version: 66.06
glider: 148
mission: 9
dive: 315
start: 12 19 110 15 8 10
data:
$ID,148
$MISSION,9
$DIVE,315
$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,185
$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,420
$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,-864603.38
$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,79
$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
$GPS1,143236,2248.689,-15757.549,38,0.9,44,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.6
$GPS2,150713,2248.856,-15757.426,9,1.8,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.084,-0.236
$KALMAN_X,-48539.7,-65.2,-178.1,70181.8,613.4
$KALMAN_Y,-2913.0,327.2,-156.7,130457.0,936.9
$MHEAD_RNG_PITCHd_Wd,189.4,3496,-15.9,-9.009
$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,-1.17,-145.9,0.0,0.0,0,95,0.00,0.00,-75.75,0.000,2,0.000,0.000,409,1819,3278,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.1,-3.6,10,123,11.38,0.00,-8.55,0.000,6,0.148,0.000,2597,1819,3721,0,0,0,0,0,0
$GC,395,-0.96,-146.0,56.9,-15.4,45,400,0.25,2.42,0.00,0.000,4,0.098,0.029,2654,3340,3722,0,0,0,0,0,0
$GC,448,-0.96,-146.0,63.6,-11.1,49,453,0.00,2.45,0.00,0.000,6,0.000,0.023,2654,1779,3722,0,0,0,0,0,0
$GC,717,-0.96,-146.0,92.4,-11.3,73,721,0.00,2.47,0.00,0.000,4,0.000,0.029,2654,3340,3722,0,0,0,0,0,0
$GC,764,-1.06,-146.0,97.6,-9.2,77,770,0.12,2.42,0.00,0.000,6,0.061,0.022,2575,1799,3722,0,0,0,0,0,0
$GC,1032,-0.90,-146.0,135.5,-12.7,101,1037,0.40,0.00,0.00,0.000,6,0.084,0.000,2660,1798,3722,0,0,0,0,0,0
$GC,1295,-1.02,-146.0,155.0,-7.6,126,1299,0.00,2.45,0.00,0.000,4,0.000,0.028,2660,3337,3722,0,0,0,0,0,0
$GC,1347,-1.24,-146.0,159.0,-6.9,130,1353,0.28,2.42,0.00,0.000,6,0.031,0.022,2519,1801,3723,0,0,0,0,0,0
$GC,1609,-0.96,-146.0,197.2,-16.4,155,1612,0.57,0.00,0.00,0.000,6,0.082,0.000,2647,1801,3723,0,0,0,0,0,0
$GC,1874,-1.10,-146.0,219.3,-7.9,163,1879,0.12,2.45,0.00,0.000,4,0.063,0.030,2570,3336,3723,0,0,0,0,0,0
$GC,1953,-1.10,-146.0,228.0,-10.8,164,1959,0.22,2.40,0.00,0.000,6,0.083,0.023,2622,1806,3723,0,0,0,0,0,0
$GC,2205,-1.10,-146.0,246.1,-7.0,170,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,1805,3723,0,0,0,0,0,0
$GC,2447,-1.17,-146.0,263.4,-7.0,176,2452,0.00,2.45,0.00,0.000,4,0.000,0.031,2622,3332,3722,0,0,0,0,0,0
$GC,2517,-1.33,-146.0,268.5,-6.6,177,2523,0.22,2.40,0.00,0.000,6,0.038,0.025,2524,1807,3722,0,0,0,0,0,0
$GC,2779,-1.14,-146.0,301.1,-13.3,184,2781,0.40,0.00,0.00,0.000,6,0.080,0.000,2612,1805,3721,0,0,0,0,0,0
$GC,3021,-1.23,-146.0,322.6,-8.5,190,3026,0.00,2.47,0.00,0.000,4,0.000,0.035,2612,3332,3720,0,0,0,0,0,0
$GC,3068,-1.38,-146.0,326.6,-7.6,191,3074,0.22,2.45,0.00,0.000,6,0.038,0.028,2510,1811,3720,0,0,0,0,0,0
$GC,3353,-1.17,-146.0,363.4,-13.5,198,3359,0.38,2.47,0.00,0.000,4,0.083,0.037,2597,3336,3718,0,0,0,0,0,0
$GC,3377,-1.17,-146.0,366.6,-11.0,198,3382,0.00,2.42,0.00,0.000,6,0.000,0.028,2597,1819,3718,0,0,0,0,0,0
$GC,3638,-1.17,-146.0,389.1,-8.7,205,3642,0.00,2.45,0.00,0.000,4,0.000,0.041,2597,3326,3716,0,0,0,0,0,0
$GC,3657,-1.17,-146.0,391.1,-8.9,205,3661,0.00,2.42,0.00,0.000,6,0.000,0.028,2597,1820,3717,0,0,0,0,0,0
$GC,3921,-1.24,-146.0,411.2,-7.6,212,3925,0.00,2.47,0.00,0.000,4,0.000,0.042,2597,3333,3714,0,0,0,0,0,0
$GC,3966,-1.34,-146.0,414.2,-6.4,213,3971,0.12,2.40,0.00,0.000,6,0.061,0.029,2514,1833,3714,0,0,0,0,0,0
$GC,4254,-1.15,-146.0,447.0,-11.8,220,4261,0.45,2.75,0.00,0.000,4,0.083,0.060,2607,207,3712,0,0,0,0,0,0
$GC,4302,-1.34,-146.0,451.2,-8.1,221,4307,0.17,2.53,0.00,0.000,6,0.049,0.028,2528,1780,3711,0,0,0,0,0,0
$GC,4590,-1.22,-146.0,482.7,-11.1,228,4597,0.25,2.65,0.00,0.000,4,0.088,0.048,2588,3374,3709,0,0,0,0,0,0
$GC,4632,-1.32,-146.0,486.7,-8.8,228,4637,0.00,2.53,0.00,0.000,6,0.000,0.030,2588,1819,3709,0,0,0,0,0,0
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4798,begin apogee
$GC,4804,-0.31,0.0,500.1,8.0,233,4924,0.90,0.00,116.90,0.859,6,0.071,0.000,2795,1667,3120,0,0,0,0,0,0
$STATE,4925,end apogee,CONTROL_FINISHED_OK
$STATE,4925,begin climb
$GC,4927,1.17,146.0,504.8,0.0,236,5058,1.30,2.65,120.45,0.843,4,0.024,0.071,3134,186,2523,0,0,0,0,0,0
$GC,5129,0.69,146.0,500.6,11.4,240,5137,0.57,2.45,0.00,0.000,6,0.103,0.028,3014,1680,2518,0,0,0,0,0,0
$GC,5388,0.77,210.8,483.8,6.3,247,5449,0.00,2.67,54.25,0.826,4,0.000,0.061,3014,185,2259,0,0,0,0,0,0
$GC,5501,0.71,210.8,475.0,9.5,249,5506,0.00,2.42,0.00,0.000,6,0.000,0.028,3014,1683,2256,0,0,0,0,0,0
$GC,5762,0.74,232.8,453.7,8.1,256,5783,0.00,0.00,19.20,0.781,6,0.000,0.000,3014,1683,2171,0,0,0,0,0,0
$GC,6004,0.74,235.0,432.2,8.9,262,6009,0.00,2.58,0.00,0.000,4,0.000,0.056,3013,185,2165,0,0,0,0,0,0
$GC,6064,0.74,235.0,426.3,9.9,263,6069,0.00,2.40,0.00,0.000,6,0.000,0.026,3014,1681,2165,0,0,0,0,0,0
$GC,6334,0.79,277.6,405.9,7.2,270,6376,0.00,0.00,39.97,0.795,6,0.000,0.000,3014,1682,1988,0,0,0,0,0,0
$GC,6616,0.84,316.8,385.1,7.4,277,6659,0.12,2.62,35.65,0.778,4,0.065,0.055,3082,184,1827,0,0,0,0,0,0
$GC,6672,0.69,316.8,379.4,12.3,278,6677,0.32,2.40,0.00,0.000,6,0.094,0.026,3012,1660,1826,0,0,0,0,0,0
$GC,6951,0.76,316.8,351.1,10.5,285,6955,0.00,2.70,0.00,0.000,4,0.000,0.051,3011,3255,1821,0,0,0,0,0,0
$GC,7018,0.90,316.8,343.9,10.6,286,7023,0.20,2.60,0.00,0.000,6,0.045,0.034,3070,1682,1818,0,0,0,0,0,0
$GC,7283,0.83,316.8,309.0,12.9,293,7288,0.15,2.60,0.00,0.000,4,0.105,0.062,3038,162,1817,0,0,0,0,0,0
$GC,7306,0.83,316.8,306.1,11.9,293,7311,0.00,2.45,0.00,0.000,6,0.000,0.025,3038,1687,1817,0,0,0,0,0,0
$GC,7568,0.83,316.8,279.6,9.8,300,7573,0.00,2.62,0.00,0.000,4,0.000,0.052,3038,3256,1815,0,0,0,0,0,0
$GC,7591,0.83,316.8,277.0,10.1,300,7596,0.00,2.60,0.00,0.000,6,0.000,0.031,3038,1679,1814,0,0,0,0,0,0
$GC,7850,0.83,316.8,252.9,9.3,307,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1679,1814,0,0,0,0,0,0
$GC,8094,0.83,316.8,228.4,10.2,313,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1679,1813,0,0,0,0,0,0
$GC,8339,0.83,316.8,203.3,9.9,319,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1679,1813,0,0,0,0,0,0
$GC,8594,0.83,316.8,179.1,9.3,340,8599,0.00,2.60,0.00,0.000,4,0.000,0.035,3038,3271,1812,0,0,0,0,0,0
$GC,8632,0.93,322.4,175.7,8.8,343,8637,0.10,2.58,0.00,0.000,6,0.075,0.028,3076,1681,1810,0,0,0,0,0,0
$GC,8896,0.93,322.4,147.8,11.2,367,8900,0.00,2.53,0.00,0.000,4,0.000,0.047,3077,163,1810,0,0,0,0,0,0
$GC,8930,0.93,322.4,143.1,13.0,370,8935,0.00,2.40,0.00,0.000,6,0.000,0.023,3077,1697,1810,0,0,0,0,0,0
$GC,9194,0.93,322.4,115.6,9.2,394,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1700,1811,0,0,0,0,0,0
$GC,9458,0.93,322.4,92.3,9.5,419,9463,0.00,2.53,0.00,0.000,4,0.000,0.045,3077,171,1811,0,0,0,0,0,0
$GC,9507,0.93,322.4,87.7,9.8,423,9512,0.00,2.38,0.00,0.000,6,0.000,0.021,3077,1701,1810,0,0,0,0,0,0
$GC,9774,0.94,328.6,66.4,8.8,447,9785,0.00,0.00,8.57,0.463,6,0.000,0.000,3077,1702,1780,0,0,0,0,0,0
$GC,10044,0.94,331.8,43.9,8.9,472,10057,0.00,2.58,4.47,0.364,4,0.000,0.044,3077,169,1766,0,0,0,0,0,0
$GC,10073,0.94,331.8,40.1,9.9,474,10082,0.00,2.40,0.00,0.000,6,0.000,0.020,3077,1689,1766,0,0,0,0,0,0
$GC,10365,1.10,409.6,14.6,5.8,513,10444,0.10,2.58,67.57,0.482,4,0.073,0.040,3128,170,1449,0,0,0,0,0,0
$STATE,10453,end climb,SURFACE_DEPTH_REACHED
$STATE,10453,begin surface coast
$FINISH,0.8,1.023525
$STATE,10504,end surface coast,CONTROL_FINISHED_OK
$STATE,10504,begin surface
$SM_CCo,10528,13.15,0.154,1,0,1406,420.20
$SM_GC,1.47,0.00,0.00,13.15,0.000,0.000,0.154,403,1812,1406,-11.31,0.59,420.20
$IRIDIUM_FIX,2239.35,-15759.32,140300,151551
$TT8_MAMPS,0.026845
$HUMID,44.88
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,42.929
$10V_AH,10.3,36.523
$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,30.300,115.500,467.050,13.150,0.000,120.105,135.915,1479.793,0.250,0.000,16.179,1078.441,7014.660,495.072,1983.364,2054.409,33.379,1295.473,0.000,1987.230,0.000,0.541,0.000
$DEVICE_MAMPS,148.031,70.564,859.040,154.167,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.988,327.213,412.526,638.860,1129.865,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,41634,532
$CAP_FILE_SIZE,136898,0
$CFSIZE,260165632,154533888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191210,180530,2247.843,-15757.838,53,1.5,53,10.1