version: 66.06
glider: 148
mission: 9
dive: 390
start: 12 29 110 0 56 47
data:
$ID,148
$MISSION,9
$DIVE,390
$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,-866314.69
$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,85
$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
$GPS1,004725,2247.452,-15802.891,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.6
$GPS2,005550,2247.478,-15802.911,12,1.5,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.004,0.251
$KALMAN_X,-35769.4,83.8,-307.2,47952.2,-86.3
$KALMAN_Y,-55445.0,132.8,493.7,179979.2,-1405.5
$MHEAD_RNG_PITCHd_Wd,350.7,4674,-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,-75.05,0.000,2,0.000,0.000,409,1826,3291,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.7,-5.1,10,124,11.48,2.40,-7.95,0.000,4,0.151,0.041,2598,3327,3718,0,0,0,0,0,0
$GC,247,-1.08,-146.0,32.5,-14.2,31,252,0.10,2.45,0.00,0.000,6,0.115,0.023,2623,1777,3720,0,0,0,0,0,0
$GC,514,-1.00,-146.0,65.2,-12.0,55,519,0.00,2.50,0.00,0.000,4,0.000,0.028,2623,3336,3720,0,0,0,0,0,0
$GC,558,-1.00,-146.0,70.6,-11.7,58,562,0.00,2.42,0.00,0.000,6,0.000,0.022,2623,1796,3720,0,0,0,0,0,0
$GC,820,-1.00,-146.0,103.1,-11.7,82,825,0.00,2.42,0.00,0.000,4,0.000,0.028,2622,3328,3721,0,0,0,0,0,0
$GC,879,-1.06,-146.0,109.1,-9.7,87,883,0.00,2.38,0.00,0.000,6,0.000,0.022,2623,1813,3721,0,0,0,0,0,0
$GC,1147,-1.06,-146.0,132.4,-7.6,111,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1813,3721,0,0,0,0,0,0
$GC,1411,-1.06,-146.0,152.8,-8.0,136,1415,0.00,2.42,0.00,0.000,4,0.000,0.028,2623,3334,3722,0,0,0,0,0,0
$GC,1487,-1.21,-146.0,158.4,-6.5,143,1492,0.12,2.40,0.00,0.000,6,0.061,0.022,2541,1816,3722,0,0,0,0,0,0
$GC,1750,-0.96,-146.0,194.4,-14.8,167,1759,0.52,2.40,0.00,0.000,4,0.081,0.027,2645,3330,3722,0,0,0,0,0,0
$GC,1775,-0.88,-146.0,197.0,-12.1,169,1780,0.10,2.38,0.00,0.000,6,0.109,0.022,2669,1825,3722,0,0,0,0,0,0
$GC,2062,-1.12,-146.0,215.4,-6.3,179,2067,0.22,2.40,0.00,0.000,4,0.038,0.028,2550,3328,3722,0,0,0,0,0,0
$GC,2107,-1.12,-146.0,219.8,-11.1,180,2112,0.30,2.33,0.00,0.000,6,0.075,0.023,2619,1844,3722,0,0,0,0,0,0
$GC,2396,-1.19,-146.0,244.0,-8.1,187,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1844,3722,0,0,0,0,0,0
$GC,2639,-1.28,-146.0,260.1,-6.3,193,2644,0.15,2.38,0.00,0.000,4,0.054,0.030,2538,3335,3722,0,0,0,0,0,0
$GC,2711,-1.17,-146.0,267.2,-10.6,194,2716,0.30,2.35,0.00,0.000,6,0.078,0.023,2605,1840,3722,0,0,0,0,0,0
$GC,2971,-1.17,-146.0,290.0,-8.7,201,2975,0.00,2.38,0.00,0.000,4,0.000,0.031,2606,3335,3722,0,0,0,0,0,0
$GC,3028,-1.30,-146.0,294.9,-9.1,202,3033,0.12,2.35,0.00,0.000,6,0.061,0.025,2534,1858,3721,0,0,0,0,0,0
$GC,3302,-1.15,-146.0,328.8,-13.0,209,3309,0.30,2.70,0.00,0.000,4,0.082,0.047,2604,212,3720,0,0,0,0,0,0
$GC,3333,-1.24,-146.0,332.2,-10.0,209,3337,0.00,2.53,0.00,0.000,6,0.000,0.022,2604,1827,3720,0,0,0,0,0,0
$GC,3590,-1.32,-146.0,353.1,-8.0,216,3595,0.12,2.50,0.00,0.000,4,0.064,0.036,2538,3368,3719,0,0,0,0,0,0
$GC,3646,-1.23,-146.0,359.5,-11.1,217,3651,0.22,2.38,0.00,0.000,6,0.084,0.026,2590,1869,3719,0,0,0,0,0,0
$GC,3921,-1.23,-146.0,381.9,-7.9,224,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1870,3717,0,0,0,0,0,0
$GC,4164,-1.23,-146.0,401.2,-8.0,230,4168,0.00,2.42,0.00,0.000,4,0.000,0.041,2591,3360,3716,0,0,0,0,0,0
$GC,4201,-1.32,-146.0,404.5,-8.6,230,4207,0.00,2.38,0.00,0.000,6,0.000,0.028,2590,1883,3715,0,0,0,0,0,0
$GC,4453,-1.32,-146.0,425.0,-8.5,237,4457,0.00,2.83,0.00,0.000,4,0.000,0.059,2590,215,3714,0,0,0,0,0,0
$GC,4504,-1.46,-146.0,430.2,-9.4,238,4511,0.20,2.62,0.00,0.000,6,0.043,0.028,2491,1866,3714,0,0,0,0,0,0
$GC,4784,-1.23,-146.0,467.8,-13.6,245,4786,0.45,0.00,0.00,0.000,6,0.082,0.000,2591,1866,3712,0,0,0,0,0,0
$GC,5030,-1.29,-146.0,488.7,-8.1,251,5035,0.00,2.47,0.00,0.000,4,0.000,0.048,2591,3368,3710,0,0,0,0,0,0
$GC,5059,-1.37,-146.0,491.1,-7.9,251,5064,0.12,2.40,0.00,0.000,6,0.064,0.029,2514,1872,3710,0,0,0,0,0,0
$STATE,5149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5149,begin apogee
$GC,5156,-0.31,0.0,501.1,11.0,254,5278,1.25,0.00,117.88,0.865,6,0.079,0.000,2789,1677,3120,0,0,0,0,0,0
$STATE,5279,end apogee,CONTROL_FINISHED_OK
$STATE,5279,begin climb
$GC,5281,1.17,146.0,505.5,0.0,257,5410,1.35,2.72,121.65,0.848,4,0.028,0.072,3133,180,2524,0,0,0,0,0,0
$GC,5431,0.71,170.7,505.6,8.0,260,5461,0.55,2.42,21.67,0.793,6,0.103,0.028,3018,1673,2423,0,0,0,0,0,0
$GC,5728,0.75,205.4,483.0,7.6,268,5764,0.00,2.67,29.83,0.809,4,0.000,0.061,3018,181,2282,0,0,0,0,0,0
$GC,5805,0.69,205.4,476.4,9.7,269,5809,0.00,2.42,0.00,0.000,6,0.000,0.028,3018,1677,2280,0,0,0,0,0,0
$GC,6059,0.71,220.5,454.6,8.4,276,6080,0.00,2.65,13.60,0.757,4,0.000,0.059,3018,188,2221,0,0,0,0,0,0
$GC,6140,0.71,220.5,446.6,9.5,277,6144,0.00,2.40,0.00,0.000,6,0.000,0.028,3018,1677,2219,0,0,0,0,0,0
$GC,6391,0.76,262.7,427.8,7.3,283,6436,0.00,2.67,37.40,0.804,4,0.000,0.058,3017,183,2048,0,0,0,0,0,0
$GC,6451,0.78,278.6,423.1,8.3,284,6471,0.00,2.40,15.60,0.751,6,0.000,0.025,3017,1670,1984,0,0,0,0,0,0
$GC,6718,0.78,278.6,399.2,9.2,290,6722,0.00,2.58,0.00,0.000,4,0.000,0.058,3017,178,1976,0,0,0,0,0,0
$GC,6778,0.78,278.6,392.6,10.7,291,6782,0.00,2.38,0.00,0.000,6,0.000,0.025,3017,1665,1976,0,0,0,0,0,0
$GC,7046,0.78,278.6,366.1,10.0,298,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1665,1974,0,0,0,0,0,0
$GC,7291,0.78,278.6,343.4,9.2,304,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1664,1972,0,0,0,0,0,0
$GC,7533,0.81,305.4,324.3,7.9,310,7562,0.00,2.58,23.60,0.738,4,0.000,0.058,3018,183,1873,0,0,0,0,0,0
$GC,7586,0.81,305.4,319.4,9.9,311,7590,0.00,2.38,0.00,0.000,6,0.000,0.024,3018,1670,1872,0,0,0,0,0,0
$GC,7861,0.91,321.2,296.2,8.4,318,7878,0.17,0.00,15.07,0.693,6,0.048,0.000,3101,1672,1809,0,0,0,0,0,0
$GC,8102,0.77,321.2,266.8,12.3,324,8104,0.32,0.00,0.00,0.000,6,0.088,0.000,3030,1673,1806,0,0,0,0,0,0
$GC,8346,0.86,338.7,246.0,8.3,330,8367,0.00,2.67,15.80,0.663,4,0.000,0.041,3030,3254,1738,0,0,0,0,0,0
$GC,8402,1.01,346.9,241.0,8.7,331,8419,0.20,2.62,8.55,0.599,6,0.046,0.032,3112,1661,1705,0,0,0,0,0,0
$GC,8680,0.87,346.9,205.6,13.2,338,8685,0.25,2.53,0.00,0.000,4,0.095,0.054,3054,164,1702,0,0,0,0,0,0
$GC,8756,0.87,346.9,196.9,10.5,339,8760,0.00,2.38,0.00,0.000,6,0.000,0.023,3054,1656,1701,0,0,0,0,0,0
$GC,9026,0.87,346.9,170.9,9.6,364,9030,0.00,2.60,0.00,0.000,4,0.000,0.034,3054,3254,1700,0,0,0,0,0,0
$GC,9072,0.96,346.9,165.9,10.1,368,9077,0.00,2.60,0.00,0.000,6,0.000,0.029,3054,1650,1698,0,0,0,0,0,0
$GC,9334,0.96,346.9,139.0,11.2,392,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1650,1698,0,0,0,0,0,0
$GC,9589,0.96,346.9,112.5,9.6,416,9594,0.00,2.62,0.00,0.000,4,0.000,0.032,3054,3265,1698,0,0,0,0,0,0
$GC,9615,1.04,346.9,109.9,10.0,418,9620,0.12,2.58,0.00,0.000,6,0.062,0.028,3118,1661,1697,0,0,0,0,0,0
$GC,9879,0.96,346.9,81.8,9.9,442,9884,0.22,2.45,0.00,0.000,4,0.094,0.045,3070,167,1697,0,0,0,0,0,0
$GC,9920,0.98,356.3,78.1,8.6,445,9934,0.00,2.33,8.82,0.487,6,0.000,0.021,3070,1670,1667,0,0,0,0,0,0
$GC,10189,1.06,373.3,56.6,8.3,470,10212,0.00,0.00,17.08,0.504,6,0.000,0.000,3070,1670,1596,0,0,0,0,0,0
$GC,10471,1.12,373.3,32.7,9.2,496,10476,0.15,2.50,0.00,0.000,4,0.054,0.044,3153,173,1594,0,0,0,0,0,0
$GC,10521,0.97,373.3,26.0,14.5,501,10531,0.35,2.35,0.00,0.000,6,0.087,0.021,3073,1654,1594,0,0,0,0,0,0
$STATE,10763,end climb,SURFACE_DEPTH_REACHED
$STATE,10763,begin surface coast
$FINISH,0.7,1.021905
$STATE,10814,end surface coast,CONTROL_FINISHED_OK
$STATE,10814,begin surface
$SM_CCo,10836,23.90,0.063,0,0,1407,420.20
$SM_GC,1.80,0.00,0.00,23.90,0.000,0.000,0.063,411,1828,1407,-11.27,1.10,420.20
$IRIDIUM_FIX,2237.01,-15800.20,230300,212113
$TT8_MAMPS,0.026078
$HUMID,47.63
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,51.639
$10V_AH,10.3,44.832
$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,30.575,124.575,446.550,23.900,0.000,29.050,39.026,297.163,0.000,0.000,13.729,1134.671,6991.804,530.208,2039.726,670.071,33.369,1303.380,0.000,2048.847,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,72.098,865.176,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.438,339.826,425.474,659.125,1165.723,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,41467,547
$CAP_FILE_SIZE,120674,0
$CFSIZE,260165632,150290432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291210,035931,2248.408,-15802.856,64,1.1,64,10.1