version: 66.06
glider: 148
mission: 9
dive: 274
start: 12 14 110 12 57 34
data:
$ID,148
$MISSION,9
$DIVE,274
$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,-863763.19
$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,31
$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
$GPS1,124337,2249.683,-15801.666,27,1.1,27,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.5
$GPS2,125638,2249.729,-15801.581,12,1.1,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.254,-0.054
$KALMAN_X,-57271.9,-90.6,-140.6,71751.1,176.4
$KALMAN_Y,3051.1,-281.0,63.2,126505.1,710.9
$MHEAD_RNG_PITCHd_Wd,91.9,7836,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.10,0.000,2,0.000,0.000,411,1875,3330,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.2,-4.0,11,131,11.43,2.38,-7.32,0.000,4,0.154,0.039,2571,3367,3716,0,0,0,0,0,0
$GC,177,-1.03,-146.0,23.3,-21.0,21,187,0.25,2.55,0.00,0.000,6,0.081,0.022,2630,1781,3718,0,0,0,0,0,0
$GC,454,-1.03,-146.0,61.2,-12.7,49,458,0.00,2.55,0.00,0.000,4,0.000,0.031,2630,3370,3718,0,0,0,0,0,0
$GC,520,-1.12,-146.0,69.1,-11.7,54,524,0.00,2.47,0.00,0.000,6,0.000,0.023,2630,1803,3718,0,0,0,0,0,0
$GC,782,-1.12,-146.0,102.5,-13.0,78,786,0.00,2.50,0.00,0.000,4,0.000,0.030,2630,3363,3718,0,0,0,0,0,0
$GC,821,-1.19,-146.0,106.7,-10.8,81,826,0.12,2.42,0.00,0.000,6,0.061,0.021,2549,1815,3719,0,0,0,0,0,0
$GC,1088,-1.06,-146.0,144.5,-14.4,105,1094,0.35,2.47,0.00,0.000,4,0.087,0.028,2625,3368,3719,0,0,0,0,0,0
$GC,1140,-1.25,-146.0,150.6,-8.6,109,1146,0.15,2.45,0.00,0.000,6,0.051,0.022,2544,1821,3719,0,0,0,0,0,0
$GC,1403,-1.12,-146.0,182.8,-12.7,134,1409,0.32,0.00,0.00,0.000,6,0.087,0.000,2614,1821,3720,0,0,0,0,0,0
$GC,1695,-1.24,-146.0,207.2,-8.2,156,1700,0.10,2.47,0.00,0.000,4,0.076,0.031,2555,3367,3720,0,0,0,0,0,0
$GC,1725,-1.24,-146.0,210.4,-11.4,156,1730,0.15,2.40,0.00,0.000,6,0.097,0.022,2589,1834,3720,0,0,0,0,0,0
$GC,1980,-1.24,-146.0,236.4,-10.0,163,1984,0.00,2.45,0.00,0.000,4,0.000,0.031,2588,3361,3721,0,0,0,0,0,0
$GC,2023,-1.34,-146.0,240.6,-9.3,164,2027,0.00,2.40,0.00,0.000,6,0.000,0.024,2589,1837,3720,0,0,0,0,0,0
$GC,2312,-1.34,-146.0,265.4,-8.4,171,2316,0.00,2.45,0.00,0.000,4,0.000,0.031,2589,3361,3720,0,0,0,0,0,0
$GC,2349,-1.44,-146.0,269.3,-9.8,171,2355,0.17,2.40,0.00,0.000,6,0.047,0.024,2485,1839,3720,0,0,0,0,0,0
$GC,2600,-1.21,-146.0,307.4,-15.6,178,2608,0.47,2.65,0.00,0.000,4,0.085,0.041,2593,212,3720,0,0,0,0,0,0
$GC,2613,-1.07,-146.0,309.5,-14.9,178,2618,0.15,2.58,0.00,0.000,6,0.099,0.021,2628,1850,3720,0,0,0,0,0,0
$GC,2887,-1.28,-146.0,329.1,-7.0,185,2892,0.20,2.42,0.00,0.000,4,0.044,0.034,2522,3365,3719,0,0,0,0,0,0
$GC,2909,-1.28,-146.0,331.1,-9.8,185,2914,0.25,2.42,0.00,0.000,6,0.083,0.025,2578,1846,3719,0,0,0,0,0,0
$GC,3174,-1.36,-146.0,355.2,-8.9,192,3178,0.00,2.47,0.00,0.000,4,0.000,0.039,2579,3359,3717,0,0,0,0,0,0
$GC,3222,-1.47,-146.0,359.4,-8.7,193,3227,0.17,2.42,0.00,0.000,6,0.047,0.028,2488,1854,3717,0,0,0,0,0,0
$GC,3507,-1.28,-146.0,397.7,-13.8,200,3514,0.38,2.75,0.00,0.000,4,0.087,0.056,2574,211,3716,0,0,0,0,0,0
$GC,3561,-1.45,-146.0,403.8,-9.4,201,3566,0.12,2.62,0.00,0.000,6,0.065,0.027,2514,1850,3716,0,0,0,0,0,0
$GC,3841,-1.35,-146.0,436.2,-12.0,208,3849,0.25,2.78,0.00,0.000,4,0.091,0.057,2572,217,3713,0,0,0,0,0,0
$GC,3868,-1.41,-146.0,439.2,-9.2,208,3873,0.00,2.62,0.00,0.000,6,0.000,0.029,2573,1842,3713,0,0,0,0,0,0
$GC,4130,-1.48,-146.0,461.5,-8.6,215,4135,0.15,2.53,0.00,0.000,4,0.058,0.047,2508,3358,3711,0,0,0,0,0,0
$GC,4158,-1.38,-146.0,464.9,-11.2,215,4163,0.22,2.42,0.00,0.000,6,0.090,0.031,2558,1863,3711,0,0,0,0,0,0
$GC,4414,-1.38,-146.0,489.1,-9.5,222,4418,0.00,2.47,0.00,0.000,4,0.000,0.051,2558,3350,3708,0,0,0,0,0,0
$GC,4438,-1.38,-146.0,491.4,-9.8,222,4443,0.00,2.40,0.00,0.000,6,0.000,0.031,2558,1861,3709,0,0,0,0,0,0
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4538,-0.31,0.0,500.2,9.1,225,4659,1.02,0.00,117.28,0.867,6,0.077,0.000,2790,1679,3120,0,0,0,0,0,0
$STATE,4659,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4662,1.28,146.0,504.9,0.0,228,4795,1.42,2.78,121.38,0.851,4,0.026,0.053,3143,3238,2523,0,0,0,0,0,0
$GC,4888,0.99,152.7,498.3,9.7,233,4901,0.32,2.60,6.30,0.647,6,0.107,0.036,3077,1694,2496,0,0,0,0,0,0
$GC,5172,0.89,182.2,473.8,8.7,240,5205,0.12,2.78,25.88,0.808,4,0.127,0.074,3052,169,2376,0,0,0,0,0,0
$GC,5263,0.76,182.2,465.0,11.5,242,5269,0.12,2.40,0.00,0.000,6,0.119,0.028,3027,1659,2373,0,0,0,0,0,0
$GC,5551,0.82,232.1,442.0,7.7,249,5600,0.00,2.67,42.85,0.815,4,0.000,0.061,3027,167,2172,0,0,0,0,0,0
$GC,5648,0.82,232.1,433.3,10.3,251,5652,0.00,2.42,0.00,0.000,6,0.000,0.027,3027,1670,2169,0,0,0,0,0,0
$GC,5926,0.86,263.2,409.2,8.6,258,5958,0.00,2.67,26.88,0.788,4,0.000,0.060,3027,161,2047,0,0,0,0,0,0
$GC,6000,0.86,263.2,402.3,10.3,259,6004,0.00,2.45,0.00,0.000,6,0.000,0.026,3027,1669,2046,0,0,0,0,0,0
$GC,6256,0.95,289.6,380.1,8.8,266,6289,0.17,2.75,24.58,0.772,4,0.051,0.052,3097,3254,1937,0,0,0,0,0,0
$GC,6300,0.83,289.6,374.9,12.4,267,6307,0.25,2.65,0.00,0.000,6,0.094,0.035,3044,1661,1934,0,0,0,0,0,0
$GC,6591,0.83,289.6,344.7,10.4,274,6595,0.00,2.60,0.00,0.000,4,0.000,0.066,3043,160,1931,0,0,0,0,0,0
$GC,6633,0.83,289.6,339.6,11.9,275,6638,0.00,2.42,0.00,0.000,6,0.000,0.025,3043,1667,1930,0,0,0,0,0,0
$GC,6921,0.83,289.6,308.1,11.1,282,6926,0.00,2.65,0.00,0.000,4,0.000,0.049,3044,3250,1928,0,0,0,0,0,0
$GC,6964,0.94,289.6,303.3,11.0,283,6969,0.00,2.62,0.00,0.000,6,0.000,0.034,3043,1664,1926,0,0,0,0,0,0
$GC,7252,1.02,304.5,274.9,9.3,290,7272,0.15,2.62,12.85,0.677,4,0.056,0.064,3098,163,1877,0,0,0,0,0,0
$GC,7312,0.92,304.5,267.8,13.4,291,7317,0.17,2.42,0.00,0.000,6,0.104,0.024,3062,1674,1876,0,0,0,0,0,0
$GC,7585,0.93,307.2,239.9,9.9,298,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1678,1874,0,0,0,0,0,0
$GC,7831,0.94,318.4,216.6,9.5,304,7846,0.00,0.00,13.15,0.635,6,0.000,0.000,3063,1678,1821,0,0,0,0,0,0
$GC,8078,0.94,318.4,191.2,10.9,313,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,1678,1817,0,0,0,0,0,0
$GC,8339,0.94,318.4,162.5,10.5,338,8343,0.00,2.53,0.00,0.000,4,0.000,0.048,3062,167,1817,0,0,0,0,0,0
$GC,8370,0.94,318.4,159.1,11.6,340,8375,0.00,2.38,0.00,0.000,6,0.000,0.022,3062,1673,1817,0,0,0,0,0,0
$GC,8636,1.01,318.4,130.8,10.3,365,8640,0.00,2.53,0.00,0.000,4,0.000,0.034,3062,3250,1815,0,0,0,0,0,0
$GC,8671,1.13,318.4,126.6,11.3,368,8676,0.17,2.58,0.00,0.000,6,0.048,0.028,3150,1659,1814,0,0,0,0,0,0
$GC,8931,1.03,318.4,94.7,11.4,392,8933,0.30,0.00,0.00,0.000,6,0.089,0.000,3084,1658,1814,0,0,0,0,0,0
$GC,9193,1.13,351.9,72.8,8.5,416,9229,0.00,2.53,28.73,0.536,4,0.000,0.044,3085,170,1686,0,0,0,0,0,0
$GC,9255,1.13,351.9,66.2,10.9,421,9264,0.00,2.38,0.00,0.000,6,0.000,0.021,3084,1661,1685,0,0,0,0,0,0
$GC,9523,1.20,351.9,40.1,10.3,446,9528,0.15,2.47,0.00,0.000,4,0.055,0.044,3158,168,1684,0,0,0,0,0,0
$GC,9553,1.08,351.9,36.0,13.9,448,9558,0.30,2.33,0.00,0.000,6,0.094,0.020,3094,1659,1684,0,0,0,0,0,0
$STATE,9852,end climb,SURFACE_DEPTH_REACHED
$STATE,9852,begin surface coast
$FINISH,0.7,1.013414
$STATE,9897,end surface coast,CONTROL_FINISHED_OK
$STATE,9897,begin surface
$SM_CCo,9919,53.00,0.401,1,0,1284,450.13
$SM_GC,1.52,0.00,0.00,53.00,0.000,0.000,0.401,413,1848,1284,-11.26,1.64,450.13
$IRIDIUM_FIX,2241.69,-15804.53,090300,101057
$TT8_MAMPS,0.026845
$HUMID,44.84
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,37.903
$10V_AH,10.4,32.083
$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,30.925,131.625,419.850,53.000,0.000,31.031,35.521,578.861,0.250,0.000,14.175,1059.045,6302.025,527.481,1943.073,928.685,33.394,1309.392,0.000,1943.827,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,73.632,867.477,401.141,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.594,307.360,385.708,595.656,1053.635,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38437,499
$CAP_FILE_SIZE,122345,0
$CFSIZE,260165632,156848128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141210,154458,2249.357,-15800.062,7,2.3,26,10.1