version: 66.06
glider: 148
mission: 9
dive: 241
start: 12 10 110 17 34 46
data:
$ID,148
$MISSION,9
$DIVE,241
$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,-863029.31
$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,28
$R_STBD_OVSHOOT,44
$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
$GPS1,171819,2247.132,-15800.416,12,2.0,31,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.0
$GPS2,173352,2247.238,-15800.312,11,2.4,30,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.249,-0.074
$KALMAN_X,-66557.6,-271.0,103.0,83156.0,418.4
$KALMAN_Y,1879.5,501.6,-348.8,122690.0,543.3
$MHEAD_RNG_PITCHd_Wd,243.3,4612,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.28,-146.0,0.0,0.0,0,106,0.00,0.00,-82.43,0.000,2,0.000,0.000,407,1849,3343,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.5,-5.7,11,133,11.43,2.67,-7.05,0.000,4,0.154,0.043,2573,197,3718,0,0,0,0,0,0
$GC,223,-1.28,-146.0,29.7,-14.2,28,232,0.00,2.50,0.00,0.000,6,0.000,0.019,2574,1793,3720,0,0,0,0,0,0
$GC,489,-1.07,-146.0,73.4,-16.6,53,494,0.25,2.50,0.00,0.000,4,0.100,0.030,2631,3363,3720,0,0,0,0,0,0
$GC,565,-1.07,-146.0,84.9,-12.2,59,570,0.00,2.50,0.00,0.000,6,0.000,0.030,2631,1786,3720,0,0,0,0,0,0
$GC,829,-1.16,-146.0,115.5,-9.9,84,834,0.10,2.55,0.00,0.000,4,0.077,0.029,2566,3371,3720,0,0,0,0,0,0
$GC,875,-1.16,-146.0,121.2,-12.1,88,880,0.17,2.47,0.00,0.000,6,0.095,0.021,2605,1805,3720,0,0,0,0,0,0
$GC,1139,-1.16,-146.0,150.8,-11.6,112,1143,0.00,2.47,0.00,0.000,4,0.000,0.030,2605,3370,3720,0,0,0,0,0,0
$GC,1185,-1.23,-146.0,155.8,-10.2,116,1190,0.00,2.45,0.00,0.000,6,0.000,0.021,2605,1815,3721,0,0,0,0,0,0
$GC,1449,-1.30,-146.0,182.7,-10.5,140,1455,0.12,0.00,0.00,0.000,6,0.064,0.000,2540,1814,3721,0,0,0,0,0,0
$GC,1705,-1.18,-146.0,217.1,-13.2,156,1710,0.25,2.47,0.00,0.000,4,0.090,0.029,2600,3370,3721,0,0,0,0,0,0
$GC,1735,-1.18,-146.0,220.6,-10.4,156,1739,0.00,2.42,0.00,0.000,6,0.000,0.021,2600,1823,3721,0,0,0,0,0,0
$GC,1990,-1.25,-146.0,243.9,-9.3,163,1994,0.00,2.45,0.00,0.000,4,0.000,0.031,2600,3366,3722,0,0,0,0,0,0
$GC,2037,-1.35,-146.0,248.6,-9.6,164,2042,0.15,2.42,0.00,0.000,6,0.052,0.023,2504,1834,3722,0,0,0,0,0,0
$GC,2322,-1.11,-146.0,291.0,-15.0,171,2329,0.57,2.62,0.00,0.000,4,0.086,0.041,2615,214,3722,0,0,0,0,0,0
$GC,2368,-1.38,-146.0,295.4,-7.0,172,2374,0.22,2.53,0.00,0.000,6,0.040,0.022,2518,1829,3721,0,0,0,0,0,0
$GC,2658,-1.26,-146.0,327.3,-11.5,179,2663,0.28,2.45,0.00,0.000,4,0.087,0.035,2582,3363,3721,0,0,0,0,0,0
$GC,2687,-1.26,-146.0,330.5,-8.9,179,2691,0.00,2.42,0.00,0.000,6,0.000,0.026,2582,1837,3721,0,0,0,0,0,0
$GC,2943,-1.33,-146.0,350.1,-7.8,186,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1837,3720,0,0,0,0,0,0
$GC,3185,-1.42,-146.0,372.9,-9.4,192,3190,0.12,2.50,0.00,0.000,4,0.064,0.039,2516,3361,3718,0,0,0,0,0,0
$GC,3223,-1.35,-146.0,377.3,-12.5,192,3229,0.22,2.45,0.00,0.000,6,0.089,0.029,2565,1843,3718,0,0,0,0,0,0
$GC,3475,-1.35,-146.0,402.5,-10.0,199,3479,0.00,2.50,0.00,0.000,4,0.000,0.042,2565,3359,3716,0,0,0,0,0,0
$GC,3521,-1.42,-146.0,407.4,-10.0,200,3525,0.00,2.45,0.00,0.000,6,0.000,0.030,2565,1846,3716,0,0,0,0,0,0
$GC,3803,-1.42,-146.0,432.5,-8.6,207,3808,0.00,2.78,0.00,0.000,4,0.000,0.061,2566,208,3714,0,0,0,0,0,0
$GC,3838,-1.51,-146.0,435.6,-9.2,207,3843,0.15,2.62,0.00,0.000,6,0.054,0.030,2496,1839,3714,0,0,0,0,0,0
$GC,4088,-1.37,-146.0,464.6,-11.8,213,4095,0.25,2.78,0.00,0.000,4,0.095,0.059,2555,209,3712,0,0,0,0,0,0
$GC,4125,-1.45,-146.0,468.5,-10.2,213,4130,0.00,2.62,0.00,0.000,6,0.000,0.034,2555,1839,3712,0,0,0,0,0,0
$GC,4375,-1.45,-146.0,493.0,-9.8,219,4379,0.00,2.55,0.00,0.000,4,0.000,0.049,2555,3374,3710,0,0,0,0,0,0
$GC,4408,-1.51,-146.0,496.5,-10.3,219,4413,0.10,2.47,0.00,0.000,6,0.077,0.033,2485,1846,3710,0,0,0,0,0,0
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4459,-0.31,0.0,502.3,12.5,220,4580,1.42,0.00,117.47,0.871,6,0.085,0.000,2793,1677,3120,0,0,0,0,0,0
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4583,1.28,146.0,509.2,0.0,223,4716,1.42,2.67,121.28,0.858,4,0.025,0.072,3156,178,2525,0,0,0,0,0,0
$GC,4783,0.80,146.0,507.5,10.7,227,4789,0.60,2.47,0.00,0.000,6,0.114,0.030,3035,1686,2520,0,0,0,0,0,0
$GC,5033,0.89,217.7,490.5,6.7,234,5101,0.00,2.67,60.72,0.841,4,0.000,0.061,3035,178,2231,0,0,0,0,0,0
$GC,5146,0.82,217.7,479.8,11.4,236,5150,0.00,2.47,0.00,0.000,6,0.000,0.029,3035,1689,2228,0,0,0,0,0,0
$GC,5405,0.83,220.2,453.5,9.9,243,5409,0.00,2.60,0.00,0.000,4,0.000,0.058,3035,180,2223,0,0,0,0,0,0
$GC,5472,0.83,226.9,447.1,9.7,244,5484,0.00,2.42,7.80,0.693,6,0.000,0.027,3035,1684,2195,0,0,0,0,0,0
$GC,5735,0.88,266.7,425.1,8.2,251,5777,0.00,2.65,35.80,0.810,4,0.000,0.059,3035,182,2031,0,0,0,0,0,0
$GC,5817,0.88,266.7,416.6,12.0,252,5821,0.00,2.42,0.00,0.000,6,0.000,0.026,3035,1677,2029,0,0,0,0,0,0
$GC,6066,0.88,266.7,388.6,10.9,258,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1676,2024,0,0,0,0,0,0
$GC,6310,0.91,291.2,366.3,8.9,264,6339,0.10,2.75,21.98,0.764,4,0.077,0.051,3092,3251,1931,0,0,0,0,0,0
$GC,6366,0.83,291.2,360.4,12.2,265,6371,0.22,2.60,0.00,0.000,6,0.096,0.033,3044,1690,1928,0,0,0,0,0,0
$GC,6644,0.83,291.2,331.6,10.5,272,6649,0.00,2.62,0.00,0.000,4,0.000,0.065,3044,169,1925,0,0,0,0,0,0
$GC,6706,0.83,291.2,324.0,12.7,273,6710,0.00,2.40,0.00,0.000,6,0.000,0.026,3044,1674,1924,0,0,0,0,0,0
$GC,6980,0.83,291.2,293.6,10.6,280,6984,0.00,2.62,0.00,0.000,4,0.000,0.044,3044,3260,1922,0,0,0,0,0,0
$GC,6999,0.92,307.8,291.7,9.3,280,7021,0.00,2.60,14.85,0.698,6,0.000,0.031,3044,1666,1864,0,0,0,0,0,0
$GC,7267,1.03,330.9,267.3,9.0,287,7296,0.17,2.58,21.27,0.696,4,0.051,0.061,3121,175,1769,0,0,0,0,0,0
$GC,7321,0.84,330.9,260.0,15.8,288,7326,0.38,2.40,0.00,0.000,6,0.096,0.024,3043,1675,1768,0,0,0,0,0,0
$GC,7601,0.94,330.9,230.4,10.4,295,7605,0.00,2.60,0.00,0.000,4,0.000,0.040,3043,3253,1764,0,0,0,0,0,0
$GC,7638,1.09,330.9,226.3,10.1,295,7645,0.22,2.60,0.00,0.000,6,0.042,0.031,3110,1669,1762,0,0,0,0,0,0
$GC,7890,1.01,330.9,192.8,14.1,305,7892,0.15,0.00,0.00,0.000,6,0.110,0.000,3080,1668,1762,0,0,0,0,0,0
$GC,8146,1.01,330.9,163.4,10.7,329,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1668,1761,0,0,0,0,0,0
$GC,8405,1.01,330.9,134.9,11.6,353,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1669,1761,0,0,0,0,0,0
$GC,8667,1.08,336.7,105.8,9.8,378,8681,0.00,2.60,4.70,0.420,4,0.000,0.031,3080,3252,1747,0,0,0,0,0,0
$GC,8713,1.23,353.2,101.4,9.3,382,8736,0.20,2.58,16.23,0.545,6,0.050,0.028,3145,1664,1680,0,0,0,0,0,0
$GC,8993,1.17,366.1,69.2,9.4,408,9018,0.15,2.50,13.12,0.505,4,0.112,0.043,3114,175,1625,0,0,0,0,0,0
$GC,9079,1.17,366.1,59.1,12.8,415,9083,0.00,2.35,0.00,0.000,6,0.000,0.021,3114,1680,1625,0,0,0,0,0,0
$GC,9350,1.17,366.1,22.0,14.0,443,9359,0.00,2.55,0.00,0.000,4,0.000,0.030,3114,3249,1624,0,0,0,0,0,0
$GC,9368,1.17,366.1,20.2,11.3,445,9377,0.00,2.55,0.00,0.000,6,0.000,0.025,3114,1679,1623,0,0,0,0,0,0
$STATE,9507,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,0.9,1.023662
$STATE,9544,end surface coast,CONTROL_FINISHED_OK
$STATE,9544,begin surface
$SM_CCo,9564,44.97,0.390,1,0,1285,450.13
$SM_GC,1.60,0.00,0.00,44.97,0.000,0.000,0.390,411,1852,1285,-11.27,1.72,450.13
$IRIDIUM_FIX,2237.01,-15802.37,050300,171710
$TT8_MAMPS,0.026845
$HUMID,44.84
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.6,34.062
$10V_AH,10.4,28.730
$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,30.375,127.350,435.225,44.975,0.000,85.777,102.452,453.332,0.250,0.000,33.218,990.091,6274.233,525.567,1818.411,941.327,33.369,1288.561,0.000,1798.507,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,72.098,870.545,389.636,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.055,279.045,362.655,538.450,948.225,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,38332,472
$CAP_FILE_SIZE,118303,0
$CFSIZE,260165632,158625792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,201636,2247.352,-15801.582,50,1.3,56,10.1