version: 66.06
glider: 148
mission: 9
dive: 268
start: 12 13 110 19 21 9
data:
$ID,148
$MISSION,9
$DIVE,268
$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,-863613.25
$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,29
$R_STBD_OVSHOOT,51
$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
$GPS1,191406,2247.360,-15758.852,34,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.1
$GPS2,192014,2247.351,-15758.803,13,1.4,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,-0.028
$KALMAN_X,-58316.0,10.0,81.9,77254.2,301.6
$KALMAN_Y,1276.1,308.0,-270.1,123616.8,72.3
$MHEAD_RNG_PITCHd_Wd,253.8,7197,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-82.82,0.000,2,0.000,0.000,411,1867,3355,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.6,-5.3,11,132,11.50,2.70,-6.47,0.000,4,0.157,0.043,2574,197,3716,0,0,0,0,0,0
$GC,221,-1.28,-146.0,30.5,-14.8,28,230,0.00,2.53,0.00,0.000,6,0.000,0.020,2574,1793,3718,0,0,0,0,0,0
$GC,489,-1.10,-146.0,75.5,-17.3,53,494,0.20,2.50,0.00,0.000,4,0.103,0.029,2618,3367,3719,0,0,0,0,0,0
$GC,548,-1.10,-146.0,85.1,-12.2,58,553,0.00,2.50,0.00,0.000,6,0.000,0.022,2618,1791,3719,0,0,0,0,0,0
$GC,812,-1.10,-146.0,117.3,-11.8,82,816,0.00,2.53,0.00,0.000,4,0.000,0.029,2618,3370,3719,0,0,0,0,0,0
$GC,879,-1.18,-146.0,125.3,-11.3,88,883,0.00,2.47,0.00,0.000,6,0.000,0.022,2618,1807,3720,0,0,0,0,0,0
$GC,1148,-1.27,-146.0,152.2,-8.8,112,1153,0.15,2.50,0.00,0.000,4,0.054,0.029,2544,3367,3720,0,0,0,0,0,0
$GC,1193,-1.19,-146.0,157.8,-11.4,116,1198,0.25,2.45,0.00,0.000,6,0.084,0.021,2600,1815,3720,0,0,0,0,0,0
$GC,1456,-1.19,-146.0,183.7,-9.9,140,1460,0.00,2.50,0.00,0.000,4,0.000,0.031,2600,3372,3721,0,0,0,0,0,0
$GC,1504,-1.31,-146.0,188.7,-8.6,144,1514,0.08,2.45,0.00,0.000,6,0.035,0.022,2529,1840,3721,0,0,0,0,0,0
$GC,1757,-1.14,-146.0,227.7,-16.3,157,1759,0.38,0.00,0.00,0.000,6,0.085,0.000,2611,1838,3722,0,0,0,0,0,0
$GC,2003,-1.24,-146.0,251.9,-9.1,163,2007,0.00,2.45,0.00,0.000,4,0.000,0.031,2611,3367,3722,0,0,0,0,0,0
$GC,2040,-1.39,-146.0,255.1,-7.4,163,2046,0.22,2.42,0.00,0.000,6,0.038,0.023,2509,1840,3722,0,0,0,0,0,0
$GC,2290,-1.21,-146.0,291.9,-15.6,170,2292,0.40,0.00,0.00,0.000,6,0.085,0.000,2597,1840,3722,0,0,0,0,0,0
$GC,2536,-1.32,-146.0,314.5,-8.6,176,2541,0.10,2.47,0.00,0.000,4,0.077,0.034,2540,3371,3722,0,0,0,0,0,0
$GC,2569,-1.32,-146.0,318.3,-11.1,176,2574,0.15,2.42,0.00,0.000,6,0.099,0.025,2573,1851,3722,0,0,0,0,0,0
$GC,2820,-1.32,-146.0,343.5,-10.2,182,2824,0.00,2.70,0.00,0.000,4,0.000,0.050,2573,215,3722,0,0,0,0,0,0
$GC,2857,-1.43,-146.0,347.6,-10.1,182,2863,0.12,2.55,0.00,0.000,6,0.064,0.022,2505,1843,3722,0,0,0,0,0,0
$GC,3107,-1.29,-146.0,381.1,-13.7,189,3109,0.32,0.00,0.00,0.000,6,0.087,0.000,2576,1843,3720,0,0,0,0,0,0
$GC,3353,-1.37,-146.0,403.6,-9.0,195,3357,0.00,2.45,0.00,0.000,4,0.000,0.041,2576,3358,3720,0,0,0,0,0,0
$GC,3385,-1.46,-146.0,406.9,-9.1,195,3390,0.15,2.45,0.00,0.000,6,0.055,0.028,2498,1841,3719,0,0,0,0,0,0
$GC,3635,-1.32,-146.0,438.8,-13.1,201,3637,0.35,0.00,0.00,0.000,6,0.087,0.000,2574,1841,3718,0,0,0,0,0,0
$GC,3881,-1.40,-146.0,460.9,-8.8,207,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1841,3717,0,0,0,0,0,0
$GC,4123,-1.49,-146.0,484.3,-9.7,213,4128,0.17,2.55,0.00,0.000,4,0.051,0.051,2502,3360,3714,0,0,0,0,0,0
$GC,4157,-1.40,-146.0,488.5,-12.7,213,4162,0.25,2.47,0.00,0.000,6,0.090,0.032,2557,1842,3714,0,0,0,0,0,0
$STATE,4282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4282,begin apogee
$GC,4289,-0.31,0.0,501.6,10.5,216,4411,1.05,0.00,117.88,0.861,6,0.080,0.000,2791,1677,3120,0,0,0,0,0,0
$STATE,4411,end apogee,CONTROL_FINISHED_OK
$STATE,4412,begin climb
$GC,4414,1.28,146.0,507.2,0.0,219,4543,1.42,2.75,121.43,0.846,4,0.029,0.053,3141,3242,2523,0,0,0,0,0,0
$GC,4552,1.15,302.1,509.3,2.8,222,4692,0.15,2.62,132.35,0.835,6,0.125,0.038,3114,1694,1887,0,0,0,0,0,0
$GC,4954,0.99,302.1,449.5,16.3,232,4961,0.17,2.67,0.00,0.000,4,0.116,0.071,3077,167,1879,0,0,0,0,0,0
$GC,4985,0.89,302.1,444.1,15.1,232,4990,0.12,2.45,0.00,0.000,6,0.124,0.028,3054,1666,1878,0,0,0,0,0,0
$GC,5242,0.89,302.1,412.9,12.0,239,5246,0.00,2.72,0.00,0.000,4,0.000,0.054,3054,3265,1875,0,0,0,0,0,0
$GC,5270,0.89,302.1,408.9,13.1,239,5274,0.00,2.65,0.00,0.000,6,0.000,0.035,3054,1669,1873,0,0,0,0,0,0
$GC,5524,0.89,302.1,376.6,12.7,246,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1669,1872,0,0,0,0,0,0
$GC,5768,0.89,302.1,349.5,10.8,252,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1669,1870,0,0,0,0,0,0
$GC,6013,0.89,302.1,318.0,13.2,258,6017,0.00,2.58,0.00,0.000,4,0.000,0.064,3054,169,1869,0,0,0,0,0,0
$GC,6056,0.89,302.1,311.6,14.3,259,6060,0.00,2.42,0.00,0.000,6,0.000,0.025,3054,1696,1869,0,0,0,0,0,0
$GC,6342,0.89,303.3,280.6,10.0,266,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1699,1868,0,0,0,0,0,0
$GC,6588,0.95,303.3,254.7,10.7,272,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1699,1866,0,0,0,0,0,0
$GC,6830,1.02,303.3,229.2,10.3,278,6832,0.10,0.00,0.00,0.000,6,0.078,0.000,3110,1699,1866,0,0,0,0,0,0
$GC,7074,0.93,303.3,198.9,12.5,284,7079,0.22,2.60,0.00,0.000,4,0.098,0.050,3062,159,1866,0,0,0,0,0,0
$GC,7133,0.93,303.3,191.8,12.7,289,7137,0.00,2.42,0.00,0.000,6,0.000,0.023,3062,1690,1865,0,0,0,0,0,0
$GC,7399,1.02,321.6,164.6,9.2,313,7421,0.00,2.62,14.25,0.586,4,0.000,0.048,3061,166,1807,0,0,0,0,0,0
$GC,7452,1.02,321.6,158.8,10.9,318,7460,0.00,2.42,0.00,0.000,6,0.000,0.022,3062,1677,1807,0,0,0,0,0,0
$GC,7718,1.09,321.6,130.8,11.7,343,7723,0.15,2.55,0.00,0.000,4,0.058,0.034,3128,3260,1805,0,0,0,0,0,0
$GC,7755,1.09,321.6,125.6,13.8,346,7760,0.15,2.58,0.00,0.000,6,0.104,0.029,3097,1671,1803,0,0,0,0,0,0
$GC,8016,1.14,358.7,98.0,8.3,370,8057,0.00,2.55,33.08,0.554,4,0.000,0.046,3097,180,1656,0,0,0,0,0,0
$GC,8093,1.14,358.7,91.5,10.2,377,8098,0.00,2.40,0.00,0.000,6,0.000,0.021,3097,1697,1656,0,0,0,0,0,0
$GC,8360,1.14,358.7,63.4,10.7,401,8364,0.00,2.50,0.00,0.000,4,0.000,0.032,3096,3264,1654,0,0,0,0,0,0
$GC,8378,1.14,358.7,61.1,11.1,402,8383,0.00,2.55,0.00,0.000,6,0.000,0.025,3097,1684,1652,0,0,0,0,0,0
$GC,8647,1.14,358.7,32.7,10.6,426,8651,0.00,2.47,0.00,0.000,4,0.000,0.044,3096,174,1652,0,0,0,0,0,0
$GC,8676,1.14,358.7,28.8,11.6,428,8685,0.00,2.38,0.00,0.000,6,0.000,0.020,3097,1683,1652,0,0,0,0,0,0
$STATE,8899,end climb,SURFACE_DEPTH_REACHED
$STATE,8900,begin surface coast
$FINISH,0.7,1.023651
$STATE,8938,end surface coast,CONTROL_FINISHED_OK
$STATE,8939,begin surface
$SM_CCo,8959,50.38,0.393,1,0,1284,450.13
$SM_GC,1.48,0.00,0.00,50.38,0.000,0.000,0.393,414,1876,1284,-11.25,2.40,450.13
$IRIDIUM_FIX,2239.35,-15751.94,080300,161648
$TT8_MAMPS,0.026845
$HUMID,44.68
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,37.053
$10V_AH,10.4,31.431
$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,29.225,101.375,418.975,50.375,0.000,23.086,32.265,179.447,0.250,0.000,16.371,932.628,5798.228,515.031,1646.468,493.554,33.366,1163.916,0.000,1656.613,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,71.331,860.574,392.704,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.658,290.284,373.473,562.794,995.350,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,35348,469
$CAP_FILE_SIZE,97966,0
$CFSIZE,260165632,157208576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131210,215214,2247.276,-15800.293,11,1.8,11,10.1