version: 66.06
glider: 148
mission: 9
dive: 309
start: 12 18 110 19 45 1
data:
$ID,148
$MISSION,9
$DIVE,309
$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,-864508.5
$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,50
$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
$GPS1,193623,2248.797,-15802.584,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.0
$GPS2,194407,2248.783,-15802.542,31,1.4,31,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.065,0.242
$KALMAN_X,-49701.2,325.9,210.9,61750.8,126.3
$KALMAN_Y,-551.0,235.2,324.7,127576.5,-979.0
$MHEAD_RNG_PITCHd_Wd,334.9,2386,-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,-75.53,0.000,2,0.000,0.000,411,1867,3295,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.4,-4.0,10,125,12.02,2.40,-7.55,0.000,4,0.172,0.040,2595,3368,3717,0,0,0,0,0,0
$GC,216,-1.03,-146.0,30.4,-14.5,27,225,0.15,2.55,0.00,0.000,6,0.079,0.023,2633,1780,3719,0,0,0,0,0,0
$GC,484,-0.93,-146.0,64.9,-13.1,52,489,0.10,2.55,0.00,0.000,4,0.127,0.031,2653,3367,3719,0,0,0,0,0,0
$GC,540,-0.93,-146.0,72.5,-10.4,56,548,0.00,2.50,0.00,0.000,6,0.000,0.022,2653,1804,3719,0,0,0,0,0,0
$GC,807,-0.93,-146.0,99.0,-8.9,81,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1804,3720,0,0,0,0,0,0
$GC,1068,-1.04,-146.0,122.2,-8.0,106,1073,0.00,2.50,0.00,0.000,4,0.000,0.029,2653,3369,3721,0,0,0,0,0,0
$GC,1129,-1.26,-146.0,126.3,-6.4,111,1135,0.28,2.50,0.00,0.000,6,0.033,0.021,2547,1786,3721,0,0,0,0,0,0
$GC,1390,-1.07,-146.0,161.5,-14.0,135,1395,0.32,2.50,0.00,0.000,4,0.087,0.028,2623,3361,3721,0,0,0,0,0,0
$GC,1432,-1.16,-146.0,166.1,-9.7,138,1440,0.00,2.47,0.00,0.000,6,0.000,0.022,2623,1812,3722,0,0,0,0,0,0
$GC,1697,-1.16,-146.0,188.6,-8.4,163,1702,0.00,2.45,0.00,0.000,4,0.000,0.029,2623,3361,3722,0,0,0,0,0,0
$GC,1728,-1.22,-146.0,191.6,-8.9,165,1737,0.10,2.47,0.00,0.000,6,0.027,0.023,2528,1814,3722,0,0,0,0,0,0
$GC,2000,-0.98,-146.0,231.2,-15.0,177,2007,0.50,2.47,0.00,0.000,4,0.084,0.029,2643,3368,3723,0,0,0,0,0,0
$GC,2021,-0.98,-146.0,233.8,-10.3,177,2026,0.00,2.45,0.00,0.000,6,0.000,0.021,2643,1817,3722,0,0,0,0,0,0
$GC,2287,-1.14,-146.0,252.7,-7.1,184,2292,0.12,2.47,0.00,0.000,4,0.061,0.031,2554,3363,3722,0,0,0,0,0,0
$GC,2320,-1.05,-146.0,256.3,-10.9,184,2326,0.35,2.42,0.00,0.000,6,0.077,0.023,2633,1829,3722,0,0,0,0,0,0
$GC,2571,-1.18,-146.0,274.2,-6.8,190,2576,0.12,2.47,0.00,0.000,4,0.061,0.032,2550,3366,3723,0,0,0,0,0,0
$GC,2601,-1.11,-146.0,276.9,-9.7,190,2606,0.30,2.45,0.00,0.000,6,0.079,0.024,2617,1825,3722,0,0,0,0,0,0
$GC,2857,-1.19,-146.0,296.5,-7.6,197,2861,0.00,2.47,0.00,0.000,4,0.000,0.035,2618,3367,3722,0,0,0,0,0,0
$GC,2878,-1.28,-146.0,298.3,-8.9,197,2883,0.15,2.42,0.00,0.000,6,0.052,0.025,2544,1837,3722,0,0,0,0,0,0
$GC,3142,-1.16,-146.0,329.2,-12.0,204,3144,0.30,0.00,0.00,0.000,6,0.083,0.000,2609,1836,3721,0,0,0,0,0,0
$GC,3386,-1.24,-146.0,349.4,-7.8,210,3390,0.00,2.47,0.00,0.000,4,0.000,0.037,2609,3357,3719,0,0,0,0,0,0
$GC,3444,-1.39,-146.0,353.7,-7.5,211,3449,0.22,2.42,0.00,0.000,6,0.038,0.028,2517,1849,3719,0,0,0,0,0,0
$GC,3718,-1.20,-146.0,385.5,-11.8,218,3725,0.32,2.70,0.00,0.000,4,0.084,0.051,2594,217,3717,0,0,0,0,0,0
$GC,3741,-1.20,-146.0,387.7,-9.0,218,3745,0.00,2.58,0.00,0.000,6,0.000,0.027,2594,1840,3717,0,0,0,0,0,0
$GC,4005,-1.20,-146.0,408.5,-8.0,225,4009,0.00,2.47,0.00,0.000,4,0.000,0.042,2594,3366,3716,0,0,0,0,0,0
$GC,4043,-1.30,-146.0,411.5,-7.5,225,4048,0.00,2.45,0.00,0.000,6,0.000,0.028,2594,1849,3716,0,0,0,0,0,0
$GC,4295,-1.37,-146.0,432.1,-8.4,232,4296,0.15,0.00,0.00,0.000,6,0.056,0.000,2527,1848,3714,0,0,0,0,0,0
$GC,4538,-1.24,-146.0,460.0,-11.5,238,4545,0.25,2.78,0.00,0.000,4,0.089,0.060,2586,219,3712,0,0,0,0,0,0
$GC,4574,-1.35,-146.0,463.7,-8.5,238,4578,0.00,2.62,0.00,0.000,6,0.000,0.031,2586,1848,3712,0,0,0,0,0,0
$GC,4825,-1.35,-146.0,482.5,-7.4,244,4830,0.00,2.50,0.00,0.000,4,0.000,0.050,2586,3364,3710,0,0,0,0,0,0
$GC,4863,-1.45,-146.0,485.4,-7.6,244,4869,0.17,2.45,0.00,0.000,6,0.048,0.030,2499,1852,3710,0,0,0,0,0,0
$STATE,4988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4996,-0.31,0.0,500.1,11.5,248,5117,1.30,0.00,117.47,0.867,6,0.081,0.000,2789,1668,3120,0,0,0,0,0,0
$STATE,5118,end apogee,CONTROL_FINISHED_OK
$STATE,5118,begin climb
$GC,5120,1.17,146.0,505.2,0.0,251,5250,1.35,2.80,121.75,0.851,4,0.024,0.052,3131,3246,2523,0,0,0,0,0,0
$GC,5266,0.92,226.2,507.9,5.7,254,5346,0.32,2.60,67.95,0.834,6,0.105,0.037,3063,1698,2196,0,0,0,0,0,0
$GC,5606,0.78,226.2,476.1,10.0,263,5611,0.15,2.67,0.00,0.000,4,0.112,0.072,3030,168,2188,0,0,0,0,0,0
$GC,5678,0.69,226.2,469.0,10.3,264,5682,0.00,2.45,0.00,0.000,6,0.000,0.028,3030,1672,2187,0,0,0,0,0,0
$GC,5937,0.70,233.1,446.2,8.7,271,5949,0.00,2.60,5.18,0.588,4,0.000,0.058,3030,166,2170,0,0,0,0,0,0
$GC,5968,0.60,233.1,443.0,10.3,271,5973,0.17,2.42,0.00,0.000,6,0.103,0.027,2992,1670,2169,0,0,0,0,0,0
$GC,6225,0.71,260.9,423.1,7.8,278,6254,0.10,0.00,26.20,0.798,6,0.076,0.000,3039,1670,2056,0,0,0,0,0,0
$GC,6467,0.71,260.9,398.7,10.1,284,6472,0.12,2.60,0.00,0.000,4,0.108,0.058,3012,160,2050,0,0,0,0,0,0
$GC,6514,0.71,260.9,393.9,10.0,285,6518,0.00,2.45,0.00,0.000,6,0.000,0.027,3012,1667,2049,0,0,0,0,0,0
$GC,6797,0.71,263.4,368.9,8.9,292,6802,0.00,2.70,0.00,0.000,4,0.000,0.051,3012,3261,2047,0,0,0,0,0,0
$GC,6845,0.81,263.4,364.2,9.1,293,6851,0.10,2.67,0.00,0.000,6,0.081,0.034,3060,1648,2045,0,0,0,0,0,0
$GC,7130,0.73,263.4,335.3,10.1,300,7135,0.17,2.55,0.00,0.000,4,0.097,0.064,3020,173,2045,0,0,0,0,0,0
$GC,7154,0.73,263.4,332.6,9.7,300,7158,0.00,2.40,0.00,0.000,6,0.000,0.025,3020,1670,2045,0,0,0,0,0,0
$GC,7413,0.77,292.2,311.9,7.8,307,7446,0.00,2.72,27.52,0.738,4,0.000,0.048,3020,3257,1927,0,0,0,0,0,0
$GC,7491,0.89,292.2,305.0,9.8,308,7496,0.15,2.65,0.00,0.000,6,0.057,0.034,3088,1660,1923,0,0,0,0,0,0
$GC,7741,0.77,292.2,272.1,13.3,314,7746,0.25,2.55,0.00,0.000,4,0.096,0.061,3030,166,1922,0,0,0,0,0,0
$GC,7808,0.77,292.2,264.3,10.9,315,7812,0.00,2.38,0.00,0.000,6,0.000,0.024,3029,1666,1921,0,0,0,0,0,0
$GC,8077,0.86,318.0,241.6,7.9,322,8105,0.00,2.70,23.33,0.680,4,0.000,0.041,3029,3256,1822,0,0,0,0,0,0
$GC,8126,0.97,356.7,238.0,7.4,323,8168,0.17,2.62,35.12,0.680,6,0.051,0.030,3101,1659,1665,0,0,0,0,0,0
$GC,8446,0.85,356.7,196.8,13.3,331,8451,0.28,2.50,0.00,0.000,4,0.091,0.051,3039,168,1658,0,0,0,0,0,0
$GC,8485,0.85,356.7,192.7,11.0,334,8489,0.00,2.38,0.00,0.000,6,0.000,0.023,3039,1666,1658,0,0,0,0,0,0
$GC,8751,0.92,359.6,168.1,8.9,358,8756,0.10,2.60,0.00,0.000,4,0.077,0.035,3091,3253,1656,0,0,0,0,0,0
$GC,8822,0.92,359.6,159.9,11.6,364,8828,0.15,2.58,0.00,0.000,6,0.100,0.028,3059,1658,1653,0,0,0,0,0,0
$GC,9087,0.92,359.6,132.5,10.7,389,9092,0.00,2.60,0.00,0.000,4,0.000,0.035,3059,3262,1654,0,0,0,0,0,0
$GC,9145,1.05,359.6,126.1,10.3,394,9150,0.12,2.55,0.00,0.000,6,0.064,0.028,3126,1678,1653,0,0,0,0,0,0
$GC,9407,0.96,359.6,92.2,12.6,418,9412,0.25,2.50,0.00,0.000,4,0.089,0.044,3070,164,1652,0,0,0,0,0,0
$GC,9479,1.04,359.6,84.7,9.3,424,9489,0.00,2.38,0.00,0.000,6,0.000,0.021,3070,1666,1652,0,0,0,0,0,0
$GC,9747,1.07,384.3,63.0,8.0,449,9784,0.10,2.60,23.77,0.518,4,0.075,0.031,3137,3250,1550,0,0,0,0,0,0
$GC,9812,0.99,384.3,55.8,12.7,454,9824,0.28,2.58,0.00,0.000,6,0.085,0.027,3077,1663,1548,0,0,0,0,0,0
$GC,10081,0.99,384.3,27.7,9.9,480,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1663,1547,0,0,0,0,0,0
$STATE,10317,end climb,SURFACE_DEPTH_REACHED
$STATE,10317,begin surface coast
$FINISH,0.7,1.022991
$STATE,10368,end surface coast,CONTROL_FINISHED_OK
$STATE,10368,begin surface
$SM_CCo,10388,23.62,0.301,1,0,1407,420.20
$SM_GC,1.30,0.00,0.00,23.62,0.000,0.000,0.301,412,1861,1407,-11.26,2.01,420.20
$IRIDIUM_FIX,2241.69,-15802.37,130300,161601
$TT8_MAMPS,0.026845
$HUMID,47.12
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.6,42.095
$10V_AH,10.3,35.810
$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,32.325,142.250,448.300,23.625,0.000,24.845,33.052,218.916,0.000,0.000,32.635,1102.759,6620.292,557.046,1986.524,613.683,33.379,1346.312,0.000,1977.745,0.000,0.538,0.000
$DEVICE_MAMPS,171.808,72.098,867.477,301.431,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.006,324.897,409.693,628.592,1111.873,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,41610,525
$CAP_FILE_SIZE,122997,0
$CFSIZE,260165632,154902528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181210,224000,2249.591,-15802.891,40,1.2,40,10.1