version: 66.06
glider: 148
mission: 9
dive: 227
start: 12 9 110 2 53 39
data:
$ID,148
$MISSION,9
$DIVE,227
$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,-862736.94
$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,84
$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
$GPS1,024651,2247.237,-15802.931,10,1.9,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-60.0
$GPS2,025245,2247.222,-15802.896,11,2.6,30,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.025,0.259
$KALMAN_X,-73454.1,62.1,233.7,85140.6,-225.6
$KALMAN_Y,2901.5,-769.1,-1180.6,123805.4,-3313.6
$MHEAD_RNG_PITCHd_Wd,355.5,5149,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,141,0.00,0.00,-119.97,0.000,2,0.000,0.000,412,1834,3490,0,0,0,0,0,0
$GC,146,-1.28,-146.0,4.5,-8.0,16,170,12.00,2.42,-3.72,0.000,4,0.176,0.041,2574,3327,3718,0,0,0,0,0,0
$GC,297,-1.13,-146.0,42.7,-16.2,34,306,0.15,2.47,0.00,0.000,6,0.083,0.025,2611,1790,3720,0,0,0,0,0,0
$GC,566,-1.04,-146.0,79.5,-13.9,59,571,0.10,2.47,0.00,0.000,4,0.125,0.030,2632,3339,3721,0,0,0,0,0,0
$GC,596,-1.04,-146.0,83.2,-8.9,61,600,0.00,2.47,0.00,0.000,6,0.000,0.023,2632,1783,3721,0,0,0,0,0,0
$GC,865,-1.15,-146.0,105.8,-8.2,85,869,0.00,2.45,0.00,0.000,4,0.000,0.029,2632,3330,3722,0,0,0,0,0,0
$GC,915,-1.31,-146.0,111.2,-9.2,89,921,0.25,2.40,0.00,0.000,6,0.035,0.022,2536,1797,3722,0,0,0,0,0,0
$GC,1179,-1.15,-146.0,147.1,-14.3,114,1184,0.30,2.45,0.00,0.000,4,0.094,0.028,2604,3339,3722,0,0,0,0,0,0
$GC,1216,-1.15,-146.0,152.1,-10.8,117,1220,0.00,2.42,0.00,0.000,6,0.000,0.022,2604,1806,3723,0,0,0,0,0,0
$GC,1478,-1.15,-146.0,179.3,-10.1,141,1482,0.00,2.58,0.00,0.000,4,0.000,0.040,2604,212,3723,0,0,0,0,0,0
$GC,1500,-1.21,-146.0,181.5,-10.2,142,1506,0.00,2.40,0.00,0.000,6,0.000,0.019,2604,1779,3724,0,0,0,0,0,0
$GC,1780,-1.29,-146.0,207.9,-9.2,163,1785,0.12,2.53,0.00,0.000,4,0.066,0.030,2545,3359,3724,0,0,0,0,0,0
$GC,1833,-1.29,-146.0,214.1,-11.6,164,1839,0.15,2.42,0.00,0.000,6,0.100,0.023,2577,1822,3724,0,0,0,0,0,0
$GC,2112,-1.29,-146.0,241.8,-9.7,171,2116,0.00,2.47,0.00,0.000,4,0.000,0.031,2577,3363,3724,0,0,0,0,0,0
$GC,2144,-1.29,-146.0,245.2,-10.2,171,2148,0.00,2.42,0.00,0.000,6,0.000,0.023,2577,1823,3724,0,0,0,0,0,0
$GC,2395,-1.29,-146.0,269.0,-9.5,177,2399,0.00,2.47,0.00,0.000,4,0.000,0.031,2577,3363,3723,0,0,0,0,0,0
$GC,2413,-1.29,-146.0,271.2,-10.4,177,2418,0.00,2.42,0.00,0.000,6,0.000,0.023,2577,1822,3723,0,0,0,0,0,0
$GC,2677,-1.29,-146.0,298.3,-10.0,184,2681,0.00,2.45,0.00,0.000,4,0.000,0.032,2577,3357,3723,0,0,0,0,0,0
$GC,2697,-1.29,-146.0,300.2,-9.5,184,2702,0.00,2.40,0.00,0.000,6,0.000,0.024,2577,1837,3723,0,0,0,0,0,0
$GC,2961,-1.29,-146.0,324.3,-9.1,191,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1837,3723,0,0,0,0,0,0
$GC,3205,-1.29,-146.0,346.2,-9.1,197,3209,0.00,2.47,0.00,0.000,4,0.000,0.036,2577,3357,3722,0,0,0,0,0,0
$GC,3245,-1.38,-146.0,349.9,-9.5,197,3251,0.00,2.42,0.00,0.000,6,0.000,0.027,2577,1837,3722,0,0,0,0,0,0
$GC,3495,-1.38,-146.0,375.0,-10.3,204,3499,0.00,2.50,0.00,0.000,4,0.000,0.038,2577,3364,3720,0,0,0,0,0,0
$GC,3513,-1.38,-146.0,377.1,-11.2,204,3517,0.00,2.42,0.00,0.000,6,0.000,0.027,2577,1842,3720,0,0,0,0,0,0
$GC,3778,-1.44,-146.0,404.5,-10.3,211,3780,0.12,0.00,0.00,0.000,6,0.065,0.000,2501,1842,3719,0,0,0,0,0,0
$GC,4020,-1.29,-146.0,437.5,-13.5,217,4025,0.32,2.50,0.00,0.000,4,0.094,0.043,2573,3355,3718,0,0,0,0,0,0
$GC,4044,-1.29,-146.0,440.4,-11.0,217,4048,0.00,2.42,0.00,0.000,6,0.000,0.030,2574,1847,3717,0,0,0,0,0,0
$GC,4305,-1.36,-146.0,462.1,-8.3,224,4309,0.00,2.53,0.00,0.000,4,0.000,0.048,2574,3359,3715,0,0,0,0,0,0
$GC,4326,-1.43,-146.0,464.0,-8.6,224,4331,0.10,2.42,0.00,0.000,6,0.076,0.031,2507,1855,3715,0,0,0,0,0,0
$GC,4590,-1.31,-146.0,494.6,-12.1,231,4592,0.30,0.00,0.00,0.000,6,0.091,0.000,2572,1855,3714,0,0,0,0,0,0
$STATE,4669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4669,begin apogee
$GC,4676,-0.31,0.0,501.8,10.5,233,4797,0.98,0.00,118.12,0.870,6,0.079,0.000,2791,1676,3119,0,0,0,0,0,0
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4800,1.28,146.0,506.1,0.0,236,4933,1.42,2.67,122.18,0.854,4,0.033,0.074,3138,180,2523,0,0,0,0,0,0
$GC,5031,0.85,146.0,498.1,11.1,241,5038,0.45,2.42,0.00,0.000,6,0.111,0.028,3047,1665,2518,0,0,0,0,0,0
$GC,5308,0.87,215.4,478.5,6.8,248,5373,0.00,2.60,59.03,0.835,4,0.000,0.060,3047,181,2240,0,0,0,0,0,0
$GC,5410,0.78,215.4,469.6,11.6,250,5415,0.00,2.42,0.00,0.000,6,0.000,0.030,3047,1678,2238,0,0,0,0,0,0
$GC,5680,0.80,229.3,443.8,9.4,257,5697,0.00,2.62,11.93,0.746,4,0.000,0.061,3047,176,2185,0,0,0,0,0,0
$GC,5722,0.71,229.3,439.4,10.9,258,5727,0.15,2.42,0.00,0.000,6,0.111,0.027,3016,1683,2184,0,0,0,0,0,0
$GC,6013,0.83,273.3,415.6,8.0,265,6058,0.10,2.72,38.92,0.806,4,0.078,0.051,3064,3257,2005,0,0,0,0,0,0
$GC,6078,0.83,273.3,409.0,10.8,266,6083,0.10,2.62,0.00,0.000,6,0.117,0.035,3043,1691,2001,0,0,0,0,0,0
$GC,6344,0.83,273.3,381.2,10.5,273,6348,0.00,2.65,0.00,0.000,4,0.000,0.067,3043,162,1997,0,0,0,0,0,0
$GC,6413,0.83,273.3,372.4,12.4,274,6417,0.00,2.45,0.00,0.000,6,0.000,0.026,3043,1684,1997,0,0,0,0,0,0
$GC,6672,0.83,273.3,344.1,10.7,281,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1685,1995,0,0,0,0,0,0
$GC,6917,0.83,273.3,319.3,10.1,287,6921,0.00,2.58,0.00,0.000,4,0.000,0.058,3043,164,1993,0,0,0,0,0,0
$GC,6965,0.83,273.3,314.1,10.8,288,6969,0.00,2.40,0.00,0.000,6,0.000,0.025,3043,1681,1993,0,0,0,0,0,0
$GC,7247,0.85,288.4,288.1,9.3,295,7266,0.00,2.65,12.48,0.685,4,0.000,0.044,3043,3260,1944,0,0,0,0,0,0
$GC,7283,0.95,315.6,284.9,8.8,295,7316,0.10,2.65,25.30,0.713,6,0.077,0.033,3092,1664,1833,0,0,0,0,0,0
$GC,7581,0.89,315.6,249.0,11.9,303,7583,0.17,0.00,0.00,0.000,6,0.106,0.000,3056,1664,1826,0,0,0,0,0,0
$GC,7825,0.89,315.6,224.1,10.2,309,7829,0.00,2.62,0.00,0.000,4,0.000,0.036,3056,3261,1825,0,0,0,0,0,0
$GC,7848,0.89,315.6,221.2,11.4,309,7852,0.00,2.60,0.00,0.000,6,0.000,0.030,3055,1662,1823,0,0,0,0,0,0
$GC,8112,0.89,315.6,191.0,11.5,319,8116,0.00,2.47,0.00,0.000,4,0.000,0.050,3056,167,1822,0,0,0,0,0,0
$GC,8127,0.89,315.6,188.9,11.9,320,8131,0.00,2.38,0.00,0.000,6,0.000,0.021,3056,1692,1822,0,0,0,0,0,0
$GC,8390,0.90,321.9,162.2,9.7,344,8401,0.00,2.58,5.07,0.472,4,0.000,0.047,3056,163,1806,0,0,0,0,0,0
$GC,8444,0.90,321.9,156.2,11.5,349,8448,0.00,2.35,0.00,0.000,6,0.000,0.022,3056,1666,1806,0,0,0,0,0,0
$GC,8713,0.99,327.7,129.7,9.8,373,8726,0.00,2.58,6.43,0.488,4,0.000,0.027,3056,3255,1783,0,0,0,0,0,0
$GC,8767,1.14,327.7,123.8,10.3,378,8776,0.17,2.62,0.00,0.000,6,0.024,0.028,3140,1657,1781,0,0,0,0,0,0
$GC,9034,1.06,327.7,90.8,11.8,403,9039,0.22,2.42,0.00,0.000,4,0.097,0.046,3092,174,1781,0,0,0,0,0,0
$GC,9069,1.06,327.7,86.1,10.1,406,9074,0.00,2.35,0.00,0.000,6,0.000,0.021,3092,1681,1781,0,0,0,0,0,0
$GC,9338,1.07,342.1,62.7,9.4,430,9357,0.00,0.00,13.55,0.502,6,0.000,0.000,3092,1684,1724,0,0,0,0,0,0
$GC,9613,1.09,354.9,35.6,9.4,456,9638,0.00,2.53,12.45,0.473,4,0.000,0.044,3092,170,1673,0,0,0,0,0,0
$GC,9655,1.09,354.9,31.8,10.0,459,9659,0.00,2.35,0.00,0.000,6,0.000,0.019,3091,1680,1673,0,0,0,0,0,0
$STATE,9909,end climb,SURFACE_DEPTH_REACHED
$STATE,9909,begin surface coast
$FINISH,0.7,1.023696
$STATE,9954,end surface coast,CONTROL_FINISHED_OK
$STATE,9954,begin surface
$SM_CCo,9976,57.78,0.413,1,0,1284,450.13
$SM_GC,1.48,0.00,0.00,57.78,0.000,0.000,0.413,408,1872,1284,-11.28,2.35,450.13
$IRIDIUM_FIX,2239.35,-15804.53,040300,000027
$TT8_MAMPS,0.026845
$HUMID,43.66
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,32.487
$10V_AH,10.4,27.316
$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,28.625,130.000,425.450,57.775,0.000,28.933,32.256,148.035,0.250,0.000,32.826,1039.360,6412.897,525.790,1929.881,486.032,33.364,1329.602,0.000,1911.300,0.000,0.539,0.000
$DEVICE_MAMPS,176.410,73.632,869.778,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.098,309.349,390.622,600.776,1062.598,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,38279,505
$CAP_FILE_SIZE,113132,0
$CFSIZE,260165632,159387648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091210,054227,2248.467,-15802.388,29,99.0,48,10.1