version: 66.06
glider: 148
mission: 9
dive: 224
start: 12 8 110 18 51 51
data:
$ID,148
$MISSION,9
$DIVE,224
$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,-862654.25
$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,84
$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
$GPS1,184507,2247.227,-15800.784,27,1.4,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.9
$GPS2,185055,2247.243,-15800.739,11,1.4,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.253,-0.059
$KALMAN_X,-74428.9,248.3,-257.6,90137.6,365.6
$KALMAN_Y,6920.3,601.6,-136.0,117344.3,345.0
$MHEAD_RNG_PITCHd_Wd,246.7,3887,-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,-82.38,0.000,2,0.000,0.000,407,1826,3343,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.6,-5.6,11,132,11.65,2.62,-6.75,0.000,4,0.162,0.047,2575,204,3715,0,0,0,0,0,0
$GC,210,-1.19,-146.0,30.7,-17.6,26,219,0.08,2.42,0.00,0.000,6,0.092,0.020,2595,1742,3718,0,0,0,0,0,0
$GC,478,-1.07,-146.0,75.0,-15.1,51,483,0.15,2.62,0.00,0.000,4,0.119,0.031,2625,3376,3718,0,0,0,0,0,0
$GC,543,-1.07,-146.0,84.6,-11.0,56,552,0.00,2.53,0.00,0.000,6,0.000,0.023,2625,1799,3718,0,0,0,0,0,0
$GC,810,-1.13,-146.0,113.9,-10.9,81,814,0.00,2.53,0.00,0.000,4,0.000,0.029,2625,3379,3719,0,0,0,0,0,0
$GC,839,-1.21,-146.0,118.0,-11.2,83,846,0.12,2.50,0.00,0.000,6,0.058,0.022,2556,1796,3719,0,0,0,0,0,0
$GC,1102,-1.13,-146.0,154.2,-13.0,108,1104,0.25,0.00,0.00,0.000,6,0.091,0.000,2611,1796,3720,0,0,0,0,0,0
$GC,1358,-1.23,-146.0,177.7,-9.2,132,1363,0.00,2.53,0.00,0.000,4,0.000,0.029,2610,3376,3721,0,0,0,0,0,0
$GC,1407,-1.37,-146.0,182.2,-9.3,136,1412,0.20,2.47,0.00,0.000,6,0.041,0.023,2523,1815,3721,0,0,0,0,0,0
$GC,1664,-1.20,-146.0,219.6,-15.0,151,1669,0.30,2.58,0.00,0.000,4,0.092,0.037,2591,210,3721,0,0,0,0,0,0
$GC,1698,-1.27,-146.0,224.4,-11.5,151,1702,0.00,2.53,0.00,0.000,6,0.000,0.020,2591,1830,3722,0,0,0,0,0,0
$GC,1948,-1.33,-146.0,247.1,-9.0,157,1952,0.00,2.42,0.00,0.000,4,0.000,0.030,2591,3366,3722,0,0,0,0,0,0
$GC,2013,-1.46,-146.0,253.1,-9.1,158,2018,0.20,2.45,0.00,0.000,6,0.043,0.024,2491,1826,3722,0,0,0,0,0,0
$GC,2284,-1.19,-146.0,293.2,-15.8,165,2286,0.55,0.00,0.00,0.000,6,0.087,0.000,2600,1825,3722,0,0,0,0,0,0
$GC,2527,-1.32,-146.0,314.5,-8.3,171,2532,0.12,2.53,0.00,0.000,4,0.064,0.036,2537,3369,3722,0,0,0,0,0,0
$GC,2546,-1.32,-146.0,316.8,-10.7,171,2551,0.15,2.47,0.00,0.000,6,0.097,0.025,2572,1820,3721,0,0,0,0,0,0
$GC,2811,-1.32,-146.0,344.8,-10.5,178,2816,0.00,2.50,0.00,0.000,4,0.000,0.038,2572,3360,3721,0,0,0,0,0,0
$GC,2834,-1.32,-146.0,347.5,-11.2,178,2839,0.00,2.45,0.00,0.000,6,0.000,0.026,2572,1832,3721,0,0,0,0,0,0
$GC,3093,-1.32,-146.0,372.5,-9.4,185,3098,0.00,2.50,0.00,0.000,4,0.000,0.039,2572,3357,3720,0,0,0,0,0,0
$GC,3123,-1.38,-146.0,375.3,-9.1,185,3128,0.00,2.45,0.00,0.000,6,0.000,0.028,2572,1831,3720,0,0,0,0,0,0
$GC,3382,-1.38,-146.0,398.2,-8.9,192,3387,0.00,2.53,0.00,0.000,4,0.000,0.041,2572,3363,3718,0,0,0,0,0,0
$GC,3397,-1.38,-146.0,399.6,-9.1,192,3401,0.00,2.45,0.00,0.000,6,0.000,0.028,2572,1841,3718,0,0,0,0,0,0
$GC,3667,-1.44,-146.0,423.4,-8.9,199,3672,0.12,2.53,0.00,0.000,4,0.064,0.045,2507,3360,3717,0,0,0,0,0,0
$GC,3700,-1.31,-146.0,427.4,-11.8,199,3706,0.30,2.45,0.00,0.000,6,0.086,0.028,2572,1844,3716,0,0,0,0,0,0
$GC,3951,-1.37,-146.0,450.0,-8.9,205,3955,0.00,2.53,0.00,0.000,4,0.000,0.046,2572,3360,3714,0,0,0,0,0,0
$GC,3976,-1.44,-146.0,452.2,-8.5,205,3981,0.12,2.42,0.00,0.000,6,0.064,0.031,2496,1851,3714,0,0,0,0,0,0
$GC,4236,-1.28,-146.0,482.7,-11.9,212,4238,0.40,0.00,0.00,0.000,6,0.087,0.000,2579,1851,3712,0,0,0,0,0,0
$STATE,4477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4477,begin apogee
$GC,4484,-0.31,0.0,501.7,7.6,218,4605,0.95,0.00,117.25,0.877,6,0.077,0.000,2794,1676,3120,0,0,0,0,0,0
$STATE,4606,end apogee,CONTROL_FINISHED_OK
$STATE,4606,begin climb
$GC,4608,1.28,146.0,506.2,0.0,221,4738,1.40,2.72,120.60,0.860,4,0.031,0.074,3138,186,2523,0,0,0,0,0,0
$GC,4901,0.86,146.0,490.0,11.6,227,4909,0.43,2.42,0.00,0.000,6,0.111,0.028,3050,1669,2516,0,0,0,0,0,0
$GC,5161,0.86,201.6,470.6,7.5,234,5213,0.00,2.65,46.38,0.834,4,0.000,0.060,3050,187,2298,0,0,0,0,0,0
$GC,5344,0.75,201.6,450.9,11.8,238,5349,0.12,2.42,0.00,0.000,6,0.123,0.028,3026,1669,2293,0,0,0,0,0,0
$GC,5628,0.79,229.6,424.9,8.7,245,5657,0.00,2.62,23.95,0.798,4,0.000,0.059,3026,180,2184,0,0,0,0,0,0
$GC,5694,0.79,229.6,418.4,10.1,246,5699,0.00,2.42,0.00,0.000,6,0.000,0.027,3026,1672,2181,0,0,0,0,0,0
$GC,5955,0.84,274.0,397.4,8.0,253,6000,0.00,2.75,38.97,0.801,4,0.000,0.048,3026,3263,2002,0,0,0,0,0,0
$GC,6021,0.93,277.0,391.3,9.9,254,6026,0.15,2.67,0.00,0.000,6,0.057,0.034,3093,1667,1999,0,0,0,0,0,0
$GC,6287,0.83,277.0,354.2,14.6,261,6292,0.25,2.58,0.00,0.000,4,0.100,0.065,3037,170,1995,0,0,0,0,0,0
$GC,6325,0.83,277.0,348.5,14.3,261,6330,0.00,2.42,0.00,0.000,6,0.000,0.025,3037,1674,1994,0,0,0,0,0,0
$GC,6574,0.84,286.5,323.5,9.6,268,6587,0.00,0.00,11.02,0.694,6,0.000,0.000,3037,1675,1952,0,0,0,0,0,0
$GC,6820,0.93,298.5,300.2,9.5,274,6838,0.10,2.60,12.10,0.687,4,0.079,0.057,3083,170,1902,0,0,0,0,0,0
$GC,6876,0.84,298.5,293.4,13.1,275,6881,0.17,2.40,0.00,0.000,6,0.104,0.024,3046,1664,1902,0,0,0,0,0,0
$GC,7151,0.86,309.3,267.3,9.5,282,7167,0.00,2.62,10.80,0.655,4,0.000,0.055,3045,167,1858,0,0,0,0,0,0
$GC,7179,0.86,313.3,264.2,9.9,282,7191,0.00,2.38,5.22,0.535,6,0.000,0.023,3045,1657,1842,0,0,0,0,0,0
$GC,7443,0.96,334.6,239.9,9.1,289,7468,0.10,2.67,19.25,0.673,4,0.077,0.044,3099,3243,1755,0,0,0,0,0,0
$GC,7511,0.96,334.6,231.4,12.8,290,7517,0.12,2.65,0.00,0.000,6,0.110,0.032,3072,1642,1751,0,0,0,0,0,0
$GC,7771,0.96,334.6,200.3,12.0,297,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1642,1749,0,0,0,0,0,0
$GC,8025,0.96,334.6,169.2,12.1,318,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1642,1748,0,0,0,0,0,0
$GC,8279,0.96,334.6,139.1,11.2,342,8283,0.00,2.65,0.00,0.000,4,0.000,0.034,3072,3264,1748,0,0,0,0,0,0
$GC,8320,1.03,334.6,135.1,11.1,345,8324,0.00,2.62,0.00,0.000,6,0.000,0.028,3072,1647,1746,0,0,0,0,0,0
$GC,8585,1.10,334.6,107.4,10.3,369,8590,0.10,2.40,0.00,0.000,4,0.078,0.046,3134,173,1746,0,0,0,0,0,0
$GC,8644,0.97,334.6,98.9,14.8,374,8649,0.28,2.33,0.00,0.000,6,0.094,0.022,3074,1649,1746,0,0,0,0,0,0
$GC,8908,1.16,395.1,75.9,7.2,398,8968,0.17,2.62,52.15,0.551,4,0.049,0.031,3153,3257,1507,0,0,0,0,0,0
$GC,9008,1.16,395.1,64.6,13.8,406,9013,0.17,2.62,0.00,0.000,6,0.100,0.027,3115,1645,1504,0,0,0,0,0,0
$GC,9275,1.16,395.1,30.3,13.6,430,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1645,1502,0,0,0,0,0,0
$STATE,9462,end climb,SURFACE_DEPTH_REACHED
$STATE,9465,begin surface coast
$FINISH,0.7,1.013008
$STATE,9497,end surface coast,CONTROL_FINISHED_OK
$STATE,9497,begin surface
$SM_CCo,9518,27.25,0.062,0,0,1284,450.13
$SM_GC,1.29,0.00,0.00,27.25,0.000,0.000,0.062,406,1852,1284,-11.29,1.72,450.13
$IRIDIUM_FIX,2237.01,-15800.20,030300,161657
$TT8_MAMPS,0.026845
$HUMID,45.31
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.6,32.082
$10V_AH,10.4,26.998
$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,30.225,116.775,457.700,27.250,0.000,23.827,33.337,161.716,0.500,0.000,13.047,983.864,6160.153,485.448,1769.738,497.580,33.367,1246.770,0.000,1777.195,0.000,0.537,0.000
$DEVICE_MAMPS,161.837,74.399,876.681,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.628,280.885,355.831,529.905,937.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,35024,465
$CAP_FILE_SIZE,110407,0
$CFSIZE,260165632,159555584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081210,213156,2247.525,-15801.876,9,1.8,21,10.1