version: 66.06
glider: 148
mission: 9
dive: 248
start: 12 11 110 12 23 40
data:
$ID,148
$MISSION,9
$DIVE,248
$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,-863163.5
$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,55
$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
$GPS1,121637,2249.636,-15801.642,38,0.8,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-69.2
$GPS2,122244,2249.627,-15801.563,14,0.9,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,0.023
$KALMAN_X,-62946.5,-274.4,-71.6,77574.6,399.1
$KALMAN_Y,3249.8,-886.1,321.7,126467.3,35.1
$MHEAD_RNG_PITCHd_Wd,74.9,7821,-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,15,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,-82.43,0.000,2,0.000,0.000,414,1874,3341,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.7,-5.8,11,131,11.43,2.72,-6.75,0.000,4,0.155,0.047,2576,205,3718,0,0,0,0,0,0
$GC,216,-1.28,-146.0,31.1,-14.8,27,225,0.00,2.50,0.00,0.000,6,0.000,0.021,2576,1778,3720,0,0,0,0,0,0
$GC,483,-1.11,-146.0,73.8,-16.4,52,488,0.20,2.55,0.00,0.000,4,0.105,0.031,2618,3371,3721,0,0,0,0,0,0
$GC,568,-1.11,-146.0,86.6,-11.5,59,574,0.00,2.50,0.00,0.000,6,0.000,0.023,2618,1795,3721,0,0,0,0,0,0
$GC,829,-1.11,-146.0,116.2,-10.6,84,833,0.00,2.53,0.00,0.000,4,0.000,0.030,2618,3371,3721,0,0,0,0,0,0
$GC,869,-1.18,-146.0,120.4,-11.5,87,873,0.00,2.47,0.00,0.000,6,0.000,0.023,2618,1800,3722,0,0,0,0,0,0
$GC,1135,-1.29,-146.0,148.5,-9.9,111,1140,0.17,2.55,0.00,0.000,4,0.049,0.031,2536,3381,3723,0,0,0,0,0,0
$GC,1184,-1.18,-146.0,155.1,-15.1,115,1190,0.30,2.45,0.00,0.000,6,0.081,0.022,2603,1816,3722,0,0,0,0,0,0
$GC,1451,-1.26,-146.0,181.2,-9.0,139,1455,0.00,2.47,0.00,0.000,4,0.000,0.030,2603,3376,3723,0,0,0,0,0,0
$GC,1497,-1.36,-146.0,185.9,-9.3,143,1502,0.17,2.47,0.00,0.000,6,0.049,0.022,2519,1812,3723,0,0,0,0,0,0
$GC,1772,-1.19,-146.0,225.3,-14.6,157,1777,0.35,2.50,0.00,0.000,4,0.087,0.029,2597,3380,3723,0,0,0,0,0,0
$GC,1798,-1.19,-146.0,228.4,-11.9,157,1802,0.00,2.47,0.00,0.000,6,0.000,0.022,2597,1815,3723,0,0,0,0,0,0
$GC,2057,-1.28,-146.0,253.5,-9.8,164,2062,0.00,2.60,0.00,0.000,4,0.000,0.044,2597,212,3723,0,0,0,0,0,0
$GC,2076,-1.38,-146.0,255.7,-10.8,164,2081,0.17,2.53,0.00,0.000,6,0.048,0.020,2515,1834,3724,0,0,0,0,0,0
$GC,2342,-1.27,-146.0,292.4,-13.9,171,2347,0.28,2.42,0.00,0.000,4,0.090,0.031,2579,3360,3724,0,0,0,0,0,0
$GC,2390,-1.37,-146.0,298.2,-10.7,172,2394,0.00,2.45,0.00,0.000,6,0.000,0.026,2579,1829,3724,0,0,0,0,0,0
$GC,2674,-1.45,-146.0,324.6,-9.2,179,2679,0.15,2.47,0.00,0.000,4,0.056,0.037,2507,3357,3724,0,0,0,0,0,0
$GC,2695,-1.45,-146.0,327.0,-10.4,179,2700,0.17,2.42,0.00,0.000,6,0.097,0.025,2545,1829,3723,0,0,0,0,0,0
$GC,2959,-1.45,-146.0,357.7,-11.6,186,2963,0.00,2.50,0.00,0.000,4,0.000,0.039,2545,3359,3723,0,0,0,0,0,0
$GC,3003,-1.45,-146.0,362.9,-12.4,187,3007,0.00,2.42,0.00,0.000,6,0.000,0.028,2545,1843,3723,0,0,0,0,0,0
$GC,3289,-1.45,-146.0,395.3,-11.2,194,3294,0.00,2.75,0.00,0.000,4,0.000,0.056,2545,209,3722,0,0,0,0,0,0
$GC,3323,-1.45,-146.0,399.1,-11.5,194,3328,0.00,2.58,0.00,0.000,6,0.000,0.027,2545,1820,3721,0,0,0,0,0,0
$GC,3574,-1.45,-146.0,425.4,-10.5,200,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1820,3718,0,0,0,0,0,0
$GC,3816,-1.45,-146.0,450.5,-10.1,206,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1820,3717,0,0,0,0,0,0
$GC,4060,-1.45,-146.0,475.6,-10.4,212,4064,0.00,2.55,0.00,0.000,4,0.000,0.047,2545,3374,3715,0,0,0,0,0,0
$GC,4078,-1.45,-146.0,477.6,-10.8,212,4083,0.00,2.50,0.00,0.000,6,0.000,0.029,2545,1834,3715,0,0,0,0,0,0
$STATE,4299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4299,begin apogee
$GC,4306,-0.31,0.0,500.1,10.1,218,4428,1.10,0.00,118.03,0.867,6,0.077,0.000,2792,1667,3120,0,0,0,0,0,0
$STATE,4429,end apogee,CONTROL_FINISHED_OK
$STATE,4429,begin climb
$GC,4431,1.28,146.0,504.7,0.0,221,4562,1.40,2.65,120.68,0.854,4,0.025,0.071,3150,181,2522,0,0,0,0,0,0
$GC,4572,0.99,255.8,507.4,5.0,224,4676,0.38,2.47,92.38,0.841,6,0.122,0.029,3076,1680,2076,0,0,0,0,0,0
$GC,4927,0.90,255.8,472.5,10.5,233,4931,0.00,2.60,0.00,0.000,4,0.000,0.059,3076,182,2068,0,0,0,0,0,0
$GC,4941,0.79,255.8,470.8,10.5,233,4946,0.20,2.45,0.00,0.000,6,0.110,0.028,3034,1678,2068,0,0,0,0,0,0
$GC,5210,0.81,274.8,445.9,9.2,240,5233,0.00,2.60,16.42,0.772,4,0.000,0.057,3034,185,1998,0,0,0,0,0,0
$GC,5247,0.81,274.8,442.1,10.1,240,5253,0.00,2.45,0.00,0.000,6,0.000,0.027,3034,1684,1997,0,0,0,0,0,0
$GC,5497,0.83,286.2,418.3,9.5,247,5513,0.00,2.62,10.93,0.728,4,0.000,0.058,3034,185,1953,0,0,0,0,0,0
$GC,5547,0.83,286.2,413.1,10.6,248,5552,0.00,2.40,0.00,0.000,6,0.000,0.026,3034,1663,1952,0,0,0,0,0,0
$GC,5829,0.83,286.2,384.0,10.2,255,5834,0.00,2.53,0.00,0.000,4,0.000,0.056,3034,179,1949,0,0,0,0,0,0
$GC,5895,0.83,286.2,376.6,11.5,256,5900,0.00,2.38,0.00,0.000,6,0.000,0.025,3034,1655,1948,0,0,0,0,0,0
$GC,6159,0.83,291.2,350.6,9.8,263,6171,0.00,2.72,5.38,0.578,4,0.000,0.049,3034,3269,1931,0,0,0,0,0,0
$GC,6195,0.93,291.2,346.8,10.9,263,6200,0.12,2.65,0.00,0.000,6,0.064,0.034,3098,1672,1930,0,0,0,0,0,0
$GC,6446,0.83,291.2,313.8,13.4,269,6448,0.28,0.00,0.00,0.000,6,0.099,0.000,3041,1672,1929,0,0,0,0,0,0
$GC,6688,0.84,300.9,289.6,9.6,275,6704,0.00,2.72,9.88,0.667,4,0.000,0.043,3041,3253,1892,0,0,0,0,0,0
$GC,6744,0.97,317.2,284.6,9.3,276,6768,0.12,2.65,16.15,0.698,6,0.065,0.033,3098,1659,1825,0,0,0,0,0,0
$GC,7025,0.90,317.2,252.0,11.7,283,7032,0.20,2.67,0.00,0.000,4,0.105,0.041,3057,3253,1821,0,0,0,0,0,0
$GC,7051,0.90,317.2,248.7,10.2,283,7056,0.00,2.62,0.00,0.000,6,0.000,0.031,3057,1665,1819,0,0,0,0,0,0
$GC,7311,0.90,317.2,222.7,10.0,290,7316,0.00,2.53,0.00,0.000,4,0.000,0.055,3057,163,1819,0,0,0,0,0,0
$GC,7371,0.90,317.2,215.5,11.8,291,7376,0.00,2.40,0.00,0.000,6,0.000,0.023,3056,1677,1819,0,0,0,0,0,0
$GC,7636,0.90,317.2,188.0,10.2,306,7640,0.00,2.55,0.00,0.000,4,0.000,0.035,3057,3250,1817,0,0,0,0,0,0
$GC,7665,0.98,317.2,184.7,10.7,308,7671,0.00,2.58,0.00,0.000,6,0.000,0.029,3057,1658,1816,0,0,0,0,0,0
$GC,7928,1.04,317.2,158.2,10.3,333,7933,0.12,2.60,0.00,0.000,4,0.067,0.034,3121,3257,1816,0,0,0,0,0,0
$GC,7960,0.96,317.2,154.3,12.7,335,7966,0.22,2.58,0.00,0.000,6,0.099,0.028,3073,1668,1815,0,0,0,0,0,0
$GC,8222,0.96,317.2,126.0,10.4,360,8226,0.00,2.45,0.00,0.000,4,0.000,0.047,3072,170,1816,0,0,0,0,0,0
$GC,8269,0.96,317.2,120.7,12.1,364,8273,0.00,2.35,0.00,0.000,6,0.000,0.021,3073,1671,1816,0,0,0,0,0,0
$GC,8531,1.08,342.3,96.2,8.9,388,8563,0.10,0.00,21.45,0.554,6,0.077,0.000,3138,1674,1722,0,0,0,0,0,0
$GC,8817,0.99,342.3,58.2,14.1,415,8822,0.25,2.50,0.00,0.000,4,0.096,0.043,3080,164,1720,0,0,0,0,0,0
$GC,8860,0.99,342.3,53.0,12.6,418,8864,0.00,2.33,0.00,0.000,6,0.000,0.020,3080,1664,1720,0,0,0,0,0,0
$GC,9134,1.08,348.7,24.3,9.7,446,9143,0.00,0.00,6.88,0.420,6,0.000,0.000,3080,1665,1697,0,0,0,0,0,0
$STATE,9337,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,0.6,1.014141
$STATE,9382,end surface coast,CONTROL_FINISHED_OK
$STATE,9383,begin surface
$SM_CCo,9404,54.62,0.407,1,0,1284,450.13
$SM_GC,1.47,0.00,0.00,54.62,0.000,0.000,0.407,411,1875,1284,-11.27,2.40,450.13
$IRIDIUM_FIX,2244.02,-15801.49,060300,090933
$TT8_MAMPS,0.027612
$HUMID,45.19
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,34.834
$10V_AH,10.4,29.426
$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,28.675,126.875,418.150,54.625,0.000,30.848,34.417,166.045,0.250,0.000,15.887,1001.092,6006.162,506.536,1822.009,498.868,33.365,1253.883,0.000,1820.892,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,71.331,867.477,407.277,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.304,298.587,379.934,570.462,1007.295,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,38389,485
$CAP_FILE_SIZE,108475,0
$CFSIZE,260165632,158253056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111210,150214,2249.610,-15759.971,10,1.9,10,10.1