version: 66.06
glider: 148
mission: 9
dive: 232
start: 12 9 110 17 2 10
data:
$ID,148
$MISSION,9
$DIVE,232
$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,-862818.69
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,165506,2250.502,-15758.425,29,1.7,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.7
$GPS2,170113,2250.514,-15758.396,11,1.2,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.100,-0.240
$KALMAN_X,-70450.9,-18.4,-75.3,90269.7,704.5
$KALMAN_Y,447.7,1261.2,-1483.1,130553.2,1726.7
$MHEAD_RNG_PITCHd_Wd,147.3,2568,-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,17,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-83.05,0.000,2,0.000,0.000,412,1869,3334,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.4,-5.1,11,132,11.93,2.40,-6.85,0.000,4,0.173,0.038,2571,3380,3716,0,0,0,0,0,0
$GC,172,-1.04,-146.0,23.0,-18.5,20,181,0.22,2.58,0.00,0.000,6,0.081,0.025,2625,1791,3718,0,0,0,0,0,0
$GC,449,-1.04,-146.0,59.4,-13.4,48,453,0.00,2.58,0.00,0.000,4,0.000,0.031,2625,3371,3718,0,0,0,0,0,0
$GC,513,-1.04,-146.0,68.2,-12.5,53,518,0.00,2.50,0.00,0.000,6,0.000,0.023,2625,1796,3718,0,0,0,0,0,0
$GC,780,-1.04,-146.0,103.3,-12.6,77,784,0.00,2.50,0.00,0.000,4,0.000,0.029,2625,3370,3719,0,0,0,0,0,0
$GC,824,-1.15,-146.0,108.5,-10.5,80,833,0.00,2.50,0.00,0.000,6,0.000,0.022,2625,1808,3719,0,0,0,0,0,0
$GC,1090,-1.24,-146.0,130.8,-9.2,105,1095,0.15,0.00,0.00,0.000,6,0.056,0.000,2522,1808,3720,0,0,0,0,0,0
$GC,1358,-1.03,-146.0,171.6,-16.5,130,1366,0.47,2.50,0.00,0.000,4,0.088,0.030,2630,3374,3721,0,0,0,0,0,0
$GC,1401,-1.19,-146.0,178.3,-10.4,134,1408,0.12,2.47,0.00,0.000,6,0.058,0.023,2537,1813,3721,0,0,0,0,0,0
$GC,1681,-1.04,-146.0,217.8,-14.3,152,1688,0.40,2.58,0.00,0.000,4,0.084,0.038,2629,211,3721,0,0,0,0,0,0
$GC,1708,-1.17,-146.0,221.2,-9.9,152,1713,0.10,2.47,0.00,0.000,6,0.076,0.020,2566,1822,3721,0,0,0,0,0,0
$GC,1969,-1.17,-146.0,249.4,-11.1,159,1974,0.17,2.45,0.00,0.000,4,0.096,0.031,2604,3359,3721,0,0,0,0,0,0
$GC,2016,-1.31,-146.0,254.3,-8.7,160,2021,0.12,2.45,0.00,0.000,6,0.061,0.024,2528,1817,3721,0,0,0,0,0,0
$GC,2299,-1.18,-146.0,292.5,-14.1,167,2305,0.32,2.47,0.00,0.000,4,0.088,0.030,2601,3367,3721,0,0,0,0,0,0
$GC,2312,-1.07,-146.0,294.2,-14.4,167,2317,0.12,2.42,0.00,0.000,6,0.104,0.022,2629,1817,3721,0,0,0,0,0,0
$GC,2586,-1.27,-146.0,315.1,-6.8,174,2591,0.20,2.47,0.00,0.000,4,0.044,0.033,2525,3357,3721,0,0,0,0,0,0
$GC,2635,-1.27,-146.0,319.9,-11.1,175,2640,0.25,2.42,0.00,0.000,6,0.089,0.025,2580,1826,3721,0,0,0,0,0,0
$GC,2919,-1.34,-146.0,344.8,-8.7,182,2924,0.00,2.47,0.00,0.000,4,0.000,0.038,2580,3353,3721,0,0,0,0,0,0
$GC,2942,-1.34,-146.0,347.5,-11.3,182,2947,0.00,2.42,0.00,0.000,6,0.000,0.026,2580,1828,3721,0,0,0,0,0,0
$GC,3203,-1.41,-146.0,373.4,-10.0,189,3205,0.12,0.00,0.00,0.000,6,0.063,0.000,2505,1828,3720,0,0,0,0,0,0
$GC,3445,-1.25,-146.0,405.2,-13.1,195,3452,0.38,2.53,0.00,0.000,4,0.089,0.044,2584,3359,3718,0,0,0,0,0,0
$GC,3461,-1.25,-146.0,407.4,-12.4,195,3466,0.00,2.42,0.00,0.000,6,0.000,0.028,2584,1840,3718,0,0,0,0,0,0
$GC,3732,-1.35,-146.0,430.3,-8.4,202,3736,0.00,2.50,0.00,0.000,4,0.000,0.046,2584,3357,3717,0,0,0,0,0,0
$GC,3751,-1.45,-146.0,432.1,-8.5,202,3756,0.17,2.47,0.00,0.000,6,0.049,0.030,2501,1830,3716,0,0,0,0,0,0
$GC,4017,-1.31,-146.0,462.5,-11.7,209,4022,0.30,2.55,0.00,0.000,4,0.091,0.049,2570,3356,3715,0,0,0,0,0,0
$GC,4048,-1.31,-146.0,465.5,-8.3,209,4052,0.00,2.45,0.00,0.000,6,0.000,0.033,2570,1839,3715,0,0,0,0,0,0
$GC,4302,-1.39,-146.0,488.1,-9.0,216,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1839,3712,0,0,0,0,0,0
$STATE,4421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4422,begin apogee
$GC,4429,-0.31,0.0,500.1,9.7,219,4550,0.98,0.00,117.38,0.873,6,0.081,0.000,2789,1676,3120,0,0,0,0,0,0
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4553,1.28,146.0,506.7,0.0,222,4683,1.45,2.72,120.72,0.857,4,0.038,0.075,3138,182,2524,0,0,0,0,0,0
$GC,4952,0.85,146.0,481.3,11.3,230,4958,0.45,2.38,0.00,0.000,6,0.112,0.028,3047,1659,2515,0,0,0,0,0,0
$GC,5202,0.84,195.0,461.3,7.8,237,5249,0.00,2.60,41.00,0.825,4,0.000,0.058,3046,177,2324,0,0,0,0,0,0
$GC,5265,0.75,204.9,455.6,9.6,238,5282,0.10,2.47,10.10,0.720,6,0.134,0.028,3026,1685,2283,0,0,0,0,0,0
$GC,5538,0.78,224.5,430.3,9.1,245,5557,0.00,0.00,17.48,0.775,6,0.000,0.000,3026,1686,2204,0,0,0,0,0,0
$GC,5780,0.81,254.0,408.8,8.7,251,5812,0.00,2.67,26.45,0.791,4,0.000,0.058,3025,183,2083,0,0,0,0,0,0
$GC,5847,0.81,256.5,402.7,9.9,252,5851,0.00,2.42,0.00,0.000,6,0.000,0.026,3026,1672,2082,0,0,0,0,0,0
$GC,6111,0.92,289.9,380.2,8.5,259,6150,0.15,0.00,32.58,0.782,6,0.057,0.000,3087,1673,1937,0,0,0,0,0,0
$GC,6395,0.84,289.9,346.2,12.3,266,6397,0.20,0.00,0.00,0.000,6,0.102,0.000,3046,1673,1931,0,0,0,0,0,0
$GC,6637,0.84,289.9,319.9,10.8,272,6641,0.00,2.55,0.00,0.000,4,0.000,0.056,3045,182,1928,0,0,0,0,0,0
$GC,6651,0.84,289.9,318.4,10.6,272,6655,0.00,2.40,0.00,0.000,6,0.000,0.024,3045,1677,1928,0,0,0,0,0,0
$GC,6921,0.86,306.4,292.8,9.3,279,6937,0.00,0.00,14.30,0.688,6,0.000,0.000,3045,1679,1871,0,0,0,0,0,0
$GC,7207,0.92,306.4,265.3,10.2,286,7212,0.00,2.62,0.00,0.000,4,0.000,0.046,3045,3250,1866,0,0,0,0,0,0
$GC,7250,1.05,306.4,260.5,11.2,287,7256,0.17,2.58,0.00,0.000,6,0.050,0.033,3124,1676,1863,0,0,0,0,0,0
$GC,7541,0.91,306.4,219.6,14.2,294,7546,0.28,2.53,0.00,0.000,4,0.097,0.052,3061,170,1863,0,0,0,0,0,0
$GC,7565,0.91,306.4,216.3,12.3,294,7569,0.00,2.38,0.00,0.000,6,0.000,0.022,3061,1674,1863,0,0,0,0,0,0
$GC,7831,0.91,306.4,190.2,11.0,307,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1678,1862,0,0,0,0,0,0
$GC,8094,0.94,323.1,162.9,9.3,332,8115,0.00,0.00,15.10,0.594,6,0.000,0.000,3061,1678,1800,0,0,0,0,0,0
$GC,8368,1.00,323.1,134.7,10.9,358,8373,0.00,2.53,0.00,0.000,4,0.000,0.034,3061,3252,1797,0,0,0,0,0,0
$GC,8411,1.15,331.9,130.4,9.6,361,8430,0.20,2.60,7.85,0.509,6,0.045,0.028,3151,1647,1767,0,0,0,0,0,0
$GC,8687,1.04,331.9,95.0,12.7,387,8692,0.28,2.42,0.00,0.000,4,0.096,0.044,3088,166,1766,0,0,0,0,0,0
$GC,8726,1.04,331.9,89.8,11.5,390,8735,0.00,2.35,0.00,0.000,6,0.000,0.021,3088,1653,1765,0,0,0,0,0,0
$GC,8990,1.04,331.9,64.5,11.1,415,8994,0.00,2.58,0.00,0.000,4,0.000,0.032,3088,3258,1765,0,0,0,0,0,0
$GC,9010,1.04,331.9,62.3,12.1,416,9014,0.00,2.58,0.00,0.000,6,0.000,0.026,3088,1657,1764,0,0,0,0,0,0
$GC,9277,1.04,331.9,31.8,10.8,440,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1656,1764,0,0,0,0,0,0
$STATE,9551,end climb,SURFACE_DEPTH_REACHED
$STATE,9551,begin surface coast
$FINISH,0.7,1.011247
$STATE,9596,end surface coast,CONTROL_FINISHED_OK
$STATE,9596,begin surface
$SM_CCo,9616,62.58,0.415,1,0,1284,450.13
$SM_GC,1.44,0.00,0.00,62.58,0.000,0.000,0.415,410,1856,1284,-11.27,1.87,450.13
$IRIDIUM_FIX,2241.69,-15757.16,040300,141459
$TT8_MAMPS,0.027612
$HUMID,43.62
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,33.053
$10V_AH,10.4,27.822
$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,30.600,105.425,402.950,62.575,0.000,27.868,41.076,167.626,0.250,0.000,12.957,1010.403,6181.018,525.423,1826.448,512.998,33.376,1251.646,0.000,1834.213,0.000,0.538,0.000
$DEVICE_MAMPS,173.342,75.166,872.846,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.914,304.650,379.520,585.625,1034.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,38339,490
$CAP_FILE_SIZE,106361,0
$CFSIZE,260165632,159117312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091210,194451,2249.450,-15757.710,17,2.1,36,10.1