version: 66.06
glider: 148
mission: 9
dive: 350
start: 12 24 110 0 33 17
data:
$ID,148
$MISSION,9
$DIVE,350
$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,-865454.56
$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,53
$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
$GPS1,002430,2249.710,-15759.696,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.4
$GPS2,003220,2249.625,-15759.620,11,1.8,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.168,0.186
$KALMAN_X,-45850.5,528.5,30.0,62915.0,-314.4
$KALMAN_Y,-12811.7,168.7,98.6,141689.4,-1830.2
$MHEAD_RNG_PITCHd_Wd,31.9,4526,-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,-75.47,0.000,2,0.000,0.000,414,1864,3330,0,0,0,0,0,0
$GC,98,-1.17,-146.0,4.1,-5.6,10,124,11.57,2.70,-6.97,0.000,4,0.156,0.047,2597,207,3719,0,0,0,0,0,0
$GC,213,-1.17,-146.0,29.7,-12.7,27,221,0.00,2.47,0.00,0.000,6,0.000,0.019,2597,1783,3721,0,0,0,0,0,0
$GC,480,-1.00,-146.0,68.2,-14.8,52,485,0.20,2.50,0.00,0.000,4,0.097,0.028,2641,3361,3722,0,0,0,0,0,0
$GC,579,-1.09,-146.0,80.6,-10.5,60,583,0.00,2.45,0.00,0.000,6,0.000,0.022,2641,1801,3722,0,0,0,0,0,0
$GC,842,-1.09,-146.0,106.9,-9.1,84,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1801,3723,0,0,0,0,0,0
$GC,1094,-1.17,-146.0,128.4,-7.5,108,1099,0.15,2.50,0.00,0.000,4,0.054,0.028,2558,3370,3724,0,0,0,0,0,0
$GC,1157,-1.04,-146.0,135.8,-12.8,113,1164,0.32,2.47,0.00,0.000,6,0.081,0.022,2630,1809,3724,0,0,0,0,0,0
$GC,1420,-1.11,-146.0,160.1,-8.8,138,1424,0.00,2.47,0.00,0.000,4,0.000,0.029,2630,3369,3724,0,0,0,0,0,0
$GC,1451,-1.19,-146.0,163.1,-9.6,140,1457,0.12,2.45,0.00,0.000,6,0.062,0.022,2543,1814,3724,0,0,0,0,0,0
$GC,1714,-0.99,-146.0,200.6,-14.8,165,1721,0.43,2.58,0.00,0.000,4,0.083,0.044,2640,212,3724,0,0,0,0,0,0
$GC,1737,-0.99,-146.0,203.6,-11.4,165,1741,0.00,2.47,0.00,0.000,6,0.000,0.019,2640,1825,3724,0,0,0,0,0,0
$GC,2001,-1.12,-146.0,224.4,-7.5,172,2006,0.10,2.42,0.00,0.000,4,0.076,0.030,2564,3357,3724,0,0,0,0,0,0
$GC,2057,-1.12,-146.0,230.1,-10.7,173,2062,0.22,2.42,0.00,0.000,6,0.081,0.023,2614,1816,3724,0,0,0,0,0,0
$GC,2333,-1.19,-146.0,250.5,-7.2,180,2337,0.00,2.45,0.00,0.000,4,0.000,0.030,2615,3360,3724,0,0,0,0,0,0
$GC,2361,-1.29,-146.0,252.7,-7.2,180,2366,0.15,2.42,0.00,0.000,6,0.053,0.024,2526,1823,3724,0,0,0,0,0,0
$GC,2618,-1.06,-146.0,285.6,-13.5,187,2621,0.50,0.00,0.00,0.000,6,0.080,0.000,2628,1821,3725,0,0,0,0,0,0
$GC,2861,-1.19,-146.0,302.9,-6.7,193,2866,0.12,2.47,0.00,0.000,4,0.063,0.034,2554,3356,3724,0,0,0,0,0,0
$GC,2907,-1.19,-146.0,307.4,-9.5,194,2913,0.20,2.42,0.00,0.000,6,0.084,0.026,2599,1831,3724,0,0,0,0,0,0
$GC,3192,-1.19,-146.0,329.6,-8.0,201,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1831,3722,0,0,0,0,0,0
$GC,3434,-1.19,-146.0,348.9,-7.9,207,3438,0.00,2.47,0.00,0.000,4,0.000,0.038,2599,3360,3721,0,0,0,0,0,0
$GC,3483,-1.31,-146.0,352.7,-7.7,208,3488,0.10,2.45,0.00,0.000,6,0.076,0.028,2533,1832,3721,0,0,0,0,0,0
$GC,3766,-1.15,-146.0,385.4,-11.9,215,3768,0.35,0.00,0.00,0.000,6,0.081,0.000,2607,1831,3719,0,0,0,0,0,0
$GC,4010,-1.24,-146.0,404.6,-7.7,221,4014,0.00,2.50,0.00,0.000,4,0.000,0.041,2607,3360,3718,0,0,0,0,0,0
$GC,4044,-1.37,-146.0,407.3,-8.4,221,4049,0.20,2.45,0.00,0.000,6,0.041,0.029,2508,1841,3718,0,0,0,0,0,0
$GC,4294,-1.16,-146.0,438.9,-12.8,227,4302,0.43,2.75,0.00,0.000,4,0.082,0.059,2602,215,3715,0,0,0,0,0,0
$GC,4316,-1.16,-146.0,441.2,-9.6,227,4320,0.00,2.60,0.00,0.000,6,0.000,0.028,2602,1833,3715,0,0,0,0,0,0
$GC,4582,-1.25,-146.0,459.6,-6.9,234,4586,0.00,2.53,0.00,0.000,4,0.000,0.047,2602,3370,3714,0,0,0,0,0,0
$GC,4625,-1.40,-146.0,462.9,-6.8,235,4630,0.20,2.45,0.00,0.000,6,0.042,0.031,2504,1852,3714,0,0,0,0,0,0
$GC,4914,-1.20,-146.0,497.0,-12.2,242,4917,0.45,0.00,0.00,0.000,6,0.081,0.000,2599,1851,3711,0,0,0,0,0,0
$STATE,4951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4951,begin apogee
$GC,4956,-0.31,0.0,500.6,11.4,243,5078,0.85,0.00,118.10,0.867,6,0.067,0.000,2795,1672,3120,0,0,0,0,0,0
$STATE,5079,end apogee,CONTROL_FINISHED_OK
$STATE,5079,begin climb
$GC,5081,1.17,146.0,505.1,0.0,246,5212,1.30,2.67,120.57,0.851,4,0.025,0.074,3118,178,2522,0,0,0,0,0,0
$GC,5260,0.72,146.0,502.6,10.3,250,5267,0.47,2.45,0.00,0.000,6,0.103,0.029,3020,1671,2518,0,0,0,0,0,0
$GC,5542,0.78,195.9,482.5,6.9,257,5591,0.00,2.83,41.90,0.827,4,0.000,0.059,3020,3257,2320,0,0,0,0,0,0
$GC,5642,0.81,213.7,474.7,8.3,259,5665,0.00,2.62,16.20,0.772,6,0.000,0.036,3020,1693,2248,0,0,0,0,0,0
$GC,5917,0.84,238.0,452.5,8.0,266,5945,0.00,2.75,21.80,0.792,4,0.000,0.071,3020,177,2149,0,0,0,0,0,0
$GC,5978,0.84,238.0,447.0,10.0,267,5983,0.10,2.45,0.00,0.000,6,0.077,0.027,3068,1689,2148,0,0,0,0,0,0
$GC,6248,0.71,238.0,419.4,10.4,274,6255,0.25,2.65,0.00,0.000,4,0.091,0.058,3010,161,2143,0,0,0,0,0,0
$GC,6307,0.74,259.1,413.7,8.1,275,6331,0.00,2.42,19.15,0.774,6,0.000,0.026,3010,1674,2063,0,0,0,0,0,0
$GC,6583,0.78,293.4,392.7,7.6,282,6619,0.00,2.67,31.00,0.785,4,0.000,0.065,3010,160,1924,0,0,0,0,0,0
$GC,6638,0.80,311.0,388.4,8.3,283,6663,0.10,2.42,17.58,0.747,6,0.077,0.026,3059,1663,1852,0,0,0,0,0,0
$GC,6914,0.80,311.0,360.4,10.4,290,6916,0.12,0.00,0.00,0.000,6,0.107,0.000,3033,1663,1845,0,0,0,0,0,0
$GC,7157,0.80,311.0,336.1,9.9,296,7161,0.00,2.70,0.00,0.000,4,0.000,0.050,3033,3261,1842,0,0,0,0,0,0
$GC,7210,0.87,311.0,330.6,10.0,297,7214,0.00,2.62,0.00,0.000,6,0.000,0.034,3033,1669,1841,0,0,0,0,0,0
$GC,7489,0.87,311.0,303.0,10.0,304,7493,0.00,2.55,0.00,0.000,4,0.000,0.063,3033,170,1840,0,0,0,0,0,0
$GC,7516,0.87,311.0,299.9,10.4,304,7521,0.00,2.42,0.00,0.000,6,0.000,0.025,3032,1684,1840,0,0,0,0,0,0
$GC,7770,0.87,311.0,275.2,9.7,311,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1684,1839,0,0,0,0,0,0
$GC,8016,0.87,311.0,251.9,9.5,317,8020,0.00,2.58,0.00,0.000,4,0.000,0.053,3032,166,1838,0,0,0,0,0,0
$GC,8062,0.87,311.0,246.8,10.1,318,8066,0.00,2.38,0.00,0.000,6,0.000,0.024,3033,1675,1838,0,0,0,0,0,0
$GC,8344,0.94,311.0,221.0,9.3,325,8349,0.12,2.55,0.00,0.000,4,0.064,0.040,3095,3245,1837,0,0,0,0,0,0
$GC,8365,0.94,311.0,218.6,11.6,325,8371,0.15,2.60,0.00,0.000,6,0.104,0.030,3063,1660,1836,0,0,0,0,0,0
$GC,8626,0.94,311.0,193.1,9.3,337,8631,0.00,2.50,0.00,0.000,4,0.000,0.052,3063,164,1836,0,0,0,0,0,0
$GC,8665,0.94,311.0,189.3,11.3,340,8669,0.00,2.38,0.00,0.000,6,0.000,0.023,3063,1670,1836,0,0,0,0,0,0
$GC,8932,0.96,324.5,165.4,8.4,364,8947,0.00,0.00,10.25,0.565,6,0.000,0.000,3063,1674,1798,0,0,0,0,0,0
$GC,9204,0.97,334.8,140.3,8.6,390,9220,0.00,2.58,10.52,0.546,4,0.000,0.047,3062,170,1755,0,0,0,0,0,0
$GC,9232,0.98,342.7,138.0,8.7,392,9249,0.00,2.40,8.82,0.528,6,0.000,0.021,3063,1670,1721,0,0,0,0,0,0
$GC,9504,0.99,346.7,114.1,8.8,418,9517,0.00,0.00,4.20,0.396,6,0.000,0.000,3063,1670,1706,0,0,0,0,0,0
$GC,9777,1.06,349.5,91.8,8.9,443,9787,0.12,2.55,4.40,0.390,4,0.065,0.031,3113,3255,1694,0,0,0,0,0,0
$GC,9812,1.06,349.5,87.3,11.0,446,9822,0.08,2.62,0.00,0.000,6,0.081,0.028,3091,1654,1692,0,0,0,0,0,0
$GC,10080,1.06,349.5,61.7,9.2,471,10084,0.00,2.42,0.00,0.000,4,0.000,0.044,3091,163,1692,0,0,0,0,0,0
$GC,10143,1.06,349.5,54.9,10.4,476,10148,0.00,2.30,0.00,0.000,6,0.000,0.020,3091,1656,1692,0,0,0,0,0,0
$GC,10412,1.06,349.5,29.7,9.6,500,10421,0.00,2.58,0.00,0.000,4,0.000,0.031,3091,3245,1692,0,0,0,0,0,0
$GC,10436,1.06,349.5,26.9,9.6,503,10445,0.00,2.60,0.00,0.000,6,0.000,0.027,3092,1645,1692,0,0,0,0,0,0
$STATE,10684,end climb,SURFACE_DEPTH_REACHED
$STATE,10685,begin surface coast
$FINISH,0.9,1.023323
$STATE,10736,end surface coast,CONTROL_FINISHED_OK
$STATE,10736,begin surface
$SM_CCo,10756,40.12,0.372,1,0,1406,420.20
$SM_GC,1.44,0.00,0.00,40.12,0.000,0.000,0.372,413,1860,1406,-11.26,1.98,420.20
$IRIDIUM_FIX,2239.35,-15800.20,180300,212124
$TT8_MAMPS,0.026078
$HUMID,46.96
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.6,47.027
$10V_AH,10.2,40.406
$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,30.275,131.650,424.500,40.125,0.000,23.548,34.256,276.885,0.750,0.000,13.413,1134.764,6933.044,503.527,2065.516,638.054,33.373,1333.574,0.000,2069.437,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,73.632,866.710,371.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.449,341.059,429.088,648.994,1147.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,44681,550
$CAP_FILE_SIZE,122335,0
$CFSIZE,260165632,152567808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241210,033456,2249.782,-15758.786,37,99.0,56,10.1