version: 66.06
glider: 148
mission: 9
dive: 176
start: 12 3 110 4 1 25
data:
$ID,148
$MISSION,9
$DIVE,176
$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,166
$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,450
$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,-861507.44
$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,42
$R_STBD_OVSHOOT,68
$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
$GPS1,033910,2249.657,-15803.181,38,1.6,46,10.1
$_CALLS,5
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-63.0
$GPS2,040031,2249.795,-15803.253,32,1.9,49,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,-0.020
$KALMAN_X,-74217.5,-96.7,-219.1,85906.9,-201.6
$KALMAN_Y,9050.9,-358.0,31.8,120738.2,281.7
$MHEAD_RNG_PITCHd_Wd,84.3,10680,-17.6,-10.040
$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,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.78,0.000,2,0.000,0.000,411,1817,3427,0,0,0,0,0,0
$GC,106,-1.28,-146.0,4.1,-7.8,11,130,11.30,2.60,-5.28,0.000,4,0.151,0.044,2574,205,3717,0,0,0,0,0,0
$GC,196,-1.19,-146.0,26.3,-16.3,24,205,0.08,2.45,0.00,0.000,6,0.092,0.021,2595,1757,3718,0,0,0,0,0,0
$GC,473,-1.08,-146.0,72.1,-15.5,50,478,0.15,2.58,0.00,0.000,4,0.111,0.031,2627,3383,3718,0,0,0,0,0,0
$GC,529,-1.08,-146.0,79.2,-10.5,54,534,0.00,2.47,0.00,0.000,6,0.000,0.023,2627,1798,3719,0,0,0,0,0,0
$GC,791,-1.08,-146.0,110.1,-10.4,78,795,0.00,2.53,0.00,0.000,4,0.000,0.030,2627,3381,3719,0,0,0,0,0,0
$GC,844,-1.19,-146.0,115.5,-9.2,82,854,0.08,2.50,0.00,0.000,6,0.034,0.022,2538,1810,3719,0,0,0,0,0,0
$GC,1107,-1.07,-146.0,152.1,-13.9,107,1109,0.40,0.00,0.00,0.000,6,0.085,0.000,2627,1810,3720,0,0,0,0,0,0
$GC,1363,-1.22,-146.0,174.1,-8.4,131,1368,0.15,2.50,0.00,0.000,4,0.055,0.030,2554,3384,3720,0,0,0,0,0,0
$GC,1411,-1.22,-146.0,180.1,-12.4,135,1421,0.15,2.50,0.00,0.000,6,0.069,0.022,2594,1812,3720,0,0,0,0,0,0
$GC,1671,-1.22,-146.0,204.6,-9.2,157,1675,0.00,2.58,0.00,0.000,4,0.000,0.039,2594,214,3720,0,0,0,0,0,0
$GC,1695,-1.30,-146.0,206.9,-8.8,157,1699,0.00,2.50,0.00,0.000,6,0.000,0.020,2594,1831,3720,0,0,0,0,0,0
$GC,1956,-1.37,-146.0,231.7,-9.8,164,1961,0.15,2.42,0.00,0.000,4,0.057,0.031,2526,3365,3720,0,0,0,0,0,0
$GC,1989,-1.26,-146.0,236.2,-12.8,164,1994,0.25,2.45,0.00,0.000,6,0.086,0.022,2583,1812,3720,0,0,0,0,0,0
$GC,2238,-1.26,-146.0,262.1,-10.2,170,2243,0.00,2.47,0.00,0.000,4,0.000,0.032,2583,3359,3721,0,0,0,0,0,0
$GC,2291,-1.35,-146.0,267.5,-10.3,171,2295,0.00,2.40,0.00,0.000,6,0.000,0.023,2583,1826,3720,0,0,0,0,0,0
$GC,2569,-1.42,-146.0,294.0,-9.6,178,2574,0.15,2.47,0.00,0.000,4,0.057,0.035,2514,3361,3720,0,0,0,0,0,0
$GC,2588,-1.42,-146.0,296.3,-11.0,178,2593,0.15,2.40,0.00,0.000,6,0.104,0.024,2548,1834,3720,0,0,0,0,0,0
$GC,2853,-1.42,-146.0,325.4,-11.0,185,2858,0.00,2.45,0.00,0.000,4,0.000,0.036,2547,3358,3719,0,0,0,0,0,0
$GC,2872,-1.42,-146.0,327.8,-12.0,185,2876,0.00,2.40,0.00,0.000,6,0.000,0.025,2548,1836,3719,0,0,0,0,0,0
$GC,3135,-1.42,-146.0,356.6,-11.0,192,3139,0.00,2.47,0.00,0.000,4,0.000,0.040,2548,3354,3716,0,0,0,0,0,0
$GC,3159,-1.42,-146.0,359.3,-11.6,192,3163,0.00,2.40,0.00,0.000,6,0.000,0.028,2547,1844,3717,0,0,0,0,0,0
$GC,3418,-1.42,-146.0,387.4,-10.9,199,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1841,3716,0,0,0,0,0,0
$GC,3661,-1.42,-146.0,413.7,-10.6,205,3666,0.00,2.75,0.00,0.000,4,0.000,0.057,2548,210,3713,0,0,0,0,0,0
$GC,3684,-1.42,-146.0,416.5,-11.6,205,3689,0.00,2.58,0.00,0.000,6,0.000,0.028,2547,1832,3713,0,0,0,0,0,0
$GC,3945,-1.42,-146.0,444.0,-10.5,212,3949,0.00,2.53,0.00,0.000,4,0.000,0.048,2548,3368,3711,0,0,0,0,0,0
$GC,3968,-1.42,-146.0,446.6,-10.5,212,3972,0.00,2.45,0.00,0.000,6,0.000,0.028,2548,1848,3711,0,0,0,0,0,0
$GC,4227,-1.42,-146.0,471.4,-9.5,219,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1847,3709,0,0,0,0,0,0
$GC,4472,-1.42,-146.0,494.0,-9.3,225,4476,0.00,2.55,0.00,0.000,4,0.000,0.052,2547,3366,3706,0,0,0,0,0,0
$GC,4495,-1.42,-146.0,496.5,-9.6,225,4499,0.00,2.42,0.00,0.000,6,0.000,0.031,2548,1857,3706,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4554,-0.31,0.0,501.9,9.9,227,4674,1.08,0.00,116.05,0.871,6,0.080,0.000,2790,1672,3120,0,0,0,0,0,0
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4678,1.28,146.0,506.5,0.0,230,4809,1.42,2.80,121.15,0.855,4,0.027,0.052,3144,3256,2523,0,0,0,0,0,0
$GC,4872,1.00,161.6,503.9,9.3,234,4895,0.32,2.62,13.40,0.765,6,0.110,0.036,3078,1695,2462,0,0,0,0,0,0
$GC,5140,0.92,202.4,482.2,8.1,241,5182,0.00,2.75,35.65,0.825,4,0.000,0.073,3078,166,2294,0,0,0,0,0,0
$GC,5239,0.73,202.4,472.3,10.5,243,5245,0.28,2.45,0.00,0.000,6,0.108,0.028,3021,1669,2291,0,0,0,0,0,0
$GC,5518,0.82,274.2,452.6,6.7,250,5587,0.00,2.67,61.58,0.828,4,0.000,0.058,3021,170,2000,0,0,0,0,0,0
$GC,5608,0.84,290.8,445.4,9.3,252,5630,0.00,2.42,16.05,0.762,6,0.000,0.027,3021,1669,1934,0,0,0,0,0,0
$GC,5891,0.93,302.5,418.7,9.5,259,5904,0.17,0.00,10.40,0.723,6,0.051,0.000,3093,1669,1886,0,0,0,0,0,0
$GC,6134,0.84,302.5,386.5,13.4,265,6139,0.22,2.58,0.00,0.000,4,0.103,0.055,3045,160,1881,0,0,0,0,0,0
$GC,6149,0.77,302.5,384.2,13.0,265,6153,0.00,2.40,0.00,0.000,6,0.000,0.025,3045,1666,1880,0,0,0,0,0,0
$GC,6417,0.77,302.5,355.6,10.4,272,6421,0.00,2.58,0.00,0.000,4,0.000,0.056,3045,159,1878,0,0,0,0,0,0
$GC,6441,0.77,302.5,352.8,11.3,272,6446,0.00,2.42,0.00,0.000,6,0.000,0.025,3045,1666,1878,0,0,0,0,0,0
$GC,6702,0.79,317.4,327.7,9.3,279,6722,0.00,2.67,12.90,0.712,4,0.000,0.045,3045,3255,1825,0,0,0,0,0,0
$GC,6754,0.92,335.6,322.8,9.2,280,6777,0.00,2.65,16.58,0.720,6,0.000,0.034,3045,1662,1751,0,0,0,0,0,0
$GC,7039,0.99,344.5,295.7,9.6,287,7055,0.12,2.70,8.90,0.650,4,0.066,0.043,3108,3255,1714,0,0,0,0,0,0
$GC,7065,0.90,344.5,292.2,12.6,287,7072,0.25,2.60,0.00,0.000,6,0.097,0.031,3055,1672,1712,0,0,0,0,0,0
$GC,7328,0.90,344.5,261.6,11.6,294,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1672,1710,0,0,0,0,0,0
$GC,7571,0.97,344.5,232.9,11.8,300,7575,0.00,2.62,0.00,0.000,4,0.000,0.036,3055,3266,1709,0,0,0,0,0,0
$GC,7603,1.08,344.5,229.0,11.7,300,7609,0.17,2.62,0.00,0.000,6,0.051,0.031,3137,1665,1707,0,0,0,0,0,0
$GC,7856,0.93,344.5,190.8,14.8,309,7861,0.32,2.47,0.00,0.000,4,0.095,0.048,3063,166,1706,0,0,0,0,0,0
$GC,7892,0.93,344.5,186.0,11.7,312,7896,0.00,2.40,0.00,0.000,6,0.000,0.022,3063,1687,1705,0,0,0,0,0,0
$GC,8155,0.93,344.5,157.7,12.5,336,8160,0.00,2.50,0.00,0.000,4,0.000,0.046,3063,171,1706,0,0,0,0,0,0
$GC,8173,0.93,344.5,155.5,12.5,337,8178,0.00,2.38,0.00,0.000,6,0.000,0.022,3063,1687,1706,0,0,0,0,0,0
$GC,8441,1.05,376.1,128.0,8.6,361,8475,0.10,2.58,27.80,0.591,4,0.077,0.032,3120,3254,1583,0,0,0,0,0,0
$GC,8509,1.05,376.1,120.1,12.6,367,8514,0.15,2.58,0.00,0.000,6,0.101,0.029,3087,1678,1579,0,0,0,0,0,0
$GC,8773,1.15,376.1,91.1,11.0,391,8778,0.10,2.47,0.00,0.000,4,0.077,0.044,3149,171,1578,0,0,0,0,0,0
$GC,8792,1.15,376.1,88.1,12.3,392,8802,0.15,2.42,0.00,0.000,6,0.085,0.021,3113,1700,1578,0,0,0,0,0,0
$GC,9060,1.19,409.2,56.2,8.5,417,9091,0.00,0.00,28.40,0.521,6,0.000,0.000,3113,1702,1450,0,0,0,0,0,0
$GC,9357,1.19,409.2,15.0,14.4,451,9366,0.00,2.53,0.00,0.000,4,0.000,0.035,3113,3248,1447,0,0,0,0,0,0
$GC,9375,1.19,409.2,12.0,15.7,453,9383,0.00,2.50,0.00,0.000,6,0.000,0.023,3113,1695,1446,0,0,0,0,0,0
$STATE,9427,end climb,SURFACE_DEPTH_REACHED
$STATE,9427,begin surface coast
$FINISH,0.8,1.002754
$STATE,9454,end surface coast,CONTROL_FINISHED_OK
$STATE,9454,begin surface
$SM_CCo,9476,25.33,0.318,1,0,1283,450.13
$SM_GC,1.49,0.00,0.00,25.33,0.000,0.000,0.318,409,1901,1283,-11.27,3.14,450.13
$IRIDIUM_FIX,2239.35,-15802.37,270200,040433
$TT8_MAMPS,0.026845
$HUMID,45.47
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,26.399
$10V_AH,10.4,22.059
$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,28.675,131.650,468.850,25.325,0.000,148.856,168.150,530.034,0.500,0.000,51.184,971.412,6419.623,527.456,1729.661,1142.493,33.357,1268.313,0.000,1692.581,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,72.865,870.545,317.538,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.559,270.128,353.363,513.214,909.137,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355340
$DATA_FILE_SIZE,35238,465
$CAP_FILE_SIZE,126138,0
$CFSIZE,260165632,162144256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031210,064112,2249.769,-15801.908,35,1.4,41,10.1