version: 66.06
glider: 148
mission: 9
dive: 271
start: 12 14 110 4 4 0
data:
$ID,148
$MISSION,9
$DIVE,271
$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,-863716.19
$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,45
$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
$GPS1,035058,2247.148,-15803.136,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.1
$GPS2,040306,2247.184,-15803.034,37,1.0,37,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.017,0.256
$KALMAN_X,-57935.3,38.0,-36.3,69680.2,194.9
$KALMAN_Y,2001.9,199.4,431.4,121988.4,-683.8
$MHEAD_RNG_PITCHd_Wd,346.0,5215,-17.9,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.29,-141.5,0.0,0.0,0,104,0.00,0.00,-82.45,0.000,2,0.000,0.000,414,1880,3345,0,0,0,0,0,0
$GC,108,-1.30,-146.0,3.5,-5.0,11,133,11.30,2.40,-6.72,0.000,4,0.152,0.044,2567,3368,3717,0,0,0,0,0,0
$GC,198,-1.11,-146.0,29.5,-19.1,24,207,0.17,2.55,0.00,0.000,6,0.079,0.024,2610,1786,3719,0,0,0,0,0,0
$GC,466,-1.03,-146.0,67.5,-14.2,49,471,0.10,2.55,0.00,0.000,4,0.125,0.032,2632,3367,3719,0,0,0,0,0,0
$GC,510,-1.03,-146.0,74.0,-11.8,52,515,0.00,2.50,0.00,0.000,6,0.000,0.023,2632,1794,3719,0,0,0,0,0,0
$GC,774,-1.03,-146.0,103.4,-10.0,76,778,0.00,2.50,0.00,0.000,4,0.000,0.031,2633,3366,3720,0,0,0,0,0,0
$GC,835,-1.16,-146.0,108.6,-8.3,81,840,0.12,2.47,0.00,0.000,6,0.061,0.022,2554,1804,3720,0,0,0,0,0,0
$GC,1103,-1.01,-146.0,145.5,-15.4,105,1112,0.38,2.58,0.00,0.000,4,0.084,0.035,2636,204,3720,0,0,0,0,0,0
$GC,1117,-1.01,-146.0,148.8,-15.6,106,1125,0.00,2.53,0.00,0.000,6,0.000,0.019,2636,1822,3720,0,0,0,0,0,0
$GC,1379,-1.18,-146.0,170.5,-8.8,131,1384,0.15,2.42,0.00,0.000,4,0.053,0.030,2545,3357,3721,0,0,0,0,0,0
$GC,1446,-1.18,-146.0,179.1,-13.8,137,1451,0.25,2.42,0.00,0.000,6,0.085,0.022,2600,1817,3721,0,0,0,0,0,0
$GC,1726,-1.26,-146.0,208.3,-9.8,157,1730,0.00,2.45,0.00,0.000,4,0.000,0.029,2600,3365,3721,0,0,0,0,0,0
$GC,1752,-1.35,-146.0,210.8,-9.2,157,1757,0.15,2.45,0.00,0.000,6,0.054,0.023,2515,1817,3721,0,0,0,0,0,0
$GC,2012,-1.20,-146.0,246.1,-13.7,164,2017,0.35,2.45,0.00,0.000,4,0.087,0.031,2594,3354,3722,0,0,0,0,0,0
$GC,2037,-1.20,-146.0,249.2,-12.0,164,2041,0.00,2.40,0.00,0.000,6,0.000,0.022,2594,1827,3721,0,0,0,0,0,0
$GC,2301,-1.31,-146.0,275.8,-10.2,171,2305,0.00,2.45,0.00,0.000,4,0.000,0.032,2594,3363,3722,0,0,0,0,0,0
$GC,2338,-1.45,-146.0,279.6,-9.6,171,2344,0.22,2.40,0.00,0.000,6,0.039,0.025,2507,1840,3722,0,0,0,0,0,0
$GC,2590,-1.31,-146.0,314.5,-14.4,178,2597,0.28,2.67,0.00,0.000,4,0.093,0.045,2571,217,3722,0,0,0,0,0,0
$GC,2617,-1.31,-146.0,318.2,-12.9,178,2622,0.00,2.55,0.00,0.000,6,0.000,0.023,2571,1827,3721,0,0,0,0,0,0
$GC,2876,-1.31,-146.0,343.1,-9.2,185,2881,0.00,2.47,0.00,0.000,4,0.000,0.038,2571,3367,3720,0,0,0,0,0,0
$GC,2921,-1.42,-146.0,346.8,-7.2,186,2925,0.00,2.45,0.00,0.000,6,0.000,0.028,2571,1842,3720,0,0,0,0,0,0
$GC,3208,-1.49,-146.0,370.9,-8.4,193,3210,0.15,0.00,0.00,0.000,6,0.056,0.000,2496,1842,3718,0,0,0,0,0,0
$GC,3453,-1.34,-146.0,401.9,-13.0,199,3460,0.30,2.75,0.00,0.000,4,0.091,0.054,2565,211,3716,0,0,0,0,0,0
$GC,3474,-1.34,-146.0,404.7,-10.6,199,3479,0.00,2.60,0.00,0.000,6,0.000,0.027,2564,1844,3717,0,0,0,0,0,0
$GC,3739,-1.40,-146.0,428.6,-9.0,206,3743,0.00,2.47,0.00,0.000,4,0.000,0.044,2564,3368,3714,0,0,0,0,0,0
$GC,3778,-1.50,-146.0,432.1,-8.6,206,3784,0.15,2.45,0.00,0.000,6,0.055,0.031,2489,1857,3714,0,0,0,0,0,0
$GC,4028,-1.35,-146.0,464.5,-13.3,213,4035,0.30,2.78,0.00,0.000,4,0.092,0.061,2559,221,3712,0,0,0,0,0,0
$GC,4082,-1.48,-146.0,470.4,-9.3,214,4087,0.00,2.60,0.00,0.000,6,0.000,0.031,2559,1836,3712,0,0,0,0,0,0
$GC,4362,-1.48,-146.0,496.8,-9.6,221,4366,0.00,2.55,0.00,0.000,4,0.000,0.051,2559,3378,3710,0,0,0,0,0,0
$STATE,4392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4392,begin apogee
$GC,4400,-0.31,0.0,500.3,9.3,221,4521,0.98,0.00,117.35,0.864,6,0.079,0.000,2780,1682,3120,0,0,0,0,0,0
$STATE,4522,end apogee,CONTROL_FINISHED_OK
$STATE,4522,begin climb
$GC,4526,1.30,146.0,504.2,0.0,224,4656,1.50,2.75,120.47,0.849,4,0.036,0.071,3152,172,2523,0,0,0,0,0,0
$GC,4816,0.86,146.0,490.9,11.8,230,4823,0.50,2.47,0.00,0.000,6,0.109,0.030,3049,1679,2516,0,0,0,0,0,0
$GC,5082,0.92,198.0,470.3,7.6,237,5132,0.00,2.65,43.90,0.824,4,0.000,0.059,3049,168,2311,0,0,0,0,0,0
$GC,5149,0.83,203.6,464.1,9.8,238,5163,0.00,2.47,6.30,0.638,6,0.000,0.028,3049,1687,2288,0,0,0,0,0,0
$GC,5407,0.83,204.0,437.9,10.0,245,5411,0.00,2.62,0.00,0.000,4,0.000,0.058,3049,170,2282,0,0,0,0,0,0
$GC,5516,0.75,204.0,425.5,11.4,247,5521,0.12,2.45,0.00,0.000,6,0.120,0.027,3024,1692,2281,0,0,0,0,0,0
$GC,5785,0.81,246.5,402.6,8.0,254,5828,0.00,2.72,36.38,0.796,4,0.000,0.051,3024,3263,2114,0,0,0,0,0,0
$GC,5840,0.91,270.0,398.1,8.9,255,5869,0.15,2.65,21.85,0.764,6,0.057,0.032,3085,1682,2018,0,0,0,0,0,0
$GC,6120,0.84,270.0,366.8,11.4,262,6126,0.20,2.62,0.00,0.000,4,0.099,0.064,3043,173,2010,0,0,0,0,0,0
$GC,6198,0.85,272.2,358.7,9.9,263,6202,0.00,2.42,0.00,0.000,6,0.000,0.025,3043,1676,2010,0,0,0,0,0,0
$GC,6452,0.85,276.5,333.9,9.8,270,6459,0.00,0.00,5.30,0.574,6,0.000,0.000,3043,1678,1992,0,0,0,0,0,0
$GC,6695,0.85,276.5,308.1,10.7,276,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1679,1989,0,0,0,0,0,0
$GC,6941,0.91,276.5,282.6,10.4,282,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1680,1988,0,0,0,0,0,0
$GC,7184,1.01,292.9,259.2,9.3,288,7202,0.15,0.00,15.50,0.678,6,0.058,0.000,3110,1680,1926,0,0,0,0,0,0
$GC,7427,0.94,292.9,233.4,10.4,294,7429,0.20,0.00,0.00,0.000,6,0.100,0.000,3066,1680,1921,0,0,0,0,0,0
$GC,7671,0.98,324.8,212.5,8.5,300,7707,0.00,2.60,28.77,0.663,4,0.000,0.051,3066,163,1793,0,0,0,0,0,0
$GC,7741,0.98,324.8,205.4,11.4,301,7745,0.00,2.45,0.00,0.000,6,0.000,0.024,3066,1686,1792,0,0,0,0,0,0
$GC,8011,0.98,326.4,177.1,10.0,323,8015,0.00,2.55,0.00,0.000,4,0.000,0.037,3066,3256,1788,0,0,0,0,0,0
$GC,8032,0.98,326.4,174.8,10.7,324,8041,0.00,2.62,0.00,0.000,6,0.000,0.029,3066,1666,1786,0,0,0,0,0,0
$GC,8298,0.98,326.4,147.9,10.1,349,8302,0.00,2.45,0.00,0.000,4,0.000,0.047,3066,173,1786,0,0,0,0,0,0
$GC,8347,1.05,326.4,142.2,12.2,353,8352,0.10,2.38,0.00,0.000,6,0.078,0.022,3107,1686,1786,0,0,0,0,0,0
$GC,8613,1.05,326.4,107.8,12.9,378,8618,0.12,2.55,0.00,0.000,4,0.110,0.046,3087,164,1786,0,0,0,0,0,0
$GC,8632,1.05,326.4,105.8,13.2,379,8636,0.00,2.38,0.00,0.000,6,0.000,0.021,3087,1675,1786,0,0,0,0,0,0
$GC,8901,1.15,340.4,78.9,9.4,403,8927,0.10,2.58,13.25,0.515,4,0.077,0.045,3143,167,1731,0,0,0,0,0,0
$GC,8943,1.05,340.4,73.7,12.7,406,8948,0.25,2.35,0.00,0.000,6,0.094,0.020,3090,1674,1731,0,0,0,0,0,0
$GC,9212,1.12,340.4,45.3,10.7,430,9216,0.00,2.47,0.00,0.000,4,0.000,0.044,3089,166,1729,0,0,0,0,0,0
$GC,9276,1.18,340.4,37.8,11.4,435,9281,0.12,2.33,0.00,0.000,6,0.063,0.020,3158,1669,1728,0,0,0,0,0,0
$STATE,9531,end climb,SURFACE_DEPTH_REACHED
$STATE,9531,begin surface coast
$FINISH,0.7,1.001144
$STATE,9570,end surface coast,CONTROL_FINISHED_OK
$STATE,9570,begin surface
$SM_CCo,9590,58.72,0.412,1,0,1283,450.13
$SM_GC,1.59,0.00,0.00,58.72,0.000,0.000,0.412,415,1870,1283,-11.25,2.26,450.13
$IRIDIUM_FIX,2237.01,-15802.37,090300,010154
$TT8_MAMPS,0.026845
$HUMID,45.98
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.6,37.459
$10V_AH,10.4,31.749
$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,29.950,126.400,409.075,58.725,0.000,25.218,33.457,513.434,0.500,0.000,39.219,1013.858,6164.407,528.903,1813.969,864.812,33.368,1267.921,0.000,1798.987,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,71.331,864.409,411.879,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.796,294.151,371.846,545.097,963.979,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38405,477
$CAP_FILE_SIZE,115767,0
$CFSIZE,260165632,157024256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141210,064604,2248.357,-15802.938,9,2.2,28,10.1