version: 66.06
glider: 148
mission: 9
dive: 300
start: 12 17 110 16 11 45
data:
$ID,148
$MISSION,9
$DIVE,300
$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,-864337.88
$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
$GPS1,155934,2249.507,-15759.387,12,99.0,31,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.8
$GPS2,161050,2249.538,-15759.324,9,2.0,9,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.232,0.094
$KALMAN_X,-51351.6,258.7,-85.1,69309.4,431.9
$KALMAN_Y,90.7,-38.2,411.1,128525.6,-404.7
$MHEAD_RNG_PITCHd_Wd,57.9,4059,-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,-75.15,0.000,2,0.000,0.000,407,1842,3263,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.0,-3.5,10,131,11.75,2.47,-8.77,0.000,4,0.161,0.041,2595,3363,3718,0,0,0,0,0,0
$GC,148,-0.27,-146.0,17.3,-27.8,16,158,0.88,2.55,0.00,0.000,6,0.075,0.023,2795,1785,3720,0,0,0,0,0,0
$GC,443,-1.00,-146.0,37.3,-7.4,56,452,0.62,0.00,0.00,0.000,6,0.048,0.000,2638,1785,3721,0,0,0,0,0,0
$GC,710,-0.91,-146.0,64.8,-12.7,81,715,0.10,2.55,0.00,0.000,4,0.118,0.031,2658,3368,3721,0,0,0,0,0,0
$GC,799,-1.03,-146.0,73.9,-8.5,88,804,0.10,2.50,0.00,0.000,6,0.074,0.021,2594,1776,3721,0,0,0,0,0,0
$GC,1063,-0.92,-146.0,113.9,-13.3,112,1069,0.28,2.55,0.00,0.000,4,0.087,0.028,2656,3363,3721,0,0,0,0,0,0
$GC,1123,-1.12,-146.0,120.5,-9.3,117,1128,0.17,2.47,0.00,0.000,6,0.045,0.022,2583,1797,3721,0,0,0,0,0,0
$GC,1387,-1.02,-146.0,153.9,-12.4,141,1396,0.25,0.00,0.00,0.000,6,0.089,0.000,2637,1797,3722,0,0,0,0,0,0
$GC,1656,-1.12,-146.0,176.1,-7.4,166,1660,0.00,2.47,0.00,0.000,4,0.000,0.029,2638,3363,3723,0,0,0,0,0,0
$GC,1694,-1.27,-146.0,179.4,-7.6,169,1701,0.22,2.45,0.00,0.000,6,0.038,0.022,2562,1815,3723,0,0,0,0,0,0
$GC,1974,-1.14,-146.0,210.6,-11.7,190,1976,0.22,0.00,0.00,0.000,6,0.091,0.000,2611,1815,3723,0,0,0,0,0,0
$GC,2218,-1.14,-146.0,233.3,-9.3,196,2222,0.00,2.47,0.00,0.000,4,0.000,0.031,2611,3367,3723,0,0,0,0,0,0
$GC,2283,-1.27,-146.0,240.2,-10.1,197,2288,0.12,2.47,0.00,0.000,6,0.061,0.025,2549,1813,3723,0,0,0,0,0,0
$GC,2549,-1.14,-146.0,272.4,-12.3,204,2554,0.25,2.50,0.00,0.000,4,0.089,0.031,2608,3363,3723,0,0,0,0,0,0
$GC,2564,-1.08,-146.0,274.4,-11.1,204,2569,0.00,2.42,0.00,0.000,6,0.000,0.022,2608,1820,3723,0,0,0,0,0,0
$GC,2833,-1.15,-146.0,293.7,-6.9,211,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1820,3723,0,0,0,0,0,0
$GC,3078,-1.23,-146.0,310.8,-7.1,217,3083,0.00,2.50,0.00,0.000,4,0.000,0.036,2608,3367,3723,0,0,0,0,0,0
$GC,3107,-1.33,-146.0,313.0,-7.5,217,3112,0.17,2.45,0.00,0.000,6,0.045,0.028,2537,1833,3723,0,0,0,0,0,0
$GC,3362,-1.20,-146.0,341.2,-11.4,224,3364,0.28,0.00,0.00,0.000,6,0.086,0.000,2596,1833,3721,0,0,0,0,0,0
$GC,3607,-1.20,-146.0,360.9,-7.9,230,3612,0.00,2.50,0.00,0.000,4,0.000,0.039,2597,3364,3720,0,0,0,0,0,0
$GC,3626,-1.20,-146.0,362.8,-8.7,230,3630,0.00,2.45,0.00,0.000,6,0.000,0.028,2597,1830,3720,0,0,0,0,0,0
$GC,3890,-1.20,-146.0,383.6,-8.0,237,3894,0.00,2.50,0.00,0.000,4,0.000,0.041,2597,3361,3718,0,0,0,0,0,0
$GC,3915,-1.20,-146.0,385.4,-7.4,237,3919,0.00,2.45,0.00,0.000,6,0.000,0.028,2597,1832,3718,0,0,0,0,0,0
$GC,4174,-1.26,-146.0,407.9,-8.6,244,4179,0.00,2.50,0.00,0.000,4,0.000,0.042,2597,3355,3716,0,0,0,0,0,0
$GC,4226,-1.38,-146.0,412.5,-8.9,245,4231,0.15,2.45,0.00,0.000,6,0.053,0.029,2523,1843,3716,0,0,0,0,0,0
$GC,4506,-1.23,-146.0,447.7,-13.2,252,4513,0.28,2.75,0.00,0.000,4,0.089,0.059,2587,214,3714,0,0,0,0,0,0
$GC,4556,-1.36,-146.0,453.8,-10.2,253,4561,0.10,2.60,0.00,0.000,6,0.076,0.029,2536,1836,3714,0,0,0,0,0,0
$GC,4841,-1.27,-146.0,486.1,-11.5,260,4846,0.20,2.58,0.00,0.000,4,0.090,0.051,2582,3371,3712,0,0,0,0,0,0
$GC,4856,-1.27,-146.0,487.9,-10.8,260,4860,0.00,2.47,0.00,0.000,6,0.000,0.027,2582,1835,3711,0,0,0,0,0,0
$STATE,4999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4999,begin apogee
$GC,5007,-0.31,0.0,500.6,8.7,264,5128,0.93,0.00,117.53,0.864,6,0.076,0.000,2792,1667,3120,0,0,0,0,0,0
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5129,begin climb
$GC,5131,1.17,146.0,506.0,0.0,267,5261,1.30,2.67,120.18,0.849,4,0.026,0.069,3117,188,2523,0,0,0,0,0,0
$GC,5282,0.77,191.9,507.4,7.1,270,5328,0.43,2.45,39.38,0.821,6,0.106,0.029,3030,1677,2337,0,0,0,0,0,0
$GC,5583,0.72,200.9,482.6,8.6,278,5596,0.00,2.60,7.97,0.693,4,0.000,0.060,3030,188,2300,0,0,0,0,0,0
$GC,5659,0.59,200.9,475.1,10.3,279,5664,0.20,2.42,0.00,0.000,6,0.098,0.028,2987,1676,2298,0,0,0,0,0,0
$GC,5915,0.69,228.4,454.7,7.9,286,5942,0.10,0.00,24.77,0.802,6,0.076,0.000,3038,1676,2188,0,0,0,0,0,0
$GC,6159,0.69,228.4,430.3,10.2,292,6164,0.12,2.58,0.00,0.000,4,0.110,0.057,3012,178,2182,0,0,0,0,0,0
$GC,6193,0.69,228.4,426.7,10.0,292,6197,0.00,2.40,0.00,0.000,6,0.000,0.026,3012,1670,2182,0,0,0,0,0,0
$GC,6442,0.73,260.2,406.6,7.7,298,6476,0.00,2.58,27.92,0.792,4,0.000,0.056,3012,187,2058,0,0,0,0,0,0
$GC,6492,0.77,293.5,402.9,7.6,299,6528,0.00,2.40,31.05,0.783,6,0.000,0.027,3012,1663,1922,0,0,0,0,0,0
$GC,6815,0.79,305.3,375.3,8.5,307,6831,0.00,2.78,10.65,0.699,4,0.000,0.052,3012,3252,1874,0,0,0,0,0,0
$GC,6857,0.87,305.3,371.6,9.5,307,6863,0.15,2.65,0.00,0.000,6,0.058,0.034,3069,1670,1872,0,0,0,0,0,0
$GC,7107,0.78,305.3,342.0,12.0,314,7112,0.17,2.58,0.00,0.000,4,0.100,0.064,3031,173,1870,0,0,0,0,0,0
$GC,7143,0.78,305.3,337.8,11.5,314,7147,0.00,2.40,0.00,0.000,6,0.000,0.026,3031,1657,1870,0,0,0,0,0,0
$GC,7392,0.78,305.3,312.2,10.0,320,7397,0.00,2.70,0.00,0.000,4,0.000,0.048,3031,3261,1869,0,0,0,0,0,0
$GC,7435,0.86,305.3,307.9,9.9,321,7440,0.00,2.65,0.00,0.000,6,0.000,0.033,3030,1655,1866,0,0,0,0,0,0
$GC,7724,0.88,322.9,283.0,8.3,328,7745,0.00,2.58,16.00,0.692,4,0.000,0.061,3031,166,1802,0,0,0,0,0,0
$GC,7773,0.88,322.9,278.3,9.6,329,7777,0.00,2.40,0.00,0.000,6,0.000,0.025,3031,1660,1801,0,0,0,0,0,0
$GC,8051,0.90,334.6,254.8,8.5,336,8066,0.10,0.00,11.00,0.643,6,0.077,0.000,3086,1661,1755,0,0,0,0,0,0
$GC,8341,0.81,334.6,220.8,11.9,343,8343,0.22,0.00,0.00,0.000,6,0.096,0.000,3037,1663,1751,0,0,0,0,0,0
$GC,8583,0.81,334.6,196.5,10.0,349,8587,0.00,2.60,0.00,0.000,4,0.000,0.037,3037,3258,1750,0,0,0,0,0,0
$GC,8629,0.94,334.6,191.9,10.6,353,8635,0.12,2.62,0.00,0.000,6,0.062,0.030,3089,1655,1748,0,0,0,0,0,0
$GC,8890,0.86,334.6,159.4,12.2,377,8895,0.17,2.45,0.00,0.000,4,0.098,0.048,3050,172,1748,0,0,0,0,0,0
$GC,8937,0.86,334.6,154.1,11.4,381,8941,0.00,2.35,0.00,0.000,6,0.000,0.021,3050,1666,1748,0,0,0,0,0,0
$GC,9204,0.86,334.6,128.1,9.4,405,9208,0.00,2.55,0.00,0.000,4,0.000,0.034,3050,3258,1747,0,0,0,0,0,0
$GC,9242,0.97,334.6,123.7,10.3,408,9251,0.00,2.62,0.00,0.000,6,0.000,0.028,3050,1655,1746,0,0,0,0,0,0
$GC,9512,1.14,368.1,100.8,7.6,433,9554,0.22,2.67,29.77,0.558,4,0.041,0.033,3122,3244,1616,0,0,0,0,0,0
$GC,9559,1.14,368.1,95.3,11.0,437,9565,0.00,2.55,0.00,0.000,6,0.000,0.026,3122,1669,1615,0,0,0,0,0,0
$GC,9826,1.05,368.1,64.3,12.5,462,9831,0.15,2.47,0.00,0.000,4,0.100,0.044,3088,170,1614,0,0,0,0,0,0
$GC,9869,1.05,368.1,58.5,13.1,465,9873,0.00,2.38,0.00,0.000,6,0.000,0.019,3089,1690,1614,0,0,0,0,0,0
$GC,10139,1.05,368.1,27.8,12.3,490,10148,0.00,2.53,0.00,0.000,4,0.000,0.034,3088,3243,1613,0,0,0,0,0,0
$GC,10163,1.05,368.1,24.2,12.2,493,10172,0.00,2.55,0.00,0.000,6,0.000,0.027,3089,1678,1613,0,0,0,0,0,0
$STATE,10368,end climb,SURFACE_DEPTH_REACHED
$STATE,10368,begin surface coast
$FINISH,0.7,1.010853
$STATE,10419,end surface coast,CONTROL_FINISHED_OK
$STATE,10419,begin surface
$SM_CCo,10440,23.88,0.061,0,0,1406,420.20
$SM_GC,1.47,0.00,0.00,23.88,0.000,0.000,0.061,413,1865,1406,-11.26,2.15,420.20
$IRIDIUM_FIX,2239.35,-15749.78,120300,161627
$TT8_MAMPS,0.026845
$HUMID,46.69
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.6,41.006
$10V_AH,10.3,34.806
$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,31.350,131.675,436.225,23.875,0.000,50.018,114.338,315.273,0.000,0.000,10.616,1102.298,6749.375,500.170,2001.616,787.902,33.374,1305.392,0.000,2017.060,0.000,0.537,0.000
$DEVICE_MAMPS,161.070,69.030,864.409,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.321,342.283,418.552,656.583,1161.246,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41537,533
$CAP_FILE_SIZE,122321,0
$CFSIZE,260165632,155418624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171210,190745,2249.690,-15757.693,37,3.4,56,10.1