version: 66.06
glider: 148
mission: 9
dive: 259
start: 12 12 110 18 14 27
data:
$ID,148
$MISSION,9
$DIVE,259
$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,-863435.75
$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,92
$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
$GPS1,180357,2247.038,-15803.166,40,99.0,59,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-64.3
$GPS2,181332,2246.983,-15803.119,11,1.6,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.014,0.260
$KALMAN_X,-60213.9,-246.0,72.5,71988.5,246.5
$KALMAN_Y,2364.6,111.3,-401.0,122176.1,292.3
$MHEAD_RNG_PITCHd_Wd,346.8,5592,-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,-83.00,0.000,2,0.000,0.000,415,1836,3385,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.9,-6.7,11,133,11.27,2.38,-5.80,0.000,4,0.150,0.035,2572,3337,3717,0,0,0,0,0,0
$GC,198,-1.11,-146.0,30.5,-19.6,24,207,0.17,2.47,0.00,0.000,6,0.084,0.021,2614,1784,3719,0,0,0,0,0,0
$GC,466,-1.05,-146.0,65.9,-13.8,49,470,0.00,2.45,0.00,0.000,4,0.000,0.031,2614,3322,3719,0,0,0,0,0,0
$GC,499,-0.98,-146.0,71.7,-13.1,51,509,0.10,2.42,0.00,0.000,6,0.087,0.022,2640,1802,3719,0,0,0,0,0,0
$GC,761,-0.98,-146.0,98.9,-10.0,76,765,0.00,2.42,0.00,0.000,4,0.000,0.031,2640,3328,3719,0,0,0,0,0,0
$GC,830,-1.08,-146.0,105.7,-9.2,82,834,0.00,2.38,0.00,0.000,6,0.000,0.022,2640,1809,3720,0,0,0,0,0,0
$GC,1092,-1.18,-146.0,130.9,-10.4,106,1097,0.15,2.42,0.00,0.000,4,0.056,0.031,2559,3332,3720,0,0,0,0,0,0
$GC,1141,-1.18,-146.0,137.4,-14.4,110,1146,0.20,2.40,0.00,0.000,6,0.089,0.025,2602,1817,3720,0,0,0,0,0,0
$GC,1401,-1.18,-146.0,169.5,-10.8,134,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1817,3721,0,0,0,0,0,0
$GC,1658,-1.18,-146.0,196.4,-10.5,158,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1817,3722,0,0,0,0,0,0
$GC,1902,-1.25,-146.0,222.5,-10.7,167,1906,0.00,2.40,0.00,0.000,4,0.000,0.030,2602,3326,3722,0,0,0,0,0,0
$GC,1978,-1.37,-146.0,230.5,-9.7,168,1983,0.17,2.35,0.00,0.000,6,0.048,0.024,2509,1830,3722,0,0,0,0,0,0
$GC,2234,-1.17,-146.0,268.1,-14.1,175,2241,0.43,2.60,0.00,0.000,4,0.086,0.038,2601,211,3722,0,0,0,0,0,0
$GC,2270,-1.32,-146.0,271.9,-9.4,175,2275,0.12,2.45,0.00,0.000,6,0.064,0.021,2530,1793,3722,0,0,0,0,0,0
$GC,2521,-1.23,-146.0,299.1,-11.2,181,2526,0.25,2.50,0.00,0.000,4,0.088,0.031,2589,3367,3722,0,0,0,0,0,0
$GC,2555,-1.33,-146.0,302.6,-8.7,181,2559,0.00,2.42,0.00,0.000,6,0.000,0.025,2589,1829,3722,0,0,0,0,0,0
$GC,2807,-1.43,-146.0,322.5,-7.9,187,2812,0.17,2.50,0.00,0.000,4,0.050,0.037,2504,3362,3722,0,0,0,0,0,0
$GC,2840,-1.31,-146.0,326.1,-11.2,187,2845,0.32,2.40,0.00,0.000,6,0.083,0.026,2577,1845,3722,0,0,0,0,0,0
$GC,3090,-1.37,-146.0,348.1,-8.7,193,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1845,3721,0,0,0,0,0,0
$GC,3336,-1.43,-146.0,369.9,-9.0,199,3341,0.12,2.53,0.00,0.000,4,0.065,0.041,2516,3368,3720,0,0,0,0,0,0
$GC,3369,-1.35,-146.0,374.0,-11.9,199,3374,0.22,2.42,0.00,0.000,6,0.089,0.028,2566,1851,3719,0,0,0,0,0,0
$GC,3618,-1.35,-146.0,400.0,-10.3,205,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1851,3718,0,0,0,0,0,0
$GC,3864,-1.35,-146.0,421.1,-8.4,211,3868,0.00,2.50,0.00,0.000,4,0.000,0.045,2566,3364,3716,0,0,0,0,0,0
$GC,3883,-1.35,-146.0,422.7,-8.0,211,3887,0.00,2.42,0.00,0.000,6,0.000,0.029,2566,1854,3716,0,0,0,0,0,0
$GC,4146,-1.35,-146.0,442.0,-7.2,218,4150,0.00,2.47,0.00,0.000,4,0.000,0.046,2566,3357,3714,0,0,0,0,0,0
$GC,4173,-1.35,-146.0,443.8,-7.6,218,4177,0.00,2.42,0.00,0.000,6,0.000,0.031,2566,1862,3714,0,0,0,0,0,0
$GC,4432,-1.41,-146.0,463.3,-7.6,225,4436,0.00,2.47,0.00,0.000,4,0.000,0.047,2565,3355,3712,0,0,0,0,0,0
$GC,4460,-1.47,-146.0,465.7,-8.0,225,4465,0.12,2.38,0.00,0.000,6,0.066,0.031,2504,1878,3712,0,0,0,0,0,0
$GC,4717,-1.36,-146.0,495.1,-12.0,232,4724,0.25,2.85,0.00,0.000,4,0.093,0.064,2563,222,3710,0,0,0,0,0,0
$GC,4743,-1.43,-146.0,498.4,-10.3,232,4748,0.00,2.65,0.00,0.000,6,0.000,0.033,2563,1860,3709,0,0,0,0,0,0
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4799,begin apogee
$GC,4804,-0.31,0.0,503.6,9.6,234,4925,1.02,0.00,117.70,0.869,6,0.077,0.000,2794,1667,3120,0,0,0,0,0,0
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4930,1.28,146.0,508.2,0.0,237,5062,1.40,2.65,121.55,0.851,4,0.025,0.067,3142,184,2523,0,0,0,0,0,0
$GC,5155,0.83,146.0,499.7,11.5,242,5162,0.47,2.42,0.00,0.000,6,0.114,0.029,3045,1669,2516,0,0,0,0,0,0
$GC,5436,0.89,190.5,476.5,8.0,249,5480,0.00,2.67,37.40,0.821,4,0.000,0.060,3045,184,2342,0,0,0,0,0,0
$GC,5527,0.77,190.5,468.3,11.1,251,5531,0.00,2.42,0.00,0.000,6,0.000,0.029,3045,1673,2339,0,0,0,0,0,0
$GC,5813,0.81,223.4,442.6,8.5,258,5849,0.00,2.75,28.17,0.804,4,0.000,0.052,3045,3269,2209,0,0,0,0,0,0
$GC,5869,0.88,279.8,438.3,7.4,259,5926,0.00,2.62,50.42,0.809,6,0.000,0.036,3045,1697,1978,0,0,0,0,0,0
$GC,6187,0.88,286.2,408.0,9.7,267,6199,0.00,2.72,5.55,0.605,4,0.000,0.067,3045,167,1953,0,0,0,0,0,0
$GC,6213,0.88,286.2,405.0,10.6,267,6218,0.00,2.45,0.00,0.000,6,0.000,0.026,3045,1678,1953,0,0,0,0,0,0
$GC,6472,0.88,286.2,379.1,10.1,274,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1678,1949,0,0,0,0,0,0
$GC,6716,0.88,286.2,353.1,10.7,280,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1678,1947,0,0,0,0,0,0
$GC,6961,0.88,286.2,326.8,11.1,286,6965,0.00,2.60,0.00,0.000,4,0.000,0.058,3045,163,1945,0,0,0,0,0,0
$GC,6977,0.88,286.2,324.6,11.6,286,6981,0.00,2.40,0.00,0.000,6,0.000,0.025,3044,1677,1945,0,0,0,0,0,0
$GC,7245,0.88,286.2,295.1,10.9,293,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1678,1944,0,0,0,0,0,0
$GC,7491,0.97,304.8,271.5,9.2,299,7510,0.10,0.00,16.98,0.690,6,0.075,0.000,3107,1679,1877,0,0,0,0,0,0
$GC,7732,0.89,304.8,242.7,12.2,305,7735,0.25,0.00,0.00,0.000,6,0.098,0.000,3054,1679,1872,0,0,0,0,0,0
$GC,7976,0.89,304.8,217.0,10.6,311,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1680,1870,0,0,0,0,0,0
$GC,8222,0.96,309.3,192.0,9.8,320,8231,0.00,0.00,4.07,0.436,6,0.000,0.000,3054,1679,1859,0,0,0,0,0,0
$GC,8488,1.07,336.1,167.5,8.8,345,8519,0.15,2.65,24.90,0.614,4,0.058,0.051,3129,156,1748,0,0,0,0,0,0
$GC,8595,0.96,336.1,153.8,15.7,355,8600,0.28,2.38,0.00,0.000,6,0.097,0.023,3072,1663,1747,0,0,0,0,0,0
$GC,8861,1.06,355.5,128.1,9.1,379,8883,0.00,0.00,18.23,0.566,6,0.000,0.000,3072,1664,1669,0,0,0,0,0,0
$GC,9144,1.16,355.5,101.9,10.2,405,9149,0.17,2.60,0.00,0.000,4,0.048,0.033,3162,3262,1665,0,0,0,0,0,0
$GC,9183,1.07,355.5,95.8,14.3,408,9193,0.28,2.62,0.00,0.000,6,0.080,0.028,3097,1658,1664,0,0,0,0,0,0
$GC,9452,1.07,355.5,64.5,11.7,433,9456,0.00,2.45,0.00,0.000,4,0.000,0.045,3097,166,1664,0,0,0,0,0,0
$GC,9526,1.07,355.5,55.0,12.7,439,9530,0.00,2.35,0.00,0.000,6,0.000,0.020,3097,1675,1664,0,0,0,0,0,0
$GC,9799,1.07,355.5,23.3,11.6,467,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1678,1664,0,0,0,0,0,0
$STATE,9963,end climb,SURFACE_DEPTH_REACHED
$STATE,9963,begin surface coast
$FINISH,0.7,1.023757
$STATE,10022,end surface coast,CONTROL_FINISHED_OK
$STATE,10022,begin surface
$SM_CCo,10044,50.40,0.393,1,0,1285,450.13
$SM_GC,1.45,0.00,0.00,50.40,0.000,0.000,0.393,411,1804,1285,-11.27,0.40,450.13
$IRIDIUM_FIX,2237.01,-15805.41,070300,181852
$TT8_MAMPS,0.026845
$HUMID,44.29
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,36.044
$10V_AH,10.3,30.533
$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,29.050,105.325,424.975,50.400,0.000,62.503,63.485,250.086,0.250,0.000,12.511,1024.152,6681.941,505.247,1807.738,657.249,33.369,1240.906,0.000,1813.665,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,67.496,869.011,393.471,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.546,307.465,388.502,579.925,1025.643,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38373,502
$CAP_FILE_SIZE,112169,0
$CFSIZE,260165632,157663232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121210,210431,2248.564,-15803.090,65,1.2,65,10.1