version: 66.06
glider: 148
mission: 9
dive: 251
start: 12 11 110 20 15 27
data:
$ID,148
$MISSION,9
$DIVE,251
$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,-863208.44
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,200901,2249.870,-15757.084,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.9
$GPS2,201432,2249.865,-15757.079,14,1.3,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.120,-0.231
$KALMAN_X,-61972.7,-278.4,-4.9,84253.6,659.1
$KALMAN_Y,1292.9,600.8,-308.0,128005.1,14.7
$MHEAD_RNG_PITCHd_Wd,197.4,5446,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-83.10,0.000,2,0.000,0.000,414,1865,3366,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.7,-6.2,11,133,11.73,2.38,-6.40,0.000,4,0.166,0.038,2574,3371,3717,0,0,0,0,0,0
$GC,265,-1.19,-146.0,36.3,-14.0,32,270,0.12,2.50,0.00,0.000,6,0.117,0.024,2600,1790,3719,0,0,0,0,0,0
$GC,534,-1.10,-146.0,75.2,-14.7,56,538,0.00,2.55,0.00,0.000,4,0.000,0.031,2600,3373,3720,0,0,0,0,0,0
$GC,578,-1.02,-146.0,82.3,-15.2,59,583,0.17,2.50,0.00,0.000,6,0.105,0.022,2638,1794,3720,0,0,0,0,0,0
$GC,846,-1.12,-146.0,111.3,-8.6,83,850,0.00,2.53,0.00,0.000,4,0.000,0.028,2637,3374,3721,0,0,0,0,0,0
$GC,874,-1.23,-146.0,114.0,-9.7,85,879,0.20,2.47,0.00,0.000,6,0.043,0.021,2543,1800,3721,0,0,0,0,0,0
$GC,1139,-1.08,-146.0,155.0,-14.2,109,1148,0.35,2.55,0.00,0.000,4,0.087,0.035,2618,204,3721,0,0,0,0,0,0
$GC,1155,-0.99,-146.0,157.8,-14.2,110,1161,0.12,2.50,0.00,0.000,6,0.104,0.018,2645,1822,3722,0,0,0,0,0,0
$GC,1418,-1.18,-146.0,179.4,-8.4,135,1423,0.17,2.42,0.00,0.000,4,0.048,0.028,2557,3361,3723,0,0,0,0,0,0
$GC,1468,-1.18,-146.0,185.1,-12.5,139,1473,0.20,2.45,0.00,0.000,6,0.087,0.025,2602,1807,3723,0,0,0,0,0,0
$GC,1746,-1.18,-146.0,211.4,-9.1,156,1750,0.00,2.47,0.00,0.000,4,0.000,0.030,2602,3357,3723,0,0,0,0,0,0
$GC,1803,-1.30,-146.0,217.0,-8.6,157,1808,0.10,2.42,0.00,0.000,6,0.076,0.023,2534,1813,3723,0,0,0,0,0,0
$GC,2077,-1.17,-146.0,255.8,-14.5,164,2082,0.30,2.58,0.00,0.000,4,0.086,0.038,2602,210,3723,0,0,0,0,0,0
$GC,2092,-1.17,-146.0,257.7,-13.3,164,2096,0.00,2.50,0.00,0.000,6,0.000,0.020,2602,1820,3723,0,0,0,0,0,0
$GC,2362,-1.27,-146.0,280.0,-8.3,171,2367,0.00,2.42,0.00,0.000,4,0.000,0.031,2602,3360,3723,0,0,0,0,0,0
$GC,2400,-1.40,-146.0,283.8,-8.8,171,2406,0.20,2.42,0.00,0.000,6,0.043,0.024,2497,1819,3723,0,0,0,0,0,0
$GC,2651,-1.23,-146.0,315.6,-12.1,178,2659,0.40,2.60,0.00,0.000,4,0.084,0.042,2590,215,3723,0,0,0,0,0,0
$GC,2668,-1.23,-146.0,317.5,-9.6,178,2673,0.00,2.50,0.00,0.000,6,0.000,0.021,2590,1812,3723,0,0,0,0,0,0
$GC,2937,-1.33,-146.0,341.3,-9.9,185,2941,0.00,2.47,0.00,0.000,4,0.000,0.035,2590,3368,3723,0,0,0,0,0,0
$GC,2999,-1.48,-146.0,347.4,-9.1,186,3005,0.22,2.47,0.00,0.000,6,0.038,0.028,2479,1823,3723,0,0,0,0,0,0
$GC,3269,-1.25,-146.0,385.6,-14.2,193,3276,0.50,2.67,0.00,0.000,4,0.087,0.052,2582,213,3723,0,0,0,0,0,0
$GC,3311,-1.42,-146.0,389.8,-8.5,193,3317,0.12,2.55,0.00,0.000,6,0.063,0.025,2516,1815,3722,0,0,0,0,0,0
$GC,3561,-1.33,-146.0,418.2,-11.8,200,3563,0.25,0.00,0.00,0.000,6,0.090,0.000,2571,1815,3721,0,0,0,0,0,0
$GC,3805,-1.40,-146.0,440.2,-8.8,206,3809,0.00,2.55,0.00,0.000,4,0.000,0.043,2571,3368,3719,0,0,0,0,0,0
$GC,3826,-1.47,-146.0,442.0,-9.1,206,3831,0.15,2.50,0.00,0.000,6,0.054,0.029,2485,1813,3719,0,0,0,0,0,0
$GC,4090,-1.30,-146.0,476.9,-13.6,213,4098,0.40,2.72,0.00,0.000,4,0.086,0.063,2572,212,3717,0,0,0,0,0,0
$GC,4112,-1.30,-146.0,479.5,-11.4,213,4116,0.00,2.60,0.00,0.000,6,0.000,0.031,2572,1810,3717,0,0,0,0,0,0
$STATE,4373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4373,begin apogee
$GC,4381,-0.31,0.0,502.0,8.4,220,4503,0.95,0.00,118.45,0.868,6,0.071,0.000,2791,1665,3120,0,0,0,0,0,0
$STATE,4503,end apogee,CONTROL_FINISHED_OK
$STATE,4503,begin climb
$GC,4506,1.28,146.0,506.7,0.0,223,4637,1.40,2.62,120.97,0.853,4,0.025,0.067,3151,182,2522,0,0,0,0,0,0
$GC,4652,0.89,205.6,507.8,7.3,226,4709,0.47,2.47,50.62,0.831,6,0.112,0.031,3056,1682,2280,0,0,0,0,0,0
$GC,4962,0.92,232.0,480.6,8.8,234,4990,0.00,2.67,22.67,0.800,4,0.000,0.060,3055,190,2173,0,0,0,0,0,0
$GC,5034,0.82,232.0,473.9,10.1,235,5038,0.00,2.42,0.00,0.000,6,0.000,0.028,3055,1684,2171,0,0,0,0,0,0
$GC,5294,0.82,237.3,449.3,9.8,242,5307,0.00,2.60,5.35,0.610,4,0.000,0.058,3056,181,2151,0,0,0,0,0,0
$GC,5341,0.75,237.3,443.4,13.4,243,5346,0.15,2.42,0.00,0.000,6,0.113,0.027,3025,1686,2150,0,0,0,0,0,0
$GC,5630,0.76,245.0,414.5,9.7,250,5643,0.00,2.62,7.80,0.687,4,0.000,0.060,3025,188,2121,0,0,0,0,0,0
$GC,5672,0.76,245.0,410.2,10.3,251,5676,0.00,2.40,0.00,0.000,6,0.000,0.025,3025,1675,2121,0,0,0,0,0,0
$GC,5961,0.90,308.3,388.0,7.1,258,6026,0.12,2.62,57.00,0.799,4,0.065,0.057,3094,183,1862,0,0,0,0,0,0
$GC,6079,0.79,308.3,373.6,13.7,260,6084,0.30,2.40,0.00,0.000,6,0.100,0.027,3031,1662,1860,0,0,0,0,0,0
$GC,6336,0.89,322.2,348.9,9.4,267,6357,0.10,2.72,12.60,0.711,4,0.077,0.048,3080,3254,1805,0,0,0,0,0,0
$GC,6389,0.89,322.2,342.1,12.7,268,6395,0.12,2.62,0.00,0.000,6,0.110,0.033,3054,1680,1801,0,0,0,0,0,0
$GC,6669,0.89,322.2,308.3,12.2,275,6674,0.00,2.62,0.00,0.000,4,0.000,0.042,3054,3258,1799,0,0,0,0,0,0
$GC,6692,0.89,322.2,305.1,12.6,275,6697,0.00,2.62,0.00,0.000,6,0.000,0.032,3054,1669,1797,0,0,0,0,0,0
$GC,6953,0.89,322.2,275.6,11.1,282,6957,0.00,2.58,0.00,0.000,4,0.000,0.061,3054,163,1796,0,0,0,0,0,0
$GC,6966,0.89,322.2,274.0,10.9,282,6971,0.00,2.42,0.00,0.000,6,0.000,0.023,3054,1689,1796,0,0,0,0,0,0
$GC,7236,0.95,322.2,244.6,11.4,289,7241,0.00,2.55,0.00,0.000,4,0.000,0.041,3054,3247,1795,0,0,0,0,0,0
$GC,7273,1.06,322.2,239.6,12.1,289,7280,0.15,2.58,0.00,0.000,6,0.058,0.031,3128,1666,1794,0,0,0,0,0,0
$GC,7525,0.94,322.2,202.9,14.5,296,7530,0.25,2.50,0.00,0.000,4,0.098,0.051,3069,164,1794,0,0,0,0,0,0
$GC,7554,0.94,322.2,198.6,13.5,296,7558,0.00,2.40,0.00,0.000,6,0.000,0.022,3068,1681,1793,0,0,0,0,0,0
$GC,7820,0.94,322.2,169.1,10.2,321,7824,0.00,2.53,0.00,0.000,4,0.000,0.034,3068,3257,1793,0,0,0,0,0,0
$GC,7881,1.06,333.1,163.0,9.5,326,7899,0.00,2.58,8.05,0.545,6,0.000,0.028,3069,1676,1762,0,0,0,0,0,0
$GC,8151,1.06,333.1,135.7,10.5,352,8156,0.10,2.58,0.00,0.000,4,0.078,0.033,3129,3264,1761,0,0,0,0,0,0
$GC,8174,1.06,333.1,132.5,13.5,353,8180,0.17,2.58,0.00,0.000,6,0.102,0.028,3092,1677,1760,0,0,0,0,0,0
$GC,8436,1.06,333.1,101.0,11.8,378,8440,0.00,2.47,0.00,0.000,4,0.000,0.052,3092,171,1760,0,0,0,0,0,0
$GC,8475,1.06,333.1,96.6,13.0,381,8479,0.00,2.35,0.00,0.000,6,0.000,0.021,3092,1693,1760,0,0,0,0,0,0
$GC,8746,1.06,333.1,67.8,10.4,406,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1694,1760,0,0,0,0,0,0
$GC,9012,1.07,340.9,40.8,9.7,431,9026,0.00,2.53,8.50,0.453,4,0.000,0.042,3092,166,1729,0,0,0,0,0,0
$GC,9063,1.07,340.9,35.3,11.7,435,9067,0.00,2.38,0.00,0.000,6,0.000,0.020,3092,1684,1729,0,0,0,0,0,0
$STATE,9356,end climb,SURFACE_DEPTH_REACHED
$STATE,9356,begin surface coast
$FINISH,0.6,1.010559
$STATE,9394,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9414,59.47,0.413,1,0,1285,450.13
$SM_GC,1.45,0.00,0.00,59.47,0.000,0.000,0.413,409,1870,1285,-11.27,2.26,450.13
$IRIDIUM_FIX,2239.35,-15757.16,060300,171728
$TT8_MAMPS,0.027612
$HUMID,45.23
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,35.140
$10V_AH,10.4,29.718
$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,31.000,136.550,412.025,59.475,0.000,24.947,34.974,144.763,0.250,0.000,16.113,1024.857,5940.142,516.521,1857.115,474.964,33.363,1278.995,0.000,1854.016,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,66.729,868.244,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.404,294.293,377.948,577.443,1015.583,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,38450,484
$CAP_FILE_SIZE,114248,0
$CFSIZE,260165632,158093312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111210,225434,2248.807,-15757.563,8,2.1,27,10.1