version: 66.06
glider: 148
mission: 9
dive: 284
start: 12 15 110 16 58 20
data:
$ID,148
$MISSION,9
$DIVE,284
$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,-863975.25
$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,20
$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
$GPS1,165136,2247.171,-15803.092,28,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.0
$GPS2,165725,2247.151,-15803.060,9,1.0,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.032,0.258
$KALMAN_X,-55161.0,-123.5,64.9,66922.2,363.1
$KALMAN_Y,2267.0,7.4,405.1,121880.9,-516.5
$MHEAD_RNG_PITCHd_Wd,342.7,5277,-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,-83.05,0.000,2,0.000,0.000,411,1866,3404,0,0,0,0,0,0
$GC,108,-1.28,-146.0,4.1,-7.6,11,132,11.93,2.42,-5.45,0.000,4,0.173,0.039,2571,3365,3718,0,0,0,0,0,0
$GC,193,-1.09,-146.0,28.3,-18.5,23,202,0.20,2.58,0.00,0.000,6,0.080,0.025,2619,1772,3718,0,0,0,0,0,0
$GC,461,-1.02,-146.0,67.8,-14.8,48,465,0.00,2.55,0.00,0.000,4,0.000,0.031,2619,3367,3719,0,0,0,0,0,0
$GC,504,-1.02,-146.0,74.9,-15.0,51,509,0.00,2.50,0.00,0.000,6,0.000,0.022,2619,1792,3720,0,0,0,0,0,0
$GC,771,-1.02,-146.0,111.0,-10.5,75,776,0.00,2.50,0.00,0.000,4,0.000,0.028,2619,3370,3720,0,0,0,0,0,0
$GC,809,-1.10,-146.0,114.8,-9.2,78,813,0.00,2.47,0.00,0.000,6,0.000,0.021,2619,1792,3720,0,0,0,0,0,0
$GC,1071,-1.19,-146.0,140.6,-9.1,102,1076,0.00,2.50,0.00,0.000,4,0.000,0.029,2619,3368,3722,0,0,0,0,0,0
$GC,1111,-1.30,-146.0,144.3,-10.2,105,1116,0.17,2.45,0.00,0.000,6,0.044,0.022,2528,1806,3721,0,0,0,0,0,0
$GC,1372,-1.13,-146.0,183.0,-14.9,129,1378,0.38,2.47,0.00,0.000,4,0.086,0.030,2611,3363,3722,0,0,0,0,0,0
$GC,1401,-1.13,-146.0,186.5,-11.4,131,1405,0.00,2.42,0.00,0.000,6,0.000,0.021,2612,1808,3723,0,0,0,0,0,0
$GC,1679,-1.23,-146.0,210.5,-8.4,148,1683,0.00,2.47,0.00,0.000,4,0.000,0.030,2612,3368,3723,0,0,0,0,0,0
$GC,1707,-1.35,-146.0,213.3,-9.0,148,1712,0.20,2.45,0.00,0.000,6,0.040,0.023,2503,1809,3723,0,0,0,0,0,0
$GC,1968,-1.08,-146.0,254.8,-17.2,155,1970,0.60,0.00,0.00,0.000,6,0.086,0.000,2624,1808,3723,0,0,0,0,0,0
$GC,2207,-1.25,-146.0,278.4,-8.9,161,2212,0.15,2.53,0.00,0.000,4,0.054,0.031,2535,3367,3723,0,0,0,0,0,0
$GC,2260,-1.25,-146.0,284.8,-12.0,162,2265,0.22,2.47,0.00,0.000,6,0.084,0.024,2587,1812,3723,0,0,0,0,0,0
$GC,2539,-1.32,-146.0,311.3,-9.2,169,2543,0.00,2.47,0.00,0.000,4,0.000,0.034,2587,3360,3723,0,0,0,0,0,0
$GC,2586,-1.45,-146.0,315.5,-8.5,170,2591,0.20,2.47,0.00,0.000,6,0.043,0.026,2494,1815,3723,0,0,0,0,0,0
$GC,2870,-1.27,-146.0,354.7,-14.2,177,2878,0.38,2.65,0.00,0.000,4,0.086,0.048,2580,205,3723,0,0,0,0,0,0
$GC,2897,-1.27,-146.0,358.3,-11.0,177,2901,0.00,2.55,0.00,0.000,6,0.000,0.025,2580,1815,3723,0,0,0,0,0,0
$GC,3158,-1.35,-146.0,381.6,-9.0,184,3162,0.00,2.50,0.00,0.000,4,0.000,0.040,2580,3368,3721,0,0,0,0,0,0
$GC,3196,-1.47,-146.0,385.3,-8.2,184,3202,0.17,2.47,0.00,0.000,6,0.047,0.028,2474,1831,3721,0,0,0,0,0,0
$GC,3446,-1.25,-146.0,422.0,-15.6,191,3448,0.50,0.00,0.00,0.000,6,0.090,0.000,2584,1831,3720,0,0,0,0,0,0
$GC,3691,-1.35,-146.0,445.1,-9.0,197,3696,0.00,2.53,0.00,0.000,4,0.000,0.045,2584,3363,3719,0,0,0,0,0,0
$GC,3725,-1.48,-146.0,448.2,-8.6,197,3730,0.20,2.47,0.00,0.000,6,0.043,0.030,2507,1837,3718,0,0,0,0,0,0
$GC,3975,-1.36,-146.0,478.0,-12.3,203,3982,0.25,2.78,0.00,0.000,4,0.094,0.062,2565,215,3716,0,0,0,0,0,0
$GC,3993,-1.36,-146.0,480.2,-12.6,203,3998,0.00,2.60,0.00,0.000,6,0.000,0.031,2565,1829,3716,0,0,0,0,0,0
$STATE,4218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4218,begin apogee
$GC,4224,-0.31,0.0,501.0,9.0,209,4346,1.00,0.00,118.53,0.862,6,0.077,0.000,2791,1667,3120,0,0,0,0,0,0
$STATE,4347,end apogee,CONTROL_FINISHED_OK
$STATE,4347,begin climb
$GC,4351,1.28,146.0,505.2,0.0,212,4481,1.40,2.67,120.40,0.848,4,0.026,0.067,3137,188,2523,0,0,0,0,0,0
$GC,4713,0.86,146.0,482.1,11.0,220,4720,0.43,2.45,0.00,0.000,6,0.108,0.028,3049,1684,2515,0,0,0,0,0,0
$GC,4994,0.90,228.8,463.6,6.2,227,5070,0.00,2.60,69.35,0.831,4,0.000,0.055,3050,194,2185,0,0,0,0,0,0
$GC,5088,0.85,254.1,456.6,8.9,229,5116,0.00,2.45,23.08,0.786,6,0.000,0.027,3049,1685,2083,0,0,0,0,0,0
$GC,5368,0.87,270.7,430.8,9.3,236,5388,0.00,2.65,14.50,0.756,4,0.000,0.057,3050,195,2015,0,0,0,0,0,0
$GC,5426,0.87,270.7,424.9,10.4,237,5430,0.00,2.42,0.00,0.000,6,0.000,0.028,3050,1678,2014,0,0,0,0,0,0
$GC,5698,0.88,280.8,399.1,9.6,244,5715,0.00,2.70,9.48,0.705,4,0.000,0.052,3049,3253,1974,0,0,0,0,0,0
$GC,5735,0.88,280.8,395.2,11.1,244,5740,0.00,2.60,0.00,0.000,6,0.000,0.034,3049,1697,1972,0,0,0,0,0,0
$GC,5984,0.88,280.8,368.4,10.7,250,5989,0.00,2.62,0.00,0.000,4,0.000,0.066,3050,169,1970,0,0,0,0,0,0
$GC,6017,0.88,280.8,364.5,12.4,250,6021,0.00,2.45,0.00,0.000,6,0.000,0.026,3049,1685,1969,0,0,0,0,0,0
$GC,6268,0.88,282.1,339.2,10.0,256,6272,0.00,2.60,0.00,0.000,4,0.000,0.058,3050,171,1968,0,0,0,0,0,0
$GC,6296,0.88,282.1,336.1,11.2,256,6300,0.00,2.42,0.00,0.000,6,0.000,0.025,3049,1677,1968,0,0,0,0,0,0
$GC,6550,0.89,285.8,310.6,9.9,263,6557,0.00,0.00,4.97,0.552,6,0.000,0.000,3049,1677,1953,0,0,0,0,0,0
$GC,6795,0.93,319.3,289.4,8.5,269,6832,0.00,0.00,31.45,0.726,6,0.000,0.000,3049,1677,1817,0,0,0,0,0,0
$GC,7077,1.05,363.8,265.8,8.0,276,7123,0.15,2.72,39.65,0.706,4,0.057,0.048,3119,3255,1636,0,0,0,0,0,0
$GC,7144,0.96,363.8,257.3,14.1,277,7151,0.22,2.65,0.00,0.000,6,0.095,0.031,3071,1666,1632,0,0,0,0,0,0
$GC,7405,0.96,363.8,226.6,11.9,284,7410,0.00,2.55,0.00,0.000,4,0.000,0.055,3070,161,1630,0,0,0,0,0,0
$GC,7419,0.96,363.8,224.6,12.5,284,7423,0.00,2.42,0.00,0.000,6,0.000,0.022,3070,1686,1630,0,0,0,0,0,0
$GC,7680,0.96,363.8,191.2,13.3,293,7684,0.00,2.55,0.00,0.000,4,0.000,0.037,3070,3248,1628,0,0,0,0,0,0
$GC,7709,0.96,363.8,187.1,13.1,295,7715,0.00,2.58,0.00,0.000,6,0.000,0.029,3070,1661,1626,0,0,0,0,0,0
$GC,7971,0.96,363.8,154.3,12.1,320,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1661,1625,0,0,0,0,0,0
$GC,8228,1.04,367.2,126.6,9.9,344,8233,0.00,2.47,0.00,0.000,4,0.000,0.046,3070,162,1625,0,0,0,0,0,0
$GC,8247,1.11,367.2,124.6,10.4,345,8252,0.12,2.38,0.00,0.000,6,0.064,0.021,3122,1680,1626,0,0,0,0,0,0
$GC,8511,1.11,367.2,94.3,10.4,369,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1681,1625,0,0,0,0,0,0
$GC,8775,1.11,367.2,62.7,12.4,394,8780,0.10,2.50,0.00,0.000,4,0.129,0.044,3101,167,1625,0,0,0,0,0,0
$GC,8798,1.11,367.2,59.4,12.8,395,8806,0.00,2.38,0.00,0.000,6,0.000,0.020,3102,1674,1625,0,0,0,0,0,0
$GC,9063,1.11,367.2,29.3,11.1,420,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1675,1625,0,0,0,0,0,0
$STATE,9285,end climb,SURFACE_DEPTH_REACHED
$STATE,9285,begin surface coast
$FINISH,0.7,1.023092
$STATE,9330,end surface coast,CONTROL_FINISHED_OK
$STATE,9330,begin surface
$SM_CCo,9350,40.42,0.061,0,0,1285,450.13
$SM_GC,1.42,0.00,0.00,40.42,0.000,0.000,0.061,410,1833,1285,-11.27,1.22,450.13
$IRIDIUM_FIX,2239.35,-15800.20,100300,141447
$TT8_MAMPS,0.026845
$HUMID,45.58
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.6,39.104
$10V_AH,10.4,33.100
$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,29.875,116.550,431.400,40.425,0.000,30.237,38.834,153.095,0.000,0.000,16.357,968.603,6015.046,508.745,1760.905,490.689,33.366,1233.283,0.000,1765.446,0.000,0.537,0.000
$DEVICE_MAMPS,173.342,67.496,862.108,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.804,285.137,355.478,545.076,963.965,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,35258,462
$CAP_FILE_SIZE,105716,0
$CFSIZE,260165632,156323840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151210,193558,2248.290,-15803.063,7,2.7,26,10.1