version: 66.06
glider: 148
mission: 9
dive: 360
start: 12 25 110 5 25 58
data:
$ID,148
$MISSION,9
$DIVE,360
$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,-865656.56
$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,19
$R_STBD_OVSHOOT,75
$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
$GPS1,051736,2247.446,-15802.871,35,0.9,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.3
$GPS2,052501,2247.428,-15802.864,9,1.0,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.051,0.245
$KALMAN_X,-44293.7,143.0,-80.9,56266.9,456.8
$KALMAN_Y,-20755.1,-463.5,-452.0,146740.0,-459.1
$MHEAD_RNG_PITCHd_Wd,338.2,4768,-15.8,-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,-75.25,0.000,2,0.000,0.000,410,1825,3259,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.2,-3.7,10,125,11.52,2.47,-8.50,0.000,4,0.153,0.042,2595,3337,3719,0,0,0,0,0,0
$GC,208,-1.02,-146.0,27.7,-14.5,26,218,0.15,2.53,0.00,0.000,6,0.079,0.024,2633,1769,3721,0,0,0,0,0,0
$GC,487,-0.92,-146.0,64.8,-13.4,52,492,0.12,2.53,0.00,0.000,4,0.114,0.029,2659,3347,3721,0,0,0,0,0,0
$GC,553,-1.04,-146.0,72.9,-10.6,57,558,0.12,2.47,0.00,0.000,6,0.061,0.022,2578,1791,3722,0,0,0,0,0,0
$GC,822,-0.84,-146.0,118.3,-16.6,81,828,0.45,0.00,0.00,0.000,6,0.084,0.000,2672,1790,3722,0,0,0,0,0,0
$GC,1085,-1.03,-146.0,138.8,-6.7,106,1090,0.15,2.45,0.00,0.000,4,0.053,0.027,2579,3340,3723,0,0,0,0,0,0
$GC,1187,-1.03,-146.0,148.9,-10.4,115,1192,0.25,2.40,0.00,0.000,6,0.081,0.022,2636,1806,3723,0,0,0,0,0,0
$GC,1454,-1.09,-146.0,172.3,-8.7,139,1459,0.00,2.42,0.00,0.000,4,0.000,0.028,2636,3343,3724,0,0,0,0,0,0
$GC,1494,-1.24,-146.0,176.0,-7.2,142,1500,0.20,2.42,0.00,0.000,6,0.041,0.022,2514,1812,3724,0,0,0,0,0,0
$GC,1782,-0.94,-146.0,219.4,-15.7,161,1790,0.60,2.58,0.00,0.000,4,0.083,0.036,2650,205,3724,0,0,0,0,0,0
$GC,1801,-0.82,-146.0,222.1,-14.0,161,1807,0.15,2.47,0.00,0.000,6,0.094,0.019,2686,1799,3725,0,0,0,0,0,0
$GC,2071,-1.10,-146.0,236.3,-5.0,168,2076,0.25,2.45,0.00,0.000,4,0.035,0.028,2576,3360,3725,0,0,0,0,0,0
$GC,2110,-1.10,-146.0,239.5,-9.3,168,2117,0.20,2.45,0.00,0.000,6,0.082,0.023,2623,1815,3725,0,0,0,0,0,0
$GC,2361,-1.18,-146.0,259.6,-8.5,175,2365,0.00,2.47,0.00,0.000,4,0.000,0.029,2623,3364,3724,0,0,0,0,0,0
$GC,2389,-1.28,-146.0,262.2,-9.3,175,2394,0.17,2.45,0.00,0.000,6,0.047,0.023,2544,1820,3725,0,0,0,0,0,0
$GC,2646,-1.14,-146.0,293.6,-12.6,182,2651,0.28,2.45,0.00,0.000,4,0.083,0.030,2608,3358,3724,0,0,0,0,0,0
$GC,2690,-1.27,-146.0,298.3,-8.9,183,2695,0.10,2.42,0.00,0.000,6,0.074,0.025,2533,1839,3725,0,0,0,0,0,0
$GC,2979,-1.10,-146.0,333.4,-12.6,190,2981,0.40,0.00,0.00,0.000,6,0.080,0.000,2620,1839,3724,0,0,0,0,0,0
$GC,3222,-1.22,-146.0,351.6,-7.0,196,3227,0.10,2.45,0.00,0.000,4,0.077,0.037,2557,3356,3723,0,0,0,0,0,0
$GC,3259,-1.22,-146.0,355.3,-9.8,196,3266,0.17,2.42,0.00,0.000,6,0.086,0.027,2598,1842,3723,0,0,0,0,0,0
$GC,3511,-1.22,-146.0,375.0,-7.7,203,3515,0.00,2.47,0.00,0.000,4,0.000,0.038,2597,3360,3722,0,0,0,0,0,0
$GC,3544,-1.30,-146.0,377.7,-7.0,203,3548,0.00,2.42,0.00,0.000,6,0.000,0.028,2597,1854,3722,0,0,0,0,0,0
$GC,3794,-1.30,-146.0,395.3,-7.0,209,3798,0.00,2.45,0.00,0.000,4,0.000,0.039,2598,3354,3720,0,0,0,0,0,0
$GC,3824,-1.37,-146.0,397.3,-7.1,209,3829,0.15,2.40,0.00,0.000,6,0.054,0.028,2519,1853,3720,0,0,0,0,0,0
$GC,4079,-1.19,-146.0,424.9,-11.4,216,4081,0.38,0.00,0.00,0.000,6,0.081,0.000,2602,1853,3719,0,0,0,0,0,0
$GC,4323,-1.27,-146.0,442.9,-7.2,222,4327,0.00,2.47,0.00,0.000,4,0.000,0.044,2602,3350,3717,0,0,0,0,0,0
$GC,4362,-1.41,-146.0,445.8,-7.3,222,4368,0.20,2.40,0.00,0.000,6,0.042,0.030,2511,1866,3717,0,0,0,0,0,0
$GC,4612,-1.23,-146.0,473.2,-11.2,229,4619,0.32,2.83,0.00,0.000,4,0.086,0.063,2587,218,3716,0,0,0,0,0,0
$GC,4634,-1.23,-146.0,475.3,-7.9,229,4638,0.00,2.62,0.00,0.000,6,0.000,0.029,2587,1853,3715,0,0,0,0,0,0
$GC,4899,-1.23,-146.0,491.3,-6.1,236,4904,0.00,2.47,0.00,0.000,4,0.000,0.049,2588,3349,3713,0,0,0,0,0,0
$GC,4937,-1.31,-146.0,493.9,-6.2,236,4942,0.00,2.40,0.00,0.000,6,0.000,0.030,2588,1872,3713,0,0,0,0,0,0
$STATE,5062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5062,begin apogee
$GC,5068,-0.31,0.0,502.0,6.4,240,5190,0.90,0.00,118.38,0.865,6,0.071,0.000,2792,1678,3120,0,0,0,0,0,0
$STATE,5191,end apogee,CONTROL_FINISHED_OK
$STATE,5191,begin climb
$GC,5193,1.17,146.0,506.4,0.0,243,5325,1.35,2.70,121.05,0.850,4,0.029,0.048,3123,3238,2524,0,0,0,0,0,0
$GC,5440,0.88,153.6,500.1,8.7,248,5453,0.35,2.58,7.10,0.671,6,0.107,0.037,3051,1696,2493,0,0,0,0,0,0
$GC,5739,0.83,224.6,481.2,6.1,256,5808,0.00,2.75,60.75,0.833,4,0.000,0.074,3050,161,2204,0,0,0,0,0,0
$GC,5848,0.67,224.6,472.5,10.2,258,5854,0.20,2.45,0.00,0.000,6,0.103,0.028,3008,1661,2202,0,0,0,0,0,0
$GC,6115,0.73,274.8,454.0,6.9,265,6164,0.00,2.62,44.15,0.815,4,0.000,0.060,3007,167,1998,0,0,0,0,0,0
$GC,6206,0.73,274.8,445.9,10.2,267,6210,0.00,2.45,0.00,0.000,6,0.000,0.028,3007,1677,1996,0,0,0,0,0,0
$GC,6485,0.73,274.8,420.9,9.1,274,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1677,1991,0,0,0,0,0,0
$GC,6727,0.81,286.4,399.3,8.5,280,6740,0.12,0.00,10.30,0.713,6,0.064,0.000,3069,1677,1952,0,0,0,0,0,0
$GC,6971,0.70,286.4,373.4,10.6,286,6973,0.25,0.00,0.00,0.000,6,0.094,0.000,3014,1677,1948,0,0,0,0,0,0
$GC,7214,0.73,312.3,354.2,7.9,292,7246,0.00,2.65,24.55,0.754,4,0.000,0.056,3014,164,1844,0,0,0,0,0,0
$GC,7264,0.73,312.3,350.0,9.5,293,7268,0.00,2.45,0.00,0.000,6,0.000,0.025,3014,1679,1844,0,0,0,0,0,0
$GC,7546,0.80,312.3,322.9,9.9,300,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1679,1840,0,0,0,0,0,0
$GC,7791,0.89,312.3,297.5,10.5,306,7793,0.17,0.00,0.00,0.000,6,0.051,0.000,3072,1678,1839,0,0,0,0,0,0
$GC,8033,0.83,312.3,268.9,11.5,312,8035,0.15,0.00,0.00,0.000,6,0.105,0.000,3040,1680,1838,0,0,0,0,0,0
$GC,8276,0.83,312.3,245.1,9.9,318,8281,0.00,2.55,0.00,0.000,4,0.000,0.053,3040,164,1837,0,0,0,0,0,0
$GC,8309,0.83,312.3,241.3,12.0,318,8313,0.00,2.40,0.00,0.000,6,0.000,0.023,3040,1677,1836,0,0,0,0,0,0
$GC,8560,0.83,312.3,216.3,9.8,324,8564,0.00,2.55,0.00,0.000,4,0.000,0.051,3040,157,1835,0,0,0,0,0,0
$GC,8622,0.83,312.3,209.6,11.5,325,8626,0.00,2.38,0.00,0.000,6,0.000,0.022,3040,1663,1835,0,0,0,0,0,0
$GC,8892,0.83,312.3,184.5,9.2,343,8896,0.00,2.50,0.00,0.000,4,0.000,0.048,3040,156,1835,0,0,0,0,0,0
$GC,8936,0.83,312.3,179.7,10.1,347,8940,0.00,2.35,0.00,0.000,6,0.000,0.022,3041,1652,1835,0,0,0,0,0,0
$GC,9200,0.93,348.7,159.9,7.5,371,9238,0.10,0.00,30.88,0.606,6,0.076,0.000,3083,1656,1697,0,0,0,0,0,0
$GC,9496,0.93,348.7,123.4,13.1,399,9500,0.00,2.60,0.00,0.000,4,0.000,0.033,3083,3256,1694,0,0,0,0,0,0
$GC,9514,0.93,348.7,120.6,11.9,400,9523,0.00,2.67,0.00,0.000,6,0.000,0.028,3083,1627,1691,0,0,0,0,0,0
$GC,9783,0.93,348.7,94.9,9.7,425,9787,0.00,2.40,0.00,0.000,4,0.000,0.052,3083,160,1691,0,0,0,0,0,0
$GC,9841,0.93,348.7,87.6,10.4,430,9852,0.00,2.35,0.00,0.000,6,0.000,0.021,3083,1647,1691,0,0,0,0,0,0
$GC,10109,0.93,348.7,63.4,9.0,455,10114,0.00,2.55,0.00,0.000,4,0.000,0.031,3083,3250,1691,0,0,0,0,0,0
$GC,10152,1.03,353.1,59.5,8.8,458,10166,0.00,2.60,4.60,0.374,6,0.000,0.027,3083,1638,1678,0,0,0,0,0,0
$GC,10420,1.03,353.4,35.3,9.0,483,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1638,1678,0,0,0,0,0,0
$GC,10721,1.03,354.9,8.5,8.9,527,10729,0.00,2.40,0.00,0.000,4,0.000,0.043,3083,180,1678,0,0,0,0,0,0
$GC,10739,1.03,355.5,6.6,9.0,529,10748,0.00,2.30,4.18,0.326,6,0.000,0.019,3083,1662,1670,0,0,0,0,0,0
$STATE,10762,end climb,SURFACE_DEPTH_REACHED
$STATE,10762,begin surface coast
$FINISH,0.7,1.023316
$STATE,10807,end surface coast,CONTROL_FINISHED_OK
$STATE,10807,begin surface
$SM_CCo,10827,37.53,0.364,1,0,1406,420.20
$SM_GC,1.52,0.00,0.00,37.53,0.000,0.000,0.364,416,1841,1406,-11.24,1.44,420.20
$IRIDIUM_FIX,2237.01,-15805.41,200300,020208
$TT8_MAMPS,0.026845
$HUMID,45.90
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,48.101
$10V_AH,10.2,41.483
$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,30.850,124.975,425.925,37.525,0.000,23.697,43.707,241.771,0.250,0.000,16.147,1112.935,7092.281,535.120,1955.399,626.633,33.369,1312.102,0.000,1971.981,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,73.632,865.176,363.558,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.663,339.136,419.626,629.511,1110.809,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,41535,539
$CAP_FILE_SIZE,119736,0
$CFSIZE,260165632,152014848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251210,082831,2248.579,-15803.266,35,1.3,41,10.1