version: 66.06
glider: 148
mission: 9
dive: 217
start: 12 7 110 23 49 28
data:
$ID,148
$MISSION,9
$DIVE,217
$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,-862540
$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,46
$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
$GPS1,234207,2249.615,-15759.449,7,1.9,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.0
$GPS2,234834,2249.611,-15759.424,13,3.5,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.224,0.133
$KALMAN_X,-76387.5,385.0,88.4,93870.9,-47.4
$KALMAN_Y,7653.7,-15.0,266.3,121215.8,-945.7
$MHEAD_RNG_PITCHd_Wd,49.2,4200,-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,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-82.82,0.000,2,0.000,0.000,412,1869,3327,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.3,-4.2,11,133,11.52,2.40,-7.18,0.000,4,0.159,0.039,2573,3373,3716,0,0,0,0,0,0
$GC,197,-1.13,-146.0,26.7,-17.5,24,207,0.15,2.58,0.00,0.000,6,0.083,0.024,2610,1781,3718,0,0,0,0,0,0
$GC,471,-1.03,-146.0,65.8,-14.5,50,476,0.12,2.55,0.00,0.000,4,0.117,0.031,2636,3367,3719,0,0,0,0,0,0
$GC,505,-1.03,-146.0,71.6,-12.2,52,514,0.00,2.50,0.00,0.000,6,0.000,0.022,2636,1798,3719,0,0,0,0,0,0
$GC,772,-1.10,-146.0,95.3,-8.0,77,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1798,3720,0,0,0,0,0,0
$GC,1035,-1.23,-146.0,118.7,-10.0,102,1040,0.17,2.50,0.00,0.000,4,0.048,0.028,2554,3367,3721,0,0,0,0,0,0
$GC,1085,-1.23,-146.0,125.7,-14.0,106,1095,0.12,2.53,0.00,0.000,6,0.075,0.023,2588,1791,3720,0,0,0,0,0,0
$GC,1345,-1.23,-146.0,155.6,-11.2,131,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1790,3722,0,0,0,0,0,0
$GC,1602,-1.23,-146.0,182.8,-9.5,155,1606,0.00,2.50,0.00,0.000,4,0.000,0.031,2588,3365,3722,0,0,0,0,0,0
$GC,1663,-1.30,-146.0,188.6,-8.9,160,1669,0.00,2.50,0.00,0.000,6,0.000,0.024,2588,1792,3722,0,0,0,0,0,0
$GC,1919,-1.30,-146.0,211.8,-9.2,176,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1792,3722,0,0,0,0,0,0
$GC,2162,-1.30,-146.0,235.3,-9.7,182,2166,0.00,2.50,0.00,0.000,4,0.000,0.031,2588,3363,3722,0,0,0,0,0,0
$GC,2207,-1.41,-146.0,239.6,-10.1,183,2212,0.15,2.47,0.00,0.000,6,0.055,0.025,2511,1795,3722,0,0,0,0,0,0
$GC,2494,-1.24,-146.0,277.5,-13.3,190,2501,0.32,2.58,0.00,0.000,4,0.090,0.041,2585,204,3722,0,0,0,0,0,0
$GC,2526,-1.24,-146.0,281.2,-10.9,190,2531,0.00,2.47,0.00,0.000,6,0.000,0.022,2585,1795,3722,0,0,0,0,0,0
$GC,2781,-1.32,-146.0,303.2,-8.3,197,2786,0.00,2.53,0.00,0.000,4,0.000,0.036,2585,3363,3722,0,0,0,0,0,0
$GC,2842,-1.45,-146.0,308.4,-7.6,198,2847,0.17,2.50,0.00,0.000,6,0.049,0.027,2502,1809,3722,0,0,0,0,0,0
$GC,3113,-1.27,-146.0,342.7,-13.1,205,3120,0.32,2.62,0.00,0.000,4,0.088,0.046,2578,208,3721,0,0,0,0,0,0
$GC,3145,-1.36,-146.0,346.5,-9.6,205,3149,0.00,2.55,0.00,0.000,6,0.000,0.025,2577,1810,3721,0,0,0,0,0,0
$GC,3401,-1.42,-146.0,369.2,-9.0,212,3406,0.12,2.55,0.00,0.000,4,0.066,0.041,2521,3377,3719,0,0,0,0,0,0
$GC,3439,-1.35,-146.0,374.2,-12.2,212,3445,0.20,2.53,0.00,0.000,6,0.092,0.028,2566,1813,3719,0,0,0,0,0,0
$GC,3689,-1.35,-146.0,399.5,-10.2,219,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1813,3718,0,0,0,0,0,0
$GC,3934,-1.35,-146.0,423.4,-9.7,225,3939,0.00,2.58,0.00,0.000,4,0.000,0.044,2566,3367,3717,0,0,0,0,0,0
$GC,3958,-1.35,-146.0,425.9,-9.7,225,3963,0.00,2.53,0.00,0.000,6,0.000,0.030,2566,1810,3716,0,0,0,0,0,0
$GC,4217,-1.35,-146.0,449.2,-8.9,232,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1810,3714,0,0,0,0,0,0
$GC,4461,-1.35,-146.0,470.0,-8.6,238,4465,0.00,2.60,0.00,0.000,4,0.000,0.049,2566,3366,3713,0,0,0,0,0,0
$GC,4504,-1.45,-146.0,473.8,-8.7,239,4509,0.00,2.50,0.00,0.000,6,0.000,0.033,2565,1827,3713,0,0,0,0,0,0
$GC,4791,-1.45,-146.0,499.0,-8.6,246,4796,0.00,2.60,0.00,0.000,4,0.000,0.052,2566,3368,3711,0,0,0,0,0,0
$STATE,4803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4803,begin apogee
$GC,4813,-0.31,0.0,500.3,8.1,246,4934,0.98,0.00,117.47,0.872,6,0.075,0.000,2790,1679,3120,0,0,0,0,0,0
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4937,1.28,146.0,503.6,0.0,249,5067,1.45,2.78,121.88,0.854,4,0.024,0.054,3151,3256,2523,0,0,0,0,0,0
$GC,5103,0.94,146.0,501.0,10.1,253,5110,0.43,2.65,0.00,0.000,6,0.117,0.035,3066,1682,2519,0,0,0,0,0,0
$GC,5375,0.85,168.4,475.6,9.0,260,5399,0.00,2.75,18.50,0.794,4,0.000,0.072,3066,165,2432,0,0,0,0,0,0
$GC,5453,0.65,168.4,467.8,10.7,261,5459,0.30,2.45,0.00,0.000,6,0.100,0.028,3004,1673,2431,0,0,0,0,0,0
$GC,5709,0.80,245.4,449.7,6.5,268,5786,0.12,2.80,66.50,0.831,4,0.065,0.056,3063,3253,2118,0,0,0,0,0,0
$GC,5800,0.80,245.4,441.3,10.3,270,5805,0.12,2.62,0.00,0.000,6,0.109,0.035,3036,1682,2114,0,0,0,0,0,0
$GC,6083,0.81,255.1,413.8,9.6,277,6098,0.00,2.67,8.30,0.692,4,0.000,0.067,3036,165,2079,0,0,0,0,0,0
$GC,6140,0.81,255.1,407.7,11.2,278,6144,0.00,2.47,0.00,0.000,6,0.000,0.026,3036,1688,2078,0,0,0,0,0,0
$GC,6413,0.84,273.2,382.2,9.2,285,6432,0.00,0.00,16.92,0.759,6,0.000,0.000,3036,1689,2006,0,0,0,0,0,0
$GC,6657,0.84,274.8,358.2,10.0,291,6661,0.00,2.62,0.00,0.000,4,0.000,0.058,3036,163,2001,0,0,0,0,0,0
$GC,6718,0.84,274.8,351.2,12.0,292,6723,0.00,2.45,0.00,0.000,6,0.000,0.025,3036,1683,2000,0,0,0,0,0,0
$GC,6986,0.84,275.4,324.0,10.0,299,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1683,1998,0,0,0,0,0,0
$GC,7231,0.92,290.9,301.4,9.3,305,7249,0.10,0.00,16.10,0.715,6,0.078,0.000,3079,1685,1934,0,0,0,0,0,0
$GC,7475,0.92,290.9,272.9,12.1,311,7480,0.00,2.60,0.00,0.000,4,0.000,0.055,3079,161,1929,0,0,0,0,0,0
$GC,7494,0.84,290.9,270.2,12.9,311,7499,0.17,2.40,0.00,0.000,6,0.108,0.024,3044,1676,1929,0,0,0,0,0,0
$GC,7758,0.84,290.9,241.7,10.9,318,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1677,1928,0,0,0,0,0,0
$GC,8004,0.90,290.9,216.5,10.3,324,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1678,1927,0,0,0,0,0,0
$GC,8248,0.98,295.7,193.2,9.8,333,8262,0.12,2.62,4.70,0.482,4,0.065,0.038,3110,3246,1913,0,0,0,0,0,0
$GC,8267,0.98,295.7,190.8,10.9,334,8274,0.17,2.62,0.00,0.000,6,0.109,0.029,3075,1640,1913,0,0,0,0,0,0
$GC,8531,0.98,295.7,162.2,11.0,359,8535,0.00,2.42,0.00,0.000,4,0.000,0.048,3074,175,1912,0,0,0,0,0,0
$GC,8560,0.98,295.7,159.0,12.0,361,8564,0.00,2.35,0.00,0.000,6,0.000,0.023,3074,1664,1911,0,0,0,0,0,0
$GC,8828,0.98,295.7,131.3,10.1,385,8832,0.00,2.47,0.00,0.000,4,0.000,0.046,3075,173,1911,0,0,0,0,0,0
$GC,8837,0.99,298.5,129.5,9.9,385,8843,0.00,2.33,0.00,0.000,6,0.000,0.021,3074,1676,1911,0,0,0,0,0,0
$GC,9101,1.04,342.0,107.5,8.0,410,9154,0.00,2.55,40.88,0.584,4,0.000,0.048,3074,173,1723,0,0,0,0,0,0
$GC,9218,1.04,342.0,95.6,12.0,421,9222,0.00,2.33,0.00,0.000,6,0.000,0.021,3075,1645,1723,0,0,0,0,0,0
$GC,9487,1.17,365.9,70.8,8.9,445,9516,0.17,2.67,21.75,0.529,4,0.048,0.033,3157,3251,1627,0,0,0,0,0,0
$GC,9559,1.10,365.9,61.2,14.8,451,9572,0.28,2.60,0.00,0.000,6,0.100,0.028,3099,1655,1623,0,0,0,0,0,0
$GC,9831,1.10,365.9,28.8,12.0,476,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,1655,1623,0,0,0,0,0,0
$STATE,10039,end climb,SURFACE_DEPTH_REACHED
$STATE,10039,begin surface coast
$FINISH,0.6,1.013326
$STATE,10080,end surface coast,CONTROL_FINISHED_OK
$STATE,10080,begin surface
$SM_CCo,10102,46.55,0.395,1,0,1284,450.13
$SM_GC,1.48,0.00,0.00,46.55,0.000,0.000,0.395,410,1831,1284,-11.27,1.16,450.13
$IRIDIUM_FIX,2244.02,-15759.32,020300,212115
$TT8_MAMPS,0.026845
$HUMID,44.56
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.6,31.337
$10V_AH,10.4,26.305
$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,28.725,117.400,433.000,46.550,0.000,22.380,35.432,174.091,0.500,0.000,34.638,1040.792,6585.591,545.765,1856.708,511.693,33.364,1286.844,0.000,1845.696,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,72.098,872.079,395.005,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.834,318.118,401.086,595.676,1052.643,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355348
$DATA_FILE_SIZE,41571,515
$CAP_FILE_SIZE,108102,0
$CFSIZE,260165632,159920128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,024020,2249.779,-15757.917,39,2.4,58,10.1