version: 66.06
glider: 148
mission: 9
dive: 204
start: 12 6 110 12 31 27
data:
$ID,148
$MISSION,9
$DIVE,204
$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,-862248.38
$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,43
$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
$GPS1,122406,2249.509,-15759.772,24,1.3,24,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.9
$GPS2,123032,2249.490,-15759.783,14,1.6,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.248,0.078
$KALMAN_X,-79781.7,-347.5,152.2,97317.0,125.0
$KALMAN_Y,6959.1,-8.3,-66.3,122013.3,-268.4
$MHEAD_RNG_PITCHd_Wd,62.4,4844,-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,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.78,0.000,2,0.000,0.000,411,1868,3326,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.3,-4.5,11,131,11.52,0.00,-7.18,0.000,6,0.160,0.000,2573,1868,3717,0,0,0,0,0,0
$GC,401,-1.04,-146.0,65.7,-19.0,45,410,0.28,0.00,0.00,0.000,6,0.097,0.000,2632,1868,3719,0,0,0,0,0,0
$GC,664,-1.13,-146.0,99.8,-10.6,70,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1868,3720,0,0,0,0,0,0
$GC,918,-1.25,-146.0,125.9,-9.6,94,920,0.17,0.00,0.00,0.000,6,0.050,0.000,2553,1868,3722,0,0,0,0,0,0
$GC,1179,-1.14,-146.0,162.0,-14.0,118,1188,0.25,2.67,0.00,0.000,4,0.091,0.037,2612,208,3722,0,0,0,0,0,0
$GC,1222,-1.33,-146.0,168.5,-11.0,122,1228,0.17,2.45,0.00,0.000,6,0.049,0.020,2524,1802,3723,0,0,0,0,0,0
$GC,1484,-1.16,-146.0,206.6,-15.2,144,1489,0.35,2.50,0.00,0.000,4,0.089,0.030,2604,3367,3722,0,0,0,0,0,0
$GC,1547,-1.30,-146.0,213.8,-9.1,145,1552,0.12,2.50,0.00,0.000,6,0.061,0.023,2521,1775,3723,0,0,0,0,0,0
$GC,1818,-1.12,-146.0,251.5,-14.4,152,1820,0.47,0.00,0.00,0.000,6,0.085,0.000,2616,1775,3723,0,0,0,0,0,0
$GC,2060,-1.26,-146.0,270.9,-7.5,158,2065,0.12,2.55,0.00,0.000,4,0.064,0.033,2551,3359,3723,0,0,0,0,0,0
$GC,2084,-1.26,-146.0,273.3,-10.6,158,2089,0.15,2.47,0.00,0.000,6,0.098,0.024,2585,1789,3723,0,0,0,0,0,0
$GC,2346,-1.32,-146.0,297.2,-9.0,165,2350,0.00,2.53,0.00,0.000,4,0.000,0.035,2585,3361,3723,0,0,0,0,0,0
$GC,2389,-1.42,-146.0,301.2,-8.7,166,2395,0.15,2.50,0.00,0.000,6,0.054,0.026,2503,1799,3723,0,0,0,0,0,0
$GC,2679,-1.26,-146.0,340.4,-13.8,173,2681,0.38,0.00,0.00,0.000,6,0.089,0.000,2584,1799,3722,0,0,0,0,0,0
$GC,2921,-1.35,-146.0,364.4,-9.6,179,2925,0.00,2.53,0.00,0.000,4,0.000,0.039,2584,3354,3721,0,0,0,0,0,0
$GC,2949,-1.43,-146.0,367.1,-9.4,179,2955,0.15,2.50,0.00,0.000,6,0.054,0.028,2500,1799,3721,0,0,0,0,0,0
$GC,3206,-1.27,-146.0,401.9,-13.8,186,3214,0.35,2.65,0.00,0.000,4,0.091,0.053,2579,205,3719,0,0,0,0,0,0
$GC,3223,-1.27,-146.0,404.5,-13.2,186,3227,0.00,2.50,0.00,0.000,6,0.000,0.026,2579,1786,3719,0,0,0,0,0,0
$GC,3492,-1.36,-146.0,427.3,-7.9,193,3496,0.00,2.60,0.00,0.000,4,0.000,0.044,2579,3371,3718,0,0,0,0,0,0
$GC,3545,-1.51,-146.0,431.0,-6.3,194,3551,0.20,2.55,0.00,0.000,6,0.042,0.031,2479,1806,3718,0,0,0,0,0,0
$GC,3824,-1.30,-146.0,465.5,-12.8,201,3831,0.43,2.70,0.00,0.000,4,0.093,0.061,2572,212,3716,0,0,0,0,0,0
$GC,3885,-1.46,-146.0,471.0,-8.7,202,3890,0.12,2.55,0.00,0.000,6,0.064,0.032,2518,1799,3715,0,0,0,0,0,0
$STATE,4156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4156,begin apogee
$GC,4162,-0.31,0.0,500.2,11.0,209,4283,1.23,0.00,117.75,0.864,6,0.083,0.000,2790,1662,3120,0,0,0,0,0,0
$STATE,4284,end apogee,CONTROL_FINISHED_OK
$STATE,4284,begin climb
$GC,4288,1.28,146.0,504.9,0.0,212,4418,1.42,2.65,120.53,0.848,4,0.025,0.066,3143,191,2523,0,0,0,0,0,0
$GC,4642,0.84,146.0,482.7,12.2,220,4649,0.47,2.42,0.00,0.000,6,0.110,0.030,3047,1678,2515,0,0,0,0,0,0
$GC,4935,0.87,219.2,463.0,6.6,227,5004,0.00,2.60,61.03,0.829,4,0.000,0.058,3046,190,2225,0,0,0,0,0,0
$GC,5084,0.78,219.2,449.3,10.3,230,5089,0.00,2.40,0.00,0.000,6,0.000,0.027,3046,1677,2220,0,0,0,0,0,0
$GC,5354,0.80,237.8,424.5,9.2,237,5377,0.00,2.58,16.17,0.764,4,0.000,0.056,3046,192,2149,0,0,0,0,0,0
$GC,5432,0.73,237.8,416.5,10.8,238,5437,0.12,2.38,0.00,0.000,6,0.120,0.026,3022,1668,2147,0,0,0,0,0,0
$GC,5688,0.78,276.8,394.7,8.2,245,5726,0.00,0.00,34.65,0.790,6,0.000,0.000,3022,1669,1990,0,0,0,0,0,0
$GC,5971,0.88,286.9,368.6,9.6,252,5988,0.12,2.60,9.48,0.690,4,0.064,0.055,3078,193,1949,0,0,0,0,0,0
$GC,6004,0.77,286.9,364.6,13.1,252,6009,0.22,2.40,0.00,0.000,6,0.100,0.025,3031,1668,1949,0,0,0,0,0,0
$GC,6259,0.85,286.9,336.9,10.6,259,6263,0.00,2.67,0.00,0.000,4,0.000,0.050,3030,3257,1946,0,0,0,0,0,0
$GC,6292,0.96,286.9,333.6,10.4,259,6297,0.17,2.58,0.00,0.000,6,0.050,0.032,3095,1687,1944,0,0,0,0,0,0
$GC,6543,0.87,286.9,304.4,11.5,265,6548,0.22,2.60,0.00,0.000,4,0.104,0.059,3048,170,1944,0,0,0,0,0,0
$GC,6573,0.87,286.9,300.8,10.6,265,6578,0.00,2.40,0.00,0.000,6,0.000,0.024,3049,1686,1943,0,0,0,0,0,0
$GC,6828,0.89,303.9,277.6,9.2,272,6848,0.00,2.65,15.60,0.691,4,0.000,0.045,3049,3249,1880,0,0,0,0,0,0
$GC,6879,1.00,314.6,272.7,9.5,273,6895,0.12,2.60,10.68,0.650,6,0.063,0.031,3098,1667,1837,0,0,0,0,0,0
$GC,7161,0.93,314.6,237.4,12.7,280,7166,0.17,2.55,0.00,0.000,4,0.114,0.059,3063,167,1833,0,0,0,0,0,0
$GC,7200,0.93,314.6,232.4,11.8,280,7206,0.00,2.40,0.00,0.000,6,0.000,0.023,3063,1676,1832,0,0,0,0,0,0
$GC,7450,0.93,314.6,206.8,10.2,287,7454,0.00,2.58,0.00,0.000,4,0.000,0.038,3064,3260,1831,0,0,0,0,0,0
$GC,7468,0.94,321.8,204.9,9.7,287,7481,0.00,2.58,6.80,0.551,6,0.000,0.028,3063,1668,1807,0,0,0,0,0,0
$GC,7745,0.94,321.8,175.8,11.0,309,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1668,1805,0,0,0,0,0,0
$GC,8004,0.94,321.8,148.7,10.7,333,8008,0.00,2.58,0.00,0.000,4,0.000,0.034,3063,3264,1805,0,0,0,0,0,0
$GC,8020,0.94,321.8,146.5,11.7,334,8025,0.00,2.55,0.00,0.000,6,0.000,0.026,3064,1672,1804,0,0,0,0,0,0
$GC,8283,1.01,321.8,118.3,10.6,358,8287,0.00,2.47,0.00,0.000,4,0.000,0.053,3064,170,1804,0,0,0,0,0,0
$GC,8332,1.09,321.8,112.1,12.0,362,8341,0.10,2.38,0.00,0.000,6,0.031,0.021,3136,1670,1804,0,0,0,0,0,0
$GC,8600,1.01,321.8,80.4,11.5,387,8605,0.25,2.50,0.00,0.000,4,0.092,0.045,3077,166,1804,0,0,0,0,0,0
$GC,8640,1.01,321.8,75.5,10.9,390,8645,0.00,2.30,0.00,0.000,6,0.000,0.020,3077,1664,1804,0,0,0,0,0,0
$GC,8909,1.10,332.0,53.9,9.6,414,8926,0.10,2.60,9.85,0.475,4,0.077,0.031,3136,3248,1765,0,0,0,0,0,0
$GC,8937,1.10,332.0,49.7,12.5,416,8947,0.12,2.60,0.00,0.000,6,0.079,0.027,3103,1658,1765,0,0,0,0,0,0
$GC,9218,1.16,380.8,18.0,7.8,449,9264,0.00,0.00,43.33,0.492,6,0.000,0.000,3103,1658,1566,0,0,0,0,0,0
$STATE,9345,end climb,SURFACE_DEPTH_REACHED
$STATE,9345,begin surface coast
$FINISH,0.9,1.023666
$STATE,9394,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9415,40.70,0.378,1,0,1284,450.13
$SM_GC,1.54,0.00,0.00,40.70,0.000,0.000,0.378,407,1828,1284,-11.28,1.07,450.13
$IRIDIUM_FIX,2241.69,-15759.32,010300,090908
$TT8_MAMPS,0.026845
$HUMID,43.22
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.6,29.909
$10V_AH,10.4,24.997
$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,31.175,106.725,445.850,40.700,0.000,28.117,35.424,186.232,0.750,0.000,16.761,992.713,5987.867,506.167,1840.809,520.337,33.370,1268.402,0.000,1845.488,0.000,0.537,0.000
$DEVICE_MAMPS,159.536,65.962,864.409,378.131,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.112,286.915,367.213,567.503,1003.205,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,38351,475
$CAP_FILE_SIZE,109057,0
$CFSIZE,260165632,160616448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,151016,2249.801,-15758.198,9,99.0,28,10.1