,2247.202,-15800.607,12,1.3,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.254,-0.054
$KALMAN_X,-60695.0,-198.0,-78.6,76892.4,315.6
$KALMAN_Y,2428.5,-336.9,393.8,122169.9,340.1
$MHEAD_RNG_PITCHd_Wd,247.8,4103,-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,-82.40,0.000,2,0.000,0.000,413,1849,3374,0,0,0,0,0,0
$GC,106,-1.28,-146.0,4.1,-7.7,11,130,11.32,2.42,-6.07,0.000,4,0.152,0.038,2571,3371,3717,0,0,0,0,0,0
$GC,201,-1.14,-146.0,27.9,-12.7,25,210,0.15,2.55,0.00,0.000,6,0.076,0.023,2610,1786,3719,0,0,0,0,0,0
$GC,479,-1.06,-146.0,67.2,-13.5,51,483,0.00,2.50,0.00,0.000,4,0.000,0.030,2610,3358,3720,0,0,0,0,0,0
$GC,511,-1.00,-146.0,71.9,-12.6,53,516,0.15,2.47,0.00,0.000,6,0.101,0.021,2644,1791,3720,0,0,0,0,0,0
$GC,779,-1.12,-146.0,103.8,-10.7,77,784,0.12,2.53,0.00,0.000,4,0.064,0.029,2577,3360,3720,0,0,0,0,0,0
$GC,837,-1.12,-146.0,111.9,-12.3,82,842,0.17,2.47,0.00,0.000,6,0.088,0.022,2617,1797,3720,0,0,0,0,0,0
$GC,1101,-1.21,-146.0,139.6,-10.2,106,1105,0.00,2.47,0.00,0.000,4,0.000,0.030,2617,3360,3721,0,0,0,0,0,0
$GC,1140,-1.36,-146.0,143.2,-9.2,109,1145,0.22,2.45,0.00,0.000,6,0.039,0.022,2507,1810,3722,0,0,0,0,0,0
$GC,1404,-1.10,-146.0,186.3,-16.7,133,1413,0.55,2.58,0.00,0.000,4,0.085,0.035,2615,211,3722,0,0,0,0,0,0
$GC,1445,-1.26,-146.0,191.7,-9.5,137,1450,0.12,2.50,0.00,0.000,6,0.062,0.020,2543,1819,3723,0,0,0,0,0,0
$GC,1719,-1.16,-146.0,226.3,-12.6,148,1724,0.28,2.47,0.00,0.000,4,0.084,0.030,2604,3369,3723,0,0,0,0,0,0
$GC,1743,-1.16,-146.0,229.1,-9.7,148,1747,0.00,2.45,0.00,0.000,6,0.000,0.022,2604,1814,3723,0,0,0,0,0,0
$GC,2003,-1.27,-146.0,250.4,-8.2,155,2007,0.00,2.47,0.00,0.000,4,0.000,0.031,2604,3359,3723,0,0,0,0,0,0
$GC,2051,-1.45,-146.0,254.1,-6.8,156,2056,0.25,2.42,0.00,0.000,6,0.035,0.024,2507,1834,3723,0,0,0,0,0,0
$GC,2334,-1.30,-146.0,293.1,-14.6,163,2341,0.28,2.67,0.00,0.000,4,0.089,0.043,2572,207,3723,0,0,0,0,0,0
$GC,2390,-1.45,-146.0,299.8,-10.5,164,2395,0.12,2.53,0.00,0.000,6,0.062,0.023,2502,1811,3723,0,0,0,0,0,0
$GC,2668,-1.30,-146.0,335.0,-12.5,171,2673,0.32,2.53,0.00,0.000,4,0.084,0.038,2575,3370,3723,0,0,0,0,0,0
$GC,2692,-1.30,-146.0,337.8,-10.6,171,2697,0.00,2.50,0.00,0.000,6,0.000,0.027,2576,1815,3723,0,0,0,0,0,0
$GC,2953,-1.37,-146.0,360.1,-8.8,178,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1815,3721,0,0,0,0,0,0
$GC,3195,-1.44,-146.0,382.5,-9.1,184,3201,0.12,2.58,0.00,0.000,4,0.065,0.043,2519,3364,3720,0,0,0,0,0,0
$GC,3235,-1.37,-146.0,386.9,-11.9,184,3242,0.20,2.47,0.00,0.000,6,0.088,0.029,2563,1830,3720,0,0,0,0,0,0
$GC,3485,-1.37,-146.0,411.1,-9.7,191,3489,0.00,2.53,0.00,0.000,4,0.000,0.044,2564,3364,3718,0,0,0,0,0,0
$GC,3513,-1.37,-146.0,414.1,-9.9,191,3517,0.00,2.47,0.00,0.000,6,0.000,0.030,2563,1831,3718,0,0,0,0,0,0
$GC,3773,-1.37,-146.0,441.6,-10.9,198,3777,0.00,2.55,0.00,0.000,4,0.000,0.047,2563,3360,3716,0,0,0,0,0,0
$GC,3800,-1.37,-146.0,444.7,-10.1,198,3805,0.00,2.47,0.00,0.000,6,0.000,0.031,2563,1834,3715,0,0,0,0,0,0
$GC,4055,-1.37,-146.0,467.6,-8.7,205,4059,0.00,2.55,0.00,0.000,4,0.000,0.048,2563,3363,3713,0,0,0,0,0,0
$GC,4078,-1.37,-146.0,469.7,-8.7,205,4082,0.00,2.47,0.00,0.000,6,0.000,0.031,2563,1840,3713,0,0,0,0,0,0
$GC,4339,-1.37,-146.0,491.0,-8.4,212,4343,0.00,2.55,0.00,0.000,4,0.000,0.051,2564,3367,3711,0,0,0,0,0,0
$GC,4367,-1.43,-146.0,493.9,-9.6,212,4371,0.00,2.47,0.00,0.000,6,0.000,0.032,2564,1846,3711,0,0,0,0,0,0
$STATE,4457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4457,begin apogee
$GC,4464,-0.31,0.0,501.6,8.5,215,4586,1.02,0.00,118.43,0.871,6,0.077,0.000,2794,1664,3120,0,0,0,0,0,0
$STATE,4587,end apogee,CONTROL_FINISHED_OK
$STATE,4587,begin climb
$GC,4589,1.28,146.0,505.5,0.0,218,4719,1.40,2.67,121.62,0.854,4,0.028,0.074,3154,184,2524,0,0,0,0,0,0
$GC,4808,0.81,146.0,496.1,13.4,223,4815,0.57,2.45,0.00,0.000,6,0.111,0.030,3038,1674,2517,0,0,0,0,0,0
$GC,5095,0.86,185.9,472.4,8.2,230,5137,0.00,2.67,33.70,0.817,4,0.000,0.060,3038,183,2360,0,0,0,0,0,0
$GC,5186,0.78,185.9,463.7,10.4,232,5190,0.00,2.42,0.00,0.000,6,0.000,0.030,3038,1674,2358,0,0,0,0,0,0
$GC,5474,0.84,234.1,440.4,7.8,239,5518,0.00,0.00,41.67,0.814,6,0.000,0.000,3037,1674,2165,0,0,0,0,0,0
$GC,5756,0.85,248.0,414.7,9.4,246,5771,0.00,0.00,12.98,0.744,6,0.000,0.000,3038,1674,2108,0,0,0,0,0,0
$GC,6000,0.86,249.8,390.1,10.0,252,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1674,2104,0,0,0,0,0,0
$GC,6244,0.90,286.8,369.5,8.3,258,6283,0.00,0.00,34.90,0.779,6,0.000,0.000,3037,1674,1949,0,0,0,0,0,0
$GC,6529,0.90,286.8,341.8,10.0,265,6533,0.00,2.55,0.00,0.000,4,0.000,0.055,3038,184,1943,0,0,0,0,0,0
$GC,6561,0.90,286.8,337.8,12.9,265,6566,0.00,2.42,0.00,0.000,6,0.000,0.026,3038,1683,1943,0,0,0,0,0,0
$GC,6811,0.90,286.8,310.3,11.1,271,6815,0.00,2.58,0.00,0.000,4,0.000,0.056,3038,180,1941,0,0,0,0,0,0
$GC,6831,0.90,286.8,308.0,11.7,271,6835,0.00,2.40,0.00,0.000,6,0.000,0.025,3038,1672,1941,0,0,0,0,0,0
$GC,7098,1.01,326.0,284.4,8.2,278,7139,0.17,2.65,34.65,0.728,4,0.051,0.057,3108,181,1790,0,0,0,0,0,0
$GC,7154,0.87,326.0,277.1,14.3,279,7159,0.28,2.40,0.00,0.000,6,0.098,0.025,3051,1663,1789,0,0,0,0,0,0
$GC,7425,0.93,326.0,248.1,10.6,286,7429,0.00,2.67,0.00,0.000,4,0.000,0.047,3051,3254,1785,0,0,0,0,0,0
$GC,7458,1.02,326.0,244.2,11.1,286,7463,0.12,2.60,0.00,0.000,6,0.064,0.031,3111,1681,1782,0,0,0,0,0,0
$GC,7709,0.94,326.0,210.4,13.8,292,7711,0.22,0.00,0.00,0.000,6,0.100,0.000,3063,1681,1781,0,0,0,0,0,0
$GC,7960,0.94,326.0,183.0,11.2,307,7964,0.00,2.53,0.00,0.000,4,0.000,0.051,3063,170,1780,0,0,0,0,0,0
$GC,7978,0.94,326.0,180.2,11.7,308,7984,0.00,2.38,0.00,0.000,6,0.000,0.022,3062,1678,1780,0,0,0,0,0,0
$GC,8242,0.94,326.0,149.7,11.1,333,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1680,1780,0,0,0,0,0,0
$GC,8497,1.02,333.0,121.1,9.7,357,8507,0.00,2.62,5.57,0.466,4,0.000,0.034,3063,3262,1761,0,0,0,0,0,0
$GC,8525,1.12,334.4,118.7,10.0,359,8530,0.17,2.62,0.00,0.000,6,0.049,0.029,3141,1651,1759,0,0,0,0,0,0
$GC,8789,1.03,334.4,83.4,13.1,383,8794,0.25,2.42,0.00,0.000,4,0.158,0.045,3083,171,1759,0,0,0,0,0,0
$GC,8819,1.03,334.4,79.2,11.8,385,8828,0.00,2.35,0.00,0.000,6,0.000,0.021,3083,1660,1759,0,0,0,0,0,0
$GC,9088,1.11,334.4,52.3,10.1,410,9092,0.00,2.55,0.00,0.000,4,0.000,0.032,3083,3250,1759,0,0,0,0,0,0
$GC,9142,1.25,346.1,46.0,9.5,414,9163,0.15,2.58,12.68,0.486,6,0.025,0.028,3163,1668,1708,0,0,0,0,0,0
$STATE,9437,end climb,SURFACE_DEPTH_REACHED
$STATE,9437,begin surface coast
$FINISH,0.7,1.012643
$STATE,9464,end surface coast,CONTROL_FINISHED_OK
$STATE,9464,begin surface
$SM_CCo,9485,53.03,0.063,0,0,1285,450.13
$SM_GC,1.65,0.00,0.00,53.03,0.000,0.000,0.063,407,1861,1285,-11.28,2.01,450.13
$IRIDIUM_FIX,2239.35,-15800.20,070300,090949
$TT8_MAMPS,0.026845
$HUMID,45.90
$INTERNAL_PRESSURE,9.74057
$TCM_TEMP,21.90
$XPDR_PINGS,4
$24V_AH,23.6,35.801
$10V_AH,10.4,30.324
$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,30.050,121.125,416.200,53.025,0.000,28.238,36.217,228.838,1.000,0.000,14.160,965.064,6245.354,539.230,1660.800,558.729,33.367,1215.943,0.000,1663.979,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,73.632,870.545,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.345,271.042,343.742,521.867,922.504,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,35080,457
$CAP_FILE_SIZE,107725,0
$CFSIZE,260165632,157777920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121210,152106,2246.874,-15801.936,9,1.8,25,10.1