version: 66.06
glider: 148
mission: 9
dive: 269
start: 12 13 110 22 12 24
data:
$ID,148
$MISSION,9
$DIVE,269
$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,-863660.06
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,215214,2247.276,-15800.293,11,1.8,11,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.6
$GPS2,221130,2247.353,-15800.206,38,1.2,44,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,-0.072
$KALMAN_X,-58134.2,107.4,-38.2,74679.7,176.6
$KALMAN_Y,1379.6,487.9,-273.8,123340.2,402.3
$MHEAD_RNG_PITCHd_Wd,243.9,4816,-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,17,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.97,0.000,2,0.000,0.000,413,1876,3374,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.5,-5.3,11,132,11.45,2.70,-6.20,0.000,4,0.156,0.044,2572,203,3716,0,0,0,0,0,0
$GC,228,-1.28,-146.0,31.4,-14.6,29,232,0.00,2.47,0.00,0.000,6,0.000,0.020,2572,1790,3718,0,0,0,0,0,0
$GC,495,-1.08,-146.0,75.2,-16.8,53,500,0.22,2.53,0.00,0.000,4,0.100,0.029,2622,3371,3718,0,0,0,0,0,0
$GC,554,-1.08,-146.0,84.9,-11.9,58,559,0.00,2.53,0.00,0.000,6,0.000,0.022,2621,1784,3718,0,0,0,0,0,0
$GC,818,-1.08,-146.0,116.7,-9.5,82,823,0.00,2.53,0.00,0.000,4,0.000,0.028,2622,3365,3718,0,0,0,0,0,0
$GC,858,-1.23,-146.0,119.9,-7.7,85,863,0.12,2.47,0.00,0.000,6,0.060,0.022,2536,1803,3718,0,0,0,0,0,0
$GC,1125,-1.04,-146.0,161.3,-14.9,109,1134,0.47,2.47,0.00,0.000,4,0.087,0.028,2627,3366,3718,0,0,0,0,0,0
$GC,1148,-1.04,-146.0,165.1,-10.6,111,1157,0.00,2.47,0.00,0.000,6,0.000,0.021,2628,1812,3719,0,0,0,0,0,0
$GC,1416,-1.18,-146.0,188.4,-8.6,136,1421,0.10,2.47,0.00,0.000,4,0.075,0.029,2562,3365,3719,0,0,0,0,0,0
$GC,1456,-1.18,-146.0,193.2,-10.8,139,1462,0.20,2.45,0.00,0.000,6,0.087,0.022,2606,1817,3719,0,0,0,0,0,0
$GC,1740,-1.24,-146.0,218.8,-8.9,152,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1817,3719,0,0,0,0,0,0
$GC,1983,-1.32,-146.0,241.4,-9.2,158,1988,0.15,2.47,0.00,0.000,4,0.055,0.031,2537,3363,3719,0,0,0,0,0,0
$GC,2021,-1.23,-146.0,245.8,-12.2,158,2028,0.25,2.45,0.00,0.000,6,0.085,0.023,2592,1819,3719,0,0,0,0,0,0
$GC,2271,-1.23,-146.0,270.6,-9.8,165,2275,0.00,2.45,0.00,0.000,4,0.000,0.031,2592,3363,3719,0,0,0,0,0,0
$GC,2316,-1.36,-146.0,274.6,-9.1,166,2321,0.12,2.45,0.00,0.000,6,0.062,0.025,2509,1826,3719,0,0,0,0,0,0
$GC,2604,-1.18,-146.0,316.6,-14.9,173,2611,0.43,2.62,0.00,0.000,4,0.083,0.043,2597,215,3718,0,0,0,0,0,0
$GC,2622,-1.18,-146.0,318.9,-12.2,173,2626,0.00,2.55,0.00,0.000,6,0.000,0.022,2598,1833,3718,0,0,0,0,0,0
$GC,2891,-1.30,-146.0,338.9,-7.3,180,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1833,3718,0,0,0,0,0,0
$GC,3134,-1.42,-146.0,359.4,-8.5,186,3140,0.20,2.47,0.00,0.000,4,0.044,0.037,2514,3367,3716,0,0,0,0,0,0
$GC,3188,-1.35,-146.0,365.5,-12.3,187,3193,0.22,2.47,0.00,0.000,6,0.087,0.027,2565,1831,3716,0,0,0,0,0,0
$GC,3467,-1.35,-146.0,392.5,-9.7,194,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1831,3714,0,0,0,0,0,0
$GC,3710,-1.35,-146.0,414.7,-8.9,200,3715,0.00,2.53,0.00,0.000,4,0.000,0.043,2565,3360,3712,0,0,0,0,0,0
$GC,3755,-1.41,-146.0,418.4,-8.6,201,3760,0.00,2.45,0.00,0.000,6,0.000,0.030,2565,1833,3712,0,0,0,0,0,0
$GC,4042,-1.41,-146.0,443.4,-8.9,208,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1833,3709,0,0,0,0,0,0
$GC,4287,-1.41,-146.0,466.0,-9.2,214,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1833,3707,0,0,0,0,0,0
$GC,4529,-1.41,-146.0,488.0,-9.2,220,4534,0.00,2.53,0.00,0.000,4,0.000,0.049,2565,3355,3706,0,0,0,0,0,0
$GC,4562,-1.48,-146.0,491.3,-9.7,220,4568,0.12,2.47,0.00,0.000,6,0.064,0.031,2493,1836,3706,0,0,0,0,0,0
$STATE,4647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4647,begin apogee
$GC,4655,-0.31,0.0,502.6,13.0,222,4775,1.35,0.00,116.45,0.867,6,0.084,0.000,2789,1666,3120,0,0,0,0,0,0
$STATE,4776,end apogee,CONTROL_FINISHED_OK
$STATE,4776,begin climb
$GC,4778,1.28,146.0,508.2,0.0,225,4910,1.45,2.65,121.43,0.850,4,0.025,0.071,3145,188,2523,0,0,0,0,0,0
$GC,4983,0.83,146.0,502.2,12.4,230,4990,0.50,2.42,0.00,0.000,6,0.108,0.029,3043,1667,2517,0,0,0,0,0,0
$GC,5273,0.87,184.7,477.9,8.2,237,5311,0.00,2.60,32.05,0.817,4,0.000,0.059,3042,184,2367,0,0,0,0,0,0
$GC,5381,0.80,203.1,468.3,9.2,238,5403,0.00,2.45,16.65,0.776,6,0.000,0.028,3042,1682,2292,0,0,0,0,0,0
$GC,5647,0.84,237.3,446.0,8.5,245,5683,0.00,2.67,29.88,0.804,4,0.000,0.059,3042,186,2152,0,0,0,0,0,0
$GC,5749,0.84,237.3,435.1,12.0,247,5753,0.00,2.42,0.00,0.000,6,0.000,0.026,3042,1679,2149,0,0,0,0,0,0
$GC,6021,0.84,237.3,405.6,11.0,254,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1680,2145,0,0,0,0,0,0
$GC,6265,0.89,277.8,384.5,8.2,260,6308,0.00,2.65,35.03,0.787,4,0.000,0.058,3042,190,1986,0,0,0,0,0,0
$GC,6359,0.90,285.1,376.6,9.7,262,6371,0.00,2.40,7.85,0.660,6,0.000,0.026,3042,1679,1957,0,0,0,0,0,0
$GC,6646,0.90,285.1,345.1,11.8,269,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1680,1951,0,0,0,0,0,0
$GC,6888,0.90,285.1,316.3,11.5,275,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1681,1949,0,0,0,0,0,0
$GC,7134,0.90,285.1,288.8,11.4,281,7138,0.00,2.53,0.00,0.000,4,0.000,0.055,3042,184,1948,0,0,0,0,0,0
$GC,7176,0.90,285.1,283.5,12.9,282,7180,0.00,2.38,0.00,0.000,6,0.000,0.025,3042,1674,1947,0,0,0,0,0,0
$GC,7465,1.03,324.4,257.6,8.2,289,7508,0.17,2.72,34.15,0.706,4,0.049,0.046,3122,3243,1795,0,0,0,0,0,0
$GC,7535,0.96,324.4,249.3,13.4,290,7542,0.25,2.60,0.00,0.000,6,0.095,0.031,3069,1682,1791,0,0,0,0,0,0
$GC,7802,0.96,324.4,220.6,10.5,297,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1682,1788,0,0,0,0,0,0
$GC,8046,0.96,324.4,192.4,11.8,306,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1682,1787,0,0,0,0,0,0
$GC,8301,0.96,324.4,165.1,11.0,330,8305,0.00,2.53,0.00,0.000,4,0.000,0.050,3069,161,1785,0,0,0,0,0,0
$GC,8351,0.96,324.4,159.7,12.6,334,8355,0.00,2.40,0.00,0.000,6,0.000,0.022,3069,1682,1785,0,0,0,0,0,0
$GC,8613,1.03,331.1,130.6,9.7,358,8626,0.00,2.58,5.22,0.455,4,0.000,0.031,3069,3254,1769,0,0,0,0,0,0
$GC,8663,1.17,337.1,125.9,9.8,362,8676,0.15,2.62,6.78,0.491,6,0.026,0.029,3154,1659,1745,0,0,0,0,0,0
$GC,8937,1.07,337.1,90.0,12.9,388,8942,0.25,2.45,0.00,0.000,4,0.166,0.044,3096,166,1743,0,0,0,0,0,0
$GC,9041,1.07,337.1,78.1,10.7,397,9050,0.00,2.38,0.00,0.000,6,0.000,0.021,3096,1667,1743,0,0,0,0,0,0
$GC,9310,1.07,337.7,50.9,10.0,422,9314,0.00,2.53,0.00,0.000,4,0.000,0.031,3097,3258,1743,0,0,0,0,0,0
$GC,9374,1.18,338.5,44.1,10.0,427,9379,0.00,2.55,0.00,0.000,6,0.000,0.027,3096,1676,1741,0,0,0,0,0,0
$GC,9661,1.18,338.5,13.9,11.0,463,9670,0.00,2.47,0.00,0.000,4,0.000,0.044,3097,175,1741,0,0,0,0,0,0
$GC,9734,1.18,338.5,5.1,12.7,474,9745,0.00,2.35,0.00,0.000,6,0.000,0.020,3097,1677,1741,0,0,0,0,0,0
$STATE,9752,end climb,SURFACE_DEPTH_REACHED
$STATE,9752,begin surface coast
$FINISH,0.7,1.017481
$STATE,9791,end surface coast,CONTROL_FINISHED_OK
$STATE,9791,begin surface
$SM_CCo,9811,59.38,0.412,1,0,1284,450.13
$SM_GC,1.54,0.00,0.00,59.38,0.000,0.000,0.412,410,1852,1284,-11.27,1.75,450.13
$IRIDIUM_FIX,2239.35,-15802.37,080300,222208
$TT8_MAMPS,0.026845
$HUMID,44.95
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,3
$24V_AH,23.6,37.207
$10V_AH,10.3,31.541
$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,29.150,110.775,405.475,59.375,0.000,53.980,72.027,798.237,0.750,0.000,46.168,998.674,6480.146,522.561,1827.270,1206.811,33.370,1253.527,0.000,1802.237,0.000,0.538,0.000
$DEVICE_MAMPS,166.439,71.331,867.477,411.879,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.285,292.855,367.317,555.208,981.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38462,482
$CAP_FILE_SIZE,115704,0
$CFSIZE,260165632,157134848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141210,005806,2247.314,-15801.757,9,1.7,25,10.1