version: 66.06
glider: 148
mission: 9
dive: 252
start: 12 11 110 23 2 14
data:
$ID,148
$MISSION,9
$DIVE,252
$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,-863243.88
$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,48
$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
$GPS1,225434,2248.807,-15757.563,8,2.1,27,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.1
$GPS2,230119,2248.824,-15757.558,15,1.6,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.096,-0.242
$KALMAN_X,-61802.8,1.7,-92.7,83068.7,594.0
$KALMAN_Y,944.0,748.5,268.5,125696.6,-507.6
$MHEAD_RNG_PITCHd_Wd,191.6,3403,-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,15,begin dive
$GC,18,-1.28,-145.9,0.0,0.0,0,103,0.00,0.00,-82.72,0.000,2,0.000,0.000,409,1870,3352,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.7,-6.0,11,131,11.50,2.72,-6.60,0.000,4,0.157,0.046,2575,201,3717,0,0,0,0,0,0
$GC,240,-1.28,-146.0,32.5,-14.6,30,244,0.00,2.50,0.00,0.000,6,0.000,0.020,2575,1795,3719,0,0,0,0,0,0
$GC,509,-1.11,-146.0,75.1,-16.4,54,514,0.20,2.53,0.00,0.000,4,0.102,0.030,2617,3372,3719,0,0,0,0,0,0
$GC,559,-1.11,-146.0,83.3,-12.3,58,563,0.00,2.53,0.00,0.000,6,0.000,0.022,2618,1779,3720,0,0,0,0,0,0
$GC,823,-1.17,-146.0,111.0,-10.4,82,827,0.00,2.55,0.00,0.000,4,0.000,0.028,2617,3373,3720,0,0,0,0,0,0
$GC,862,-1.31,-146.0,114.6,-8.9,85,867,0.17,2.47,0.00,0.000,6,0.045,0.022,2520,1806,3720,0,0,0,0,0,0
$GC,1128,-1.04,-146.0,159.3,-18.3,109,1137,0.57,2.55,0.00,0.000,4,0.088,0.035,2627,212,3721,0,0,0,0,0,0
$GC,1179,-1.28,-146.0,166.1,-8.8,114,1184,0.20,2.50,0.00,0.000,6,0.042,0.019,2533,1822,3722,0,0,0,0,0,0
$GC,1470,-1.13,-146.0,205.9,-14.2,138,1475,0.35,2.42,0.00,0.000,4,0.085,0.029,2609,3359,3722,0,0,0,0,0,0
$GC,1537,-1.28,-146.0,212.1,-7.4,139,1542,0.12,2.45,0.00,0.000,6,0.061,0.023,2532,1801,3723,0,0,0,0,0,0
$GC,1803,-1.14,-146.0,246.0,-13.6,146,1810,0.35,2.58,0.00,0.000,4,0.087,0.038,2603,208,3723,0,0,0,0,0,0
$GC,1834,-1.28,-146.0,250.0,-10.2,146,1838,0.00,2.50,0.00,0.000,6,0.000,0.021,2604,1820,3723,0,0,0,0,0,0
$GC,2089,-1.40,-146.0,272.3,-8.7,153,2094,0.20,2.47,0.00,0.000,4,0.044,0.031,2517,3366,3722,0,0,0,0,0,0
$GC,2137,-1.33,-146.0,277.7,-11.4,154,2142,0.22,2.42,0.00,0.000,6,0.087,0.025,2568,1826,3723,0,0,0,0,0,0
$GC,2420,-1.33,-146.0,305.4,-9.8,161,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1827,3722,0,0,0,0,0,0
$GC,2663,-1.33,-146.0,330.1,-10.2,167,2667,0.00,2.50,0.00,0.000,4,0.000,0.035,2568,3365,3722,0,0,0,0,0,0
$GC,2716,-1.42,-146.0,335.2,-9.5,168,2720,0.00,2.45,0.00,0.000,6,0.000,0.028,2568,1830,3722,0,0,0,0,0,0
$GC,2993,-1.42,-146.0,361.4,-9.5,175,2998,0.00,2.50,0.00,0.000,4,0.000,0.038,2568,3360,3721,0,0,0,0,0,0
$GC,3032,-1.49,-146.0,365.2,-10.1,175,3039,0.12,2.45,0.00,0.000,6,0.064,0.029,2491,1838,3721,0,0,0,0,0,0
$GC,3282,-1.32,-146.0,399.0,-13.9,182,3289,0.32,2.72,0.00,0.000,4,0.088,0.053,2568,204,3719,0,0,0,0,0,0
$GC,3295,-1.22,-146.0,400.6,-13.1,182,3300,0.12,2.58,0.00,0.000,6,0.105,0.024,2595,1841,3719,0,0,0,0,0,0
$GC,3571,-1.36,-146.0,418.9,-6.4,189,3573,0.12,0.00,0.00,0.000,6,0.064,0.000,2528,1841,3717,0,0,0,0,0,0
$GC,3812,-1.36,-146.0,445.0,-11.4,195,3817,0.15,2.53,0.00,0.000,4,0.102,0.044,2562,3361,3716,0,0,0,0,0,0
$GC,3827,-1.36,-146.0,446.8,-11.8,195,3831,0.00,2.45,0.00,0.000,6,0.000,0.027,2562,1830,3716,0,0,0,0,0,0
$GC,4096,-1.36,-146.0,472.6,-9.4,202,4101,0.00,2.53,0.00,0.000,4,0.000,0.047,2562,3353,3714,0,0,0,0,0,0
$GC,4115,-1.36,-146.0,474.4,-8.6,202,4119,0.00,2.42,0.00,0.000,6,0.000,0.030,2562,1844,3714,0,0,0,0,0,0
$GC,4379,-1.36,-146.0,496.4,-8.4,209,4383,0.00,2.50,0.00,0.000,4,0.000,0.048,2562,3353,3711,0,0,0,0,0,0
$GC,4399,-1.36,-146.0,498.2,-8.8,209,4403,0.00,2.45,0.00,0.000,6,0.000,0.031,2562,1846,3712,0,0,0,0,0,0
$STATE,4457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4457,begin apogee
$GC,4463,-0.31,0.0,503.7,9.0,211,4584,1.02,0.00,117.68,0.873,6,0.080,0.000,2791,1676,3120,0,0,0,0,0,0
$STATE,4585,end apogee,CONTROL_FINISHED_OK
$STATE,4585,begin climb
$GC,4587,1.28,146.0,508.5,0.0,214,4719,1.42,2.67,121.38,0.855,4,0.031,0.071,3141,177,2522,0,0,0,0,0,0
$GC,4910,0.85,146.0,489.0,11.8,221,4917,0.45,2.40,0.00,0.000,6,0.115,0.028,3048,1660,2515,0,0,0,0,0,0
$GC,5186,0.92,204.1,468.3,7.3,228,5242,0.00,2.60,48.72,0.828,4,0.000,0.058,3048,183,2286,0,0,0,0,0,0
$GC,5284,0.83,204.1,459.7,10.8,230,5289,0.00,2.42,0.00,0.000,6,0.000,0.028,3048,1683,2283,0,0,0,0,0,0
$GC,5562,0.85,221.9,434.0,9.2,237,5582,0.00,2.65,15.23,0.767,4,0.000,0.060,3048,181,2215,0,0,0,0,0,0
$GC,5611,0.77,221.9,428.8,10.8,238,5616,0.00,2.42,0.00,0.000,6,0.000,0.027,3047,1684,2213,0,0,0,0,0,0
$GC,5888,0.77,221.9,400.6,10.2,245,5893,0.00,2.60,0.00,0.000,4,0.000,0.059,3048,177,2210,0,0,0,0,0,0
$GC,6021,0.68,221.9,384.8,12.1,247,6027,0.17,2.38,0.00,0.000,6,0.112,0.025,3010,1666,2209,0,0,0,0,0,0
$GC,6271,0.82,251.4,361.6,8.7,254,6300,0.12,0.00,26.42,0.769,6,0.064,0.000,3069,1668,2095,0,0,0,0,0,0
$GC,6515,0.84,263.0,338.4,9.5,260,6531,0.12,2.58,10.95,0.696,4,0.112,0.056,3043,183,2046,0,0,0,0,0,0
$GC,6547,0.88,301.9,335.6,8.2,260,6589,0.00,2.40,36.12,0.755,6,0.000,0.025,3043,1663,1889,0,0,0,0,0,0
$GC,6845,0.96,308.1,308.1,9.8,268,6858,0.10,2.72,5.60,0.573,4,0.078,0.049,3092,3242,1863,0,0,0,0,0,0
$GC,6893,0.96,308.1,302.2,12.7,269,6899,0.12,2.60,0.00,0.000,6,0.113,0.033,3067,1665,1861,0,0,0,0,0,0
$GC,7183,0.96,308.1,268.3,11.3,276,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1665,1860,0,0,0,0,0,0
$GC,7428,0.96,308.1,243.1,10.8,282,7432,0.00,2.55,0.00,0.000,4,0.000,0.060,3067,169,1858,0,0,0,0,0,0
$GC,7446,0.96,308.1,240.5,11.9,282,7450,0.00,2.38,0.00,0.000,6,0.000,0.023,3066,1665,1858,0,0,0,0,0,0
$GC,7709,0.96,308.1,211.0,11.0,289,7714,0.00,2.60,0.00,0.000,4,0.000,0.039,3067,3247,1856,0,0,0,0,0,0
$GC,7728,0.96,308.1,208.9,10.6,289,7733,0.00,2.62,0.00,0.000,6,0.000,0.030,3067,1643,1856,0,0,0,0,0,0
$GC,7994,0.96,308.1,181.3,10.8,307,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1644,1856,0,0,0,0,0,0
$GC,8254,0.96,308.1,148.5,12.2,332,8259,0.00,2.60,0.00,0.000,4,0.000,0.039,3067,3253,1855,0,0,0,0,0,0
$GC,8282,0.96,308.1,145.5,10.9,334,8286,0.00,2.58,0.00,0.000,6,0.000,0.028,3066,1656,1854,0,0,0,0,0,0
$GC,8544,0.97,320.9,120.6,9.4,358,8560,0.00,2.50,11.27,0.544,4,0.000,0.048,3067,166,1810,0,0,0,0,0,0
$GC,8581,0.98,330.1,117.5,9.6,361,8602,0.00,2.35,9.43,0.524,6,0.000,0.021,3067,1657,1773,0,0,0,0,0,0
$GC,8857,1.11,356.2,93.7,8.8,387,8888,0.15,2.60,23.77,0.551,4,0.055,0.031,3144,3251,1667,0,0,0,0,0,0
$GC,8935,1.11,356.2,82.7,15.0,394,8945,0.17,2.62,0.00,0.000,6,0.077,0.028,3101,1659,1664,0,0,0,0,0,0
$GC,9201,1.11,356.2,53.2,10.6,419,9206,0.00,2.45,0.00,0.000,4,0.000,0.044,3101,171,1663,0,0,0,0,0,0
$GC,9256,1.11,356.2,46.9,11.9,423,9260,0.00,2.33,0.00,0.000,6,0.000,0.021,3101,1670,1662,0,0,0,0,0,0
$GC,9540,1.11,356.2,14.7,10.7,458,9548,0.00,2.58,0.00,0.000,4,0.000,0.033,3101,3255,1662,0,0,0,0,0,0
$GC,9571,1.11,356.2,11.0,12.4,462,9580,0.00,2.60,0.00,0.000,6,0.000,0.026,3101,1654,1662,0,0,0,0,0,0
$STATE,9632,end climb,SURFACE_DEPTH_REACHED
$STATE,9632,begin surface coast
$FINISH,0.7,1.009923
$STATE,9677,end surface coast,CONTROL_FINISHED_OK
$STATE,9677,begin surface
$SM_CCo,9697,45.15,0.062,0,0,1284,450.13
$SM_GC,1.55,0.00,0.00,45.15,0.000,0.000,0.062,418,1872,1284,-11.24,2.32,450.13
$IRIDIUM_FIX,2239.35,-15754.99,060300,202044
$TT8_MAMPS,0.026845
$HUMID,45.15
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.6,35.252
$10V_AH,10.3,29.821
$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,29.575,131.525,426.575,45.150,0.000,22.692,36.064,189.697,0.500,0.000,34.842,1017.025,6190.729,509.931,1885.483,544.988,33.362,1294.771,0.000,1874.942,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,71.331,872.846,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.019,289.496,366.846,555.220,980.510,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,38303,478
$CAP_FILE_SIZE,114655,0
$CFSIZE,260165632,158035968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121210,014554,2247.600,-15757.912,38,1.4,38,10.1