version: 66.06
glider: 148
mission: 9
dive: 222
start: 12 8 110 13 16 19
data:
$ID,148
$MISSION,9
$DIVE,222
$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,-862626.31
$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,20
$R_STBD_OVSHOOT,63
$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
$GPS1,130913,2246.988,-15757.930,7,1.6,7,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.0
$GPS2,131525,2246.969,-15757.913,14,1.6,31,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.257,0.038
$KALMAN_X,-74600.0,-294.5,176.9,95278.6,572.9
$KALMAN_Y,6815.0,231.0,51.0,117128.5,-367.1
$MHEAD_RNG_PITCHd_Wd,268.3,8686,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,105,0.00,0.00,-83.25,0.000,2,0.000,0.000,412,1811,3352,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.5,-5.1,11,132,11.40,2.62,-6.82,0.000,4,0.154,0.051,2572,196,3716,0,0,0,0,0,0
$GC,210,-1.28,-146.0,29.2,-15.9,26,219,0.00,2.50,0.00,0.000,6,0.000,0.020,2572,1777,3718,0,0,0,0,0,0
$GC,475,-1.03,-146.0,75.8,-16.7,51,481,0.25,2.55,0.00,0.000,4,0.100,0.028,2629,3376,3718,0,0,0,0,0,0
$GC,530,-1.11,-146.0,82.5,-8.7,55,534,0.00,2.55,0.00,0.000,6,0.000,0.023,2629,1773,3719,0,0,0,0,0,0
$GC,795,-1.19,-146.0,108.4,-10.4,79,800,0.12,2.55,0.00,0.000,4,0.064,0.028,2559,3369,3719,0,0,0,0,0,0
$GC,826,-1.12,-146.0,111.9,-12.8,81,831,0.25,2.47,0.00,0.000,6,0.089,0.021,2614,1802,3720,0,0,0,0,0,0
$GC,1091,-1.19,-146.0,140.8,-10.7,105,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1802,3720,0,0,0,0,0,0
$GC,1359,-1.27,-146.0,165.5,-8.7,130,1364,0.12,2.53,0.00,0.000,4,0.064,0.030,2554,3369,3721,0,0,0,0,0,0
$GC,1398,-1.27,-146.0,169.6,-11.5,133,1403,0.12,2.47,0.00,0.000,6,0.104,0.023,2582,1808,3721,0,0,0,0,0,0
$GC,1662,-1.27,-146.0,199.2,-11.8,157,1666,0.00,2.50,0.00,0.000,4,0.000,0.030,2583,3367,3721,0,0,0,0,0,0
$GC,1689,-1.27,-146.0,203.1,-12.0,157,1694,0.00,2.45,0.00,0.000,6,0.000,0.022,2582,1807,3721,0,0,0,0,0,0
$GC,1943,-1.27,-146.0,232.5,-11.6,164,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1807,3721,0,0,0,0,0,0
$GC,2189,-1.27,-146.0,254.9,-8.5,170,2193,0.00,2.58,0.00,0.000,4,0.000,0.043,2582,214,3721,0,0,0,0,0,0
$GC,2212,-1.27,-146.0,257.1,-9.1,170,2217,0.00,2.50,0.00,0.000,6,0.000,0.021,2582,1827,3721,0,0,0,0,0,0
$GC,2471,-1.27,-146.0,280.8,-10.0,177,2476,0.00,2.42,0.00,0.000,4,0.000,0.032,2582,3363,3721,0,0,0,0,0,0
$GC,2505,-1.34,-146.0,284.6,-11.1,177,2510,0.00,2.47,0.00,0.000,6,0.000,0.024,2582,1810,3721,0,0,0,0,0,0
$GC,2755,-1.34,-146.0,313.6,-11.8,183,2759,0.00,2.53,0.00,0.000,4,0.000,0.034,2582,3371,3721,0,0,0,0,0,0
$GC,2798,-1.45,-146.0,318.2,-10.5,184,2803,0.17,2.45,0.00,0.000,6,0.047,0.027,2488,1828,3721,0,0,0,0,0,0
$GC,3087,-1.24,-146.0,361.4,-14.6,191,3089,0.47,0.00,0.00,0.000,6,0.085,0.000,2588,1828,3721,0,0,0,0,0,0
$GC,3329,-1.34,-146.0,382.3,-8.3,197,3334,0.00,2.53,0.00,0.000,4,0.000,0.040,2588,3366,3720,0,0,0,0,0,0
$GC,3364,-1.46,-146.0,385.3,-9.1,197,3369,0.20,2.47,0.00,0.000,6,0.041,0.029,2484,1832,3720,0,0,0,0,0,0
$GC,3614,-1.24,-146.0,421.7,-15.2,203,3621,0.47,2.75,0.00,0.000,4,0.087,0.058,2584,211,3718,0,0,0,0,0,0
$GC,3649,-1.40,-146.0,426.1,-10.5,203,3655,0.12,2.58,0.00,0.000,6,0.064,0.028,2522,1816,3718,0,0,0,0,0,0
$GC,3901,-1.33,-146.0,456.4,-12.3,209,3906,0.22,2.58,0.00,0.000,4,0.093,0.046,2571,3367,3716,0,0,0,0,0,0
$GC,3929,-1.33,-146.0,460.1,-11.4,209,3934,0.00,2.50,0.00,0.000,6,0.000,0.031,2571,1828,3716,0,0,0,0,0,0
$GC,4184,-1.41,-146.0,485.6,-10.3,216,4188,0.00,2.58,0.00,0.000,4,0.000,0.050,2571,3364,3715,0,0,0,0,0,0
$GC,4223,-1.51,-146.0,489.7,-10.1,216,4229,0.17,2.50,0.00,0.000,6,0.048,0.033,2468,1833,3714,0,0,0,0,0,0
$STATE,4307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4308,begin apogee
$GC,4313,-0.31,0.0,502.2,14.2,219,4435,1.45,0.00,117.93,0.870,6,0.085,0.000,2788,1665,3120,0,0,0,0,0,0
$STATE,4436,end apogee,CONTROL_FINISHED_OK
$STATE,4436,begin climb
$GC,4440,1.28,146.0,508.3,0.0,222,4565,1.45,0.00,121.95,0.853,6,0.028,0.000,3142,1665,2524,0,0,0,0,0,0
$GC,4794,0.96,146.0,488.5,10.6,231,4796,0.35,0.00,0.00,0.000,6,0.111,0.000,3072,1665,2517,0,0,0,0,0,0
$GC,5040,0.89,198.1,469.5,7.6,237,5086,0.00,0.00,43.50,0.828,6,0.000,0.000,3072,1665,2312,0,0,0,0,0,0
$GC,5329,0.84,235.5,446.2,8.3,244,5371,0.15,2.65,32.53,0.812,4,0.120,0.067,3041,177,2159,0,0,0,0,0,0
$GC,5424,0.84,235.5,437.3,11.0,246,5428,0.00,2.45,0.00,0.000,6,0.000,0.027,3041,1679,2156,0,0,0,0,0,0
$GC,5708,0.84,242.4,410.4,9.7,253,5720,0.00,2.65,6.43,0.648,4,0.000,0.061,3041,183,2131,0,0,0,0,0,0
$GC,5803,0.84,242.4,400.0,11.3,255,5807,0.00,2.40,0.00,0.000,6,0.000,0.026,3041,1666,2130,0,0,0,0,0,0
$GC,6087,0.90,283.8,376.2,8.1,262,6129,0.00,2.60,37.08,0.790,4,0.000,0.057,3041,185,1962,0,0,0,0,0,0
$GC,6153,0.90,283.8,370.2,10.6,263,6157,0.00,2.40,0.00,0.000,6,0.000,0.026,3041,1663,1961,0,0,0,0,0,0
$GC,6418,0.92,301.8,345.9,9.2,270,6442,0.00,2.72,16.88,0.737,4,0.000,0.046,3041,3254,1887,0,0,0,0,0,0
$GC,6462,0.99,306.7,341.3,9.8,271,6475,0.15,2.62,5.55,0.582,6,0.058,0.033,3100,1681,1868,0,0,0,0,0,0
$GC,6754,0.88,306.7,302.1,13.7,278,6756,0.22,0.00,0.00,0.000,6,0.102,0.000,3053,1681,1864,0,0,0,0,0,0
$GC,6997,0.88,306.7,273.5,11.4,284,7001,0.00,2.60,0.00,0.000,4,0.000,0.062,3053,164,1862,0,0,0,0,0,0
$GC,7020,0.88,306.7,271.0,10.8,284,7024,0.00,2.40,0.00,0.000,6,0.000,0.023,3053,1671,1862,0,0,0,0,0,0
$GC,7282,0.91,330.6,247.4,8.9,291,7309,0.00,2.65,20.38,0.685,4,0.000,0.041,3053,3250,1772,0,0,0,0,0,0
$GC,7337,1.02,330.6,241.5,10.1,292,7343,0.12,2.65,0.00,0.000,6,0.064,0.031,3109,1652,1768,0,0,0,0,0,0
$GC,7611,0.93,330.6,206.0,13.0,299,7616,0.22,2.50,0.00,0.000,4,0.100,0.051,3062,166,1767,0,0,0,0,0,0
$GC,7650,0.93,330.6,201.5,12.2,299,7656,0.00,2.38,0.00,0.000,6,0.000,0.022,3062,1666,1766,0,0,0,0,0,0
$GC,7909,0.93,330.6,174.4,10.1,321,7914,0.00,2.58,0.00,0.000,4,0.000,0.033,3062,3258,1766,0,0,0,0,0,0
$GC,7946,1.03,330.6,170.8,10.4,324,7951,0.00,2.58,0.00,0.000,6,0.000,0.028,3062,1661,1764,0,0,0,0,0,0
$GC,8208,1.03,330.6,143.9,10.4,348,8212,0.00,2.45,0.00,0.000,4,0.000,0.047,3062,174,1764,0,0,0,0,0,0
$GC,8268,1.03,330.6,137.7,12.5,353,8272,0.00,2.33,0.00,0.000,6,0.000,0.021,3062,1670,1764,0,0,0,0,0,0
$GC,8534,1.17,388.8,113.9,7.3,377,8596,0.22,2.65,50.78,0.582,4,0.043,0.033,3153,3256,1533,0,0,0,0,0,0
$GC,8605,1.03,388.8,105.2,14.3,383,8611,0.32,2.58,0.00,0.000,6,0.091,0.027,3084,1668,1531,0,0,0,0,0,0
$GC,8872,1.11,388.8,77.4,10.7,408,8876,0.00,2.45,0.00,0.000,4,0.000,0.043,3084,173,1528,0,0,0,0,0,0
$GC,8892,1.17,388.8,74.9,11.1,409,8897,0.12,2.33,0.00,0.000,6,0.064,0.021,3138,1675,1528,0,0,0,0,0,0
$GC,9156,1.10,388.8,37.3,13.3,433,9161,0.17,2.55,0.00,0.000,4,0.106,0.032,3100,3253,1528,0,0,0,0,0,0
$GC,9177,1.10,388.8,34.1,12.4,434,9186,0.00,2.58,0.00,0.000,6,0.000,0.025,3101,1666,1526,0,0,0,0,0,0
$STATE,9423,end climb,SURFACE_DEPTH_REACHED
$STATE,9423,begin surface coast
$FINISH,0.7,1.012867
$STATE,9461,end surface coast,CONTROL_FINISHED_OK
$STATE,9462,begin surface
$SM_CCo,9482,30.67,0.062,0,0,1284,450.13
$SM_GC,1.51,0.00,0.00,30.67,0.000,0.000,0.062,408,1877,1284,-11.28,2.49,450.13
$IRIDIUM_FIX,2239.35,-15800.20,030300,101039
$TT8_MAMPS,0.026845
$HUMID,44.56
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,31.848
$10V_AH,10.4,26.800
$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,29.850,121.775,452.975,30.675,0.000,25.242,43.786,156.265,0.250,0.000,32.792,986.053,6135.789,545.988,1735.436,485.150,33.365,1246.121,0.000,1722.996,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,66.729,869.778,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.985,284.193,369.805,540.014,953.616,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,38322,476
$CAP_FILE_SIZE,107188,0
$CFSIZE,260165632,159662080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081210,155606,2247.033,-15759.238,33,0.9,33,10.1