version: 66.06
glider: 148
mission: 9
dive: 289
start: 12 16 110 7 22 9
data:
$ID,148
$MISSION,9
$DIVE,289
$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,-864098.88
$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,27
$R_STBD_OVSHOOT,80
$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
$GPS1,071501,2249.492,-15758.312,38,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.7
$GPS2,072113,2249.466,-15758.286,8,1.1,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.210,0.153
$KALMAN_X,-54102.0,71.4,135.3,73813.7,89.8
$KALMAN_Y,1267.8,-213.0,-112.0,127909.3,-556.6
$MHEAD_RNG_PITCHd_Wd,43.7,2408,-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,-82.30,0.000,2,0.000,0.000,410,1823,3357,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.8,-6.6,11,132,11.48,2.40,-6.35,0.000,4,0.156,0.040,2574,3335,3717,0,0,0,0,0,0
$GC,191,-1.07,-146.0,27.6,-17.8,23,200,0.20,2.50,0.00,0.000,6,0.083,0.024,2623,1780,3719,0,0,0,0,0,0
$GC,469,-1.01,-146.0,67.7,-13.9,49,474,0.00,2.50,0.00,0.000,4,0.000,0.030,2623,3336,3719,0,0,0,0,0,0
$GC,524,-1.01,-146.0,74.7,-10.8,53,528,0.00,2.42,0.00,0.000,6,0.000,0.022,2623,1794,3719,0,0,0,0,0,0
$GC,791,-1.01,-146.0,107.6,-13.7,77,795,0.00,2.53,0.00,0.000,4,0.000,0.035,2623,208,3720,0,0,0,0,0,0
$GC,807,-1.01,-146.0,111.0,-15.5,78,811,0.00,2.42,0.00,0.000,6,0.000,0.019,2623,1781,3720,0,0,0,0,0,0
$GC,1069,-1.01,-146.0,137.8,-9.6,102,1074,0.00,2.50,0.00,0.000,4,0.000,0.028,2623,3371,3721,0,0,0,0,0,0
$GC,1153,-1.21,-146.0,143.9,-6.2,109,1160,0.12,2.45,0.00,0.000,6,0.063,0.022,2535,1809,3721,0,0,0,0,0,0
$GC,1416,-1.04,-146.0,179.2,-14.7,134,1425,0.40,2.55,0.00,0.000,4,0.087,0.035,2627,215,3722,0,0,0,0,0,0
$GC,1448,-1.15,-146.0,183.1,-11.0,137,1452,0.00,2.47,0.00,0.000,6,0.000,0.019,2627,1826,3722,0,0,0,0,0,0
$GC,1728,-1.29,-146.0,208.4,-9.3,157,1733,0.20,2.42,0.00,0.000,4,0.044,0.028,2538,3366,3723,0,0,0,0,0,0
$GC,1782,-1.22,-146.0,215.3,-13.5,158,1787,0.25,2.42,0.00,0.000,6,0.087,0.022,2593,1820,3723,0,0,0,0,0,0
$GC,2060,-1.22,-146.0,245.4,-10.0,165,2064,0.00,2.45,0.00,0.000,4,0.000,0.030,2593,3361,3724,0,0,0,0,0,0
$GC,2109,-1.36,-146.0,249.6,-8.0,166,2114,0.12,2.40,0.00,0.000,6,0.063,0.024,2521,1834,3723,0,0,0,0,0,0
$GC,2399,-1.21,-146.0,283.6,-12.0,173,2406,0.30,2.62,0.00,0.000,4,0.089,0.048,2589,214,3723,0,0,0,0,0,0
$GC,2434,-1.34,-146.0,287.5,-9.3,173,2439,0.00,2.53,0.00,0.000,6,0.000,0.022,2589,1820,3723,0,0,0,0,0,0
$GC,2686,-1.43,-146.0,308.5,-8.6,179,2691,0.17,2.47,0.00,0.000,4,0.051,0.033,2507,3367,3723,0,0,0,0,0,0
$GC,2730,-1.33,-146.0,313.9,-12.7,180,2735,0.28,2.45,0.00,0.000,6,0.084,0.025,2569,1833,3723,0,0,0,0,0,0
$GC,3019,-1.33,-146.0,341.2,-9.1,187,3024,0.00,2.50,0.00,0.000,4,0.000,0.036,2569,3368,3722,0,0,0,0,0,0
$GC,3047,-1.33,-146.0,344.1,-9.5,187,3052,0.00,2.45,0.00,0.000,6,0.000,0.028,2569,1840,3722,0,0,0,0,0,0
$GC,3302,-1.33,-146.0,367.1,-9.2,194,3306,0.00,2.47,0.00,0.000,4,0.000,0.038,2569,3366,3721,0,0,0,0,0,0
$GC,3336,-1.33,-146.0,370.3,-9.5,194,3340,0.00,2.45,0.00,0.000,6,0.000,0.028,2569,1847,3721,0,0,0,0,0,0
$GC,3586,-1.33,-146.0,394.8,-9.9,200,3590,0.00,2.47,0.00,0.000,4,0.000,0.041,2569,3361,3719,0,0,0,0,0,0
$GC,3613,-1.33,-146.0,397.8,-10.5,200,3617,0.00,2.45,0.00,0.000,6,0.000,0.028,2569,1846,3719,0,0,0,0,0,0
$GC,3867,-1.33,-146.0,424.2,-10.4,207,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1846,3717,0,0,0,0,0,0
$GC,4113,-1.33,-146.0,449.1,-10.3,213,4117,0.00,2.50,0.00,0.000,4,0.000,0.044,2569,3365,3715,0,0,0,0,0,0
$GC,4135,-1.33,-146.0,451.8,-10.9,213,4140,0.00,2.45,0.00,0.000,6,0.000,0.029,2569,1854,3715,0,0,0,0,0,0
$GC,4395,-1.40,-146.0,476.6,-9.6,220,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1853,3713,0,0,0,0,0,0
$GC,4640,-1.47,-146.0,497.4,-8.4,226,4645,0.12,2.53,0.00,0.000,4,0.064,0.049,2515,3359,3712,0,0,0,0,0,0
$GC,4660,-1.47,-146.0,499.5,-9.3,226,4665,0.12,2.42,0.00,0.000,6,0.108,0.030,2542,1858,3712,0,0,0,0,0,0
$STATE,4667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4667,begin apogee
$GC,4673,-0.31,0.0,500.6,10.6,226,4795,1.10,0.00,117.97,0.871,6,0.081,0.000,2790,1668,3120,0,0,0,0,0,0
$STATE,4795,end apogee,CONTROL_FINISHED_OK
$STATE,4796,begin climb
$GC,4799,1.28,146.0,503.3,0.0,229,4931,1.42,2.75,121.57,0.853,4,0.025,0.053,3158,3245,2523,0,0,0,0,0,0
$GC,4994,0.96,154.8,500.9,9.6,234,5010,0.43,2.60,8.00,0.696,6,0.110,0.038,3072,1694,2488,0,0,0,0,0,0
$GC,5266,0.90,215.2,480.1,7.2,241,5324,0.00,2.75,51.72,0.831,4,0.000,0.076,3072,166,2241,0,0,0,0,0,0
$GC,5376,0.73,215.2,470.2,10.5,243,5381,0.25,2.45,0.00,0.000,6,0.107,0.028,3021,1664,2238,0,0,0,0,0,0
$GC,5636,0.82,285.3,451.9,6.8,250,5704,0.00,2.62,61.00,0.828,4,0.000,0.058,3020,164,1954,0,0,0,0,0,0
$GC,5717,0.83,295.2,445.3,9.6,251,5734,0.00,2.50,10.40,0.720,6,0.000,0.027,3020,1689,1915,0,0,0,0,0,0
$GC,6013,0.92,306.2,417.6,9.5,259,6030,0.17,2.75,9.93,0.714,4,0.052,0.057,3086,3246,1870,0,0,0,0,0,0
$GC,6037,0.86,306.2,414.8,12.1,259,6044,0.20,2.65,0.00,0.000,6,0.099,0.033,3045,1667,1869,0,0,0,0,0,0
$GC,6304,0.86,308.6,387.0,9.9,266,6308,0.00,2.67,0.00,0.000,4,0.000,0.044,3046,3254,1866,0,0,0,0,0,0
$GC,6322,0.86,308.6,384.9,10.1,266,6326,0.00,2.60,0.00,0.000,6,0.000,0.032,3045,1678,1864,0,0,0,0,0,0
$GC,6587,0.86,308.7,358.7,10.0,273,6592,0.00,2.65,0.00,0.000,4,0.000,0.043,3046,3254,1864,0,0,0,0,0,0
$GC,6622,0.93,309.9,355.0,10.0,273,6626,0.00,2.60,0.00,0.000,6,0.000,0.034,3045,1687,1862,0,0,0,0,0,0
$GC,6873,0.93,309.9,329.2,10.3,279,6878,0.00,2.62,0.00,0.000,4,0.000,0.043,3046,3258,1862,0,0,0,0,0,0
$GC,6893,0.93,309.9,326.9,10.6,279,6898,0.00,2.60,0.00,0.000,6,0.000,0.032,3045,1685,1860,0,0,0,0,0,0
$GC,7157,0.95,326.2,301.9,9.3,286,7176,0.00,0.00,17.45,0.715,6,0.000,0.000,3046,1685,1790,0,0,0,0,0,0
$GC,7401,1.02,330.9,277.8,9.8,292,7414,0.15,2.65,5.20,0.548,4,0.058,0.040,3115,3256,1770,0,0,0,0,0,0
$GC,7430,0.92,330.9,274.3,13.9,292,7437,0.25,2.60,0.00,0.000,6,0.100,0.031,3063,1689,1768,0,0,0,0,0,0
$GC,7691,0.92,330.9,245.9,10.7,299,7695,0.00,2.60,0.00,0.000,4,0.000,0.059,3063,162,1767,0,0,0,0,0,0
$GC,7714,0.92,330.9,243.4,10.9,299,7718,0.00,2.45,0.00,0.000,6,0.000,0.024,3063,1709,1767,0,0,0,0,0,0
$GC,7975,0.93,342.2,218.6,9.5,306,7988,0.00,0.00,10.93,0.620,6,0.000,0.000,3063,1712,1724,0,0,0,0,0,0
$GC,8218,0.93,342.2,191.3,11.4,315,8223,0.00,2.50,0.00,0.000,4,0.000,0.035,3063,3257,1721,0,0,0,0,0,0
$GC,8268,1.05,342.2,186.2,11.2,319,8274,0.10,2.55,0.00,0.000,6,0.077,0.028,3120,1691,1719,0,0,0,0,0,0
$GC,8533,0.93,342.2,150.1,13.4,343,8538,0.25,2.50,0.00,0.000,4,0.097,0.045,3063,174,1719,0,0,0,0,0,0
$GC,8624,1.00,342.2,139.4,11.3,351,8628,0.00,2.40,0.00,0.000,6,0.000,0.021,3063,1698,1719,0,0,0,0,0,0
$GC,8890,1.14,382.2,115.8,8.2,375,8932,0.17,2.58,36.30,0.577,4,0.051,0.044,3149,174,1561,0,0,0,0,0,0
$GC,8979,1.01,382.2,104.4,15.0,383,8985,0.32,2.35,0.00,0.000,6,0.094,0.021,3079,1671,1560,0,0,0,0,0,0
$GC,9244,1.11,382.2,72.1,11.1,407,9249,0.10,2.58,0.00,0.000,4,0.075,0.032,3138,3261,1558,0,0,0,0,0,0
$GC,9276,1.11,382.2,68.1,13.6,409,9281,0.17,2.55,0.00,0.000,6,0.097,0.027,3100,1673,1555,0,0,0,0,0,0
$GC,9542,1.11,382.2,35.2,12.4,433,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1673,1555,0,0,0,0,0,0
$STATE,9780,end climb,SURFACE_DEPTH_REACHED
$STATE,9781,begin surface coast
$FINISH,0.9,1.023630
$STATE,9821,end surface coast,CONTROL_FINISHED_OK
$STATE,9821,begin surface
$SM_CCo,9842,38.70,0.376,1,0,1284,450.13
$SM_GC,1.51,0.00,0.00,38.70,0.000,0.000,0.376,412,1836,1284,-11.27,1.30,450.13
$IRIDIUM_FIX,2241.69,-15759.32,110300,040447
$TT8_MAMPS,0.026845
$HUMID,45.94
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.6,39.691
$10V_AH,10.4,33.617
$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,29.700,136.825,450.475,38.700,0.000,31.087,39.638,167.202,0.250,0.000,15.151,1010.655,6408.429,537.445,1773.247,530.936,33.385,1285.731,0.000,1780.315,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,75.933,870.545,375.830,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.177,291.753,362.876,542.360,959.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38388,475
$CAP_FILE_SIZE,114547,0
$CFSIZE,260165632,156041216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,161210,100807,2250.021,-15756.987,33,1.3,33,10.1