version: 66.06
glider: 148
mission: 9
dive: 230
start: 12 9 110 11 16 21
data:
$ID,148
$MISSION,9
$DIVE,230
$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,-862788.25
$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,29
$R_STBD_OVSHOOT,76
$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
$GPS1,110922,2249.174,-15801.275,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.8
$GPS2,111526,2249.159,-15801.232,12,1.7,18,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.219,0.140
$KALMAN_X,-71384.3,-110.2,6.4,86343.0,483.8
$KALMAN_Y,-102.2,-1053.8,2204.3,127242.8,-2808.2
$MHEAD_RNG_PITCHd_Wd,47.2,7390,-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,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.40,0.000,2,0.000,0.000,415,1832,3317,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.4,-4.9,11,132,11.57,2.62,-7.28,0.000,4,0.162,0.044,2571,202,3717,0,0,0,0,0,0
$GC,273,-1.18,-146.0,40.4,-14.5,32,282,0.10,2.45,0.00,0.000,6,0.087,0.021,2597,1755,3719,0,0,0,0,0,0
$GC,541,-1.04,-146.0,79.0,-15.2,57,546,0.15,2.60,0.00,0.000,4,0.110,0.033,2630,3368,3720,0,0,0,0,0,0
$GC,593,-1.13,-146.0,87.1,-11.3,61,599,0.00,2.50,0.00,0.000,6,0.000,0.023,2630,1791,3721,0,0,0,0,0,0
$GC,857,-1.25,-146.0,115.0,-10.2,86,862,0.17,2.53,0.00,0.000,4,0.049,0.029,2530,3369,3721,0,0,0,0,0,0
$GC,888,-1.10,-146.0,119.5,-14.3,88,897,0.38,2.50,0.00,0.000,6,0.074,0.024,2617,1809,3721,0,0,0,0,0,0
$GC,1157,-1.20,-146.0,145.6,-9.3,113,1161,0.00,2.47,0.00,0.000,4,0.000,0.030,2617,3368,3722,0,0,0,0,0,0
$GC,1196,-1.34,-146.0,150.0,-9.0,116,1205,0.17,2.47,0.00,0.000,6,0.021,0.023,2506,1819,3722,0,0,0,0,0,0
$GC,1459,-1.11,-146.0,189.7,-15.2,141,1471,0.47,2.58,0.00,0.000,4,0.087,0.037,2612,213,3722,0,0,0,0,0,0
$GC,1505,-1.33,-146.0,195.0,-9.8,145,1510,0.17,2.50,0.00,0.000,6,0.049,0.021,2525,1820,3723,0,0,0,0,0,0
$GC,1757,-1.17,-146.0,228.5,-13.3,154,1762,0.35,2.45,0.00,0.000,4,0.088,0.031,2602,3365,3723,0,0,0,0,0,0
$GC,1801,-1.28,-146.0,233.0,-7.8,155,1805,0.00,2.47,0.00,0.000,6,0.000,0.024,2602,1808,3723,0,0,0,0,0,0
$GC,2088,-1.39,-146.0,256.4,-8.1,162,2093,0.17,2.53,0.00,0.000,4,0.050,0.032,2515,3368,3723,0,0,0,0,0,0
$GC,2118,-1.26,-146.0,259.7,-11.8,162,2124,0.32,2.47,0.00,0.000,6,0.084,0.024,2587,1810,3723,0,0,0,0,0,0
$GC,2374,-1.33,-146.0,283.6,-9.3,169,2378,0.00,2.50,0.00,0.000,4,0.000,0.034,2587,3359,3723,0,0,0,0,0,0
$GC,2399,-1.41,-146.0,286.0,-9.6,169,2405,0.15,2.45,0.00,0.000,6,0.054,0.025,2497,1813,3723,0,0,0,0,0,0
$GC,2659,-1.22,-146.0,323.2,-14.7,176,2662,0.45,0.00,0.00,0.000,6,0.085,0.000,2592,1811,3723,0,0,0,0,0,0
$GC,2904,-1.33,-146.0,343.0,-7.7,182,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1812,3722,0,0,0,0,0,0
$GC,3149,-1.44,-146.0,361.6,-7.5,188,3154,0.20,2.55,0.00,0.000,4,0.048,0.038,2514,3362,3721,0,0,0,0,0,0
$GC,3210,-1.35,-146.0,368.6,-11.9,189,3215,0.22,2.45,0.00,0.000,6,0.091,0.028,2564,1823,3721,0,0,0,0,0,0
$GC,3479,-1.35,-146.0,392.6,-8.8,196,3484,0.00,2.50,0.00,0.000,4,0.000,0.042,2564,3354,3719,0,0,0,0,0,0
$GC,3513,-1.35,-146.0,395.8,-9.6,196,3518,0.00,2.47,0.00,0.000,6,0.000,0.029,2564,1823,3719,0,0,0,0,0,0
$GC,3763,-1.35,-146.0,419.6,-9.7,202,3767,0.00,2.55,0.00,0.000,4,0.000,0.045,2564,3362,3717,0,0,0,0,0,0
$GC,3777,-1.35,-146.0,421.2,-9.9,202,3781,0.00,2.45,0.00,0.000,6,0.000,0.028,2564,1826,3717,0,0,0,0,0,0
$GC,4047,-1.35,-146.0,445.3,-9.0,209,4051,0.00,2.55,0.00,0.000,4,0.000,0.048,2564,3352,3715,0,0,0,0,0,0
$GC,4085,-1.42,-146.0,449.1,-8.5,209,4090,0.00,2.45,0.00,0.000,6,0.000,0.031,2564,1831,3715,0,0,0,0,0,0
$GC,4334,-1.42,-146.0,471.5,-9.1,216,4339,0.00,2.55,0.00,0.000,4,0.000,0.051,2564,3359,3713,0,0,0,0,0,0
$GC,4369,-1.49,-146.0,474.6,-9.6,216,4374,0.12,2.47,0.00,0.000,6,0.064,0.032,2491,1841,3713,0,0,0,0,0,0
$STATE,4575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4575,begin apogee
$GC,4581,-0.31,0.0,500.7,12.8,221,4703,1.38,0.00,118.03,0.875,6,0.086,0.000,2791,1674,3120,0,0,0,0,0,0
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4708,1.28,146.0,505.4,0.0,224,4839,1.45,2.67,122.25,0.858,4,0.025,0.074,3148,180,2523,0,0,0,0,0,0
$GC,4877,0.80,146.0,503.7,10.2,228,4884,0.55,2.42,0.00,0.000,6,0.114,0.029,3037,1660,2519,0,0,0,0,0,0
$GC,5154,0.90,225.1,484.9,6.4,235,5229,0.00,2.62,67.20,0.842,4,0.000,0.061,3037,180,2201,0,0,0,0,0,0
$GC,5276,0.90,225.1,474.5,10.2,237,5281,0.00,2.47,0.00,0.000,6,0.000,0.031,3037,1688,2197,0,0,0,0,0,0
$GC,5527,0.93,251.4,452.4,8.8,243,5553,0.10,0.00,23.45,0.799,6,0.078,0.000,3086,1688,2094,0,0,0,0,0,0
$GC,5770,0.81,251.4,424.1,12.2,249,5775,0.22,2.60,0.00,0.000,4,0.103,0.058,3038,184,2088,0,0,0,0,0,0
$GC,5798,0.81,251.4,420.4,11.4,249,5803,0.00,2.42,0.00,0.000,6,0.000,0.028,3038,1682,2087,0,0,0,0,0,0
$GC,6054,0.81,251.4,394.1,10.5,256,6058,0.00,2.58,0.00,0.000,4,0.000,0.059,3038,183,2085,0,0,0,0,0,0
$GC,6068,0.81,251.4,392.3,10.4,256,6072,0.00,2.40,0.00,0.000,6,0.000,0.025,3038,1686,2085,0,0,0,0,0,0
$GC,6336,0.81,251.4,364.8,10.3,263,6340,0.00,2.58,0.00,0.000,4,0.000,0.058,3038,183,2083,0,0,0,0,0,0
$GC,6356,0.81,251.4,362.7,10.5,263,6360,0.00,2.40,0.00,0.000,6,0.000,0.025,3038,1677,2083,0,0,0,0,0,0
$GC,6619,0.82,259.0,337.1,9.7,270,6626,0.00,0.00,5.72,0.601,6,0.000,0.000,3038,1678,2064,0,0,0,0,0,0
$GC,6863,0.83,267.9,313.8,9.6,276,6879,0.00,2.60,9.43,0.676,4,0.000,0.056,3039,179,2027,0,0,0,0,0,0
$GC,6938,0.84,272.0,306.2,9.9,277,6950,0.00,2.40,5.22,0.565,6,0.000,0.025,3038,1675,2011,0,0,0,0,0,0
$GC,7200,0.86,292.7,282.1,9.1,284,7226,0.00,2.70,19.83,0.712,4,0.000,0.049,3038,3254,1926,0,0,0,0,0,0
$GC,7251,0.98,305.4,277.4,9.5,285,7272,0.15,2.62,12.68,0.671,6,0.057,0.033,3101,1680,1874,0,0,0,0,0,0
$GC,7533,0.89,305.4,242.4,12.8,292,7538,0.22,2.60,0.00,0.000,4,0.100,0.059,3054,164,1870,0,0,0,0,0,0
$GC,7553,0.89,305.4,239.7,11.6,292,7558,0.00,2.38,0.00,0.000,6,0.000,0.023,3054,1675,1869,0,0,0,0,0,0
$GC,7817,0.89,312.3,213.9,9.7,299,7825,0.00,0.00,6.68,0.559,6,0.000,0.000,3054,1678,1846,0,0,0,0,0,0
$GC,8064,0.90,315.5,189.0,9.9,311,8074,0.00,2.58,4.28,0.453,4,0.000,0.035,3054,3252,1832,0,0,0,0,0,0
$GC,8092,0.97,315.5,186.3,10.1,313,8098,0.00,2.60,0.00,0.000,6,0.000,0.030,3054,1667,1831,0,0,0,0,0,0
$GC,8355,1.04,321.3,160.0,9.8,338,8368,0.12,2.55,6.47,0.515,4,0.067,0.048,3111,168,1809,0,0,0,0,0,0
$GC,8399,0.89,321.3,154.2,14.3,342,8409,0.25,2.40,0.00,0.000,6,0.088,0.023,3054,1665,1808,0,0,0,0,0,0
$GC,8664,0.98,325.7,128.1,9.8,367,8675,0.00,2.58,5.22,0.459,4,0.000,0.033,3054,3257,1791,0,0,0,0,0,0
$GC,8713,1.16,340.5,123.4,9.4,371,8733,0.25,2.58,14.18,0.561,6,0.038,0.028,3135,1677,1731,0,0,0,0,0,0
$GC,8994,1.16,340.5,89.2,11.0,398,8999,0.10,2.50,0.00,0.000,4,0.129,0.051,3114,172,1729,0,0,0,0,0,0
$GC,9037,1.16,340.5,84.8,10.5,401,9043,0.00,2.35,0.00,0.000,6,0.000,0.021,3114,1689,1728,0,0,0,0,0,0
$GC,9305,1.16,340.5,56.6,11.2,426,9310,0.00,2.50,0.00,0.000,4,0.000,0.042,3114,164,1728,0,0,0,0,0,0
$GC,9339,1.09,340.5,51.7,12.9,428,9348,0.00,2.38,0.00,0.000,6,0.000,0.021,3114,1667,1728,0,0,0,0,0,0
$GC,9614,1.09,340.5,21.3,12.0,459,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1668,1728,0,0,0,0,0,0
$STATE,9753,end climb,SURFACE_DEPTH_REACHED
$STATE,9753,begin surface coast
$FINISH,0.6,1.002265
$STATE,9797,end surface coast,CONTROL_FINISHED_OK
$STATE,9797,begin surface
$SM_CCo,9817,52.22,0.061,0,0,1286,450.13
$SM_GC,1.57,0.00,0.00,52.22,0.000,0.000,0.061,413,1842,1286,-11.26,1.50,450.13
$IRIDIUM_FIX,2241.69,-15804.53,040300,080815
$TT8_MAMPS,0.026845
$HUMID,44.72
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,23.6,32.822
$10V_AH,10.4,27.614
$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,30.850,131.000,420.625,52.225,0.000,29.905,32.910,163.281,0.750,0.000,20.426,1016.328,6386.893,548.391,1783.110,501.453,33.368,1277.085,0.000,1778.896,0.000,0.537,0.000
$DEVICE_MAMPS,161.837,73.632,875.147,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.359,298.748,372.843,567.426,1004.297,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,38332,487
$CAP_FILE_SIZE,113111,0
$CFSIZE,260165632,159219712
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091210,140206,2249.664,-15759.811,36,1.1,36,10.1