version: 66.06
glider: 148
mission: 9
dive: 287
start: 12 16 110 1 37 16
data:
$ID,148
$MISSION,9
$DIVE,287
$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,-864065.5
$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,100
$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
$GPS1,013013,2249.256,-15801.488,25,1.4,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.9
$GPS2,013620,2249.278,-15801.483,16,1.3,16,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.260,0.007
$KALMAN_X,-54500.7,55.7,-158.7,69021.1,315.2
$KALMAN_Y,2186.3,-159.8,1.6,126479.1,429.4
$MHEAD_RNG_PITCHd_Wd,78.3,7768,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.50,0.000,2,0.000,0.000,410,1845,3354,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.7,-5.8,11,131,11.52,2.35,-6.40,0.000,4,0.158,0.041,2574,3316,3717,0,0,0,0,0,0
$GC,153,-0.63,-146.0,20.3,-30.1,17,162,0.62,2.47,0.00,0.000,6,0.085,0.021,2715,1774,3719,0,0,0,0,0,0
$GC,439,-0.88,-146.0,43.8,-7.4,49,444,0.20,2.47,0.00,0.000,4,0.041,0.027,2617,3320,3720,0,0,0,0,0,0
$GC,505,-0.88,-146.0,51.2,-12.4,54,510,0.22,2.40,0.00,0.000,6,0.086,0.023,2667,1807,3719,0,0,0,0,0,0
$GC,774,-0.97,-146.0,78.5,-9.8,78,778,0.00,2.40,0.00,0.000,4,0.000,0.028,2667,3324,3720,0,0,0,0,0,0
$GC,825,-1.14,-146.0,84.4,-9.3,82,836,0.20,2.40,0.00,0.000,6,0.020,0.022,2550,1815,3720,0,0,0,0,0,0
$GC,1094,-1.00,-146.0,125.4,-14.4,107,1099,0.38,2.40,0.00,0.000,4,0.085,0.028,2637,3319,3720,0,0,0,0,0,0
$GC,1143,-1.17,-146.0,131.3,-9.1,111,1148,0.15,2.35,0.00,0.000,6,0.052,0.022,2553,1828,3721,0,0,0,0,0,0
$GC,1407,-1.07,-146.0,167.1,-13.7,135,1416,0.32,0.00,0.00,0.000,6,0.083,0.000,2625,1827,3722,0,0,0,0,0,0
$GC,1674,-1.21,-146.0,192.7,-8.8,160,1679,0.12,2.40,0.00,0.000,4,0.064,0.029,2555,3322,3722,0,0,0,0,0,0
$GC,1715,-1.21,-146.0,197.6,-11.7,163,1721,0.17,2.35,0.00,0.000,6,0.090,0.022,2595,1831,3722,0,0,0,0,0,0
$GC,1986,-1.21,-146.0,221.6,-8.4,172,1990,0.00,2.35,0.00,0.000,4,0.000,0.029,2595,3317,3722,0,0,0,0,0,0
$GC,2019,-1.28,-146.0,224.5,-8.2,172,2023,0.00,2.33,0.00,0.000,6,0.000,0.023,2595,1848,3723,0,0,0,0,0,0
$GC,2270,-1.35,-146.0,244.9,-8.1,178,2275,0.12,2.35,0.00,0.000,4,0.064,0.031,2523,3312,3723,0,0,0,0,0,0
$GC,2299,-1.25,-146.0,248.3,-11.7,178,2304,0.30,2.30,0.00,0.000,6,0.081,0.023,2589,1862,3722,0,0,0,0,0,0
$GC,2559,-1.32,-146.0,271.6,-9.0,185,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1862,3723,0,0,0,0,0,0
$GC,2804,-1.40,-146.0,294.1,-9.2,191,2809,0.15,2.35,0.00,0.000,4,0.056,0.033,2520,3312,3723,0,0,0,0,0,0
$GC,2823,-1.40,-146.0,296.6,-10.7,191,2828,0.17,2.28,0.00,0.000,6,0.097,0.023,2557,1864,3722,0,0,0,0,0,0
$GC,3087,-1.40,-146.0,323.6,-9.9,198,3091,0.00,2.35,0.00,0.000,4,0.000,0.035,2557,3318,3721,0,0,0,0,0,0
$GC,3107,-1.40,-146.0,325.5,-9.9,198,3111,0.00,2.30,0.00,0.000,6,0.000,0.025,2557,1863,3721,0,0,0,0,0,0
$GC,3375,-1.40,-146.0,351.5,-9.8,205,3380,0.00,2.72,0.00,0.000,4,0.000,0.051,2557,211,3720,0,0,0,0,0,0
$GC,3389,-1.40,-146.0,353.0,-10.2,205,3394,0.00,2.55,0.00,0.000,6,0.000,0.023,2557,1822,3720,0,0,0,0,0,0
$GC,3659,-1.40,-146.0,379.6,-10.0,212,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1823,3718,0,0,0,0,0,0
$GC,3901,-1.40,-146.0,404.3,-10.1,218,3905,0.00,2.50,0.00,0.000,4,0.000,0.040,2557,3368,3717,0,0,0,0,0,0
$GC,3938,-1.40,-146.0,408.0,-9.4,218,3943,0.00,2.42,0.00,0.000,6,0.000,0.028,2557,1866,3717,0,0,0,0,0,0
$GC,4189,-1.40,-146.0,431.4,-9.3,225,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1866,3716,0,0,0,0,0,0
$GC,4431,-1.40,-146.0,452.0,-8.5,231,4436,0.00,2.47,0.00,0.000,4,0.000,0.044,2557,3360,3714,0,0,0,0,0,0
$GC,4459,-1.40,-146.0,454.7,-9.5,231,4463,0.00,2.38,0.00,0.000,6,0.000,0.029,2557,1877,3714,0,0,0,0,0,0
$GC,4715,-1.40,-146.0,478.8,-9.7,238,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1877,3712,0,0,0,0,0,0
$STATE,4955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4955,begin apogee
$GC,4960,-0.31,0.0,502.5,9.8,244,5082,1.05,0.00,117.80,0.871,6,0.079,0.000,2793,1680,3120,0,0,0,0,0,0
$STATE,5082,end apogee,CONTROL_FINISHED_OK
$STATE,5083,begin climb
$GC,5085,1.28,146.0,508.5,0.0,247,5214,1.42,0.00,121.60,0.856,6,0.030,0.000,3141,1680,2524,0,0,0,0,0,0
$GC,5451,1.01,188.8,495.7,8.1,256,5495,0.28,2.67,36.30,0.828,4,0.116,0.072,3083,182,2349,0,0,0,0,0,0
$GC,5526,0.78,188.8,489.6,10.6,257,5531,0.25,2.45,0.00,0.000,6,0.106,0.028,3031,1677,2346,0,0,0,0,0,0
$GC,5786,0.84,239.8,469.4,7.7,264,5835,0.00,2.62,43.90,0.828,4,0.000,0.058,3031,187,2141,0,0,0,0,0,0
$GC,5871,0.84,239.8,461.3,11.4,266,5875,0.00,2.42,0.00,0.000,6,0.000,0.028,3031,1682,2140,0,0,0,0,0,0
$GC,6157,0.84,239.8,431.7,10.5,273,6161,0.00,2.67,0.00,0.000,4,0.000,0.051,3030,3265,2134,0,0,0,0,0,0
$GC,6175,0.84,239.8,429.7,10.3,273,6180,0.00,2.62,0.00,0.000,6,0.000,0.033,3031,1689,2131,0,0,0,0,0,0
$GC,6441,0.85,240.0,403.1,10.0,280,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1689,2131,0,0,0,0,0,0
$GC,6683,0.87,263.7,381.0,8.9,286,6710,0.00,2.67,20.23,0.769,4,0.000,0.067,3031,167,2043,0,0,0,0,0,0
$GC,6733,0.87,263.7,375.9,10.9,287,6738,0.00,2.45,0.00,0.000,6,0.000,0.027,3030,1685,2043,0,0,0,0,0,0
$GC,7013,0.94,267.4,348.8,9.9,294,7018,0.15,2.62,0.00,0.000,4,0.058,0.059,3092,168,2038,0,0,0,0,0,0
$GC,7060,0.78,267.4,342.1,15.3,295,7065,0.28,2.42,0.00,0.000,6,0.104,0.027,3033,1670,2038,0,0,0,0,0,0
$GC,7347,0.84,267.4,312.2,10.1,302,7351,0.00,2.58,0.00,0.000,4,0.000,0.058,3033,169,2036,0,0,0,0,0,0
$GC,7408,0.84,267.4,305.1,11.8,303,7413,0.00,2.38,0.00,0.000,6,0.000,0.025,3033,1666,2035,0,0,0,0,0,0
$GC,7677,0.93,283.6,280.3,9.3,310,7702,0.12,2.72,17.35,0.702,4,0.064,0.046,3091,3246,1963,0,0,0,0,0,0
$GC,7718,0.86,283.6,275.9,11.3,310,7724,0.20,2.65,0.00,0.000,6,0.096,0.033,3048,1656,1960,0,0,0,0,0,0
$GC,7967,0.86,283.6,249.5,10.3,317,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1656,1959,0,0,0,0,0,0
$GC,8214,0.96,303.3,227.0,9.1,323,8234,0.00,0.00,18.67,0.664,6,0.000,0.000,3048,1656,1882,0,0,0,0,0,0
$GC,8457,1.06,330.0,205.5,8.8,329,8484,0.17,0.00,24.27,0.652,6,0.051,0.000,3125,1656,1774,0,0,0,0,0,0
$GC,8706,0.94,330.0,171.2,14.7,347,8708,0.28,0.00,0.00,0.000,6,0.095,0.000,3066,1656,1769,0,0,0,0,0,0
$GC,8966,0.94,330.0,142.8,11.4,371,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1656,1767,0,0,0,0,0,0
$GC,9227,1.01,330.0,111.6,11.3,396,9231,0.00,2.47,0.00,0.000,4,0.000,0.049,3066,167,1767,0,0,0,0,0,0
$GC,9253,1.01,330.0,108.5,12.8,398,9257,0.00,2.35,0.00,0.000,6,0.000,0.021,3066,1676,1767,0,0,0,0,0,0
$GC,9526,1.18,358.1,82.8,8.7,423,9556,0.20,0.00,24.62,0.543,6,0.046,0.000,3137,1680,1659,0,0,0,0,0,0
$GC,9814,1.11,358.1,48.0,12.9,450,9819,0.15,2.53,0.00,0.000,4,0.107,0.044,3104,167,1656,0,0,0,0,0,0
$GC,9857,1.11,358.1,42.1,12.5,453,9866,0.00,2.35,0.00,0.000,6,0.000,0.021,3104,1649,1656,0,0,0,0,0,0
$GC,10149,1.11,358.1,10.2,11.9,492,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1650,1656,0,0,0,0,0,0
$STATE,10207,end climb,SURFACE_DEPTH_REACHED
$STATE,10207,begin surface coast
$FINISH,0.8,1.023761
$STATE,10246,end surface coast,CONTROL_FINISHED_OK
$STATE,10246,begin surface
$SM_CCo,10267,49.55,0.398,1,0,1285,450.13
$SM_GC,1.39,0.00,0.00,49.55,0.000,0.000,0.398,413,1841,1285,-11.26,1.41,450.13
$IRIDIUM_FIX,2239.35,-15719.39,100300,222253
$TT8_MAMPS,0.026845
$HUMID,45.74
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.6,39.452
$10V_AH,10.3,33.418
$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,30.150,103.825,424.750,49.550,0.000,35.846,33.692,158.924,0.000,0.000,17.679,1024.061,6818.414,533.940,1803.451,511.028,33.364,1237.714,0.000,1811.637,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,72.098,871.312,398.073,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.323,309.093,386.075,600.574,1060.873,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,38464,507
$CAP_FILE_SIZE,107032,0
$CFSIZE,260165632,156151808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161210,043054,2249.235,-15759.767,39,1.2,56,10.1