version: 66.06
glider: 148
mission: 9
dive: 310
start: 12 18 110 22 49 26
data:
$ID,148
$MISSION,9
$DIVE,310
$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,-864526.12
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,224000,2249.591,-15802.891,40,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.7
$GPS2,224831,2249.551,-15802.851,10,1.8,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,-0.008
$KALMAN_X,-49281.8,274.9,35.4,61031.9,-27.1
$KALMAN_Y,-449.3,-72.6,-731.9,130262.5,321.0
$MHEAD_RNG_PITCHd_Wd,81.8,10022,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.45,0.000,2,0.000,0.000,412,1861,3287,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.4,-4.2,10,125,11.52,2.40,-8.00,0.000,4,0.154,0.038,2596,3366,3717,0,0,0,0,0,0
$GC,147,-0.26,-146.0,18.4,-30.8,16,156,0.90,2.55,0.00,0.000,6,0.080,0.021,2800,1777,3718,0,0,0,0,0,0
$GC,445,-1.02,-146.0,38.6,-9.8,57,454,0.68,0.00,0.00,0.000,6,0.042,0.000,2634,1777,3719,0,0,0,0,0,0
$GC,711,-0.93,-146.0,66.4,-12.6,82,716,0.10,2.55,0.00,0.000,4,0.118,0.031,2656,3361,3719,0,0,0,0,0,0
$GC,778,-1.02,-146.0,74.1,-9.9,87,782,0.00,2.50,0.00,0.000,6,0.000,0.022,2656,1783,3719,0,0,0,0,0,0
$GC,1045,-1.02,-146.0,103.3,-12.1,111,1049,0.00,2.55,0.00,0.000,4,0.000,0.031,2657,3368,3720,0,0,0,0,0,0
$GC,1080,-1.09,-146.0,108.4,-11.6,114,1085,0.15,2.47,0.00,0.000,6,0.054,0.021,2609,1791,3720,0,0,0,0,0,0
$GC,1344,-1.09,-146.0,137.5,-10.5,138,1348,0.00,2.53,0.00,0.000,4,0.000,0.029,2608,3370,3721,0,0,0,0,0,0
$GC,1403,-1.17,-146.0,143.3,-9.0,143,1407,0.00,2.45,0.00,0.000,6,0.000,0.022,2608,1805,3721,0,0,0,0,0,0
$GC,1665,-1.17,-146.0,167.7,-10.4,167,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1805,3722,0,0,0,0,0,0
$GC,1920,-1.17,-146.0,194.2,-9.9,191,1924,0.00,2.47,0.00,0.000,4,0.000,0.029,2608,3366,3722,0,0,0,0,0,0
$GC,1949,-1.17,-146.0,197.4,-9.7,193,1955,0.00,2.42,0.00,0.000,6,0.000,0.023,2608,1820,3723,0,0,0,0,0,0
$GC,2232,-1.17,-146.0,224.9,-9.8,203,2236,0.00,2.45,0.00,0.000,4,0.000,0.030,2608,3361,3723,0,0,0,0,0,0
$GC,2288,-1.26,-146.0,230.7,-9.1,204,2293,0.10,2.42,0.00,0.000,6,0.090,0.023,2577,1833,3723,0,0,0,0,0,0
$GC,2562,-1.19,-146.0,262.4,-11.9,211,2567,0.10,2.45,0.00,0.000,4,0.125,0.031,2598,3361,3723,0,0,0,0,0,0
$GC,2582,-1.19,-146.0,264.6,-10.6,211,2587,0.00,2.40,0.00,0.000,6,0.000,0.022,2598,1832,3723,0,0,0,0,0,0
$GC,2846,-1.19,-146.0,289.1,-9.0,218,2850,0.00,2.47,0.00,0.000,4,0.000,0.033,2598,3368,3723,0,0,0,0,0,0
$GC,2874,-1.19,-146.0,291.6,-8.5,218,2878,0.00,2.40,0.00,0.000,6,0.000,0.025,2598,1848,3723,0,0,0,0,0,0
$GC,3130,-1.19,-146.0,314.4,-9.2,225,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1848,3722,0,0,0,0,0,0
$GC,3372,-1.19,-146.0,335.7,-8.6,231,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1848,3721,0,0,0,0,0,0
$GC,3616,-1.26,-146.0,355.9,-8.3,237,3620,0.00,2.47,0.00,0.000,4,0.000,0.038,2598,3361,3720,0,0,0,0,0,0
$GC,3651,-1.37,-146.0,358.7,-7.9,237,3656,0.15,2.45,0.00,0.000,6,0.054,0.028,2551,1843,3720,0,0,0,0,0,0
$GC,3900,-1.30,-146.0,383.3,-10.1,243,3907,0.12,2.75,0.00,0.000,4,0.113,0.056,2578,212,3718,0,0,0,0,0,0
$GC,3922,-1.30,-146.0,385.5,-10.3,243,3926,0.00,2.60,0.00,0.000,6,0.000,0.027,2578,1840,3718,0,0,0,0,0,0
$GC,4187,-1.30,-146.0,408.2,-8.8,250,4191,0.00,2.47,0.00,0.000,4,0.000,0.042,2578,3366,3717,0,0,0,0,0,0
$GC,4215,-1.30,-146.0,410.9,-8.7,250,4219,0.00,2.45,0.00,0.000,6,0.000,0.028,2578,1847,3717,0,0,0,0,0,0
$GC,4469,-1.30,-146.0,433.0,-8.8,257,4474,0.00,2.50,0.00,0.000,4,0.000,0.046,2578,3364,3715,0,0,0,0,0,0
$GC,4514,-1.37,-146.0,436.5,-7.5,258,4518,0.00,2.42,0.00,0.000,6,0.000,0.030,2578,1866,3714,0,0,0,0,0,0
$GC,4801,-1.37,-146.0,458.6,-7.5,265,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1867,3712,0,0,0,0,0,0
$GC,5045,-1.37,-146.0,477.0,-7.5,271,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1867,3711,0,0,0,0,0,0
$GC,5290,-1.37,-146.0,495.5,-7.6,277,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1867,3709,0,0,0,0,0,0
$STATE,5367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5367,begin apogee
$GC,5373,-0.31,0.0,501.8,7.6,279,5494,0.93,0.00,117.62,0.871,6,0.068,0.000,2790,1674,3120,0,0,0,0,0,0
$STATE,5495,end apogee,CONTROL_FINISHED_OK
$STATE,5495,begin climb
$GC,5497,1.17,146.0,505.8,0.0,282,5628,1.33,2.67,120.70,0.854,4,0.028,0.075,3127,182,2522,0,0,0,0,0,0
$GC,5652,0.70,170.5,506.0,8.0,285,5681,0.55,2.45,21.30,0.798,6,0.100,0.028,3013,1678,2424,0,0,0,0,0,0
$GC,5955,0.78,237.5,486.9,6.2,293,6020,0.00,2.65,57.30,0.836,4,0.000,0.059,3012,181,2150,0,0,0,0,0,0
$GC,6072,0.78,237.5,477.8,9.2,295,6076,0.00,2.45,0.00,0.000,6,0.000,0.028,3012,1680,2148,0,0,0,0,0,0
$GC,6326,0.80,249.8,456.1,8.5,302,6339,0.10,0.00,11.18,0.747,6,0.079,0.000,3062,1680,2100,0,0,0,0,0,0
$GC,6570,0.69,249.8,429.3,10.9,308,6572,0.25,0.00,0.00,0.000,6,0.092,0.000,3008,1680,2097,0,0,0,0,0,0
$GC,6813,0.72,272.1,409.0,8.1,314,6841,0.00,2.72,20.10,0.782,4,0.000,0.051,3008,3267,2008,0,0,0,0,0,0
$GC,6858,0.74,296.0,405.6,8.0,315,6886,0.00,2.65,22.73,0.778,6,0.000,0.034,3008,1685,1912,0,0,0,0,0,0
$GC,7147,0.81,296.0,379.5,9.1,322,7152,0.12,2.65,0.00,0.000,4,0.065,0.064,3068,163,1906,0,0,0,0,0,0
$GC,7163,0.81,296.0,377.8,9.3,322,7168,0.15,2.47,0.00,0.000,6,0.106,0.027,3038,1686,1906,0,0,0,0,0,0
$GC,7433,0.81,296.0,349.9,9.8,329,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1687,1904,0,0,0,0,0,0
$GC,7677,0.81,296.0,326.8,9.5,335,7681,0.00,2.65,0.00,0.000,4,0.000,0.050,3038,3260,1902,0,0,0,0,0,0
$GC,7721,0.81,296.0,322.6,10.8,336,7726,0.00,2.62,0.00,0.000,6,0.000,0.033,3038,1675,1900,0,0,0,0,0,0
$GC,8007,0.81,296.0,294.8,9.7,343,8012,0.00,2.58,0.00,0.000,4,0.000,0.063,3037,170,1900,0,0,0,0,0,0
$GC,8030,0.81,296.0,292.2,10.8,343,8035,0.00,2.42,0.00,0.000,6,0.000,0.025,3037,1684,1900,0,0,0,0,0,0
$GC,8291,0.81,296.0,266.9,9.5,350,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1684,1899,0,0,0,0,0,0
$GC,8533,0.82,308.0,245.9,8.5,356,8549,0.00,2.65,9.80,0.627,4,0.000,0.041,3037,3248,1863,0,0,0,0,0,0
$GC,8559,0.87,346.6,243.8,7.4,356,8600,0.00,2.60,35.00,0.687,6,0.000,0.030,3037,1674,1707,0,0,0,0,0,0
$GC,8868,0.88,353.4,217.7,8.7,364,8881,0.00,2.67,6.62,0.545,4,0.000,0.036,3037,3254,1678,0,0,0,0,0,0
$GC,8900,0.96,353.4,214.2,9.5,364,8905,0.12,2.58,0.00,0.000,6,0.062,0.028,3097,1676,1676,0,0,0,0,0,0
$GC,9162,0.86,353.4,179.6,14.0,380,9164,0.22,0.00,0.00,0.000,6,0.094,0.000,3048,1675,1676,0,0,0,0,0,0
$GC,9415,0.86,353.4,152.8,10.3,404,9419,0.00,2.58,0.00,0.000,4,0.000,0.034,3048,3262,1675,0,0,0,0,0,0
$GC,9431,0.86,353.4,151.2,10.0,405,9436,0.00,2.55,0.00,0.000,6,0.000,0.032,3048,1679,1674,0,0,0,0,0,0
$GC,9699,0.95,368.7,127.7,8.4,429,9720,0.00,2.60,14.98,0.554,4,0.000,0.031,3048,3262,1615,0,0,0,0,0,0
$GC,9748,1.07,368.7,123.4,9.2,433,9754,0.17,2.55,0.00,0.000,6,0.048,0.027,3116,1697,1613,0,0,0,0,0,0
$GC,10010,1.07,368.7,97.3,9.4,458,10015,0.12,2.55,0.00,0.000,4,0.108,0.052,3089,163,1612,0,0,0,0,0,0
$GC,10071,1.07,368.7,90.9,10.4,463,10077,0.00,2.40,0.00,0.000,6,0.000,0.021,3089,1692,1612,0,0,0,0,0,0
$GC,10339,1.07,368.7,65.6,10.5,488,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1694,1612,0,0,0,0,0,0
$GC,10603,1.07,368.7,37.4,10.2,513,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1694,1612,0,0,0,0,0,0
$GC,10889,1.07,368.7,9.0,10.0,554,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1696,1612,0,0,0,0,0,0
$STATE,10942,end climb,SURFACE_DEPTH_REACHED
$STATE,10942,begin surface coast
$FINISH,0.6,1.023378
$STATE,10993,end surface coast,CONTROL_FINISHED_OK
$STATE,10993,begin surface
$SM_CCo,11014,24.45,0.061,0,0,1406,420.20
$SM_GC,1.62,0.00,0.00,24.45,0.000,0.000,0.061,413,1848,1406,-11.26,1.64,420.20
$IRIDIUM_FIX,2241.69,-15804.53,130300,191924
$TT8_MAMPS,0.026845
$HUMID,45.82
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,42.217
$10V_AH,10.4,35.932
$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,28.525,116.775,437.325,24.450,0.000,26.038,33.618,312.470,0.500,0.000,17.013,1131.013,7180.014,483.289,2086.835,669.555,33.372,1278.824,0.000,2091.616,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,75.166,871.312,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.506,359.273,445.437,709.799,1255.232,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,44808,570
$CAP_FILE_SIZE,116561,0
$CFSIZE,260165632,154853376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,015437,2249.207,-15801.387,33,1.1,33,10.1