version: 66.06
glider: 148
mission: 9
dive: 223
start: 12 8 110 16 2 39
data:
$ID,148
$MISSION,9
$DIVE,223
$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,-862640.56
$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,49
$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
$GPS1,155606,2247.033,-15759.238,33,0.9,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.1
$GPS2,160144,2247.054,-15759.217,12,1.0,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,-0.016
$KALMAN_X,-74440.7,25.2,12.3,92720.7,313.8
$KALMAN_Y,6750.7,533.8,-409.9,117506.6,126.3
$MHEAD_RNG_PITCHd_Wd,256.3,6460,-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,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-82.45,0.000,2,0.000,0.000,407,1878,3331,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.5,-5.5,11,133,11.43,2.72,-7.00,0.000,4,0.155,0.052,2572,201,3717,0,0,0,0,0,0
$GC,186,-1.16,-146.0,26.4,-20.8,22,195,0.12,2.50,0.00,0.000,6,0.083,0.020,2603,1781,3718,0,0,0,0,0,0
$GC,460,-1.04,-146.0,65.6,-18.0,48,465,0.12,2.55,0.00,0.000,4,0.120,0.030,2631,3370,3719,0,0,0,0,0,0
$GC,525,-1.04,-146.0,75.1,-11.9,53,530,0.00,2.50,0.00,0.000,6,0.000,0.023,2630,1793,3719,0,0,0,0,0,0
$GC,792,-1.04,-146.0,107.8,-10.2,77,796,0.00,2.50,0.00,0.000,4,0.000,0.028,2630,3372,3719,0,0,0,0,0,0
$GC,812,-1.04,-146.0,110.5,-10.4,78,822,0.00,2.50,0.00,0.000,6,0.000,0.022,2630,1808,3720,0,0,0,0,0,0
$GC,1079,-1.14,-146.0,135.2,-10.3,103,1084,0.00,2.58,0.00,0.000,4,0.000,0.039,2630,203,3721,0,0,0,0,0,0
$GC,1117,-1.29,-146.0,139.3,-9.2,106,1122,0.22,2.50,0.00,0.000,6,0.041,0.018,2532,1825,3721,0,0,0,0,0,0
$GC,1381,-1.11,-146.0,178.2,-14.5,130,1386,0.35,2.40,0.00,0.000,4,0.088,0.028,2610,3355,3722,0,0,0,0,0,0
$GC,1402,-1.11,-146.0,181.6,-13.7,131,1408,0.00,2.45,0.00,0.000,6,0.000,0.021,2610,1801,3722,0,0,0,0,0,0
$GC,1682,-1.20,-146.0,208.4,-9.5,152,1686,0.00,2.47,0.00,0.000,4,0.000,0.030,2610,3356,3722,0,0,0,0,0,0
$GC,1710,-1.29,-146.0,211.4,-9.2,152,1715,0.12,2.42,0.00,0.000,6,0.062,0.023,2527,1820,3722,0,0,0,0,0,0
$GC,1967,-1.12,-146.0,247.4,-14.4,159,1974,0.40,2.60,0.00,0.000,4,0.086,0.038,2614,215,3722,0,0,0,0,0,0
$GC,1993,-1.22,-146.0,251.1,-10.7,159,1998,0.00,2.45,0.00,0.000,6,0.000,0.020,2614,1809,3723,0,0,0,0,0,0
$GC,2255,-1.36,-146.0,275.3,-9.4,166,2260,0.20,2.47,0.00,0.000,4,0.044,0.030,2509,3368,3723,0,0,0,0,0,0
$GC,2298,-1.25,-146.0,280.7,-12.2,167,2304,0.35,2.45,0.00,0.000,6,0.080,0.024,2587,1815,3722,0,0,0,0,0,0
$GC,2589,-1.32,-146.0,305.4,-8.2,174,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1814,3723,0,0,0,0,0,0
$GC,2830,-1.40,-146.0,328.7,-10.1,180,2835,0.15,2.53,0.00,0.000,4,0.056,0.035,2517,3360,3723,0,0,0,0,0,0
$GC,2874,-1.32,-146.0,334.2,-13.4,181,2879,0.25,2.45,0.00,0.000,6,0.085,0.026,2573,1827,3723,0,0,0,0,0,0
$GC,3163,-1.32,-146.0,361.8,-9.3,188,3167,0.00,2.47,0.00,0.000,4,0.000,0.038,2574,3356,3722,0,0,0,0,0,0
$GC,3196,-1.40,-146.0,365.2,-9.8,188,3200,0.00,2.45,0.00,0.000,6,0.000,0.028,2573,1833,3721,0,0,0,0,0,0
$GC,3445,-1.40,-146.0,389.6,-9.7,194,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1833,3720,0,0,0,0,0,0
$GC,3690,-1.40,-146.0,411.7,-9.0,200,3695,0.00,2.47,0.00,0.000,4,0.000,0.041,2574,3353,3718,0,0,0,0,0,0
$GC,3704,-1.40,-146.0,413.3,-9.1,200,3709,0.00,2.45,0.00,0.000,6,0.000,0.035,2574,1833,3718,0,0,0,0,0,0
$GC,3973,-1.47,-146.0,438.1,-9.5,207,3978,0.15,2.55,0.00,0.000,4,0.057,0.046,2510,3359,3717,0,0,0,0,0,0
$GC,4003,-1.35,-146.0,441.6,-11.6,207,4009,0.25,2.47,0.00,0.000,6,0.087,0.031,2565,1833,3717,0,0,0,0,0,0
$GC,4259,-1.35,-146.0,466.1,-9.2,214,4263,0.00,2.53,0.00,0.000,4,0.000,0.048,2566,3354,3714,0,0,0,0,0,0
$GC,4278,-1.35,-146.0,467.8,-8.6,214,4282,0.00,2.45,0.00,0.000,6,0.000,0.031,2565,1831,3714,0,0,0,0,0,0
$GC,4543,-1.35,-146.0,488.5,-7.8,221,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1831,3713,0,0,0,0,0,0
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4707,-0.31,0.0,501.7,8.1,225,4828,1.00,0.00,117.75,0.874,6,0.077,0.000,2791,1665,3120,0,0,0,0,0,0
$STATE,4829,end apogee,CONTROL_FINISHED_OK
$STATE,4829,begin climb
$GC,4831,1.28,146.0,505.9,0.0,228,4962,1.40,2.72,120.45,0.858,4,0.024,0.049,3150,3237,2523,0,0,0,0,0,0
$GC,5021,0.97,153.3,502.3,9.7,232,5034,0.38,2.58,7.00,0.676,6,0.109,0.038,3074,1697,2495,0,0,0,0,0,0
$GC,5291,0.87,189.9,479.2,8.3,239,5333,0.12,2.75,32.05,0.826,4,0.123,0.074,3049,160,2343,0,0,0,0,0,0
$GC,5351,0.77,205.5,474.2,9.3,240,5371,0.00,2.42,14.45,0.771,6,0.000,0.028,3049,1663,2281,0,0,0,0,0,0
$GC,5626,0.79,217.3,448.2,9.5,247,5642,0.00,2.67,10.50,0.740,4,0.000,0.061,3049,166,2232,0,0,0,0,0,0
$GC,5705,0.70,217.3,439.8,11.0,248,5710,0.17,2.45,0.00,0.000,6,0.110,0.027,3013,1674,2231,0,0,0,0,0,0
$GC,5961,0.84,276.6,419.7,7.3,255,6021,0.12,2.65,52.20,0.820,4,0.066,0.060,3076,164,1990,0,0,0,0,0,0
$GC,6057,0.73,276.6,409.4,13.4,257,6062,0.28,2.47,0.00,0.000,6,0.100,0.028,3019,1677,1988,0,0,0,0,0,0
$GC,6336,0.86,317.2,385.2,8.2,264,6378,0.12,2.70,36.50,0.792,4,0.064,0.059,3080,167,1825,0,0,0,0,0,0
$GC,6393,0.76,317.2,378.4,12.5,265,6398,0.28,2.45,0.00,0.000,6,0.104,0.026,3024,1668,1824,0,0,0,0,0,0
$GC,6664,0.85,317.2,349.8,10.6,272,6669,0.10,2.67,0.00,0.000,4,0.077,0.046,3085,3264,1818,0,0,0,0,0,0
$GC,6683,0.85,317.2,347.2,11.4,272,6690,0.17,2.65,0.00,0.000,6,0.100,0.033,3047,1669,1816,0,0,0,0,0,0
$GC,6951,0.87,327.1,319.7,9.6,279,6965,0.00,2.70,8.07,0.652,4,0.000,0.040,3047,3262,1786,0,0,0,0,0,0
$GC,6979,0.88,337.7,316.8,9.5,279,6995,0.00,2.65,10.90,0.683,6,0.000,0.033,3047,1673,1742,0,0,0,0,0,0
$GC,7283,0.88,337.7,281.2,12.5,287,7288,0.00,2.58,0.00,0.000,4,0.000,0.061,3047,163,1738,0,0,0,0,0,0
$GC,7306,0.88,337.7,277.7,14.2,287,7311,0.00,2.45,0.00,0.000,6,0.000,0.024,3047,1696,1738,0,0,0,0,0,0
$GC,7566,0.96,337.7,246.7,11.4,294,7570,0.00,2.58,0.00,0.000,4,0.000,0.042,3048,3252,1736,0,0,0,0,0,0
$GC,7618,1.09,337.7,241.0,11.0,295,7624,0.20,2.58,0.00,0.000,6,0.047,0.031,3133,1685,1734,0,0,0,0,0,0
$GC,7897,0.94,337.7,199.8,15.0,302,7902,0.30,2.55,0.00,0.000,4,0.094,0.050,3064,164,1734,0,0,0,0,0,0
$GC,7957,0.94,337.7,191.7,12.3,307,7962,0.00,2.42,0.00,0.000,6,0.000,0.023,3065,1693,1733,0,0,0,0,0,0
$GC,8220,0.94,337.7,162.4,12.0,332,8224,0.00,2.53,0.00,0.000,4,0.000,0.034,3065,3257,1733,0,0,0,0,0,0
$GC,8259,1.03,337.7,157.5,11.0,335,8264,0.00,2.58,0.00,0.000,6,0.000,0.028,3065,1668,1731,0,0,0,0,0,0
$GC,8523,1.10,337.7,129.2,10.4,360,8532,0.15,0.00,0.00,0.000,6,0.058,0.000,3136,1668,1731,0,0,0,0,0,0
$GC,8789,1.02,337.7,92.2,14.7,385,8794,0.25,2.45,0.00,0.000,4,0.093,0.044,3077,169,1731,0,0,0,0,0,0
$GC,8913,1.12,356.2,78.8,9.2,396,8939,0.12,2.38,16.27,0.528,6,0.068,0.020,3140,1700,1667,0,0,0,0,0,0
$GC,9194,1.04,356.2,43.9,10.7,422,9199,0.25,2.47,0.00,0.000,4,0.094,0.028,3083,3250,1665,0,0,0,0,0,0
$GC,9215,1.04,356.2,41.1,10.7,423,9224,0.00,2.55,0.00,0.000,6,0.000,0.028,3082,1688,1663,0,0,0,0,0,0
$GC,9506,1.12,360.4,12.0,9.8,462,9523,0.00,2.55,5.12,0.374,4,0.000,0.044,3082,170,1649,0,0,0,0,0,0
$GC,9532,1.15,387.3,9.6,8.8,465,9565,0.08,2.38,25.00,0.478,6,0.035,0.020,3143,1679,1540,0,0,0,0,0,0
$STATE,9581,end climb,SURFACE_DEPTH_REACHED
$STATE,9582,begin surface coast
$FINISH,0.8,1.023742
$STATE,9617,end surface coast,CONTROL_FINISHED_OK
$STATE,9617,begin surface
$SM_CCo,9639,37.40,0.372,1,0,1284,450.13
$SM_GC,1.35,0.00,0.00,37.40,0.000,0.000,0.372,407,1826,1284,-11.28,1.02,450.13
$IRIDIUM_FIX,2237.01,-15758.03,030300,131303
$TT8_MAMPS,0.026845
$HUMID,44.36
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.6,31.966
$10V_AH,10.4,26.900
$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,30.700,136.850,456.275,37.400,0.000,29.558,31.472,148.073,0.500,0.000,13.626,1015.112,6183.081,528.159,1805.788,491.116,33.365,1314.110,0.000,1807.484,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,74.399,874.380,371.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.628,289.446,364.300,552.703,977.425,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,38326,476
$CAP_FILE_SIZE,116627,0
$CFSIZE,260165632,159600640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,184507,2247.227,-15800.784,27,1.4,27,10.1