version: 66.06
glider: 148
mission: 9
dive: 263
start: 12 13 110 5 12 23
data:
$ID,148
$MISSION,9
$DIVE,263
$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,-863536.38
$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,33
$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
$GPS1,050452,2249.876,-15800.055,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.8
$GPS2,051128,2249.842,-15800.057,11,99.0,30,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.251,0.067
$KALMAN_X,-59904.6,218.0,71.1,76482.9,-29.1
$KALMAN_Y,1957.6,-129.1,-183.0,127898.0,-531.3
$MHEAD_RNG_PITCHd_Wd,64.9,5226,-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,-82.82,0.000,2,0.000,0.000,409,1856,3332,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.3,-4.7,11,132,11.88,2.40,-6.95,0.000,4,0.170,0.037,2574,3367,3718,0,0,0,0,0,0
$GC,141,0.12,-146.0,16.7,-35.0,15,150,1.38,2.53,0.00,0.000,6,0.084,0.018,2879,1775,3720,0,0,0,0,0,0
$GC,433,-0.78,-146.0,40.9,-8.5,53,441,0.77,0.00,0.00,0.000,6,0.055,0.000,2695,1775,3721,0,0,0,0,0,0
$GC,698,-1.21,-146.0,60.4,-6.5,78,710,0.40,2.53,0.00,0.000,4,0.039,0.025,2568,3371,3721,0,0,0,0,0,0
$GC,738,-1.21,-146.0,64.1,-11.3,81,743,0.12,2.38,0.00,0.000,6,0.107,0.023,2594,1875,3722,0,0,0,0,0,0
$GC,1005,-1.12,-146.0,102.6,-13.8,105,1011,0.10,2.67,0.00,0.000,4,0.127,0.036,2615,222,3722,0,0,0,0,0,0
$GC,1034,-1.12,-146.0,106.9,-13.0,107,1038,0.00,2.55,0.00,0.000,6,0.000,0.019,2615,1873,3722,0,0,0,0,0,0
$GC,1302,-1.20,-146.0,132.5,-11.0,131,1307,0.00,2.35,0.00,0.000,4,0.000,0.029,2615,3371,3723,0,0,0,0,0,0
$GC,1370,-1.39,-146.0,140.3,-10.6,137,1375,0.25,2.35,0.00,0.000,6,0.037,0.024,2538,1867,3723,0,0,0,0,0,0
$GC,1634,-1.26,-146.0,176.8,-14.1,161,1640,0.22,2.65,0.00,0.000,4,0.096,0.036,2587,214,3724,0,0,0,0,0,0
$GC,1683,-1.36,-146.0,183.4,-10.6,165,1693,0.08,2.60,0.00,0.000,6,0.038,0.020,2528,1863,3724,0,0,0,0,0,0
$GC,1941,-1.21,-146.0,216.9,-12.8,181,1946,0.28,2.38,0.00,0.000,4,0.088,0.030,2593,3367,3724,0,0,0,0,0,0
$GC,1988,-1.31,-146.0,221.6,-7.7,182,1992,0.00,2.35,0.00,0.000,6,0.000,0.021,2593,1879,3724,0,0,0,0,0,0
$GC,2272,-1.38,-146.0,243.6,-7.8,189,2274,0.15,0.00,0.00,0.000,6,0.057,0.000,2530,1879,3724,0,0,0,0,0,0
$GC,2514,-1.27,-146.0,272.4,-12.5,195,2516,0.22,0.00,0.00,0.000,6,0.093,0.000,2581,1879,3724,0,0,0,0,0,0
$GC,2757,-1.34,-146.0,298.3,-11.0,201,2762,0.00,2.38,0.00,0.000,4,0.000,0.033,2581,3362,3724,0,0,0,0,0,0
$GC,2802,-1.44,-146.0,303.3,-11.3,202,2807,0.15,2.35,0.00,0.000,6,0.054,0.025,2509,1886,3724,0,0,0,0,0,0
$GC,3089,-1.30,-146.0,344.9,-14.3,209,3097,0.28,2.72,0.00,0.000,4,0.092,0.047,2572,229,3723,0,0,0,0,0,0
$GC,3145,-1.43,-146.0,351.4,-11.1,210,3150,0.10,2.60,0.00,0.000,6,0.077,0.024,2519,1870,3723,0,0,0,0,0,0
$GC,3424,-1.34,-146.0,385.2,-11.9,217,3426,0.22,0.00,0.00,0.000,6,0.093,0.000,2568,1870,3722,0,0,0,0,0,0
$GC,3667,-1.34,-146.0,404.9,-7.8,223,3671,0.00,2.42,0.00,0.000,4,0.000,0.041,2568,3359,3720,0,0,0,0,0,0
$GC,3696,-1.34,-146.0,407.1,-7.2,223,3700,0.00,2.38,0.00,0.000,6,0.000,0.028,2568,1884,3720,0,0,0,0,0,0
$GC,3955,-1.34,-146.0,427.0,-7.9,230,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1883,3718,0,0,0,0,0,0
$GC,4199,-1.40,-146.0,449.3,-9.3,236,4204,0.00,2.83,0.00,0.000,4,0.000,0.062,2568,229,3717,0,0,0,0,0,0
$GC,4220,-1.47,-146.0,451.5,-10.6,236,4225,0.12,2.62,0.00,0.000,6,0.067,0.028,2514,1875,3717,0,0,0,0,0,0
$GC,4485,-1.39,-146.0,484.6,-12.7,243,4490,0.20,2.42,0.00,0.000,4,0.097,0.046,2557,3352,3714,0,0,0,0,0,0
$GC,4508,-1.39,-146.0,487.6,-12.0,243,4512,0.00,2.35,0.00,0.000,6,0.000,0.030,2557,1889,3714,0,0,0,0,0,0
$STATE,4643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4643,begin apogee
$GC,4650,-0.31,0.0,501.2,10.0,247,4772,1.02,0.00,118.07,0.868,6,0.073,0.000,2789,1688,3120,0,0,0,0,0,0
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4773,begin climb
$GC,4775,1.28,146.0,506.2,0.0,250,4901,1.45,0.00,122.30,0.851,6,0.026,0.000,3145,1688,2523,0,0,0,0,0,0
$GC,5131,0.95,146.0,483.3,11.4,259,5138,0.35,2.62,0.00,0.000,4,0.110,0.068,3069,183,2515,0,0,0,0,0,0
$GC,5171,0.74,146.0,478.6,11.1,259,5177,0.22,2.40,0.00,0.000,6,0.107,0.028,3022,1657,2515,0,0,0,0,0,0
$GC,5420,0.82,212.2,460.2,7.0,266,5478,0.00,0.00,55.83,0.828,6,0.000,0.000,3022,1658,2253,0,0,0,0,0,0
$GC,5706,0.88,259.8,438.7,7.8,273,5755,0.12,2.62,41.38,0.809,4,0.066,0.058,3076,187,2059,0,0,0,0,0,0
$GC,5794,0.74,259.8,429.0,12.4,275,5799,0.25,2.42,0.00,0.000,6,0.103,0.027,3024,1676,2056,0,0,0,0,0,0
$GC,6082,0.84,282.2,402.7,9.0,282,6104,0.00,0.00,19.92,0.769,6,0.000,0.000,3024,1676,1968,0,0,0,0,0,0
$GC,6326,0.93,291.1,379.5,9.6,288,6342,0.15,2.70,8.98,0.689,4,0.058,0.050,3089,3260,1932,0,0,0,0,0,0
$GC,6350,0.86,291.1,377.0,11.3,288,6355,0.20,2.65,0.00,0.000,6,0.097,0.037,3047,1680,1930,0,0,0,0,0,0
$GC,6614,0.86,291.1,347.5,11.1,295,6618,0.00,2.60,0.00,0.000,4,0.000,0.065,3047,168,1927,0,0,0,0,0,0
$GC,6642,0.86,291.1,344.0,12.6,295,6646,0.00,2.42,0.00,0.000,6,0.000,0.025,3046,1676,1927,0,0,0,0,0,0
$GC,6897,0.86,291.1,315.7,11.1,302,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1678,1925,0,0,0,0,0,0
$GC,7139,0.86,291.1,290.5,10.2,308,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1678,1924,0,0,0,0,0,0
$GC,7384,0.95,311.4,268.2,9.1,314,7404,0.00,0.00,18.35,0.695,6,0.000,0.000,3046,1679,1850,0,0,0,0,0,0
$GC,7629,1.03,318.2,244.8,9.7,320,7639,0.15,0.00,7.07,0.584,6,0.058,0.000,3113,1678,1822,0,0,0,0,0,0
$GC,7873,0.94,318.2,212.3,13.7,326,7875,0.22,0.00,0.00,0.000,6,0.099,0.000,3066,1679,1819,0,0,0,0,0,0
$GC,8120,0.94,318.2,184.6,10.4,341,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1678,1818,0,0,0,0,0,0
$GC,8377,0.94,319.2,159.1,10.0,365,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1679,1817,0,0,0,0,0,0
$GC,8633,0.94,319.2,131.7,10.6,389,8638,0.00,2.50,0.00,0.000,4,0.000,0.047,3065,164,1817,0,0,0,0,0,0
$GC,8723,0.94,319.2,120.9,10.6,397,8729,0.00,2.38,0.00,0.000,6,0.000,0.021,3066,1682,1817,0,0,0,0,0,0
$GC,8988,1.10,357.6,98.2,8.3,422,9030,0.15,2.58,34.42,0.565,4,0.056,0.053,3134,160,1661,0,0,0,0,0,0
$GC,9067,1.03,357.6,88.8,14.3,429,9072,0.22,2.38,0.00,0.000,6,0.099,0.021,3085,1661,1661,0,0,0,0,0,0
$GC,9335,1.10,357.6,59.2,10.8,453,9339,0.00,2.58,0.00,0.000,4,0.000,0.033,3085,3255,1658,0,0,0,0,0,0
$GC,9355,1.18,357.6,56.3,10.5,454,9365,0.10,2.62,0.00,0.000,6,0.030,0.025,3153,1644,1656,0,0,0,0,0,0
$GC,9637,1.06,357.6,13.0,15.2,487,9646,0.25,2.45,0.00,0.000,4,0.098,0.043,3096,167,1656,0,0,0,0,0,0
$GC,9656,0.97,357.6,10.0,15.4,489,9664,0.10,2.35,0.00,0.000,6,0.089,0.019,3071,1664,1656,0,0,0,0,0,0
$STATE,9702,end climb,SURFACE_DEPTH_REACHED
$STATE,9702,begin surface coast
$FINISH,0.7,1.023342
$STATE,9744,end surface coast,CONTROL_FINISHED_OK
$STATE,9744,begin surface
$SM_CCo,9763,50.17,0.401,1,0,1284,450.13
$SM_GC,1.61,0.00,0.00,50.17,0.000,0.000,0.401,409,1862,1284,-11.27,2.04,450.13
$IRIDIUM_FIX,2241.69,-15757.16,080300,020202
$TT8_MAMPS,0.026845
$HUMID,45.19
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.00
$XPDR_PINGS,3
$24V_AH,23.6,36.469
$10V_AH,10.4,30.933
$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,32.550,95.525,426.325,50.175,0.000,29.744,36.653,179.796,0.750,0.000,32.372,1003.481,6371.573,574.912,1742.538,526.454,33.362,1217.792,0.000,1749.796,0.000,0.537,0.000
$DEVICE_MAMPS,170.274,68.263,868.244,401.141,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.744,319.618,396.632,610.672,1078.636,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38447,502
$CAP_FILE_SIZE,101952,0
$CFSIZE,260165632,157466624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131210,075706,2249.892,-15758.560,24,1.2,24,10.1