version: 66.06
glider: 148
mission: 9
dive: 381
start: 12 27 110 22 14 5
data:
$ID,148
$MISSION,9
$DIVE,381
$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,-866144.94
$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
$GPS1,220507,2249.169,-15759.326,25,1.6,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.8
$GPS2,221308,2249.083,-15759.312,14,1.6,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.165,0.189
$KALMAN_X,-31633.7,-261.2,-484.7,50543.2,784.9
$KALMAN_Y,-44316.0,168.6,-183.6,172480.2,-984.6
$MHEAD_RNG_PITCHd_Wd,31.0,4298,-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,17,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.80,0.000,2,0.000,0.000,410,1875,3302,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.5,-4.5,10,125,11.50,2.72,-7.50,0.000,4,0.152,0.049,2598,200,3718,0,0,0,0,0,0
$GC,208,-1.17,-146.0,28.5,-12.4,26,217,0.00,2.50,0.00,0.000,6,0.000,0.019,2598,1784,3719,0,0,0,0,0,0
$GC,484,-1.02,-146.0,69.3,-14.8,52,490,0.17,2.53,0.00,0.000,4,0.101,0.031,2636,3362,3720,0,0,0,0,0,0
$GC,561,-1.02,-146.0,79.3,-10.9,58,566,0.00,2.47,0.00,0.000,6,0.000,0.022,2637,1792,3720,0,0,0,0,0,0
$GC,823,-1.02,-146.0,108.6,-9.5,82,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1792,3721,0,0,0,0,0,0
$GC,1078,-1.08,-146.0,131.7,-8.0,106,1082,0.00,2.50,0.00,0.000,4,0.000,0.028,2637,3370,3721,0,0,0,0,0,0
$GC,1129,-1.24,-146.0,135.5,-6.9,110,1139,0.17,2.47,0.00,0.000,6,0.018,0.021,2504,1818,3721,0,0,0,0,0,0
$GC,1392,-0.92,-146.0,176.4,-16.7,135,1394,0.70,0.00,0.00,0.000,6,0.083,0.000,2658,1817,3722,0,0,0,0,0,0
$GC,1648,-1.09,-146.0,195.0,-6.8,159,1653,0.15,2.47,0.00,0.000,4,0.054,0.029,2561,3368,3722,0,0,0,0,0,0
$GC,1731,-1.09,-146.0,204.4,-10.7,164,1736,0.28,2.42,0.00,0.000,6,0.077,0.023,2624,1827,3722,0,0,0,0,0,0
$GC,1983,-1.15,-146.0,226.7,-9.0,170,1987,0.00,2.45,0.00,0.000,4,0.000,0.029,2624,3361,3722,0,0,0,0,0,0
$GC,2007,-1.24,-146.0,228.9,-8.9,170,2012,0.15,2.40,0.00,0.000,6,0.054,0.022,2541,1833,3722,0,0,0,0,0,0
$GC,2267,-1.05,-146.0,262.6,-13.4,177,2274,0.40,2.62,0.00,0.000,4,0.081,0.038,2626,204,3722,0,0,0,0,0,0
$GC,2290,-1.05,-146.0,264.9,-8.5,177,2295,0.00,2.55,0.00,0.000,6,0.000,0.020,2626,1837,3722,0,0,0,0,0,0
$GC,2554,-1.17,-146.0,280.5,-5.6,184,2558,0.00,2.40,0.00,0.000,4,0.000,0.031,2626,3360,3722,0,0,0,0,0,0
$GC,2602,-1.37,-146.0,283.1,-5.2,185,2607,0.25,2.42,0.00,0.000,6,0.034,0.025,2511,1836,3722,0,0,0,0,0,0
$GC,2892,-1.14,-146.0,318.9,-13.2,192,2894,0.47,0.00,0.00,0.000,6,0.081,0.000,2610,1836,3722,0,0,0,0,0,0
$GC,3134,-1.23,-146.0,339.9,-8.2,198,3138,0.00,2.47,0.00,0.000,4,0.000,0.035,2610,3358,3721,0,0,0,0,0,0
$GC,3168,-1.38,-146.0,342.6,-7.8,198,3173,0.22,2.42,0.00,0.000,6,0.038,0.028,2510,1851,3721,0,0,0,0,0,0
$GC,3418,-1.17,-146.0,373.7,-12.5,204,3426,0.40,2.75,0.00,0.000,4,0.084,0.052,2602,211,3719,0,0,0,0,0,0
$GC,3454,-1.27,-146.0,377.2,-8.5,204,3459,0.00,2.58,0.00,0.000,6,0.000,0.025,2601,1834,3719,0,0,0,0,0,0
$GC,3706,-1.34,-146.0,394.7,-7.1,210,3711,0.15,2.50,0.00,0.000,4,0.056,0.040,2534,3370,3718,0,0,0,0,0,0
$GC,3727,-1.34,-146.0,396.7,-8.8,210,3733,0.15,2.45,0.00,0.000,6,0.094,0.028,2568,1836,3718,0,0,0,0,0,0
$GC,3994,-1.34,-146.0,419.3,-8.6,217,3998,0.00,2.72,0.00,0.000,4,0.000,0.058,2568,212,3716,0,0,0,0,0,0
$GC,4031,-1.34,-146.0,423.1,-9.5,217,4037,0.00,2.60,0.00,0.000,6,0.000,0.028,2568,1839,3716,0,0,0,0,0,0
$GC,4280,-1.34,-146.0,445.2,-9.1,224,4284,0.00,2.50,0.00,0.000,4,0.000,0.042,2568,3367,3714,0,0,0,0,0,0
$GC,4303,-1.34,-146.0,447.3,-8.8,224,4308,0.00,2.47,0.00,0.000,6,0.000,0.030,2568,1837,3714,0,0,0,0,0,0
$GC,4564,-1.34,-146.0,469.5,-8.6,231,4568,0.00,2.78,0.00,0.000,4,0.000,0.066,2568,208,3712,0,0,0,0,0,0
$GC,4583,-1.34,-146.0,471.4,-8.8,231,4587,0.00,2.62,0.00,0.000,6,0.000,0.028,2568,1837,3712,0,0,0,0,0,0
$GC,4847,-1.34,-146.0,493.0,-8.2,238,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1837,3710,0,0,0,0,0,0
$STATE,4925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4925,begin apogee
$GC,4933,-0.31,0.0,500.3,8.5,240,5054,1.00,0.00,117.65,0.867,6,0.077,0.000,2793,1662,3120,0,0,0,0,0,0
$STATE,5055,end apogee,CONTROL_FINISHED_OK
$STATE,5055,begin climb
$GC,5057,1.17,146.0,506.1,0.0,243,5186,1.33,0.00,120.88,0.851,6,0.035,0.000,3130,1662,2524,0,0,0,0,0,0
$GC,5424,0.85,164.7,490.1,8.2,252,5443,0.40,0.00,16.10,0.782,6,0.103,0.000,3046,1662,2448,0,0,0,0,0,0
$GC,5668,0.77,193.7,471.2,7.8,258,5700,0.00,2.65,25.65,0.808,4,0.000,0.066,3046,190,2329,0,0,0,0,0,0
$GC,5784,0.60,193.7,459.5,10.3,260,5790,0.25,2.40,0.00,0.000,6,0.099,0.028,2994,1677,2326,0,0,0,0,0,0
$GC,6044,0.64,226.6,439.4,7.6,267,6080,0.00,2.62,28.67,0.801,4,0.000,0.059,2993,180,2195,0,0,0,0,0,0
$GC,6115,0.64,226.6,433.8,9.7,268,6119,0.00,2.42,0.00,0.000,6,0.000,0.026,2993,1683,2193,0,0,0,0,0,0
$GC,6374,0.78,276.2,415.3,6.9,275,6421,0.15,0.00,43.78,0.801,6,0.057,0.000,3058,1684,1994,0,0,0,0,0,0
$GC,6663,0.70,276.2,386.7,10.1,282,6668,0.22,2.60,0.00,0.000,4,0.093,0.057,3009,183,1986,0,0,0,0,0,0
$GC,6724,0.71,289.2,380.5,8.5,283,6741,0.00,2.35,11.85,0.716,6,0.000,0.025,3009,1658,1941,0,0,0,0,0,0
$GC,6994,0.80,306.9,358.5,8.3,290,7013,0.10,0.00,17.33,0.737,6,0.077,0.000,3059,1658,1868,0,0,0,0,0,0
$GC,7235,0.80,306.9,332.9,10.8,296,7240,0.12,2.55,0.00,0.000,4,0.109,0.056,3034,182,1864,0,0,0,0,0,0
$GC,7256,0.80,306.9,330.6,10.4,296,7260,0.00,2.35,0.00,0.000,6,0.000,0.025,3033,1659,1863,0,0,0,0,0,0
$GC,7525,0.80,306.9,303.3,10.3,303,7529,0.00,2.67,0.00,0.000,4,0.000,0.048,3033,3247,1862,0,0,0,0,0,0
$GC,7562,0.90,306.9,299.4,9.8,303,7568,0.00,2.62,0.00,0.000,6,0.000,0.035,3034,1669,1859,0,0,0,0,0,0
$GC,7812,0.90,306.9,274.3,10.1,310,7816,0.00,2.55,0.00,0.000,4,0.000,0.063,3034,168,1859,0,0,0,0,0,0
$GC,7874,0.90,306.9,267.6,11.2,311,7879,0.10,2.38,0.00,0.000,6,0.077,0.024,3092,1659,1859,0,0,0,0,0,0
$GC,8145,0.79,306.9,235.9,11.6,318,8150,0.25,2.53,0.00,0.000,4,0.094,0.054,3034,169,1858,0,0,0,0,0,0
$GC,8168,0.79,306.9,233.1,10.2,318,8173,0.00,2.33,0.00,0.000,6,0.000,0.022,3034,1642,1858,0,0,0,0,0,0
$GC,8429,0.86,306.9,209.6,9.2,325,8434,0.00,2.62,0.00,0.000,4,0.000,0.038,3034,3249,1857,0,0,0,0,0,0
$GC,8462,0.98,308.8,206.4,8.9,325,8468,0.17,2.65,0.00,0.000,6,0.050,0.031,3109,1633,1856,0,0,0,0,0,0
$GC,8726,0.84,308.8,174.6,12.5,343,8731,0.28,2.42,0.00,0.000,4,0.092,0.048,3046,175,1856,0,0,0,0,0,0
$GC,8751,0.84,308.8,171.0,11.0,345,8755,0.00,2.30,0.00,0.000,6,0.000,0.022,3046,1653,1856,0,0,0,0,0,0
$GC,9018,0.86,318.5,147.2,8.6,369,9037,0.00,0.00,9.68,0.548,6,0.000,0.000,3046,1656,1820,0,0,0,0,0,0
$GC,9295,0.86,318.7,122.8,9.0,395,9300,0.00,2.58,0.00,0.000,4,0.000,0.034,3046,3258,1819,0,0,0,0,0,0
$GC,9343,1.00,318.7,118.1,9.9,399,9349,0.12,2.62,0.00,0.000,6,0.063,0.028,3121,1637,1817,0,0,0,0,0,0
$GC,9608,0.88,318.7,86.3,11.5,423,9613,0.30,2.40,0.00,0.000,4,0.091,0.051,3054,173,1818,0,0,0,0,0,0
$GC,9677,0.99,332.3,79.2,8.4,429,9703,0.00,2.25,13.23,0.517,6,0.000,0.021,3054,1642,1764,0,0,0,0,0,0
$GC,9957,1.13,370.0,57.5,7.4,455,10004,0.20,2.65,34.22,0.524,4,0.043,0.032,3153,3250,1608,0,0,0,0,0,0
$GC,10012,0.97,370.0,51.2,12.8,459,10021,0.35,2.65,0.00,0.000,6,0.078,0.027,3072,1641,1606,0,0,0,0,0,0
$GC,10282,1.04,370.0,25.9,9.5,487,10291,0.00,2.45,0.00,0.000,4,0.000,0.045,3072,171,1605,0,0,0,0,0,0
$GC,10307,1.04,370.0,23.4,9.6,490,10316,0.00,2.30,0.00,0.000,6,0.000,0.019,3072,1636,1605,0,0,0,0,0,0
$STATE,10517,end climb,SURFACE_DEPTH_REACHED
$STATE,10517,begin surface coast
$FINISH,0.7,1.010120
$STATE,10568,end surface coast,CONTROL_FINISHED_OK
$STATE,10569,begin surface
$SM_CCo,10591,30.17,0.341,1,0,1405,420.20
$SM_GC,1.82,0.00,0.00,30.17,0.000,0.000,0.341,414,1857,1405,-11.25,1.89,420.20
$IRIDIUM_FIX,2239.35,-15800.20,220300,191919
$TT8_MAMPS,0.026845
$HUMID,47.79
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,23.5,50.599
$10V_AH,10.3,43.839
$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,31.350,131.225,439.025,30.175,0.000,31.242,35.252,273.598,0.750,0.000,16.428,1096.301,6877.856,527.559,1962.804,645.567,33.376,1315.181,0.000,1966.899,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,65.962,866.710,340.548,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.133,324.343,411.129,636.265,1125.357,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,41580,531
$CAP_FILE_SIZE,119949,0
$CFSIZE,260165632,150790144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281210,011231,2249.717,-15758.250,40,1.8,40,10.1