version: 66.06
glider: 148
mission: 9
dive: 198
start: 12 5 110 19 32 53
data:
$ID,148
$MISSION,9
$DIVE,198
$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,-862149.06
$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,51
$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
$GPS1,192606,2246.888,-15759.862,35,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.8
$GPS2,193156,2246.918,-15759.841,14,1.3,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,0.026
$KALMAN_X,-80517.4,399.6,123.7,97234.1,204.8
$KALMAN_Y,7446.6,538.3,346.0,115801.2,-197.2
$MHEAD_RNG_PITCHd_Wd,265.7,5397,-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,-82.30,0.000,2,0.000,0.000,415,1876,3377,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.1,-7.6,11,132,11.52,2.72,-5.88,0.000,4,0.159,0.049,2574,201,3717,0,0,0,0,0,0
$GC,142,0.04,-146.0,18.5,-38.0,15,151,1.30,2.50,0.00,0.000,6,0.085,0.019,2863,1790,3719,0,0,0,0,0,0
$GC,430,-0.79,-146.0,51.8,-11.8,49,443,0.73,2.62,0.00,0.000,4,0.059,0.042,2689,203,3720,0,0,0,0,0,0
$GC,548,-1.28,-146.0,63.5,-8.4,59,558,0.43,2.47,0.00,0.000,6,0.027,0.018,2566,1819,3720,0,0,0,0,0,0
$GC,812,-1.08,-146.0,105.1,-17.6,84,817,0.25,2.42,0.00,0.000,4,0.094,0.031,2624,3332,3720,0,0,0,0,0,0
$GC,862,-1.17,-146.0,111.8,-9.3,88,871,0.00,2.47,0.00,0.000,6,0.000,0.022,2625,1781,3720,0,0,0,0,0,0
$GC,1130,-1.27,-146.0,137.0,-10.4,113,1135,0.17,2.50,0.00,0.000,4,0.049,0.030,2532,3336,3722,0,0,0,0,0,0
$GC,1158,-1.21,-146.0,140.6,-13.0,115,1163,0.30,2.42,0.00,0.000,6,0.084,0.023,2598,1788,3722,0,0,0,0,0,0
$GC,1423,-1.21,-146.0,167.6,-9.5,139,1427,0.00,2.47,0.00,0.000,4,0.000,0.031,2598,3333,3723,0,0,0,0,0,0
$GC,1462,-1.28,-146.0,171.6,-8.9,142,1468,0.00,2.42,0.00,0.000,6,0.000,0.022,2598,1796,3723,0,0,0,0,0,0
$GC,1726,-1.35,-146.0,194.4,-8.2,167,1731,0.15,2.47,0.00,0.000,4,0.055,0.031,2528,3333,3723,0,0,0,0,0,0
$GC,1766,-1.25,-146.0,199.4,-12.1,170,1772,0.28,2.42,0.00,0.000,6,0.085,0.023,2588,1801,3723,0,0,0,0,0,0
$GC,2026,-1.25,-146.0,224.6,-9.9,178,2031,0.00,2.45,0.00,0.000,4,0.000,0.031,2588,3333,3723,0,0,0,0,0,0
$GC,2046,-1.25,-146.0,226.6,-9.9,178,2051,0.00,2.40,0.00,0.000,6,0.000,0.022,2588,1815,3723,0,0,0,0,0,0
$GC,2309,-1.25,-146.0,253.5,-10.2,185,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1815,3723,0,0,0,0,0,0
$GC,2554,-1.33,-146.0,275.7,-9.2,191,2558,0.00,2.45,0.00,0.000,4,0.000,0.033,2588,3336,3723,0,0,0,0,0,0
$GC,2584,-1.41,-146.0,278.5,-9.7,191,2589,0.15,2.40,0.00,0.000,6,0.054,0.024,2511,1825,3723,0,0,0,0,0,0
$GC,2840,-1.27,-146.0,313.3,-14.0,198,2845,0.30,2.42,0.00,0.000,4,0.091,0.035,2578,3328,3722,0,0,0,0,0,0
$GC,2863,-1.27,-146.0,316.4,-11.5,198,2868,0.00,2.38,0.00,0.000,6,0.000,0.025,2578,1829,3723,0,0,0,0,0,0
$GC,3124,-1.35,-146.0,338.4,-8.3,205,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1829,3722,0,0,0,0,0,0
$GC,3367,-1.43,-146.0,358.3,-8.4,211,3372,0.12,2.50,0.00,0.000,4,0.065,0.042,2523,3334,3721,0,0,0,0,0,0
$GC,3386,-1.43,-146.0,360.5,-10.9,211,3391,0.12,2.40,0.00,0.000,6,0.110,0.026,2549,1837,3721,0,0,0,0,0,0
$GC,3651,-1.43,-146.0,389.5,-11.0,218,3656,0.00,2.47,0.00,0.000,4,0.000,0.044,2549,3333,3719,0,0,0,0,0,0
$GC,3688,-1.43,-146.0,393.7,-10.3,218,3694,0.00,2.40,0.00,0.000,6,0.000,0.030,2549,1847,3719,0,0,0,0,0,0
$GC,3938,-1.43,-146.0,419.7,-10.6,225,3942,0.00,2.45,0.00,0.000,4,0.000,0.045,2549,3325,3718,0,0,0,0,0,0
$GC,3953,-1.43,-146.0,421.3,-10.5,225,3957,0.00,2.38,0.00,0.000,6,0.000,0.028,2549,1849,3718,0,0,0,0,0,0
$GC,4221,-1.43,-146.0,448.9,-10.0,232,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,1849,3715,0,0,0,0,0,0
$GC,4466,-1.43,-146.0,473.6,-10.3,238,4470,0.00,2.47,0.00,0.000,4,0.000,0.050,2549,3327,3714,0,0,0,0,0,0
$GC,4490,-1.43,-146.0,476.6,-11.5,238,4494,0.00,2.35,0.00,0.000,6,0.000,0.029,2549,1858,3713,0,0,0,0,0,0
$STATE,4747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4747,begin apogee
$GC,4753,-0.31,0.0,502.3,9.6,245,4874,1.08,0.00,117.38,0.873,6,0.077,0.000,2790,1675,3120,0,0,0,0,0,0
$STATE,4874,end apogee,CONTROL_FINISHED_OK
$STATE,4874,begin climb
$GC,4877,1.28,146.0,505.4,0.0,248,5008,1.40,2.67,120.93,0.852,4,0.024,0.051,3138,3213,2523,0,0,0,0,0,0
$GC,5082,1.00,146.0,496.7,11.5,252,5091,0.30,2.55,0.00,0.000,6,0.111,0.035,3078,1697,2518,0,0,0,0,0,0
$GC,5336,0.90,187.5,474.5,8.1,259,5379,0.10,2.75,34.88,0.821,4,0.141,0.071,3058,164,2354,0,0,0,0,0,0
$GC,5446,0.77,208.3,465.7,9.1,261,5473,0.15,2.38,18.70,0.786,6,0.117,0.026,3028,1628,2269,0,0,0,0,0,0
$GC,5716,0.84,268.8,446.2,7.2,268,5776,0.00,2.75,52.15,0.822,4,0.000,0.054,3028,3214,2023,0,0,0,0,0,0
$GC,5809,0.96,277.7,437.9,9.6,270,5825,0.17,2.58,8.88,0.698,6,0.051,0.035,3095,1669,1987,0,0,0,0,0,0
$GC,6091,0.84,277.7,398.3,14.6,277,6098,0.25,2.62,0.00,0.000,4,0.102,0.065,3038,162,1980,0,0,0,0,0,0
$GC,6144,0.84,277.7,390.9,12.0,278,6148,0.00,2.35,0.00,0.000,6,0.000,0.025,3039,1629,1979,0,0,0,0,0,0
$GC,6426,0.84,280.9,361.5,9.9,285,6430,0.00,2.65,0.00,0.000,4,0.000,0.049,3039,3213,1977,0,0,0,0,0,0
$GC,6459,0.94,299.7,358.4,9.2,285,6484,0.10,2.55,19.35,0.754,6,0.081,0.034,3094,1671,1898,0,0,0,0,0,0
$GC,6756,0.85,299.7,322.1,12.6,293,6761,0.22,2.60,0.00,0.000,4,0.104,0.063,3046,166,1893,0,0,0,0,0,0
$GC,6826,0.85,299.7,313.1,12.1,294,6830,0.00,2.35,0.00,0.000,6,0.000,0.025,3046,1631,1892,0,0,0,0,0,0
$GC,7088,0.85,299.7,285.3,10.5,301,7092,0.00,2.70,0.00,0.000,4,0.000,0.047,3046,3254,1890,0,0,0,0,0,0
$GC,7144,0.99,301.2,279.6,10.0,302,7149,0.12,2.62,0.00,0.000,6,0.065,0.032,3108,1665,1888,0,0,0,0,0,0
$GC,7419,0.88,301.2,244.1,13.1,309,7424,0.25,2.55,0.00,0.000,4,0.100,0.057,3051,165,1888,0,0,0,0,0,0
$GC,7457,0.88,301.2,239.1,12.4,309,7463,0.00,2.40,0.00,0.000,6,0.000,0.023,3051,1678,1887,0,0,0,0,0,0
$GC,7706,0.88,301.2,213.3,10.2,316,7710,0.00,2.53,0.00,0.000,4,0.000,0.050,3051,164,1887,0,0,0,0,0,0
$GC,7724,0.88,301.2,211.3,10.3,316,7729,0.00,2.38,0.00,0.000,6,0.000,0.023,3051,1668,1886,0,0,0,0,0,0
$GC,7988,0.95,301.2,186.2,10.2,331,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1672,1887,0,0,0,0,0,0
$GC,8249,0.98,327.9,160.5,8.8,356,8280,0.10,2.65,23.73,0.618,4,0.079,0.036,3105,3259,1781,0,0,0,0,0,0
$GC,8326,0.98,327.9,152.1,12.1,363,8335,0.12,2.65,0.00,0.000,6,0.082,0.029,3073,1657,1778,0,0,0,0,0,0
$GC,8589,0.98,327.9,124.1,11.0,388,8593,0.00,2.45,0.00,0.000,4,0.000,0.046,3073,163,1777,0,0,0,0,0,0
$GC,8627,0.98,327.9,119.6,12.8,391,8631,0.00,2.35,0.00,0.000,6,0.000,0.021,3073,1668,1776,0,0,0,0,0,0
$GC,8894,1.09,343.3,91.2,9.3,416,8917,0.10,2.55,13.85,0.532,4,0.077,0.052,3131,173,1719,0,0,0,0,0,0
$GC,8933,1.09,343.3,87.0,12.7,419,8938,0.15,2.33,0.00,0.000,6,0.107,0.021,3099,1645,1718,0,0,0,0,0,0
$GC,9197,1.09,343.3,56.9,11.2,443,9201,0.00,2.60,0.00,0.000,4,0.000,0.034,3099,3261,1717,0,0,0,0,0,0
$GC,9217,1.09,343.3,54.8,11.9,444,9222,0.00,2.60,0.00,0.000,6,0.000,0.027,3099,1636,1715,0,0,0,0,0,0
$GC,9491,1.09,343.3,25.3,10.8,471,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1636,1715,0,0,0,0,0,0
$STATE,9692,end climb,SURFACE_DEPTH_REACHED
$STATE,9692,begin surface coast
$FINISH,0.7,0.998430
$STATE,9737,end surface coast,CONTROL_FINISHED_OK
$STATE,9737,begin surface
$SM_CCo,9757,57.45,0.410,1,0,1284,450.13
$SM_GC,1.50,0.00,0.00,57.45,0.000,0.000,0.410,416,1856,1284,-11.25,1.87,450.13
$IRIDIUM_FIX,2237.01,-15800.20,290200,161601
$TT8_MAMPS,0.026845
$HUMID,43.81
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.6,29.209
$10V_AH,10.4,24.379
$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,31.325,130.525,409.825,57.450,0.000,25.782,33.804,158.524,0.500,0.000,16.119,1042.246,6179.574,515.971,1939.012,498.532,33.367,1303.654,0.000,1934.932,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,70.564,872.846,410.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.406,311.338,400.474,619.430,1092.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38400,510
$CAP_FILE_SIZE,114095,0
$CFSIZE,260165632,160944128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,221824,2247.036,-15801.117,55,1.6,72,10.1