version: 66.06
glider: 148
mission: 9
dive: 273
start: 12 14 110 10 0 44
data:
$ID,148
$MISSION,9
$DIVE,273
$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,-863748.38
$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,31
$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
$GPS1,093834,2249.735,-15802.979,9,99.0,28,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-66.9
$GPS2,095949,2249.716,-15802.947,9,1.2,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.253,-0.061
$KALMAN_X,-57360.5,-100.8,119.0,69237.5,-14.4
$KALMAN_Y,2829.9,-266.8,-372.0,127118.5,740.9
$MHEAD_RNG_PITCHd_Wd,93.6,10165,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,105,0.00,0.00,-83.07,0.000,2,0.000,0.000,413,1876,3400,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.7,-6.3,11,134,11.32,2.42,-5.57,0.000,4,0.151,0.041,2573,3364,3718,0,0,0,0,0,0
$GC,144,0.12,-146.0,18.2,-37.3,15,153,1.38,2.53,0.00,0.000,6,0.084,0.020,2878,1777,3719,0,0,0,0,0,0
$GC,432,-0.74,-146.0,42.7,-8.6,51,444,0.75,2.55,0.00,0.000,4,0.053,0.042,2698,218,3720,0,0,0,0,0,0
$GC,582,-1.38,-146.0,55.2,-8.1,64,595,0.57,2.60,0.00,0.000,6,0.044,0.017,2548,1921,3720,0,0,0,0,0,0
$GC,853,-1.14,-146.0,99.9,-17.0,89,862,0.25,2.72,0.00,0.000,4,0.095,0.035,2606,218,3720,0,0,0,0,0,0
$GC,945,-1.25,-146.0,111.6,-9.6,98,950,0.00,2.58,0.00,0.000,6,0.000,0.018,2606,1890,3720,0,0,0,0,0,0
$GC,1209,-1.25,-146.0,137.7,-10.2,122,1213,0.00,2.33,0.00,0.000,4,0.000,0.030,2606,3364,3720,0,0,0,0,0,0
$GC,1283,-1.35,-146.0,145.9,-11.3,129,1288,0.17,2.30,0.00,0.000,6,0.048,0.021,2519,1887,3720,0,0,0,0,0,0
$GC,1547,-1.14,-146.0,190.3,-18.0,153,1560,0.40,2.67,0.00,0.000,4,0.088,0.035,2606,215,3720,0,0,0,0,0,0
$GC,1572,-1.14,-146.0,194.3,-14.8,155,1576,0.00,2.62,0.00,0.000,6,0.000,0.020,2606,1899,3721,0,0,0,0,0,0
$GC,1826,-1.24,-146.0,220.4,-9.7,164,1830,0.00,2.30,0.00,0.000,4,0.000,0.031,2606,3364,3721,0,0,0,0,0,0
$GC,1891,-1.40,-146.0,226.1,-7.5,165,1896,0.22,2.28,0.00,0.000,6,0.036,0.022,2499,1911,3721,0,0,0,0,0,0
$GC,2160,-1.18,-146.0,263.5,-14.3,172,2162,0.47,0.00,0.00,0.000,6,0.084,0.000,2602,1909,3721,0,0,0,0,0,0
$GC,2406,-1.30,-146.0,285.1,-9.0,178,2407,0.10,0.00,0.00,0.000,6,0.077,0.000,2538,1909,3721,0,0,0,0,0,0
$GC,2647,-1.24,-146.0,316.9,-13.3,184,2654,0.22,2.78,0.00,0.000,4,0.088,0.044,2588,223,3721,0,0,0,0,0,0
$GC,2683,-1.41,-146.0,321.2,-11.2,184,2688,0.15,2.65,0.00,0.000,6,0.054,0.023,2514,1902,3721,0,0,0,0,0,0
$GC,2934,-1.30,-146.0,352.7,-12.8,190,2936,0.28,0.00,0.00,0.000,6,0.087,0.000,2575,1902,3720,0,0,0,0,0,0
$GC,3177,-1.38,-146.0,375.7,-9.2,196,3181,0.00,2.35,0.00,0.000,4,0.000,0.041,2575,3358,3718,0,0,0,0,0,0
$GC,3200,-1.45,-146.0,378.1,-9.3,196,3205,0.12,2.30,0.00,0.000,6,0.065,0.028,2504,1915,3719,0,0,0,0,0,0
$GC,3462,-1.31,-146.0,409.8,-12.1,203,3469,0.30,2.85,0.00,0.000,4,0.088,0.057,2572,226,3716,0,0,0,0,0,0
$GC,3504,-1.44,-146.0,414.1,-8.8,203,3510,0.10,2.67,0.00,0.000,6,0.077,0.028,2521,1893,3716,0,0,0,0,0,0
$GC,3756,-1.37,-146.0,439.8,-10.4,210,3763,0.17,2.88,0.00,0.000,4,0.098,0.058,2560,220,3714,0,0,0,0,0,0
$GC,3777,-1.37,-146.0,442.4,-10.5,210,3782,0.00,2.67,0.00,0.000,6,0.000,0.029,2560,1886,3714,0,0,0,0,0,0
$GC,4041,-1.37,-146.0,466.9,-9.4,217,4045,0.00,2.42,0.00,0.000,4,0.000,0.048,2560,3360,3711,0,0,0,0,0,0
$GC,4061,-1.37,-146.0,468.9,-9.9,217,4065,0.00,2.33,0.00,0.000,6,0.000,0.029,2560,1909,3711,0,0,0,0,0,0
$GC,4329,-1.37,-146.0,493.9,-9.3,224,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1909,3710,0,0,0,0,0,0
$STATE,4408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4408,begin apogee
$GC,4414,-0.31,0.0,501.3,9.2,226,4534,1.02,0.00,117.28,0.867,6,0.078,0.000,2790,1682,3120,0,0,0,0,0,0
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4539,1.28,146.0,505.1,0.0,229,4670,1.42,2.72,120.82,0.848,4,0.031,0.072,3141,188,2523,0,0,0,0,0,0
$GC,4681,0.97,211.0,505.7,7.0,232,4743,0.32,2.45,55.30,0.825,6,0.118,0.029,3074,1672,2259,0,0,0,0,0,0
$GC,4990,0.87,211.0,473.5,10.8,239,4991,0.12,0.00,0.00,0.000,6,0.123,0.000,3049,1672,2250,0,0,0,0,0,0
$GC,5233,0.90,236.0,451.7,8.9,245,5261,0.00,2.60,21.10,0.789,4,0.000,0.058,3049,183,2157,0,0,0,0,0,0
$GC,5285,0.81,236.0,446.4,10.1,246,5289,0.00,2.42,0.00,0.000,6,0.000,0.028,3049,1679,2155,0,0,0,0,0,0
$GC,5562,0.85,266.2,422.1,8.6,253,5595,0.00,2.65,26.95,0.792,4,0.000,0.059,3049,180,2034,0,0,0,0,0,0
$GC,5648,0.85,266.2,413.2,12.3,254,5654,0.00,2.42,0.00,0.000,6,0.000,0.027,3049,1670,2031,0,0,0,0,0,0
$GC,5898,0.85,266.2,387.5,10.2,261,5902,0.00,2.67,0.00,0.000,4,0.000,0.051,3049,3262,2027,0,0,0,0,0,0
$GC,5912,0.85,266.2,385.9,10.3,261,5917,0.00,2.62,0.00,0.000,6,0.000,0.033,3049,1684,2026,0,0,0,0,0,0
$GC,6182,0.86,269.7,358.9,9.9,268,6186,0.00,2.60,0.00,0.000,4,0.000,0.067,3049,169,2026,0,0,0,0,0,0
$GC,6205,0.86,269.7,356.2,10.6,268,6209,0.00,2.42,0.00,0.000,6,0.000,0.026,3049,1678,2025,0,0,0,0,0,0
$GC,6466,0.89,295.8,332.8,8.8,275,6498,0.00,2.75,26.02,0.754,4,0.000,0.051,3049,3250,1913,0,0,0,0,0,0
$GC,6522,0.96,297.7,327.1,10.0,276,6527,0.00,2.65,0.00,0.000,6,0.000,0.035,3049,1668,1909,0,0,0,0,0,0
$GC,6795,0.96,297.7,299.7,10.1,283,6799,0.00,2.60,0.00,0.000,4,0.000,0.066,3049,163,1907,0,0,0,0,0,0
$GC,6843,0.96,297.7,294.6,11.0,284,6847,0.00,2.40,0.00,0.000,6,0.000,0.025,3049,1674,1907,0,0,0,0,0,0
$GC,7126,0.96,297.7,264.2,10.4,291,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1677,1905,0,0,0,0,0,0
$GC,7370,1.03,311.7,240.5,9.4,297,7391,0.15,2.70,14.20,0.657,4,0.057,0.045,3119,3244,1847,0,0,0,0,0,0
$GC,7407,0.92,311.7,236.3,12.2,297,7416,0.28,2.62,0.00,0.000,6,0.090,0.030,3059,1658,1846,0,0,0,0,0,0
$GC,7660,0.93,315.3,210.8,9.9,304,7669,0.00,2.65,4.07,0.430,4,0.000,0.035,3060,3253,1833,0,0,0,0,0,0
$GC,7700,1.03,319.4,206.9,9.8,304,7713,0.10,2.60,5.25,0.505,6,0.077,0.030,3108,1669,1817,0,0,0,0,0,0
$GC,7973,0.96,319.4,174.3,11.7,324,7978,0.17,2.53,0.00,0.000,4,0.101,0.049,3070,163,1815,0,0,0,0,0,0
$GC,8023,0.96,319.4,169.3,11.0,328,8027,0.00,2.40,0.00,0.000,6,0.000,0.022,3070,1680,1814,0,0,0,0,0,0
$GC,8285,0.96,319.4,142.0,10.5,352,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1682,1815,0,0,0,0,0,0
$GC,8540,0.98,338.2,116.8,9.2,376,8563,0.00,2.62,17.30,0.561,4,0.000,0.033,3070,3254,1740,0,0,0,0,0,0
$GC,8585,1.11,341.8,112.2,9.9,380,8599,0.12,2.58,4.60,0.414,6,0.061,0.027,3146,1661,1725,0,0,0,0,0,0
$GC,8854,1.02,341.8,79.8,12.1,405,8859,0.28,2.45,0.00,0.000,4,0.090,0.044,3083,167,1722,0,0,0,0,0,0
$GC,8874,1.02,341.8,77.3,11.9,406,8878,0.00,2.38,0.00,0.000,6,0.000,0.020,3082,1686,1723,0,0,0,0,0,0
$GC,9143,1.13,368.4,54.1,8.8,430,9181,0.10,2.55,24.85,0.514,4,0.076,0.042,3143,173,1616,0,0,0,0,0,0
$GC,9197,1.02,368.4,47.5,13.4,434,9202,0.30,2.33,0.00,0.000,6,0.100,0.019,3082,1664,1616,0,0,0,0,0,0
$GC,9478,1.10,374.9,19.6,9.7,466,9495,0.00,2.60,6.93,0.412,4,0.000,0.032,3082,3247,1590,0,0,0,0,0,0
$GC,9510,1.19,374.9,16.1,10.6,470,9520,0.12,2.58,0.00,0.000,6,0.025,0.027,3143,1672,1589,0,0,0,0,0,0
$STATE,9602,end climb,SURFACE_DEPTH_REACHED
$STATE,9602,begin surface coast
$FINISH,0.8,1.014415
$STATE,9640,end surface coast,CONTROL_FINISHED_OK
$STATE,9640,begin surface
$SM_CCo,9660,41.72,0.380,1,0,1285,450.13
$SM_GC,1.67,0.00,0.00,41.72,0.000,0.000,0.380,411,1875,1285,-11.27,2.40,450.13
$IRIDIUM_FIX,2241.69,-15804.53,090300,090925
$TT8_MAMPS,0.026845
$HUMID,45.07
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.6,37.763
$10V_AH,10.3,31.971
$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,32.600,127.900,444.675,41.725,0.000,52.390,67.960,951.903,0.500,0.000,15.703,1015.789,6215.109,517.148,1867.560,1367.542,33.369,1302.698,0.000,1868.709,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,72.098,866.710,380.432,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.949,303.681,380.645,608.347,1076.067,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,38433,489
$CAP_FILE_SIZE,125770,0
$CFSIZE,260165632,156901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141210,124337,2249.683,-15801.666,27,1.1,27,10.1