version: 66.06
glider: 148
mission: 9
dive: 313
start: 12 19 110 8 32 3
data:
$ID,148
$MISSION,9
$DIVE,313
$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,-864571.88
$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,32
$R_STBD_OVSHOOT,92
$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
$GPS1,082225,2249.408,-15758.309,36,1.4,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.6
$GPS2,083108,2249.358,-15758.257,12,1.1,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.176,0.173
$KALMAN_X,-48709.5,-399.2,152.2,68925.6,211.5
$KALMAN_Y,-2195.5,-573.3,196.5,131224.7,-738.7
$MHEAD_RNG_PITCHd_Wd,35.3,2453,-16.2,-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,-1.18,-141.3,0.0,0.0,0,95,0.00,0.00,-74.97,0.000,2,0.000,0.000,407,1842,3275,0,0,0,0,0,0
$GC,98,-1.19,-146.0,3.4,-4.5,10,131,12.07,2.42,-8.18,0.000,4,0.173,0.041,2591,3323,3720,0,0,0,0,0,0
$GC,167,-0.95,-146.0,21.9,-20.3,19,176,0.25,2.47,0.00,0.000,6,0.074,0.025,2651,1791,3721,0,0,0,0,0,0
$GC,444,-0.95,-146.0,56.2,-12.2,48,448,0.00,2.45,0.00,0.000,4,0.000,0.031,2652,3321,3722,0,0,0,0,0,0
$GC,509,-1.01,-146.0,64.0,-11.1,53,513,0.00,2.40,0.00,0.000,6,0.000,0.022,2651,1796,3721,0,0,0,0,0,0
$GC,777,-1.01,-146.0,92.8,-10.4,77,782,0.00,2.42,0.00,0.000,4,0.000,0.029,2652,3322,3722,0,0,0,0,0,0
$GC,835,-1.07,-146.0,98.7,-8.4,82,840,0.10,2.38,0.00,0.000,6,0.075,0.022,2579,1808,3722,0,0,0,0,0,0
$GC,1099,-0.92,-146.0,135.3,-13.3,106,1111,0.35,2.55,0.00,0.000,4,0.084,0.038,2654,214,3723,0,0,0,0,0,0
$GC,1135,-1.09,-146.0,139.1,-9.5,109,1140,0.12,2.40,0.00,0.000,6,0.061,0.018,2571,1785,3723,0,0,0,0,0,0
$GC,1399,-0.93,-146.0,173.5,-13.1,133,1408,0.40,2.47,0.00,0.000,4,0.079,0.028,2652,3354,3724,0,0,0,0,0,0
$GC,1449,-1.17,-146.0,178.1,-6.4,138,1454,0.20,2.42,0.00,0.000,6,0.041,0.022,2572,1818,3724,0,0,0,0,0,0
$GC,1711,-1.08,-146.0,205.6,-11.6,159,1713,0.25,0.00,0.00,0.000,6,0.085,0.000,2627,1818,3724,0,0,0,0,0,0
$GC,1952,-1.18,-146.0,224.8,-7.4,165,1956,0.00,2.47,0.00,0.000,4,0.000,0.031,2626,3359,3724,0,0,0,0,0,0
$GC,1986,-1.30,-146.0,227.3,-7.1,165,1991,0.20,2.40,0.00,0.000,6,0.041,0.023,2531,1832,3724,0,0,0,0,0,0
$GC,2241,-1.11,-146.0,259.2,-13.3,172,2244,0.40,0.00,0.00,0.000,6,0.080,0.000,2620,1830,3724,0,0,0,0,0,0
$GC,2486,-1.21,-146.0,278.5,-7.6,178,2490,0.00,2.42,0.00,0.000,4,0.000,0.032,2619,3351,3725,0,0,0,0,0,0
$GC,2539,-1.39,-146.0,282.8,-8.0,179,2544,0.25,2.40,0.00,0.000,6,0.035,0.025,2515,1842,3724,0,0,0,0,0,0
$GC,2817,-1.20,-146.0,319.2,-13.6,186,2824,0.32,2.67,0.00,0.000,4,0.085,0.046,2590,210,3724,0,0,0,0,0,0
$GC,2865,-1.34,-146.0,323.9,-9.1,187,2869,0.00,2.55,0.00,0.000,6,0.000,0.024,2590,1831,3724,0,0,0,0,0,0
$GC,3152,-1.34,-146.0,347.7,-8.2,194,3156,0.00,2.47,0.00,0.000,4,0.000,0.038,2590,3369,3722,0,0,0,0,0,0
$GC,3203,-1.45,-146.0,352.1,-8.4,195,3208,0.20,2.42,0.00,0.000,6,0.042,0.028,2505,1851,3722,0,0,0,0,0,0
$GC,3483,-1.25,-146.0,388.6,-13.7,202,3491,0.35,2.75,0.00,0.000,4,0.085,0.054,2585,210,3721,0,0,0,0,0,0
$GC,3529,-1.35,-146.0,393.7,-9.1,203,3534,0.00,2.60,0.00,0.000,6,0.000,0.028,2585,1845,3720,0,0,0,0,0,0
$GC,3818,-1.35,-146.0,418.4,-8.5,210,3822,0.00,2.47,0.00,0.000,4,0.000,0.043,2585,3363,3718,0,0,0,0,0,0
$GC,3868,-1.46,-146.0,422.3,-7.2,211,3873,0.17,2.42,0.00,0.000,6,0.049,0.030,2498,1850,3718,0,0,0,0,0,0
$GC,4157,-1.25,-146.0,458.3,-13.0,218,4164,0.38,2.78,0.00,0.000,4,0.089,0.061,2582,214,3716,0,0,0,0,0,0
$GC,4203,-1.37,-146.0,463.4,-9.7,219,4208,0.00,2.60,0.00,0.000,6,0.000,0.031,2582,1830,3716,0,0,0,0,0,0
$GC,4490,-1.37,-146.0,485.6,-7.5,226,4494,0.00,2.58,0.00,0.000,4,0.000,0.050,2582,3374,3713,0,0,0,0,0,0
$GC,4539,-1.49,-146.0,489.1,-7.6,227,4544,0.20,2.50,0.00,0.000,6,0.044,0.031,2500,1837,3713,0,0,0,0,0,0
$STATE,4657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4657,begin apogee
$GC,4662,-0.31,0.0,501.9,11.1,230,4785,1.33,0.00,118.38,0.867,6,0.087,0.000,2791,1670,3120,0,0,0,0,0,0
$STATE,4785,end apogee,CONTROL_FINISHED_OK
$STATE,4785,begin climb
$GC,4789,1.19,146.0,505.6,0.0,233,4921,1.35,2.83,121.00,0.849,4,0.033,0.054,3134,3258,2523,0,0,0,0,0,0
$GC,5009,0.87,146.0,498.9,10.0,238,5017,0.40,2.62,0.00,0.000,6,0.100,0.038,3050,1693,2517,0,0,0,0,0,0
$GC,5295,0.81,197.2,478.5,6.8,245,5344,0.00,2.78,43.15,0.828,4,0.000,0.076,3051,163,2315,0,0,0,0,0,0
$GC,5414,0.66,197.2,467.7,10.4,247,5419,0.22,2.45,0.00,0.000,6,0.100,0.028,3003,1676,2310,0,0,0,0,0,0
$GC,5669,0.72,248.9,449.9,6.8,254,5716,0.00,0.00,44.90,0.820,6,0.000,0.000,3003,1676,2104,0,0,0,0,0,0
$GC,5958,0.82,278.1,427.9,7.8,261,5991,0.15,2.67,25.95,0.793,4,0.057,0.058,3062,174,1985,0,0,0,0,0,0
$GC,6006,0.69,278.1,422.7,11.1,262,6011,0.25,2.45,0.00,0.000,6,0.127,0.028,3010,1682,1984,0,0,0,0,0,0
$GC,6291,0.78,293.2,398.7,8.4,269,6311,0.00,2.75,14.23,0.746,4,0.000,0.054,3010,3247,1923,0,0,0,0,0,0
$GC,6340,0.90,299.0,394.2,8.8,270,6352,0.20,2.60,6.45,0.634,6,0.047,0.034,3085,1678,1901,0,0,0,0,0,0
$GC,6629,0.77,299.0,359.6,12.1,277,6634,0.25,2.60,0.00,0.000,4,0.096,0.064,3028,167,1897,0,0,0,0,0,0
$GC,6662,0.77,299.0,355.5,10.1,277,6666,0.00,2.45,0.00,0.000,6,0.000,0.027,3028,1679,1897,0,0,0,0,0,0
$GC,6911,0.77,299.0,332.8,9.1,283,6916,0.00,2.67,0.00,0.000,4,0.000,0.051,3028,3254,1895,0,0,0,0,0,0
$GC,6956,0.85,299.0,328.9,9.2,284,6961,0.00,2.60,0.00,0.000,6,0.000,0.034,3028,1682,1893,0,0,0,0,0,0
$GC,7245,0.86,303.8,303.0,8.8,291,7251,0.00,0.00,4.55,0.525,6,0.000,0.000,3028,1682,1881,0,0,0,0,0,0
$GC,7488,0.93,303.8,280.4,9.3,297,7494,0.15,2.60,0.00,0.000,4,0.057,0.062,3099,171,1880,0,0,0,0,0,0
$GC,7510,0.85,303.8,278.1,11.1,297,7515,0.25,2.45,0.00,0.000,6,0.098,0.025,3047,1695,1880,0,0,0,0,0,0
$GC,7774,0.85,303.8,252.4,9.4,304,7778,0.00,2.60,0.00,0.000,4,0.000,0.045,3047,3258,1878,0,0,0,0,0,0
$GC,7817,0.93,303.8,248.3,9.6,305,7821,0.00,2.58,0.00,0.000,6,0.000,0.031,3047,1689,1877,0,0,0,0,0,0
$GC,8105,0.93,303.8,221.5,9.3,312,8110,0.00,2.55,0.00,0.000,4,0.000,0.056,3047,163,1877,0,0,0,0,0,0
$GC,8184,0.93,303.8,213.4,9.7,313,8188,0.00,2.42,0.00,0.000,6,0.000,0.023,3047,1692,1877,0,0,0,0,0,0
$GC,8442,0.94,306.2,191.2,8.9,325,8447,0.00,2.55,0.00,0.000,4,0.000,0.048,3047,171,1877,0,0,0,0,0,0
$GC,8468,0.94,306.2,188.2,10.1,327,8472,0.00,2.40,0.00,0.000,6,0.000,0.023,3047,1690,1877,0,0,0,0,0,0
$GC,8730,0.94,306.2,163.6,9.7,351,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1691,1876,0,0,0,0,0,0
$GC,8989,1.00,306.2,139.8,9.1,375,8994,0.12,0.00,0.00,0.000,6,0.064,0.000,3124,1694,1877,0,0,0,0,0,0
$GC,9251,0.88,306.2,109.6,11.0,400,9256,0.30,2.53,0.00,0.000,4,0.088,0.051,3053,163,1877,0,0,0,0,0,0
$GC,9334,0.88,306.2,101.8,9.3,407,9340,0.00,2.38,0.00,0.000,6,0.000,0.021,3053,1689,1877,0,0,0,0,0,0
$GC,9597,1.04,339.7,81.7,7.6,432,9642,0.12,2.58,31.80,0.541,4,0.064,0.051,3120,160,1734,0,0,0,0,0,0
$GC,9672,0.94,339.7,74.3,12.6,438,9677,0.25,2.40,0.00,0.000,6,0.089,0.021,3066,1678,1733,0,0,0,0,0,0
$GC,9936,1.05,359.2,51.0,8.2,462,9956,0.00,0.00,18.00,0.494,6,0.000,0.000,3066,1679,1655,0,0,0,0,0,0
$GC,10217,1.14,360.5,25.6,9.0,491,10226,0.17,2.58,0.00,0.000,4,0.047,0.033,3167,3247,1652,0,0,0,0,0,0
$GC,10250,1.08,360.5,21.7,12.1,495,10259,0.30,2.58,0.00,0.000,6,0.075,0.026,3096,1668,1651,0,0,0,0,0,0
$STATE,10411,end climb,SURFACE_DEPTH_REACHED
$STATE,10411,begin surface coast
$FINISH,0.7,1.022978
$STATE,10456,end surface coast,CONTROL_FINISHED_OK
$STATE,10456,begin surface
$SM_CCo,10478,28.95,0.061,0,0,1406,420.20
$SM_GC,1.32,0.00,0.00,28.95,0.000,0.000,0.061,409,1881,1406,-11.27,2.57,420.20
$IRIDIUM_FIX,2241.69,-15802.37,140300,050557
$TT8_MAMPS,0.026845
$HUMID,45.43
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,23.10
$XPDR_PINGS,4
$24V_AH,23.6,42.586
$10V_AH,10.4,36.282
$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,33.000,132.000,428.400,28.950,0.000,31.153,34.257,313.448,1.000,0.000,13.579,1117.077,6654.146,505.497,2066.295,687.482,33.373,1338.434,0.000,2070.199,0.000,0.538,0.000
$DEVICE_MAMPS,172.575,75.933,866.710,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.926,326.355,412.636,631.159,1116.429,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,41485,527
$CAP_FILE_SIZE,123986,0
$CFSIZE,260165632,154660864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,112822,2249.857,-15757.170,13,4.2,32,10.1