version: 66.06
glider: 148
mission: 9
dive: 374
start: 12 27 110 0 21 32
data:
$ID,148
$MISSION,9
$DIVE,374
$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,-865978.62
$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,30
$R_STBD_OVSHOOT,84
$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
$GPS1,001225,2247.382,-15803.308,37,1.8,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.0
$GPS2,002037,2247.358,-15803.225,10,1.4,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.096,0.231
$KALMAN_X,-34835.8,239.6,-53.1,46072.2,1143.0
$KALMAN_Y,-33389.4,313.0,689.3,157327.1,-1594.1
$MHEAD_RNG_PITCHd_Wd,327.3,4908,-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,16,begin dive
$GC,18,-1.17,-145.9,0.0,0.0,0,95,0.00,0.00,-74.65,0.000,2,0.000,0.000,408,1846,3235,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.1,-3.4,10,131,11.50,2.70,-9.35,0.000,4,0.152,0.048,2596,213,3718,0,0,0,0,0,0
$GC,241,-1.17,-146.0,29.0,-12.1,31,250,0.00,2.42,0.00,0.000,6,0.000,0.018,2596,1753,3719,0,0,0,0,0,0
$GC,509,-0.94,-146.0,70.9,-18.1,56,514,0.25,2.55,0.00,0.000,4,0.102,0.028,2652,3366,3719,0,0,0,0,0,0
$GC,576,-1.03,-146.0,80.6,-9.7,61,584,0.00,2.53,0.00,0.000,6,0.000,0.022,2652,1791,3720,0,0,0,0,0,0
$GC,840,-1.09,-146.0,106.0,-8.8,86,845,0.12,2.55,0.00,0.000,4,0.062,0.028,2584,3374,3720,0,0,0,0,0,0
$GC,920,-1.09,-146.0,115.3,-11.9,93,925,0.17,2.45,0.00,0.000,6,0.087,0.022,2624,1810,3721,0,0,0,0,0,0
$GC,1184,-1.09,-146.0,138.7,-8.7,117,1189,0.00,2.47,0.00,0.000,4,0.000,0.028,2624,3374,3721,0,0,0,0,0,0
$GC,1212,-1.09,-146.0,141.0,-8.6,119,1216,0.00,2.45,0.00,0.000,6,0.000,0.021,2624,1821,3722,0,0,0,0,0,0
$GC,1476,-1.09,-146.0,163.9,-9.2,143,1480,0.00,2.47,0.00,0.000,4,0.000,0.029,2624,3369,3721,0,0,0,0,0,0
$GC,1504,-1.09,-146.0,166.5,-9.3,145,1509,0.00,2.42,0.00,0.000,6,0.000,0.022,2624,1832,3722,0,0,0,0,0,0
$GC,1772,-1.15,-146.0,187.7,-7.9,169,1777,0.00,2.45,0.00,0.000,4,0.000,0.029,2624,3367,3722,0,0,0,0,0,0
$GC,1827,-1.32,-146.0,192.5,-7.6,174,1832,0.22,2.42,0.00,0.000,6,0.038,0.024,2521,1836,3722,0,0,0,0,0,0
$GC,2101,-1.07,-146.0,230.2,-14.6,185,2107,0.45,2.42,0.00,0.000,4,0.085,0.028,2622,3367,3722,0,0,0,0,0,0
$GC,2123,-0.98,-146.0,233.0,-12.6,185,2128,0.10,2.40,0.00,0.000,6,0.116,0.021,2644,1847,3722,0,0,0,0,0,0
$GC,2388,-1.15,-146.0,250.5,-6.4,192,2393,0.15,2.45,0.00,0.000,4,0.053,0.030,2548,3367,3722,0,0,0,0,0,0
$GC,2427,-1.15,-146.0,254.3,-10.0,192,2433,0.28,2.40,0.00,0.000,6,0.076,0.024,2611,1849,3722,0,0,0,0,0,0
$GC,2677,-1.21,-146.0,273.1,-7.2,199,2681,0.00,2.42,0.00,0.000,4,0.000,0.031,2611,3371,3722,0,0,0,0,0,0
$GC,2701,-1.29,-146.0,275.0,-8.1,199,2706,0.15,2.40,0.00,0.000,6,0.053,0.024,2530,1864,3722,0,0,0,0,0,0
$GC,2962,-1.11,-146.0,307.4,-13.1,206,2964,0.40,0.00,0.00,0.000,6,0.078,0.000,2617,1863,3721,0,0,0,0,0,0
$GC,3204,-1.22,-146.0,328.9,-8.5,212,3209,0.00,2.40,0.00,0.000,4,0.000,0.034,2617,3363,3720,0,0,0,0,0,0
$GC,3253,-1.39,-146.0,333.1,-8.8,213,3258,0.25,2.40,0.00,0.000,6,0.035,0.027,2529,1868,3720,0,0,0,0,0,0
$GC,3536,-1.24,-146.0,368.1,-12.4,220,3543,0.25,2.75,0.00,0.000,4,0.087,0.050,2588,219,3719,0,0,0,0,0,0
$GC,3562,-1.24,-146.0,371.1,-11.1,220,3566,0.00,2.62,0.00,0.000,6,0.000,0.025,2588,1866,3719,0,0,0,0,0,0
$GC,3822,-1.24,-146.0,392.8,-8.5,227,3827,0.00,2.42,0.00,0.000,4,0.000,0.041,2588,3367,3717,0,0,0,0,0,0
$GC,3866,-1.32,-146.0,396.6,-7.7,228,3870,0.00,2.40,0.00,0.000,6,0.000,0.028,2588,1873,3718,0,0,0,0,0,0
$GC,4154,-1.32,-146.0,419.9,-8.2,235,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1873,3715,0,0,0,0,0,0
$GC,4396,-1.32,-146.0,439.9,-8.2,241,4400,0.00,2.45,0.00,0.000,4,0.000,0.045,2588,3360,3713,0,0,0,0,0,0
$GC,4429,-1.39,-146.0,442.7,-8.8,241,4434,0.12,2.40,0.00,0.000,6,0.061,0.029,2517,1879,3713,0,0,0,0,0,0
$GC,4681,-1.22,-146.0,471.0,-11.6,247,4686,0.30,2.45,0.00,0.000,4,0.087,0.045,2586,3358,3711,0,0,0,0,0,0
$GC,4700,-1.16,-146.0,473.4,-10.6,247,4705,0.10,2.40,0.00,0.000,6,0.116,0.028,2609,1871,3711,0,0,0,0,0,0
$GC,4965,-1.27,-146.0,492.6,-7.1,254,4967,0.12,0.00,0.00,0.000,6,0.064,0.000,2539,1871,3710,0,0,0,0,0,0
$STATE,5043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5043,begin apogee
$GC,5051,-0.31,0.0,500.6,8.4,256,5172,1.12,0.00,117.32,0.864,6,0.081,0.000,2789,1676,3120,0,0,0,0,0,0
$STATE,5172,end apogee,CONTROL_FINISHED_OK
$STATE,5172,begin climb
$GC,5175,1.17,146.0,505.5,0.0,259,5308,1.38,2.65,120.75,0.847,4,0.030,0.071,3141,184,2524,0,0,0,0,0,0
$GC,5429,0.68,146.0,495.7,10.7,265,5436,0.62,2.42,0.00,0.000,6,0.101,0.028,3011,1669,2518,0,0,0,0,0,0
$GC,5714,0.79,233.9,480.0,5.3,272,5800,0.00,2.67,73.93,0.831,4,0.000,0.061,3010,181,2165,0,0,0,0,0,0
$GC,5851,0.79,233.9,469.6,9.3,275,5855,0.00,2.42,0.00,0.000,6,0.000,0.028,3011,1679,2163,0,0,0,0,0,0
$GC,6135,0.81,255.3,446.7,8.1,282,6160,0.10,2.72,18.88,0.773,4,0.079,0.051,3060,3256,2078,0,0,0,0,0,0
$GC,6174,0.71,255.3,442.6,10.0,282,6181,0.20,2.65,0.00,0.000,6,0.091,0.035,3016,1685,2076,0,0,0,0,0,0
$GC,6424,0.72,260.0,420.4,8.8,289,6436,0.00,2.65,4.75,0.567,4,0.000,0.066,3016,166,2059,0,0,0,0,0,0
$GC,6465,0.72,260.0,416.4,11.3,289,6471,0.00,2.45,0.00,0.000,6,0.000,0.027,3016,1679,2059,0,0,0,0,0,0
$GC,6715,0.73,273.5,394.8,8.4,296,6731,0.00,0.00,13.75,0.741,6,0.000,0.000,3016,1679,2004,0,0,0,0,0,0
$GC,6959,0.77,300.5,375.3,7.9,302,6986,0.00,0.00,25.25,0.765,6,0.000,0.000,3016,1679,1895,0,0,0,0,0,0
$GC,7204,0.85,317.5,355.2,8.3,308,7225,0.12,0.00,16.50,0.729,6,0.065,0.000,3076,1679,1824,0,0,0,0,0,0
$GC,7493,0.76,317.5,319.9,12.6,315,7495,0.22,0.00,0.00,0.000,6,0.095,0.000,3028,1679,1819,0,0,0,0,0,0
$GC,7737,0.76,317.5,294.6,10.3,321,7741,0.00,2.65,0.00,0.000,4,0.000,0.046,3027,3258,1818,0,0,0,0,0,0
$GC,7774,0.86,317.5,290.6,10.7,321,7780,0.00,2.65,0.00,0.000,6,0.000,0.034,3027,1664,1815,0,0,0,0,0,0
$GC,8024,0.93,317.5,265.5,10.1,328,8029,0.15,2.53,0.00,0.000,4,0.058,0.061,3093,171,1815,0,0,0,0,0,0
$GC,8064,0.78,317.5,260.3,14.3,328,8070,0.30,2.40,0.00,0.000,6,0.094,0.023,3028,1679,1815,0,0,0,0,0,0
$GC,8314,0.85,319.2,236.9,8.9,335,8318,0.00,2.58,0.00,0.000,4,0.000,0.040,3028,3246,1814,0,0,0,0,0,0
$GC,8351,0.98,333.9,233.5,8.4,335,8373,0.20,2.60,14.15,0.646,6,0.044,0.031,3122,1655,1757,0,0,0,0,0,0
$GC,8630,0.81,333.9,193.6,14.8,344,8639,0.38,2.65,0.00,0.000,4,0.088,0.037,3036,3247,1753,0,0,0,0,0,0
$GC,8645,0.70,333.9,191.1,14.1,345,8654,0.08,2.62,0.00,0.000,6,0.078,0.028,3014,1658,1752,0,0,0,0,0,0
$GC,8909,0.89,385.1,170.7,6.9,370,8967,0.17,2.58,45.62,0.631,4,0.049,0.049,3089,172,1549,0,0,0,0,0,0
$GC,8980,0.81,385.1,163.2,12.1,377,8985,0.25,2.40,0.00,0.000,6,0.087,0.022,3035,1672,1549,0,0,0,0,0,0
$GC,9244,0.91,385.1,138.9,10.1,401,9249,0.10,2.60,0.00,0.000,4,0.076,0.033,3096,3258,1545,0,0,0,0,0,0
$GC,9280,0.91,385.1,133.7,14.6,404,9285,0.17,2.62,0.00,0.000,6,0.094,0.028,3058,1655,1542,0,0,0,0,0,0
$GC,9540,0.98,385.1,100.5,12.5,428,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1655,1542,0,0,0,0,0,0
$GC,9802,1.14,422.2,76.1,7.5,452,9842,0.20,2.70,32.35,0.542,4,0.044,0.033,3153,3254,1397,0,0,0,0,0,0
$GC,9864,1.01,422.2,67.9,14.5,457,9874,0.30,2.62,0.00,0.000,6,0.073,0.028,3082,1669,1393,0,0,0,0,0,0
$GC,10128,1.01,422.2,40.8,10.9,482,10132,0.00,2.45,0.00,0.000,4,0.000,0.044,3082,170,1392,0,0,0,0,0,0
$GC,10165,1.01,422.2,36.8,11.6,485,10169,0.00,2.35,0.00,0.000,6,0.000,0.020,3082,1678,1392,0,0,0,0,0,0
$STATE,10462,end climb,SURFACE_DEPTH_REACHED
$STATE,10462,begin surface coast
$FINISH,0.6,1.009723
$STATE,10501,end surface coast,CONTROL_FINISHED_OK
$STATE,10501,begin surface
$SM_CCo,10583,0.00,0.000,0,0,1386,425.35
$SM_GC,1.54,10.82,0.00,0.00,0.025,0.000,0.000,412,1837,1386,-11.18,1.33,425.35
$IRIDIUM_FIX,2237.01,-15802.37,210300,212143
$TT8_MAMPS,0.026845
$HUMID,48.46
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,49.761
$10V_AH,10.3,43.043
$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,31.850,131.175,483.250,0.000,0.000,24.742,34.079,292.099,0.250,0.000,17.276,1096.407,6830.960,529.785,1955.154,660.375,33.379,1324.451,0.000,1960.161,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,70.564,863.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.327,331.666,418.713,618.505,1093.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41581,534
$CAP_FILE_SIZE,121376,0
$CFSIZE,260165632,151203840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271210,031901,2247.935,-15803.347,12,1.7,29,10.1