version: 66.06
glider: 148
mission: 9
dive: 189
start: 12 4 110 18 25 45
data:
$ID,148
$MISSION,9
$DIVE,189
$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,-861926.94
$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,33
$R_STBD_OVSHOOT,86
$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
$GPS1,181507,2249.602,-15801.343,36,1.4,36,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-61.9
$GPS2,182450,2249.655,-15801.329,14,2.0,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.260,0.010
$KALMAN_X,-79708.2,166.8,120.5,94096.8,-168.2
$KALMAN_Y,8224.5,70.2,295.0,120611.8,107.3
$MHEAD_RNG_PITCHd_Wd,77.7,7418,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,96,0.00,0.00,-74.93,0.000,2,0.000,0.000,412,1841,3182,0,0,0,0,0,0
$GC,99,-1.28,-146.0,3.4,-5.7,10,132,11.65,2.72,-10.32,0.000,4,0.163,0.050,2574,203,3720,0,0,0,0,0,0
$GC,173,-1.14,-146.0,21.0,-19.5,20,183,0.15,2.42,0.00,0.000,6,0.087,0.019,2610,1745,3721,0,0,0,0,0,0
$GC,446,-1.04,-146.0,63.3,-16.4,48,451,0.10,2.62,0.00,0.000,4,0.127,0.034,2630,3372,3721,0,0,0,0,0,0
$GC,514,-1.04,-146.0,73.5,-11.8,53,523,0.00,2.53,0.00,0.000,6,0.000,0.022,2630,1788,3721,0,0,0,0,0,0
$GC,774,-1.04,-146.0,104.3,-10.8,78,778,0.00,2.53,0.00,0.000,4,0.000,0.029,2630,3376,3721,0,0,0,0,0,0
$GC,826,-1.23,-146.0,108.4,-7.1,82,836,0.12,2.47,0.00,0.000,6,0.023,0.023,2531,1824,3722,0,0,0,0,0,0
$GC,1091,-1.08,-146.0,145.1,-13.2,107,1097,0.40,0.00,0.00,0.000,6,0.087,0.000,2623,1824,3722,0,0,0,0,0,0
$GC,1356,-1.20,-146.0,169.0,-8.6,132,1361,0.12,2.50,0.00,0.000,4,0.064,0.031,2559,3374,3723,0,0,0,0,0,0
$GC,1375,-1.20,-146.0,170.8,-9.0,133,1380,0.17,2.42,0.00,0.000,6,0.093,0.021,2598,1828,3723,0,0,0,0,0,0
$GC,1639,-1.27,-146.0,198.6,-10.9,157,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1827,3723,0,0,0,0,0,0
$GC,1900,-1.34,-146.0,225.9,-10.0,165,1905,0.12,2.50,0.00,0.000,4,0.065,0.031,2540,3370,3723,0,0,0,0,0,0
$GC,1940,-1.27,-146.0,230.7,-13.1,165,1946,0.20,2.40,0.00,0.000,6,0.091,0.023,2584,1836,3723,0,0,0,0,0,0
$GC,2189,-1.27,-146.0,258.2,-10.9,172,2193,0.00,2.65,0.00,0.000,4,0.000,0.042,2584,208,3722,0,0,0,0,0,0
$GC,2207,-1.27,-146.0,260.4,-11.8,172,2212,0.00,2.53,0.00,0.000,6,0.000,0.021,2584,1835,3723,0,0,0,0,0,0
$GC,2471,-1.27,-146.0,286.3,-9.6,179,2475,0.00,2.45,0.00,0.000,4,0.000,0.034,2584,3368,3722,0,0,0,0,0,0
$GC,2506,-1.36,-146.0,289.6,-9.7,179,2510,0.00,2.42,0.00,0.000,6,0.000,0.025,2584,1830,3723,0,0,0,0,0,0
$GC,2756,-1.42,-146.0,311.6,-8.6,185,2761,0.15,2.67,0.00,0.000,4,0.058,0.048,2522,211,3722,0,0,0,0,0,0
$GC,2777,-1.42,-146.0,313.7,-10.4,185,2782,0.12,2.55,0.00,0.000,6,0.110,0.022,2548,1831,3722,0,0,0,0,0,0
$GC,3041,-1.42,-146.0,341.8,-11.0,192,3045,0.00,2.45,0.00,0.000,4,0.000,0.038,2548,3364,3721,0,0,0,0,0,0
$GC,3069,-1.42,-146.0,345.2,-11.6,192,3073,0.00,2.42,0.00,0.000,6,0.000,0.026,2548,1837,3721,0,0,0,0,0,0
$GC,3324,-1.42,-146.0,374.5,-11.8,199,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1837,3719,0,0,0,0,0,0
$GC,3566,-1.42,-146.0,402.5,-11.3,205,3571,0.00,2.50,0.00,0.000,4,0.000,0.043,2548,3362,3718,0,0,0,0,0,0
$GC,3594,-1.42,-146.0,405.8,-10.8,205,3598,0.00,2.45,0.00,0.000,6,0.000,0.029,2548,1842,3718,0,0,0,0,0,0
$GC,3848,-1.42,-146.0,431.7,-10.1,212,3852,0.00,2.75,0.00,0.000,4,0.000,0.059,2548,215,3716,0,0,0,0,0,0
$GC,3877,-1.42,-146.0,434.7,-10.3,212,3882,0.00,2.58,0.00,0.000,6,0.000,0.029,2548,1828,3716,0,0,0,0,0,0
$GC,4132,-1.42,-146.0,460.0,-10.0,219,4136,0.00,2.55,0.00,0.000,4,0.000,0.047,2548,3368,3714,0,0,0,0,0,0
$GC,4150,-1.42,-146.0,461.9,-10.1,219,4154,0.00,2.47,0.00,0.000,6,0.000,0.028,2548,1835,3714,0,0,0,0,0,0
$GC,4415,-1.42,-146.0,487.5,-9.8,226,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1835,3712,0,0,0,0,0,0
$STATE,4575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4575,begin apogee
$GC,4581,-0.31,0.0,503.3,9.7,230,4702,1.10,0.00,117.15,0.871,6,0.081,0.000,2794,1668,3120,0,0,0,0,0,0
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4705,1.28,146.0,507.4,0.0,233,4835,1.40,2.65,120.18,0.854,4,0.027,0.071,3142,177,2522,0,0,0,0,0,0
$GC,4984,0.83,146.0,490.3,10.8,239,4992,0.47,2.42,0.00,0.000,6,0.113,0.028,3044,1678,2515,0,0,0,0,0,0
$GC,5256,0.92,220.6,471.3,6.6,246,5324,0.00,2.65,62.15,0.832,4,0.000,0.058,3044,188,2219,0,0,0,0,0,0
$GC,5425,0.85,220.6,455.7,11.2,249,5429,0.00,2.42,0.00,0.000,6,0.000,0.027,3044,1675,2214,0,0,0,0,0,0
$GC,5675,0.87,235.9,433.1,9.3,255,5695,0.00,2.60,13.07,0.752,4,0.000,0.058,3044,178,2157,0,0,0,0,0,0
$GC,5756,0.87,235.9,423.9,11.6,256,5761,0.00,2.42,0.00,0.000,6,0.000,0.027,3044,1666,2156,0,0,0,0,0,0
$GC,6006,0.87,235.9,396.9,10.8,262,6010,0.00,2.55,0.00,0.000,4,0.000,0.056,3044,180,2153,0,0,0,0,0,0
$GC,6033,0.87,235.9,393.7,11.9,262,6038,0.00,2.40,0.00,0.000,6,0.000,0.025,3044,1665,2153,0,0,0,0,0,0
$GC,6289,0.88,239.4,368.5,9.9,269,6294,0.00,2.65,0.00,0.000,4,0.000,0.048,3044,3254,2151,0,0,0,0,0,0
$GC,6303,0.89,247.2,366.7,9.7,269,6320,0.00,2.60,10.60,0.713,6,0.000,0.032,3044,1668,2111,0,0,0,0,0,0
$GC,6575,0.89,253.4,340.3,9.8,276,6587,0.00,2.62,6.38,0.624,4,0.000,0.063,3044,174,2085,0,0,0,0,0,0
$GC,6602,0.89,253.4,337.5,10.2,276,6606,0.00,2.40,0.00,0.000,6,0.000,0.024,3044,1665,2085,0,0,0,0,0,0
$GC,6861,0.89,253.4,309.8,11.0,283,6865,0.00,2.55,0.00,0.000,4,0.000,0.057,3044,173,2082,0,0,0,0,0,0
$GC,6906,0.89,253.4,304.6,11.8,284,6911,0.00,2.38,0.00,0.000,6,0.000,0.023,3044,1663,2082,0,0,0,0,0,0
$GC,7195,0.92,277.7,277.4,8.9,291,7223,0.00,2.62,21.50,0.713,4,0.000,0.055,3044,173,1987,0,0,0,0,0,0
$GC,7238,0.92,277.7,273.3,10.1,292,7243,0.00,2.38,0.00,0.000,6,0.000,0.023,3044,1656,1986,0,0,0,0,0,0
$GC,7527,1.04,319.5,248.6,8.1,299,7573,0.17,2.75,37.47,0.700,4,0.049,0.044,3123,3249,1815,0,0,0,0,0,0
$GC,7601,0.95,319.5,239.8,13.1,300,7608,0.25,2.65,0.00,0.000,6,0.096,0.031,3069,1649,1812,0,0,0,0,0,0
$GC,7859,0.95,319.5,212.2,11.1,307,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1649,1808,0,0,0,0,0,0
$GC,8111,0.95,319.5,185.4,10.7,322,8115,0.00,2.45,0.00,0.000,4,0.000,0.049,3069,167,1806,0,0,0,0,0,0
$GC,8125,0.95,319.5,183.3,11.2,323,8130,0.00,2.35,0.00,0.000,6,0.000,0.021,3069,1674,1806,0,0,0,0,0,0
$GC,8389,0.95,319.5,154.1,10.9,347,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1675,1805,0,0,0,0,0,0
$GC,8646,0.95,319.5,125.4,10.7,371,8650,0.00,2.55,0.00,0.000,4,0.000,0.034,3069,3251,1805,0,0,0,0,0,0
$GC,8674,1.02,319.9,122.4,10.0,373,8678,0.00,2.55,0.00,0.000,6,0.000,0.028,3069,1660,1804,0,0,0,0,0,0
$GC,8943,1.11,331.4,95.9,9.5,397,8965,0.12,2.45,9.15,0.505,4,0.064,0.043,3145,170,1768,0,0,0,0,0,0
$GC,9001,1.02,331.4,86.7,14.7,402,9011,0.25,2.35,0.00,0.000,6,0.087,0.021,3087,1651,1768,0,0,0,0,0,0
$GC,9267,1.04,346.0,62.9,9.4,427,9286,0.00,0.00,14.27,0.509,6,0.000,0.000,3087,1653,1707,0,0,0,0,0,0
$GC,9545,1.13,373.4,35.9,8.8,453,9581,0.00,2.67,24.98,0.502,4,0.000,0.034,3087,3256,1594,0,0,0,0,0,0
$GC,9597,1.20,379.0,31.1,9.8,457,9611,0.15,2.58,5.75,0.399,6,0.053,0.025,3170,1649,1574,0,0,0,0,0,0
$STATE,9752,end climb,SURFACE_DEPTH_REACHED
$STATE,9752,begin surface coast
$FINISH,0.8,1.011052
$STATE,9778,end surface coast,CONTROL_FINISHED_OK
$STATE,9778,begin surface
$SM_CCo,9798,41.10,0.384,1,0,1284,450.13
$SM_GC,1.57,0.00,0.00,41.10,0.000,0.000,0.384,414,1873,1284,-11.25,2.35,450.13
$IRIDIUM_FIX,2241.69,-15802.37,280200,181858
$TT8_MAMPS,0.026845
$HUMID,44.29
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.6,28.145
$10V_AH,10.4,23.457
$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,28.450,126.700,442.650,41.100,0.000,50.699,74.598,257.732,0.000,0.000,16.244,1001.928,6446.106,505.825,1812.601,663.734,33.361,1296.555,0.000,1811.946,0.000,0.537,0.000
$DEVICE_MAMPS,162.604,70.564,871.312,383.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.141,297.592,374.029,550.937,971.841,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355356
$DATA_FILE_SIZE,38352,484
$CAP_FILE_SIZE,113834,0
$CFSIZE,260165632,161431552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,211057,2249.464,-15759.769,8,99.0,27,10.1