version: 66.06
glider: 148
mission: 9
dive: 276
start: 12 14 110 18 56 27
data:
$ID,148
$MISSION,9
$DIVE,276
$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,-863806.75
$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,33
$R_STBD_OVSHOOT,97
$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
$GPS1,184330,2249.342,-15758.411,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.1
$GPS2,185532,2249.304,-15758.368,9,1.3,9,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,0.156
$KALMAN_X,-57031.5,17.8,96.4,76693.8,252.1
$KALMAN_Y,2070.0,-132.7,-261.0,126880.7,-284.4
$MHEAD_RNG_PITCHd_Wd,43.1,2668,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-82.28,0.000,2,0.000,0.000,411,1843,3357,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.6,-6.0,11,133,11.55,2.35,-6.43,0.000,4,0.159,0.038,2573,3324,3716,0,0,0,0,0,0
$GC,198,-1.09,-146.0,28.1,-17.7,24,207,0.17,2.47,0.00,0.000,6,0.083,0.023,2616,1783,3719,0,0,0,0,0,0
$GC,477,-1.03,-146.0,67.4,-14.3,50,481,0.00,2.47,0.00,0.000,4,0.000,0.031,2616,3320,3719,0,0,0,0,0,0
$GC,541,-1.03,-146.0,76.9,-12.7,55,546,0.00,2.40,0.00,0.000,6,0.000,0.022,2616,1794,3719,0,0,0,0,0,0
$GC,808,-1.03,-146.0,113.4,-13.5,79,813,0.00,2.42,0.00,0.000,4,0.000,0.030,2616,3322,3719,0,0,0,0,0,0
$GC,850,-1.03,-146.0,120.1,-14.1,82,859,0.00,2.42,0.00,0.000,6,0.000,0.021,2616,1804,3719,0,0,0,0,0,0
$GC,1117,-1.12,-146.0,149.8,-10.3,107,1122,0.00,2.55,0.00,0.000,4,0.000,0.038,2616,209,3720,0,0,0,0,0,0
$GC,1134,-1.21,-146.0,152.1,-10.2,108,1139,0.00,2.40,0.00,0.000,6,0.000,0.018,2616,1778,3720,0,0,0,0,0,0
$GC,1397,-1.30,-146.0,176.5,-9.2,132,1402,0.17,2.53,0.00,0.000,4,0.050,0.030,2516,3356,3721,0,0,0,0,0,0
$GC,1455,-1.16,-146.0,184.1,-13.7,137,1464,0.40,2.42,0.00,0.000,6,0.082,0.023,2604,1809,3720,0,0,0,0,0,0
$GC,1736,-1.23,-146.0,211.6,-9.5,155,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1809,3721,0,0,0,0,0,0
$GC,1980,-1.30,-146.0,235.9,-10.0,161,1985,0.12,2.50,0.00,0.000,4,0.064,0.031,2544,3354,3721,0,0,0,0,0,0
$GC,2070,-1.30,-146.0,247.5,-12.4,163,2075,0.15,2.45,0.00,0.000,6,0.100,0.024,2576,1811,3721,0,0,0,0,0,0
$GC,2359,-1.30,-146.0,278.0,-10.2,170,2363,0.00,2.50,0.00,0.000,4,0.000,0.034,2576,3358,3721,0,0,0,0,0,0
$GC,2410,-1.37,-146.0,283.4,-9.3,171,2415,0.00,2.42,0.00,0.000,6,0.000,0.023,2576,1819,3721,0,0,0,0,0,0
$GC,2688,-1.37,-146.0,309.0,-9.3,178,2692,0.00,2.45,0.00,0.000,4,0.000,0.034,2576,3353,3721,0,0,0,0,0,0
$GC,2727,-1.43,-146.0,312.6,-9.2,178,2733,0.12,2.42,0.00,0.000,6,0.064,0.024,2486,1827,3721,0,0,0,0,0,0
$GC,2977,-1.22,-146.0,348.6,-15.3,185,2979,0.47,0.00,0.00,0.000,6,0.084,0.000,2591,1827,3720,0,0,0,0,0,0
$GC,3221,-1.32,-146.0,371.5,-9.1,191,3225,0.00,2.50,0.00,0.000,4,0.000,0.038,2591,3356,3718,0,0,0,0,0,0
$GC,3251,-1.43,-146.0,374.0,-7.8,191,3256,0.17,2.42,0.00,0.000,6,0.046,0.028,2499,1839,3719,0,0,0,0,0,0
$GC,3507,-1.27,-146.0,409.2,-14.0,198,3514,0.35,2.75,0.00,0.000,4,0.086,0.055,2578,204,3717,0,0,0,0,0,0
$GC,3533,-1.34,-146.0,412.7,-12.3,198,3538,0.00,2.58,0.00,0.000,6,0.000,0.027,2578,1813,3717,0,0,0,0,0,0
$GC,3794,-1.43,-146.0,438.6,-9.8,205,3799,0.12,2.58,0.00,0.000,4,0.065,0.044,2517,3367,3716,0,0,0,0,0,0
$GC,3860,-1.43,-146.0,446.5,-11.4,206,3865,0.12,2.47,0.00,0.000,6,0.106,0.030,2546,1832,3715,0,0,0,0,0,0
$GC,4126,-1.43,-146.0,472.4,-9.6,213,4130,0.00,2.55,0.00,0.000,4,0.000,0.049,2546,3367,3713,0,0,0,0,0,0
$GC,4145,-1.43,-146.0,474.4,-9.8,213,4149,0.00,2.47,0.00,0.000,6,0.000,0.030,2546,1838,3712,0,0,0,0,0,0
$GC,4408,-1.43,-146.0,498.4,-8.9,220,4413,0.00,2.78,0.00,0.000,4,0.000,0.065,2547,210,3711,0,0,0,0,0,0
$STATE,4425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4425,begin apogee
$GC,4435,-0.31,0.0,500.2,9.3,220,4556,1.05,0.00,117.70,0.861,6,0.077,0.000,2786,1674,3120,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4559,1.28,146.0,503.8,0.0,223,4690,1.45,2.65,120.72,0.847,4,0.024,0.064,3159,180,2525,0,0,0,0,0,0
$GC,4882,0.80,146.0,482.1,12.9,230,4888,0.60,2.45,0.00,0.000,6,0.107,0.028,3036,1680,2517,0,0,0,0,0,0
$GC,5132,0.90,230.6,465.7,6.1,237,5210,0.00,2.65,71.22,0.828,4,0.000,0.059,3035,171,2178,0,0,0,0,0,0
$GC,5268,0.90,230.6,454.5,10.7,239,5272,0.00,2.45,0.00,0.000,6,0.000,0.028,3035,1673,2175,0,0,0,0,0,0
$GC,5545,0.92,245.6,428.5,9.3,246,5566,0.10,2.78,13.43,0.748,4,0.078,0.054,3084,3253,2116,0,0,0,0,0,0
$GC,5591,0.84,245.6,423.5,11.9,247,5596,0.17,2.62,0.00,0.000,6,0.100,0.034,3046,1685,2114,0,0,0,0,0,0
$GC,5880,0.84,245.6,393.6,10.2,254,5885,0.00,2.65,0.00,0.000,4,0.000,0.046,3046,3265,2110,0,0,0,0,0,0
$GC,5912,0.84,245.6,390.1,10.1,254,5917,0.00,2.65,0.00,0.000,6,0.000,0.035,3046,1676,2109,0,0,0,0,0,0
$GC,6164,0.85,250.9,365.6,9.8,260,6173,0.00,2.60,4.25,0.526,4,0.000,0.065,3046,169,2097,0,0,0,0,0,0
$GC,6210,0.85,250.9,360.3,11.1,261,6215,0.00,2.45,0.00,0.000,6,0.000,0.025,3046,1690,2097,0,0,0,0,0,0
$GC,6492,0.85,250.9,331.9,10.2,268,6497,0.00,2.62,0.00,0.000,4,0.000,0.058,3046,160,2095,0,0,0,0,0,0
$GC,6526,0.85,250.9,328.2,11.9,268,6530,0.00,2.42,0.00,0.000,6,0.000,0.024,3046,1678,2095,0,0,0,0,0,0
$GC,6776,0.86,261.7,304.2,9.5,274,6792,0.00,2.70,10.45,0.671,4,0.000,0.049,3046,3247,2053,0,0,0,0,0,0
$GC,6811,0.92,261.7,300.6,10.7,274,6815,0.00,2.60,0.00,0.000,6,0.000,0.032,3046,1677,2050,0,0,0,0,0,0
$GC,7061,0.95,280.0,277.4,9.2,280,7080,0.00,0.00,17.42,0.695,6,0.000,0.000,3046,1677,1978,0,0,0,0,0,0
$GC,7305,1.05,306.0,256.0,8.8,286,7332,0.17,0.00,24.45,0.688,6,0.051,0.000,3122,1677,1872,0,0,0,0,0,0
$GC,7548,0.92,306.0,223.7,13.4,292,7553,0.25,2.55,0.00,0.000,4,0.096,0.054,3063,172,1867,0,0,0,0,0,0
$GC,7569,0.86,306.0,220.9,13.8,292,7574,0.00,2.40,0.00,0.000,6,0.000,0.022,3063,1692,1866,0,0,0,0,0,0
$GC,7827,0.86,306.0,193.8,10.7,301,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1694,1864,0,0,0,0,0,0
$GC,8090,0.87,312.4,166.4,9.7,326,8100,0.00,2.62,5.50,0.486,4,0.000,0.048,3063,169,1847,0,0,0,0,0,0
$GC,8184,0.87,312.4,156.4,10.2,335,8190,0.00,2.35,0.00,0.000,6,0.000,0.022,3062,1669,1847,0,0,0,0,0,0
$GC,8448,0.95,326.7,131.2,9.4,360,8470,0.00,2.58,14.00,0.561,4,0.000,0.047,3063,170,1787,0,0,0,0,0,0
$GC,8525,1.04,326.7,122.9,10.1,367,8530,0.10,2.33,0.00,0.000,6,0.077,0.021,3115,1653,1787,0,0,0,0,0,0
$GC,8789,1.04,326.7,93.1,11.7,391,8794,0.12,0.00,0.00,0.000,6,0.107,0.000,3087,1654,1785,0,0,0,0,0,0
$GC,9053,1.04,333.5,66.8,9.7,416,9063,0.00,0.00,6.93,0.446,6,0.000,0.000,3087,1656,1759,0,0,0,0,0,0
$GC,9319,1.04,333.5,40.7,10.1,441,9323,0.00,2.45,0.00,0.000,4,0.000,0.044,3087,162,1759,0,0,0,0,0,0
$GC,9348,1.04,333.5,37.6,11.1,443,9352,0.00,2.28,0.00,0.000,6,0.000,0.019,3087,1643,1759,0,0,0,0,0,0
$GC,9646,1.11,333.5,7.3,10.4,484,9654,0.00,2.60,0.00,0.000,4,0.000,0.033,3087,3246,1758,0,0,0,0,0,0
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,2.6,1.023672
$STATE,9688,end surface coast,CONTROL_FINISHED_OK
$STATE,9688,begin surface
$SM_CCo,9710,62.95,0.413,1,0,1285,450.13
$SM_GC,1.46,0.00,0.00,62.95,0.000,0.000,0.413,416,1777,1285,-11.25,-0.37,450.13
$IRIDIUM_FIX,2241.69,-15802.37,090300,151553
$TT8_MAMPS,0.026845
$HUMID,44.99
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,38.179
$10V_AH,10.4,32.305
$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,28.850,125.525,406.075,62.950,0.000,31.559,36.961,519.982,0.250,0.000,11.317,1023.964,6209.563,525.518,1879.623,863.676,33.367,1284.558,0.000,1885.664,0.000,0.538,0.000
$DEVICE_MAMPS,158.769,65.195,860.574,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.736,306.245,382.885,578.048,1022.273,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38323,490
$CAP_FILE_SIZE,114882,0
$CFSIZE,260165632,156737536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141210,214048,2249.710,-15757.032,29,2.0,41,10.1