version: 66.06
glider: 148
mission: 9
dive: 380
start: 12 27 110 19 5 15
data:
$ID,148
$MISSION,9
$DIVE,380
$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,-866127.88
$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,35
$R_STBD_OVSHOOT,51
$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
$GPS1,185612,2249.409,-15800.281,84,1.7,89,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.5
$GPS2,190419,2249.286,-15800.309,9,1.2,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.224,0.112
$KALMAN_X,-31071.9,-340.5,-196.1,48051.0,663.7
$KALMAN_Y,-41938.8,-10.0,-766.5,171235.7,-511.1
$MHEAD_RNG_PITCHd_Wd,53.4,5800,-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,-75.47,0.000,2,0.000,0.000,409,1854,3295,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.6,-4.5,10,124,11.65,2.42,-7.78,0.000,4,0.157,0.039,2601,3368,3717,0,0,0,0,0,0
$GC,215,-1.05,-146.0,28.8,-13.9,27,224,0.10,2.55,0.00,0.000,6,0.076,0.023,2628,1783,3718,0,0,0,0,0,0
$GC,484,-0.98,-146.0,65.7,-13.9,52,489,0.00,2.55,0.00,0.000,4,0.000,0.030,2628,3367,3719,0,0,0,0,0,0
$GC,539,-0.98,-146.0,73.0,-12.0,56,543,0.00,2.50,0.00,0.000,6,0.000,0.022,2628,1795,3719,0,0,0,0,0,0
$GC,801,-0.98,-146.0,104.8,-10.8,80,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1795,3719,0,0,0,0,0,0
$GC,1055,-0.98,-146.0,127.0,-7.8,104,1059,0.00,2.47,0.00,0.000,4,0.000,0.028,2628,3361,3720,0,0,0,0,0,0
$GC,1097,-1.08,-146.0,130.4,-8.2,107,1103,0.00,2.47,0.00,0.000,6,0.000,0.021,2627,1796,3720,0,0,0,0,0,0
$GC,1360,-1.14,-146.0,151.8,-8.2,132,1364,0.00,2.47,0.00,0.000,4,0.000,0.028,2628,3361,3721,0,0,0,0,0,0
$GC,1388,-1.22,-146.0,154.3,-9.3,134,1393,0.15,2.45,0.00,0.000,6,0.052,0.022,2532,1798,3721,0,0,0,0,0,0
$GC,1650,-0.94,-146.0,195.7,-16.0,158,1653,0.65,0.00,0.00,0.000,6,0.084,0.000,2652,1797,3721,0,0,0,0,0,0
$GC,1894,-1.09,-146.0,216.6,-8.0,167,1899,0.12,2.50,0.00,0.000,4,0.061,0.030,2562,3361,3721,0,0,0,0,0,0
$GC,1966,-1.09,-146.0,224.8,-10.9,168,1971,0.28,2.45,0.00,0.000,6,0.076,0.024,2625,1807,3721,0,0,0,0,0,0
$GC,2226,-1.18,-146.0,247.3,-8.4,175,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1808,3721,0,0,0,0,0,0
$GC,2471,-1.27,-146.0,267.4,-8.2,181,2476,0.17,2.50,0.00,0.000,4,0.048,0.031,2529,3363,3721,0,0,0,0,0,0
$GC,2551,-1.14,-146.0,276.9,-12.3,182,2557,0.38,2.47,0.00,0.000,6,0.080,0.023,2613,1808,3721,0,0,0,0,0,0
$GC,2803,-1.21,-146.0,297.2,-7.9,188,2808,0.00,2.47,0.00,0.000,4,0.000,0.031,2613,3360,3721,0,0,0,0,0,0
$GC,2836,-1.35,-146.0,300.0,-7.7,188,2841,0.20,2.42,0.00,0.000,6,0.043,0.025,2517,1826,3721,0,0,0,0,0,0
$GC,3086,-1.13,-146.0,334.0,-14.2,194,3093,0.40,2.65,0.00,0.000,4,0.084,0.045,2609,214,3720,0,0,0,0,0,0
$GC,3109,-1.13,-146.0,336.6,-11.5,194,3113,0.00,2.53,0.00,0.000,6,0.000,0.022,2609,1818,3720,0,0,0,0,0,0
$GC,3373,-1.22,-146.0,357.3,-7.6,201,3378,0.00,2.50,0.00,0.000,4,0.000,0.036,2608,3366,3719,0,0,0,0,0,0
$GC,3429,-1.37,-146.0,361.4,-7.2,202,3434,0.20,2.45,0.00,0.000,6,0.041,0.028,2525,1841,3719,0,0,0,0,0,0
$GC,3705,-1.20,-146.0,390.9,-11.1,209,3707,0.32,0.00,0.00,0.000,6,0.082,0.000,2596,1840,3718,0,0,0,0,0,0
$GC,3947,-1.28,-146.0,407.2,-6.3,215,3951,0.00,2.50,0.00,0.000,4,0.000,0.042,2596,3364,3716,0,0,0,0,0,0
$GC,3977,-1.35,-146.0,409.1,-6.0,215,3982,0.12,2.45,0.00,0.000,6,0.061,0.028,2517,1843,3716,0,0,0,0,0,0
$GC,4232,-1.18,-146.0,437.7,-11.5,222,4238,0.35,2.53,0.00,0.000,4,0.084,0.045,2596,3367,3714,0,0,0,0,0,0
$GC,4262,-1.24,-146.0,440.6,-8.6,222,4266,0.00,2.45,0.00,0.000,6,0.000,0.028,2596,1850,3714,0,0,0,0,0,0
$GC,4518,-1.32,-146.0,460.1,-7.8,229,4520,0.10,0.00,0.00,0.000,6,0.076,0.000,2533,1850,3712,0,0,0,0,0,0
$GC,4760,-1.21,-146.0,486.8,-11.2,235,4767,0.25,2.80,0.00,0.000,4,0.087,0.065,2592,215,3710,0,0,0,0,0,0
$GC,4781,-1.21,-146.0,489.3,-9.9,235,4786,0.00,2.62,0.00,0.000,6,0.000,0.031,2592,1839,3710,0,0,0,0,0,0
$STATE,4921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4921,begin apogee
$GC,4928,-0.31,0.0,501.2,8.5,239,5049,0.88,0.00,117.45,0.867,6,0.072,0.000,2792,1675,3120,0,0,0,0,0,0
$STATE,5050,end apogee,CONTROL_FINISHED_OK
$STATE,5050,begin climb
$GC,5052,1.17,146.0,507.1,0.0,242,5177,1.30,0.00,120.20,0.849,6,0.026,0.000,3122,1674,2524,0,0,0,0,0,0
$GC,5420,0.85,146.0,487.3,10.1,251,5423,0.35,0.00,0.00,0.000,6,0.102,0.000,3048,1675,2516,0,0,0,0,0,0
$GC,5665,0.75,164.4,467.0,8.2,257,5686,0.12,2.65,15.23,0.775,4,0.117,0.066,3022,185,2448,0,0,0,0,0,0
$GC,5812,0.63,168.7,454.1,8.8,260,5824,0.12,2.42,4.70,0.574,6,0.113,0.027,2997,1677,2432,0,0,0,0,0,0
$GC,6090,0.70,225.2,435.1,6.7,267,6147,0.00,2.62,49.03,0.819,4,0.000,0.059,2996,182,2202,0,0,0,0,0,0
$GC,6216,0.71,236.1,425.5,8.6,269,6233,0.00,2.40,11.07,0.725,6,0.000,0.026,2996,1665,2156,0,0,0,0,0,0
$GC,6514,0.84,281.0,404.2,7.1,277,6560,0.20,2.75,39.65,0.795,4,0.046,0.054,3075,3249,1973,0,0,0,0,0,0
$GC,6584,0.75,281.0,396.6,12.4,278,6591,0.25,2.65,0.00,0.000,6,0.091,0.036,3021,1677,1969,0,0,0,0,0,0
$GC,6842,0.75,281.0,373.0,9.1,285,6847,0.00,2.60,0.00,0.000,4,0.000,0.067,3020,164,1965,0,0,0,0,0,0
$GC,6885,0.75,281.0,368.7,9.6,286,6890,0.00,2.38,0.00,0.000,6,0.000,0.025,3020,1656,1964,0,0,0,0,0,0
$GC,7174,0.77,296.9,344.3,8.3,293,7190,0.00,0.00,14.15,0.720,6,0.000,0.000,3021,1657,1909,0,0,0,0,0,0
$GC,7416,0.85,311.3,324.0,8.4,299,7437,0.10,2.75,14.23,0.708,4,0.077,0.049,3080,3240,1849,0,0,0,0,0,0
$GC,7453,0.76,311.3,319.5,12.8,299,7462,0.25,2.67,0.00,0.000,6,0.088,0.035,3027,1643,1847,0,0,0,0,0,0
$GC,7707,0.76,311.3,294.8,9.8,306,7712,0.00,2.53,0.00,0.000,4,0.000,0.063,3026,166,1844,0,0,0,0,0,0
$GC,7735,0.76,311.3,291.6,10.7,306,7739,0.00,2.38,0.00,0.000,6,0.000,0.024,3026,1656,1844,0,0,0,0,0,0
$GC,7990,0.84,313.2,268.4,8.9,313,7994,0.00,2.62,0.00,0.000,4,0.000,0.042,3026,3250,1843,0,0,0,0,0,0
$GC,8038,0.97,313.2,264.2,9.4,314,8045,0.20,2.65,0.00,0.000,6,0.046,0.033,3119,1648,1841,0,0,0,0,0,0
$GC,8323,0.80,313.2,230.7,11.8,321,8331,0.38,2.53,0.00,0.000,4,0.090,0.058,3034,170,1841,0,0,0,0,0,0
$GC,8407,0.87,313.2,222.6,9.9,322,8411,0.00,2.30,0.00,0.000,6,0.000,0.021,3034,1644,1841,0,0,0,0,0,0
$GC,8657,0.95,321.5,201.2,8.7,328,8674,0.15,2.62,8.88,0.578,4,0.055,0.035,3107,3245,1808,0,0,0,0,0,0
$GC,8714,0.87,321.5,194.2,13.9,330,8727,0.25,2.62,0.00,0.000,6,0.088,0.030,3051,1644,1807,0,0,0,0,0,0
$GC,8981,0.87,321.5,165.8,10.2,355,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1644,1806,0,0,0,0,0,0
$GC,9244,0.87,321.5,140.1,10.0,380,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1644,1806,0,0,0,0,0,0
$GC,9499,0.98,348.8,116.8,7.9,404,9533,0.10,0.00,24.55,0.568,6,0.077,0.000,3096,1644,1697,0,0,0,0,0,0
$GC,9790,0.98,348.8,88.3,10.0,431,9794,0.12,2.45,0.00,0.000,4,0.107,0.047,3069,173,1695,0,0,0,0,0,0
$GC,9845,0.98,348.8,82.2,9.5,436,9849,0.00,2.33,0.00,0.000,6,0.000,0.021,3069,1660,1694,0,0,0,0,0,0
$GC,10114,0.98,348.8,58.7,9.8,460,10118,0.00,2.53,0.00,0.000,4,0.000,0.030,3069,3254,1694,0,0,0,0,0,0
$GC,10167,1.12,348.8,53.3,9.9,464,10173,0.12,2.60,0.00,0.000,6,0.063,0.027,3147,1642,1692,0,0,0,0,0,0
$GC,10447,0.98,348.8,18.6,12.6,495,10456,0.32,2.42,0.00,0.000,4,0.087,0.041,3075,177,1692,0,0,0,0,0,0
$GC,10515,1.07,348.8,11.8,9.2,505,10523,0.00,2.30,0.00,0.000,6,0.000,0.019,3075,1653,1692,0,0,0,0,0,0
$STATE,10600,end climb,SURFACE_DEPTH_REACHED
$STATE,10600,begin surface coast
$FINISH,0.8,1.023650
$STATE,10662,end surface coast,CONTROL_FINISHED_OK
$STATE,10662,begin surface
$SM_CCo,10682,40.20,0.374,1,0,1407,420.20
$SM_GC,1.51,0.00,0.00,40.20,0.000,0.000,0.374,411,1875,1407,-11.27,2.43,420.20
$IRIDIUM_FIX,2239.35,-15802.37,220300,151534
$TT8_MAMPS,0.026845
$HUMID,47.63
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,50.478
$10V_AH,10.3,43.725
$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,31.500,121.400,419.125,40.200,0.000,28.425,33.990,270.861,0.000,0.000,16.941,1104.870,6966.111,502.616,1985.692,653.773,33.377,1307.537,0.000,1995.487,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,66.729,866.710,373.529,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.190,327.010,408.135,610.821,1080.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,41753,527
$CAP_FILE_SIZE,121396,0
$CFSIZE,260165632,150847488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271210,220507,2249.169,-15759.326,25,1.6,25,10.1