version: 66.06
glider: 148
mission: 9
dive: 294
start: 12 16 110 21 21 10
data:
$ID,148
$MISSION,9
$DIVE,294
$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,185
$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,420
$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,-864232.31
$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,44
$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
$GPS1,211145,2247.053,-15759.640,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.1
$GPS2,212016,2247.016,-15759.640,14,2.1,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,0.017
$KALMAN_X,-52741.9,9.5,-40.6,70367.1,-37.9
$KALMAN_Y,284.3,238.9,-400.3,124189.0,-207.1
$MHEAD_RNG_PITCHd_Wd,263.9,5739,-15.9,-9.009
$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,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.40,0.000,2,0.000,0.000,410,1870,3296,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.5,-4.4,10,131,12.00,2.80,-7.80,0.000,4,0.170,0.055,2596,201,3719,0,0,0,0,0,0
$GC,208,-1.17,-146.0,27.9,-14.0,26,216,0.00,2.53,0.00,0.000,6,0.000,0.020,2596,1796,3720,0,0,0,0,0,0
$GC,484,-0.94,-146.0,69.5,-15.9,52,489,0.25,2.50,0.00,0.000,4,0.104,0.029,2652,3370,3720,0,0,0,0,0,0
$GC,550,-0.94,-146.0,77.7,-9.7,57,554,0.00,2.53,0.00,0.000,6,0.000,0.022,2653,1783,3720,0,0,0,0,0,0
$GC,819,-1.01,-146.0,106.4,-9.5,81,823,0.00,2.50,0.00,0.000,4,0.000,0.028,2652,3367,3721,0,0,0,0,0,0
$GC,867,-1.15,-146.0,111.4,-9.9,85,872,0.17,2.45,0.00,0.000,6,0.044,0.021,2566,1806,3721,0,0,0,0,0,0
$GC,1134,-0.96,-146.0,145.6,-13.6,109,1143,0.35,2.58,0.00,0.000,4,0.085,0.037,2643,212,3721,0,0,0,0,0,0
$GC,1160,-0.96,-146.0,150.0,-12.7,111,1166,0.00,2.50,0.00,0.000,6,0.000,0.019,2642,1822,3722,0,0,0,0,0,0
$GC,1428,-1.07,-146.0,172.6,-8.6,136,1432,0.00,2.42,0.00,0.000,4,0.000,0.029,2643,3366,3723,0,0,0,0,0,0
$GC,1486,-1.27,-146.0,178.0,-7.5,141,1495,0.22,2.47,0.00,0.000,6,0.017,0.022,2535,1816,3723,0,0,0,0,0,0
$GC,1775,-1.05,-146.0,218.3,-14.4,160,1783,0.40,2.50,0.00,0.000,4,0.084,0.030,2627,3367,3723,0,0,0,0,0,0
$GC,1822,-1.17,-146.0,223.6,-8.4,161,1826,0.00,2.45,0.00,0.000,6,0.000,0.023,2627,1817,3723,0,0,0,0,0,0
$GC,2115,-1.26,-146.0,248.9,-8.8,168,2117,0.17,0.00,0.00,0.000,6,0.049,0.000,2546,1817,3723,0,0,0,0,0,0
$GC,2357,-1.11,-146.0,278.0,-11.8,174,2362,0.30,2.50,0.00,0.000,4,0.084,0.031,2617,3362,3723,0,0,0,0,0,0
$GC,2395,-1.22,-146.0,281.4,-7.7,174,2401,0.10,2.42,0.00,0.000,6,0.074,0.025,2538,1827,3723,0,0,0,0,0,0
$GC,2647,-1.07,-146.0,310.6,-12.2,181,2652,0.35,2.47,0.00,0.000,4,0.081,0.033,2621,3357,3723,0,0,0,0,0,0
$GC,2662,-1.00,-146.0,312.6,-11.9,181,2666,0.00,2.42,0.00,0.000,6,0.000,0.024,2621,1823,3723,0,0,0,0,0,0
$GC,2930,-1.12,-146.0,334.5,-8.6,188,2935,0.00,2.50,0.00,0.000,4,0.000,0.035,2621,3362,3723,0,0,0,0,0,0
$GC,2956,-1.24,-146.0,336.7,-9.4,188,2961,0.15,2.45,0.00,0.000,6,0.052,0.027,2544,1839,3722,0,0,0,0,0,0
$GC,3216,-1.13,-146.0,364.7,-10.7,195,3223,0.28,2.70,0.00,0.000,4,0.084,0.051,2609,212,3721,0,0,0,0,0,0
$GC,3248,-1.26,-146.0,367.6,-7.9,195,3254,0.10,2.55,0.00,0.000,6,0.074,0.025,2546,1824,3721,0,0,0,0,0,0
$GC,3504,-1.16,-146.0,395.0,-11.0,202,3509,0.25,2.53,0.00,0.000,4,0.084,0.040,2605,3377,3719,0,0,0,0,0,0
$GC,3533,-1.24,-146.0,397.9,-9.0,202,3537,0.00,2.47,0.00,0.000,6,0.000,0.028,2605,1834,3719,0,0,0,0,0,0
$GC,3790,-1.33,-146.0,416.9,-7.3,209,3795,0.15,2.55,0.00,0.000,4,0.056,0.042,2536,3367,3717,0,0,0,0,0,0
$GC,3823,-1.24,-146.0,420.4,-10.3,209,3828,0.25,2.47,0.00,0.000,6,0.081,0.028,2593,1835,3717,0,0,0,0,0,0
$GC,4073,-1.24,-146.0,441.5,-8.8,215,4077,0.00,2.53,0.00,0.000,4,0.000,0.045,2592,3367,3715,0,0,0,0,0,0
$GC,4103,-1.31,-146.0,444.3,-9.5,215,4107,0.00,2.45,0.00,0.000,6,0.000,0.029,2593,1852,3715,0,0,0,0,0,0
$GC,4357,-1.37,-146.0,464.8,-7.8,222,4359,0.15,0.00,0.00,0.000,6,0.055,0.000,2522,1853,3713,0,0,0,0,0,0
$GC,4602,-1.23,-146.0,490.2,-10.5,228,4604,0.30,0.00,0.00,0.000,6,0.086,0.000,2589,1853,3711,0,0,0,0,0,0
$STATE,4761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4761,begin apogee
$GC,4766,-0.31,0.0,501.1,6.7,232,4888,0.88,0.00,118.00,0.869,6,0.066,0.000,2792,1674,3120,0,0,0,0,0,0
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4889,begin climb
$GC,4891,1.17,146.0,505.1,0.0,235,5023,1.35,2.70,121.30,0.852,4,0.025,0.075,3138,181,2524,0,0,0,0,0,0
$GC,5266,0.69,146.0,481.9,9.1,243,5273,0.60,2.45,0.00,0.000,6,0.107,0.028,3013,1679,2515,0,0,0,0,0,0
$GC,5524,0.80,235.2,467.5,5.3,250,5609,0.00,2.65,74.95,0.836,4,0.000,0.058,3013,181,2160,0,0,0,0,0,0
$GC,5628,0.80,236.5,459.8,9.0,252,5633,0.10,2.45,0.00,0.000,6,0.078,0.028,3061,1686,2158,0,0,0,0,0,0
$GC,5897,0.68,236.5,431.6,10.5,259,5899,0.25,0.00,0.00,0.000,6,0.093,0.000,3008,1686,2152,0,0,0,0,0,0
$GC,6141,0.70,249.9,410.8,8.5,265,6161,0.00,2.70,12.75,0.744,4,0.000,0.050,3008,3264,2100,0,0,0,0,0,0
$GC,6172,0.73,274.0,408.4,8.0,265,6200,0.00,2.65,22.38,0.777,6,0.000,0.033,3008,1684,2002,0,0,0,0,0,0
$GC,6475,0.74,288.1,382.9,8.4,273,6495,0.00,2.70,13.38,0.733,4,0.000,0.042,3008,3261,1943,0,0,0,0,0,0
$GC,6516,0.85,315.3,379.4,7.9,273,6550,0.15,2.65,25.92,0.765,6,0.057,0.033,3075,1681,1833,0,0,0,0,0,0
$GC,6810,0.76,315.3,345.2,11.6,281,6816,0.22,2.62,0.00,0.000,4,0.096,0.062,3026,164,1827,0,0,0,0,0,0
$GC,6831,0.76,315.3,342.8,11.1,281,6836,0.00,2.45,0.00,0.000,6,0.000,0.025,3026,1695,1826,0,0,0,0,0,0
$GC,7095,0.76,315.3,317.7,9.3,288,7099,0.00,2.62,0.00,0.000,4,0.000,0.049,3027,3254,1824,0,0,0,0,0,0
$GC,7120,0.86,337.0,315.6,8.1,288,7144,0.00,2.60,18.50,0.719,6,0.000,0.032,3026,1676,1745,0,0,0,0,0,0
$GC,7432,0.87,348.3,289.9,8.5,296,7448,0.10,2.70,10.70,0.659,4,0.077,0.044,3082,3254,1699,0,0,0,0,0,0
$GC,7463,0.79,348.3,285.5,13.2,296,7470,0.22,2.60,0.00,0.000,6,0.089,0.032,3033,1681,1697,0,0,0,0,0,0
$GC,7721,0.79,348.3,257.6,11.1,303,7726,0.00,2.58,0.00,0.000,4,0.000,0.059,3032,164,1696,0,0,0,0,0,0
$GC,7744,0.79,348.3,254.4,12.3,303,7749,0.00,2.42,0.00,0.000,6,0.000,0.024,3032,1695,1695,0,0,0,0,0,0
$GC,8004,0.86,348.3,227.7,10.1,310,8008,0.00,2.58,0.00,0.000,4,0.000,0.039,3032,3260,1694,0,0,0,0,0,0
$GC,8052,0.99,348.3,222.8,10.5,311,8057,0.17,2.55,0.00,0.000,6,0.051,0.031,3116,1689,1692,0,0,0,0,0,0
$GC,8324,0.83,348.3,183.3,15.7,325,8330,0.32,0.00,0.00,0.000,6,0.091,0.000,3043,1689,1692,0,0,0,0,0,0
$GC,8587,0.83,348.3,157.0,9.3,350,8591,0.00,2.58,0.00,0.000,4,0.000,0.034,3043,3269,1692,0,0,0,0,0,0
$GC,8607,0.90,348.3,155.2,9.1,351,8616,0.00,2.58,0.00,0.000,6,0.000,0.028,3044,1697,1692,0,0,0,0,0,0
$GC,8871,0.99,353.2,131.7,8.8,376,8885,0.15,2.55,4.47,0.420,4,0.055,0.045,3124,177,1680,0,0,0,0,0,0
$GC,8911,0.84,353.2,126.2,14.8,379,8917,0.38,2.42,0.00,0.000,6,0.087,0.023,3043,1705,1680,0,0,0,0,0,0
$GC,9175,1.04,394.2,105.4,7.3,404,9220,0.17,2.60,37.67,0.565,4,0.047,0.034,3143,3260,1512,0,0,0,0,0,0
$GC,9290,1.04,394.2,91.9,12.0,415,9295,0.25,2.55,0.00,0.000,6,0.087,0.027,3087,1695,1507,0,0,0,0,0,0
$GC,9559,1.04,394.2,63.7,11.4,439,9563,0.00,2.53,0.00,0.000,4,0.000,0.051,3087,163,1506,0,0,0,0,0,0
$GC,9577,1.04,394.2,61.1,10.9,440,9581,0.00,2.40,0.00,0.000,6,0.000,0.020,3087,1709,1506,0,0,0,0,0,0
$GC,9845,1.04,394.2,32.0,10.9,464,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1710,1506,0,0,0,0,0,0
$STATE,10094,end climb,SURFACE_DEPTH_REACHED
$STATE,10094,begin surface coast
$FINISH,0.7,1.000327
$STATE,10139,end surface coast,CONTROL_FINISHED_OK
$STATE,10139,begin surface
$SM_CCo,10161,14.20,0.064,0,0,1406,420.20
$SM_GC,1.59,0.00,0.00,14.20,0.000,0.000,0.064,407,1878,1406,-11.29,2.49,420.20
$IRIDIUM_FIX,2237.01,-15758.03,110300,181815
$TT8_MAMPS,0.026845
$HUMID,46.65
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,40.261
$10V_AH,10.3,34.123
$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,32.150,132.500,460.025,14.200,0.000,25.763,36.132,291.516,0.500,0.000,35.733,1065.797,6515.022,508.661,1947.583,649.058,33.370,1315.764,0.000,1928.568,0.000,0.539,0.000
$DEVICE_MAMPS,170.274,78.234,869.011,63.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.086,309.027,392.705,590.718,1044.682,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38213,510
$CAP_FILE_SIZE,120201,0
$CFSIZE,260165632,155766784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171210,001206,2247.077,-15801.411,36,1.3,41,10.1