version: 66.06
glider: 148
mission: 9
dive: 290
start: 12 16 110 10 15 23
data:
$ID,148
$MISSION,9
$DIVE,290
$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,-864115.38
$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,31
$R_STBD_OVSHOOT,82
$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
$GPS1,100807,2250.021,-15756.987,33,1.3,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.5
$GPS2,101426,2249.996,-15756.954,14,1.3,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.052,-0.255
$KALMAN_X,-53840.8,21.1,123.6,75905.7,-77.0
$KALMAN_Y,1008.0,-162.5,-452.8,129437.9,283.6
$MHEAD_RNG_PITCHd_Wd,181.4,5733,-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,-82.85,0.000,2,0.000,0.000,411,1836,3359,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.7,-6.0,11,132,11.50,2.65,-6.35,0.000,4,0.157,0.051,2574,205,3717,0,0,0,0,0,0
$GC,197,-1.28,-146.0,28.3,-14.9,24,205,0.00,2.45,0.00,0.000,6,0.000,0.021,2574,1745,3719,0,0,0,0,0,0
$GC,473,-1.07,-146.0,74.6,-17.2,50,478,0.22,2.60,0.00,0.000,4,0.100,0.030,2624,3373,3719,0,0,0,0,0,0
$GC,568,-1.13,-146.0,89.7,-11.9,58,577,0.00,2.55,0.00,0.000,6,0.000,0.025,2624,1792,3720,0,0,0,0,0,0
$GC,833,-1.13,-146.0,118.5,-10.5,83,837,0.00,2.53,0.00,0.000,4,0.000,0.028,2624,3374,3720,0,0,0,0,0,0
$GC,901,-1.22,-146.0,125.3,-9.5,89,906,0.12,2.45,0.00,0.000,6,0.062,0.022,2548,1811,3720,0,0,0,0,0,0
$GC,1164,-1.03,-146.0,164.9,-15.5,113,1173,0.40,2.55,0.00,0.000,4,0.087,0.035,2629,214,3721,0,0,0,0,0,0
$GC,1191,-1.03,-146.0,168.7,-12.1,115,1196,0.00,2.47,0.00,0.000,6,0.000,0.019,2629,1827,3721,0,0,0,0,0,0
$GC,1453,-1.17,-146.0,190.7,-8.4,140,1458,0.10,2.45,0.00,0.000,4,0.077,0.028,2570,3368,3722,0,0,0,0,0,0
$GC,1503,-1.17,-146.0,196.1,-10.8,144,1512,0.12,2.50,0.00,0.000,6,0.073,0.023,2604,1806,3722,0,0,0,0,0,0
$GC,1786,-1.17,-146.0,224.9,-10.3,154,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1806,3722,0,0,0,0,0,0
$GC,2030,-1.24,-146.0,246.1,-8.7,160,2034,0.00,2.47,0.00,0.000,4,0.000,0.029,2604,3368,3722,0,0,0,0,0,0
$GC,2086,-1.42,-146.0,251.5,-9.9,161,2091,0.22,2.47,0.00,0.000,6,0.038,0.024,2513,1809,3722,0,0,0,0,0,0
$GC,2360,-1.25,-146.0,294.6,-16.3,168,2367,0.30,2.60,0.00,0.000,4,0.091,0.041,2582,204,3722,0,0,0,0,0,0
$GC,2397,-1.36,-146.0,299.2,-11.5,168,2401,0.00,2.53,0.00,0.000,6,0.000,0.022,2582,1809,3722,0,0,0,0,0,0
$GC,2647,-1.36,-146.0,320.4,-8.3,174,2651,0.00,2.50,0.00,0.000,4,0.000,0.034,2582,3371,3722,0,0,0,0,0,0
$GC,2700,-1.48,-146.0,325.2,-9.1,175,2705,0.20,2.47,0.00,0.000,6,0.042,0.027,2485,1814,3722,0,0,0,0,0,0
$GC,2978,-1.27,-146.0,367.7,-15.4,182,2985,0.43,2.65,0.00,0.000,4,0.087,0.050,2579,213,3722,0,0,0,0,0,0
$GC,3025,-1.40,-146.0,373.0,-9.6,183,3030,0.10,2.55,0.00,0.000,6,0.075,0.025,2518,1817,3722,0,0,0,0,0,0
$GC,3314,-1.30,-146.0,405.0,-11.3,190,3316,0.28,0.00,0.00,0.000,6,0.087,0.000,2577,1818,3720,0,0,0,0,0,0
$GC,3557,-1.38,-146.0,428.8,-9.6,196,3561,0.00,2.55,0.00,0.000,4,0.000,0.042,2577,3370,3719,0,0,0,0,0,0
$GC,3605,-1.49,-146.0,433.3,-8.7,197,3610,0.17,2.47,0.00,0.000,6,0.048,0.029,2486,1830,3719,0,0,0,0,0,0
$GC,3888,-1.31,-146.0,470.9,-13.4,204,3890,0.40,0.00,0.00,0.000,6,0.087,0.000,2572,1830,3717,0,0,0,0,0,0
$GC,4132,-1.39,-146.0,494.2,-9.5,210,4137,0.00,2.55,0.00,0.000,4,0.000,0.048,2572,3364,3715,0,0,0,0,0,0
$GC,4167,-1.49,-146.0,497.7,-9.9,210,4172,0.15,2.47,0.00,0.000,6,0.054,0.032,2495,1834,3715,0,0,0,0,0,0
$STATE,4211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4217,-0.31,0.0,503.8,12.5,211,4339,1.38,0.00,118.50,0.865,6,0.083,0.000,2793,1668,3120,0,0,0,0,0,0
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4340,begin climb
$GC,4344,1.28,146.0,509.8,0.0,214,4475,1.42,2.78,121.78,0.850,4,0.025,0.049,3141,3257,2523,0,0,0,0,0,0
$GC,4536,0.99,146.0,506.4,10.7,218,4543,0.30,2.65,0.00,0.000,6,0.110,0.038,3080,1693,2518,0,0,0,0,0,0
$GC,4788,0.86,163.4,483.4,9.2,225,4809,0.15,2.75,14.65,0.772,4,0.117,0.076,3049,169,2452,0,0,0,0,0,0
$GC,4897,0.72,163.4,472.7,10.4,227,4902,0.15,2.42,0.00,0.000,6,0.117,0.028,3018,1669,2449,0,0,0,0,0,0
$GC,5168,0.81,240.7,454.6,6.5,234,5241,0.00,2.67,66.30,0.828,4,0.000,0.058,3017,171,2137,0,0,0,0,0,0
$GC,5272,0.82,244.0,446.5,9.9,236,5281,0.00,2.45,4.12,0.520,6,0.000,0.028,3018,1666,2125,0,0,0,0,0,0
$GC,5540,0.96,295.8,425.4,7.6,243,5594,0.20,2.80,45.83,0.808,4,0.047,0.054,3102,3254,1912,0,0,0,0,0,0
$GC,5633,0.87,295.8,414.8,13.3,245,5640,0.25,2.67,0.00,0.000,6,0.098,0.035,3050,1654,1908,0,0,0,0,0,0
$GC,5918,0.87,295.8,383.2,10.9,252,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1654,1904,0,0,0,0,0,0
$GC,6161,0.87,295.8,357.4,10.6,258,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1654,1902,0,0,0,0,0,0
$GC,6407,0.87,295.8,331.3,10.8,264,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1654,1900,0,0,0,0,0,0
$GC,6649,0.87,295.8,305.1,10.3,270,6653,0.00,2.67,0.00,0.000,4,0.000,0.041,3050,3260,1899,0,0,0,0,0,0
$GC,6668,0.88,304.5,303.1,9.6,270,6680,0.00,2.62,6.40,0.604,6,0.000,0.031,3050,1655,1878,0,0,0,0,0,0
$GC,6935,0.90,313.9,277.7,9.6,277,6951,0.00,2.60,10.00,0.653,4,0.000,0.062,3050,178,1839,0,0,0,0,0,0
$GC,6984,0.90,313.9,271.9,12.3,278,6988,0.00,2.38,0.00,0.000,6,0.000,0.025,3050,1669,1839,0,0,0,0,0,0
$GC,7266,0.98,324.2,244.2,9.6,285,7283,0.10,2.70,10.20,0.631,4,0.077,0.043,3102,3253,1797,0,0,0,0,0,0
$GC,7305,0.98,324.2,239.8,12.5,285,7310,0.15,2.65,0.00,0.000,6,0.104,0.031,3071,1654,1795,0,0,0,0,0,0
$GC,7554,0.98,324.2,211.6,11.1,291,7559,0.00,2.62,0.00,0.000,4,0.000,0.035,3071,3254,1793,0,0,0,0,0,0
$GC,7587,0.98,324.2,207.9,10.7,291,7591,0.00,2.62,0.00,0.000,6,0.000,0.030,3071,1652,1792,0,0,0,0,0,0
$GC,7845,0.98,324.2,178.1,11.8,309,7849,0.00,2.45,0.00,0.000,4,0.000,0.048,3071,173,1792,0,0,0,0,0,0
$GC,7880,0.98,324.2,173.8,12.1,312,7884,0.00,2.33,0.00,0.000,6,0.000,0.022,3071,1661,1792,0,0,0,0,0,0
$GC,8144,1.00,346.9,150.0,9.0,336,8176,0.00,2.60,20.45,0.594,4,0.000,0.031,3071,3253,1702,0,0,0,0,0,0
$GC,8191,1.10,367.7,145.3,9.1,340,8221,0.08,2.65,19.75,0.581,6,0.038,0.029,3140,1655,1619,0,0,0,0,0,0
$GC,8475,1.01,367.7,103.7,13.5,367,8481,0.28,0.00,0.00,0.000,6,0.093,0.000,3081,1655,1616,0,0,0,0,0,0
$GC,8743,1.12,374.1,77.7,9.7,392,8752,0.00,0.00,6.43,0.443,6,0.000,0.000,3081,1655,1593,0,0,0,0,0,0
$GC,9010,1.22,374.1,50.0,10.9,417,9015,0.17,2.60,0.00,0.000,4,0.050,0.031,3176,3260,1593,0,0,0,0,0,0
$GC,9040,1.13,374.1,45.7,14.3,419,9053,0.32,2.60,0.00,0.000,6,0.086,0.026,3106,1647,1592,0,0,0,0,0,0
$GC,9330,1.13,374.1,11.0,11.3,456,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1646,1592,0,0,0,0,0,0
$STATE,9388,end climb,SURFACE_DEPTH_REACHED
$STATE,9388,begin surface coast
$FINISH,0.7,1.002161
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9427,begin surface
$SM_CCo,9449,36.47,0.061,0,0,1285,450.13
$SM_GC,1.71,0.00,0.00,36.47,0.000,0.000,0.061,410,1860,1285,-11.27,1.98,450.13
$IRIDIUM_FIX,2241.69,-15759.32,110300,070700
$TT8_MAMPS,0.026845
$HUMID,45.66
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,39.805
$10V_AH,10.3,33.717
$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,30.600,113.275,444.400,36.475,0.000,28.314,46.652,166.876,0.250,0.000,15.873,977.041,6075.031,522.598,1779.937,512.670,33.370,1268.556,0.000,1782.314,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,75.933,865.176,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.127,286.376,365.002,547.579,968.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,35226,471
$CAP_FILE_SIZE,107936,0
$CFSIZE,260165632,155992064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161210,125436,2248.816,-15757.146,28,1.7,28,10.1