version: 66.06
glider: 148
mission: 9
dive: 210
start: 12 7 110 4 29 16
data:
$ID,148
$MISSION,9
$DIVE,210
$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,-862392.94
$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,29
$R_STBD_OVSHOOT,50
$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
$GPS1,042236,2246.509,-15759.444,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.8
$GPS2,042820,2246.550,-15759.422,13,1.0,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,-0.019
$KALMAN_X,-78384.3,-135.8,-126.2,96607.5,71.4
$KALMAN_Y,7348.7,-288.2,-490.3,116881.7,527.1
$MHEAD_RNG_PITCHd_Wd,255.7,6166,-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,-82.43,0.000,2,0.000,0.000,413,1856,3342,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.5,-5.4,11,131,11.35,2.67,-6.75,0.000,4,0.153,0.044,2574,204,3715,0,0,0,0,0,0
$GC,240,-1.28,-146.0,33.0,-15.2,30,244,0.00,2.45,0.00,0.000,6,0.000,0.020,2574,1786,3716,0,0,0,0,0,0
$GC,509,-1.06,-146.0,79.3,-18.0,54,514,0.25,2.53,0.00,0.000,4,0.102,0.029,2630,3365,3717,0,0,0,0,0,0
$GC,551,-1.06,-146.0,87.6,-13.8,57,557,0.00,2.47,0.00,0.000,6,0.000,0.022,2631,1784,3717,0,0,0,0,0,0
$GC,812,-1.06,-146.0,119.1,-11.6,82,816,0.00,2.55,0.00,0.000,4,0.000,0.029,2630,3376,3718,0,0,0,0,0,0
$GC,839,-1.06,-146.0,121.9,-12.0,84,843,0.00,2.50,0.00,0.000,6,0.000,0.022,2630,1793,3718,0,0,0,0,0,0
$GC,1102,-1.18,-146.0,143.9,-7.4,108,1107,0.12,2.53,0.00,0.000,4,0.064,0.028,2567,3367,3719,0,0,0,0,0,0
$GC,1142,-1.18,-146.0,147.7,-10.7,111,1147,0.17,2.45,0.00,0.000,6,0.092,0.023,2606,1807,3719,0,0,0,0,0,0
$GC,1403,-1.18,-146.0,174.6,-9.3,135,1407,0.00,2.58,0.00,0.000,4,0.000,0.039,2605,214,3720,0,0,0,0,0,0
$GC,1423,-1.18,-146.0,175.9,-8.4,136,1427,0.00,2.47,0.00,0.000,6,0.000,0.019,2606,1825,3720,0,0,0,0,0,0
$GC,1689,-1.25,-146.0,200.5,-10.3,160,1693,0.00,2.40,0.00,0.000,4,0.000,0.029,2606,3359,3720,0,0,0,0,0,0
$GC,1755,-1.37,-146.0,207.7,-8.9,161,1760,0.20,2.45,0.00,0.000,6,0.044,0.022,2502,1809,3720,0,0,0,0,0,0
$GC,2020,-1.10,-146.0,251.2,-16.5,168,2022,0.60,0.00,0.00,0.000,6,0.087,0.000,2617,1809,3720,0,0,0,0,0,0
$GC,2264,-1.24,-146.0,270.1,-7.2,174,2269,0.12,2.47,0.00,0.000,4,0.064,0.031,2550,3358,3720,0,0,0,0,0,0
$GC,2289,-1.24,-146.0,272.3,-9.3,174,2294,0.17,2.45,0.00,0.000,6,0.091,0.023,2589,1814,3720,0,0,0,0,0,0
$GC,2550,-1.30,-146.0,294.8,-8.7,181,2554,0.00,2.62,0.00,0.000,4,0.000,0.044,2589,210,3720,0,0,0,0,0,0
$GC,2564,-1.37,-146.0,296.1,-8.6,181,2569,0.12,2.47,0.00,0.000,6,0.064,0.021,2524,1810,3720,0,0,0,0,0,0
$GC,2835,-1.26,-146.0,327.5,-12.4,188,2840,0.25,2.50,0.00,0.000,4,0.091,0.034,2582,3360,3721,0,0,0,0,0,0
$GC,2892,-1.36,-146.0,333.6,-9.2,189,2896,0.00,2.45,0.00,0.000,6,0.000,0.026,2582,1826,3720,0,0,0,0,0,0
$GC,3167,-1.44,-146.0,357.5,-8.4,196,3172,0.15,2.50,0.00,0.000,4,0.057,0.038,2516,3357,3720,0,0,0,0,0,0
$GC,3200,-1.34,-146.0,361.1,-10.5,196,3206,0.22,2.45,0.00,0.000,6,0.089,0.028,2566,1830,3719,0,0,0,0,0,0
$GC,3450,-1.34,-146.0,382.3,-8.4,202,3455,0.00,2.70,0.00,0.000,4,0.000,0.054,2566,214,3718,0,0,0,0,0,0
$GC,3486,-1.41,-146.0,385.6,-9.8,202,3491,0.00,2.55,0.00,0.000,6,0.000,0.025,2566,1816,3718,0,0,0,0,0,0
$GC,3736,-1.41,-146.0,410.2,-10.0,208,3741,0.00,2.50,0.00,0.000,4,0.000,0.041,2566,3367,3716,0,0,0,0,0,0
$GC,3768,-1.41,-146.0,413.7,-10.6,208,3773,0.00,2.50,0.00,0.000,6,0.000,0.030,2566,1823,3716,0,0,0,0,0,0
$GC,4019,-1.41,-146.0,439.5,-10.4,214,4024,0.00,2.55,0.00,0.000,4,0.000,0.045,2566,3367,3714,0,0,0,0,0,0
$GC,4052,-1.49,-146.0,443.2,-10.2,214,4057,0.12,2.47,0.00,0.000,6,0.066,0.031,2493,1837,3714,0,0,0,0,0,0
$GC,4303,-1.31,-146.0,476.4,-13.4,220,4311,0.35,2.75,0.00,0.000,4,0.090,0.061,2568,214,3712,0,0,0,0,0,0
$GC,4330,-1.31,-146.0,479.7,-10.4,220,4334,0.00,2.60,0.00,0.000,6,0.000,0.032,2569,1827,3712,0,0,0,0,0,0
$STATE,4587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4587,begin apogee
$GC,4592,-0.31,0.0,501.4,8.4,227,4713,0.98,0.00,117.05,0.869,6,0.076,0.000,2790,1666,3120,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4718,1.28,146.0,505.9,0.0,230,4848,1.42,2.65,120.43,0.852,4,0.028,0.066,3145,196,2523,0,0,0,0,0,0
$GC,5115,0.84,146.0,480.9,10.4,238,5123,0.45,2.40,0.00,0.000,6,0.104,0.028,3047,1678,2515,0,0,0,0,0,0
$GC,5367,0.88,228.5,464.7,6.2,245,5443,0.00,2.62,68.72,0.835,4,0.000,0.059,3046,182,2186,0,0,0,0,0,0
$GC,5548,0.81,228.5,447.4,11.5,249,5553,0.00,2.42,0.00,0.000,6,0.000,0.028,3047,1677,2182,0,0,0,0,0,0
$GC,5830,0.81,228.5,417.8,10.4,256,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1677,2177,0,0,0,0,0,0
$GC,6074,0.81,228.5,392.8,10.1,262,6078,0.00,2.58,0.00,0.000,4,0.000,0.058,3047,178,2175,0,0,0,0,0,0
$GC,6126,0.75,228.5,387.1,12.2,263,6132,0.12,2.40,0.00,0.000,6,0.121,0.025,3022,1672,2174,0,0,0,0,0,0
$GC,6405,0.88,286.9,365.1,7.3,270,6463,0.12,2.60,49.60,0.786,4,0.064,0.057,3082,186,1948,0,0,0,0,0,0
$GC,6568,0.79,286.9,345.2,14.6,273,6573,0.22,2.35,0.00,0.000,6,0.104,0.025,3036,1646,1946,0,0,0,0,0,0
$GC,6828,0.86,286.9,315.1,11.9,280,6833,0.00,2.67,0.00,0.000,4,0.000,0.043,3036,3254,1940,0,0,0,0,0,0
$GC,6873,0.98,286.9,310.1,12.1,281,6878,0.15,2.62,0.00,0.000,6,0.056,0.032,3111,1667,1938,0,0,0,0,0,0
$GC,7161,0.85,286.9,272.8,12.3,288,7166,0.28,2.58,0.00,0.000,4,0.098,0.061,3048,168,1937,0,0,0,0,0,0
$GC,7206,0.85,286.9,267.9,10.3,289,7210,0.00,2.38,0.00,0.000,6,0.000,0.022,3048,1667,1937,0,0,0,0,0,0
$GC,7494,0.91,286.9,238.7,10.3,296,7499,0.00,2.53,0.00,0.000,4,0.000,0.052,3048,169,1936,0,0,0,0,0,0
$GC,7542,0.91,286.9,233.2,12.2,297,7546,0.00,2.35,0.00,0.000,6,0.000,0.023,3048,1648,1936,0,0,0,0,0,0
$GC,7826,0.99,300.2,205.8,9.4,304,7843,0.12,2.67,10.62,0.609,4,0.065,0.038,3116,3243,1895,0,0,0,0,0,0
$GC,7882,0.93,300.2,198.8,13.0,306,7894,0.25,2.62,0.00,0.000,6,0.094,0.031,3062,1641,1893,0,0,0,0,0,0
$GC,8148,0.93,300.2,171.2,11.3,331,8153,0.00,2.65,0.00,0.000,4,0.000,0.033,3062,3264,1892,0,0,0,0,0,0
$GC,8187,1.01,300.2,166.5,11.1,334,8193,0.00,2.62,0.00,0.000,6,0.000,0.029,3062,1653,1891,0,0,0,0,0,0
$GC,8455,1.06,344.2,142.5,8.0,359,8499,0.12,2.53,38.40,0.606,4,0.067,0.048,3127,179,1715,0,0,0,0,0,0
$GC,8559,0.97,344.2,128.5,15.7,369,8564,0.25,2.33,0.00,0.000,6,0.097,0.022,3073,1646,1714,0,0,0,0,0,0
$GC,8823,1.05,344.2,98.9,10.8,393,8828,0.00,2.60,0.00,0.000,4,0.000,0.032,3072,3257,1711,0,0,0,0,0,0
$GC,8871,1.24,349.8,94.2,9.8,397,8884,0.22,2.62,5.55,0.438,6,0.039,0.028,3181,1638,1693,0,0,0,0,0,0
$GC,9149,1.04,349.8,53.9,15.0,423,9154,0.43,2.40,0.00,0.000,4,0.094,0.043,3086,176,1692,0,0,0,0,0,0
$GC,9203,1.04,349.8,47.1,12.4,427,9207,0.00,2.30,0.00,0.000,6,0.000,0.020,3087,1655,1692,0,0,0,0,0,0
$GC,9485,1.04,355.4,16.8,9.8,460,9501,0.00,2.60,6.50,0.409,4,0.000,0.033,3086,3242,1670,0,0,0,0,0,0
$GC,9529,1.15,355.4,11.6,12.6,466,9539,0.05,2.62,0.00,0.000,6,0.045,0.029,3140,1640,1668,0,0,0,0,0,0
$STATE,9591,end climb,SURFACE_DEPTH_REACHED
$STATE,9591,begin surface coast
$FINISH,0.7,0.998338
$STATE,9626,end surface coast,CONTROL_FINISHED_OK
$STATE,9626,begin surface
$SM_CCo,9646,52.10,0.404,1,0,1284,450.13
$SM_GC,1.47,0.00,0.00,52.10,0.000,0.000,0.404,412,1847,1284,-11.26,1.61,450.13
$IRIDIUM_FIX,2239.35,-15754.99,020300,010135
$TT8_MAMPS,0.026845
$HUMID,44.76
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,30.544
$10V_AH,10.4,25.594
$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,30.425,136.775,416.875,52.100,0.000,28.797,31.433,152.774,0.250,0.000,15.307,1042.615,6076.172,502.011,1935.770,495.576,33.365,1316.706,0.000,1931.160,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,65.962,869.011,404.209,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.038,286.505,373.083,547.595,966.925,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355336
$DATA_FILE_SIZE,38378,480
$CAP_FILE_SIZE,118182,0
$CFSIZE,260165632,160296960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,071206,2246.806,-15800.891,11,0.9,27,10.1