version: 66.06
glider: 148
mission: 9
dive: 231
start: 12 9 110 14 8 50
data:
$ID,148
$MISSION,9
$DIVE,231
$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,-862805.12
$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,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
$GPS1,140206,2249.664,-15759.811,36,1.1,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.5
$GPS2,140755,2249.653,-15759.776,9,1.5,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.175,0.192
$KALMAN_X,-71040.9,-27.6,-100.9,88523.2,403.3
$KALMAN_Y,232.6,463.7,-154.3,128636.1,-1615.3
$MHEAD_RNG_PITCHd_Wd,32.3,4783,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-82.35,0.000,2,0.000,0.000,413,1843,3313,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.3,-4.6,11,133,11.38,2.38,-7.32,0.000,4,0.154,0.042,2572,3330,3715,0,0,0,0,0,0
$GC,252,-1.14,-146.0,37.7,-18.5,30,257,0.17,2.47,0.00,0.000,6,0.100,0.022,2609,1772,3716,0,0,0,0,0,0
$GC,521,-1.04,-146.0,78.5,-14.8,54,526,0.10,2.53,0.00,0.000,4,0.127,0.031,2630,3332,3717,0,0,0,0,0,0
$GC,549,-1.04,-146.0,83.7,-13.6,56,553,0.00,2.42,0.00,0.000,6,0.000,0.021,2630,1786,3717,0,0,0,0,0,0
$GC,813,-1.14,-146.0,108.2,-7.4,80,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1786,3718,0,0,0,0,0,0
$GC,1079,-1.25,-146.0,129.5,-7.8,105,1084,0.17,2.45,0.00,0.000,4,0.049,0.028,2550,3330,3720,0,0,0,0,0,0
$GC,1135,-1.16,-146.0,136.6,-12.9,110,1140,0.25,2.40,0.00,0.000,6,0.087,0.022,2605,1794,3719,0,0,0,0,0,0
$GC,1399,-1.23,-146.0,163.8,-9.8,134,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1794,3720,0,0,0,0,0,0
$GC,1662,-1.29,-146.0,190.9,-10.1,159,1667,0.12,2.47,0.00,0.000,4,0.065,0.030,2546,3334,3720,0,0,0,0,0,0
$GC,1681,-1.29,-146.0,192.9,-10.7,160,1686,0.15,2.40,0.00,0.000,6,0.100,0.022,2579,1805,3721,0,0,0,0,0,0
$GC,1953,-1.29,-146.0,223.9,-11.1,171,1958,0.00,2.42,0.00,0.000,4,0.000,0.031,2579,3332,3721,0,0,0,0,0,0
$GC,2006,-1.35,-146.0,229.7,-10.6,172,2010,0.00,2.38,0.00,0.000,6,0.000,0.023,2579,1816,3721,0,0,0,0,0,0
$GC,2283,-1.35,-146.0,260.6,-11.3,179,2287,0.00,2.40,0.00,0.000,4,0.000,0.030,2579,3330,3720,0,0,0,0,0,0
$GC,2310,-1.35,-146.0,263.7,-11.6,179,2315,0.00,2.38,0.00,0.000,6,0.000,0.023,2579,1818,3721,0,0,0,0,0,0
$GC,2566,-1.35,-146.0,289.4,-10.2,186,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1818,3720,0,0,0,0,0,0
$GC,2808,-1.35,-146.0,313.5,-10.0,192,2813,0.00,2.42,0.00,0.000,4,0.000,0.035,2579,3330,3720,0,0,0,0,0,0
$GC,2852,-1.46,-146.0,317.8,-9.8,193,2857,0.15,2.38,0.00,0.000,6,0.054,0.027,2499,1830,3720,0,0,0,0,0,0
$GC,3141,-1.26,-146.0,361.5,-15.9,200,3148,0.40,2.67,0.00,0.000,4,0.087,0.049,2582,210,3720,0,0,0,0,0,0
$GC,3172,-1.36,-146.0,366.1,-12.1,200,3176,0.00,2.47,0.00,0.000,6,0.000,0.025,2582,1774,3720,0,0,0,0,0,0
$GC,3428,-1.44,-146.0,391.1,-9.6,207,3434,0.15,2.62,0.00,0.000,4,0.057,0.041,2515,3375,3718,0,0,0,0,0,0
$GC,3499,-1.38,-146.0,399.5,-12.0,208,3504,0.20,2.47,0.00,0.000,6,0.092,0.028,2560,1828,3718,0,0,0,0,0,0
$GC,3759,-1.38,-146.0,423.9,-9.3,215,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1828,3716,0,0,0,0,0,0
$GC,4004,-1.38,-146.0,444.9,-8.5,221,4008,0.00,2.58,0.00,0.000,4,0.000,0.047,2560,3372,3715,0,0,0,0,0,0
$GC,4041,-1.38,-146.0,448.4,-8.0,221,4047,0.00,2.50,0.00,0.000,6,0.000,0.031,2560,1834,3714,0,0,0,0,0,0
$GC,4291,-1.38,-146.0,468.8,-8.3,228,4295,0.00,2.55,0.00,0.000,4,0.000,0.048,2560,3370,3712,0,0,0,0,0,0
$GC,4321,-1.38,-146.0,471.4,-9.3,228,4325,0.00,2.47,0.00,0.000,6,0.000,0.032,2560,1837,3712,0,0,0,0,0,0
$GC,4575,-1.38,-146.0,494.1,-9.3,235,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1837,3710,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4659,-0.31,0.0,501.4,9.1,237,4780,1.02,0.00,117.50,0.871,6,0.076,0.000,2791,1672,3120,0,0,0,0,0,0
$STATE,4781,end apogee,CONTROL_FINISHED_OK
$STATE,4781,begin climb
$GC,4785,1.28,146.0,506.6,0.0,240,4918,1.45,2.72,121.95,0.855,4,0.028,0.074,3144,182,2524,0,0,0,0,0,0
$GC,4932,0.93,222.2,508.6,6.5,243,5009,0.40,2.42,64.75,0.837,6,0.115,0.029,3064,1676,2213,0,0,0,0,0,0
$GC,5273,0.86,222.2,473.4,10.7,252,5277,0.00,2.60,0.00,0.000,4,0.000,0.060,3064,176,2206,0,0,0,0,0,0
$GC,5318,0.72,222.2,468.4,11.9,253,5323,0.22,2.42,0.00,0.000,6,0.108,0.029,3019,1677,2205,0,0,0,0,0,0
$GC,5605,0.77,261.9,443.8,8.2,260,5644,0.00,0.00,34.78,0.811,6,0.000,0.000,3019,1678,2051,0,0,0,0,0,0
$GC,5889,0.86,265.3,416.8,9.9,267,5894,0.12,2.70,0.00,0.000,4,0.064,0.051,3084,3258,2045,0,0,0,0,0,0
$GC,5905,0.86,265.3,415.0,10.1,267,5911,0.17,2.62,0.00,0.000,6,0.102,0.034,3047,1685,2043,0,0,0,0,0,0
$GC,6174,0.86,265.3,385.7,10.7,274,6179,0.00,2.62,0.00,0.000,4,0.000,0.066,3047,166,2042,0,0,0,0,0,0
$GC,6197,0.86,265.3,383.2,10.6,274,6202,0.00,2.42,0.00,0.000,6,0.000,0.026,3047,1684,2042,0,0,0,0,0,0
$GC,6456,0.89,290.0,359.7,8.9,281,6488,0.00,2.65,24.70,0.767,4,0.000,0.058,3047,164,1938,0,0,0,0,0,0
$GC,6516,0.89,290.0,353.8,10.8,282,6521,0.00,2.45,0.00,0.000,6,0.000,0.025,3047,1677,1937,0,0,0,0,0,0
$GC,6786,0.90,304.0,328.3,9.4,289,6807,0.00,2.72,13.80,0.713,4,0.000,0.049,3047,3244,1879,0,0,0,0,0,0
$GC,6845,1.01,306.6,322.5,9.9,290,6850,0.12,2.58,0.00,0.000,6,0.067,0.034,3104,1682,1875,0,0,0,0,0,0
$GC,7120,0.89,306.6,288.3,12.7,297,7125,0.22,2.62,0.00,0.000,4,0.102,0.064,3056,164,1874,0,0,0,0,0,0
$GC,7165,0.89,306.6,282.1,13.8,298,7169,0.00,2.45,0.00,0.000,6,0.000,0.025,3055,1694,1873,0,0,0,0,0,0
$GC,7452,0.90,316.9,254.1,9.6,305,7469,0.00,2.62,11.57,0.650,4,0.000,0.044,3055,3256,1827,0,0,0,0,0,0
$GC,7499,1.00,316.9,249.4,10.7,306,7503,0.00,2.60,0.00,0.000,6,0.000,0.031,3056,1684,1825,0,0,0,0,0,0
$GC,7781,1.00,316.9,220.3,10.1,313,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1683,1823,0,0,0,0,0,0
$GC,8026,1.00,316.9,196.1,10.0,319,8031,0.00,2.58,0.00,0.000,4,0.000,0.035,3056,3261,1823,0,0,0,0,0,0
$GC,8052,1.00,316.9,193.3,10.2,321,8057,0.00,2.55,0.00,0.000,6,0.000,0.028,3056,1686,1821,0,0,0,0,0,0
$GC,8314,1.00,323.3,166.9,9.7,345,8328,0.10,2.53,6.47,0.516,4,0.079,0.047,3103,166,1800,0,0,0,0,0,0
$GC,8383,0.91,323.3,157.6,14.9,351,8392,0.17,2.45,0.00,0.000,6,0.082,0.025,3061,1688,1800,0,0,0,0,0,0
$GC,8645,0.92,332.2,131.1,9.6,376,8660,0.00,2.60,8.98,0.531,4,0.000,0.035,3061,3264,1765,0,0,0,0,0,0
$GC,8671,0.93,340.2,128.5,9.7,378,8688,0.00,2.60,8.38,0.514,6,0.000,0.027,3061,1681,1732,0,0,0,0,0,0
$GC,8943,1.06,364.5,103.8,8.9,404,8976,0.12,0.00,23.33,0.560,6,0.064,0.000,3132,1681,1631,0,0,0,0,0,0
$GC,9230,1.00,364.5,69.5,13.8,431,9236,0.25,2.47,0.00,0.000,4,0.091,0.044,3074,171,1629,0,0,0,0,0,0
$GC,9274,1.11,378.2,65.1,9.4,434,9300,0.12,2.38,12.82,0.499,6,0.064,0.021,3145,1699,1576,0,0,0,0,0,0
$GC,9554,1.00,378.2,29.2,14.9,460,9562,0.28,0.00,0.00,0.000,6,0.094,0.000,3082,1701,1574,0,0,0,0,0,0
$STATE,9775,end climb,SURFACE_DEPTH_REACHED
$STATE,9775,begin surface coast
$FINISH,0.6,1.023913
$STATE,9832,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9854,39.10,0.377,1,0,1285,450.13
$SM_GC,1.38,0.00,0.00,39.10,0.000,0.000,0.377,412,1868,1285,-11.26,2.21,450.13
$IRIDIUM_FIX,2239.35,-15800.20,040300,111114
$TT8_MAMPS,0.026845
$HUMID,44.48
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.6,32.939
$10V_AH,10.4,27.718
$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,28.800,116.000,449.025,39.100,0.000,30.648,38.490,144.850,0.250,0.000,16.249,1025.700,6367.163,535.375,1833.775,488.486,33.374,1294.020,0.000,1837.583,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,79.001,870.545,376.597,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.891,314.951,391.686,580.312,1026.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,38440,504
$CAP_FILE_SIZE,109376,0
$CFSIZE,260165632,159166464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091210,165506,2250.502,-15758.425,29,1.7,38,10.1