version: 66.06
glider: 148
mission: 9
dive: 314
start: 12 19 110 11 40 23
data:
$ID,148
$MISSION,9
$DIVE,314
$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,185
$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,420
$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,-864586.56
$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
$GPS1,112822,2249.857,-15757.170,13,4.2,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.2
$GPS2,113925,2249.776,-15757.155,12,1.6,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.062,-0.243
$KALMAN_X,-48694.7,-336.3,22.1,70875.2,194.9
$KALMAN_Y,-2869.5,-213.8,-636.8,133147.3,385.5
$MHEAD_RNG_PITCHd_Wd,184.3,5257,-15.9,-9.009
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.05,0.000,2,0.000,0.000,409,1882,3270,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-3.9,10,131,11.57,2.80,-8.48,0.000,4,0.155,0.053,2595,208,3720,0,0,0,0,0,0
$GC,173,-0.99,-146.0,22.3,-19.2,20,182,0.17,2.50,0.00,0.000,6,0.089,0.020,2637,1784,3721,0,0,0,0,0,0
$GC,452,-0.90,-146.0,59.9,-12.8,49,457,0.12,2.53,0.00,0.000,4,0.124,0.031,2662,3369,3721,0,0,0,0,0,0
$GC,530,-1.02,-146.0,68.1,-9.3,55,535,0.10,2.47,0.00,0.000,6,0.071,0.022,2581,1796,3721,0,0,0,0,0,0
$GC,798,-0.81,-146.0,111.3,-13.9,79,809,0.50,2.55,0.00,0.000,4,0.085,0.029,2679,3377,3722,0,0,0,0,0,0
$GC,865,-1.08,-146.0,117.9,-7.2,85,870,0.22,2.42,0.00,0.000,6,0.037,0.021,2570,1826,3722,0,0,0,0,0,0
$GC,1131,-0.90,-146.0,154.2,-13.7,109,1140,0.45,2.60,0.00,0.000,4,0.084,0.037,2658,207,3723,0,0,0,0,0,0
$GC,1164,-1.02,-146.0,158.1,-9.8,112,1168,0.00,2.53,0.00,0.000,6,0.000,0.019,2658,1847,3723,0,0,0,0,0,0
$GC,1430,-1.18,-146.0,176.6,-7.9,136,1435,0.22,2.40,0.00,0.000,4,0.041,0.028,2554,3370,3724,0,0,0,0,0,0
$GC,1490,-1.10,-146.0,183.8,-11.7,141,1499,0.25,2.45,0.00,0.000,6,0.067,0.024,2616,1840,3723,0,0,0,0,0,0
$GC,1778,-1.10,-146.0,212.3,-9.4,160,1782,0.00,2.42,0.00,0.000,4,0.000,0.030,2616,3368,3723,0,0,0,0,0,0
$GC,1812,-1.16,-146.0,215.7,-9.7,160,1816,0.00,2.40,0.00,0.000,6,0.000,0.022,2616,1838,3723,0,0,0,0,0,0
$GC,2062,-1.16,-146.0,237.5,-8.7,166,2066,0.00,2.47,0.00,0.000,4,0.000,0.031,2616,3377,3723,0,0,0,0,0,0
$GC,2105,-1.28,-146.0,241.3,-8.2,167,2110,0.15,2.42,0.00,0.000,6,0.053,0.024,2529,1851,3723,0,0,0,0,0,0
$GC,2394,-1.05,-146.0,280.1,-13.9,174,2401,0.45,2.65,0.00,0.000,4,0.083,0.040,2625,212,3723,0,0,0,0,0,0
$GC,2420,-1.13,-146.0,283.4,-9.5,174,2425,0.00,2.60,0.00,0.000,6,0.000,0.021,2625,1863,3723,0,0,0,0,0,0
$GC,2682,-1.23,-146.0,300.5,-6.6,181,2687,0.15,2.42,0.00,0.000,4,0.054,0.035,2547,3374,3723,0,0,0,0,0,0
$GC,2725,-1.13,-146.0,305.0,-10.6,182,2731,0.28,2.40,0.00,0.000,6,0.079,0.025,2610,1868,3723,0,0,0,0,0,0
$GC,3016,-1.22,-146.0,328.4,-8.0,189,3021,0.00,2.40,0.00,0.000,4,0.000,0.035,2610,3367,3722,0,0,0,0,0,0
$GC,3050,-1.35,-146.0,331.4,-8.3,189,3055,0.20,2.38,0.00,0.000,6,0.044,0.026,2524,1872,3722,0,0,0,0,0,0
$GC,3299,-1.18,-146.0,362.5,-13.0,195,3302,0.35,0.00,0.00,0.000,6,0.083,0.000,2601,1872,3721,0,0,0,0,0,0
$GC,3545,-1.25,-146.0,382.3,-7.8,201,3549,0.00,2.42,0.00,0.000,4,0.000,0.039,2601,3367,3719,0,0,0,0,0,0
$GC,3568,-1.31,-146.0,384.4,-8.8,201,3573,0.12,2.38,0.00,0.000,6,0.061,0.028,2520,1881,3719,0,0,0,0,0,0
$GC,3833,-1.13,-146.0,415.3,-11.8,208,3835,0.43,0.00,0.00,0.000,6,0.082,0.000,2611,1881,3718,0,0,0,0,0,0
$GC,4079,-1.23,-146.0,432.8,-6.8,214,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1881,3716,0,0,0,0,0,0
$GC,4321,-1.34,-146.0,451.6,-8.0,220,4322,0.17,0.00,0.00,0.000,6,0.050,0.000,2535,1881,3714,0,0,0,0,0,0
$GC,4564,-1.23,-146.0,480.7,-12.0,226,4566,0.25,0.00,0.00,0.000,6,0.086,0.000,2590,1881,3712,0,0,0,0,0,0
$STATE,4805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4813,-0.31,0.0,500.9,8.1,232,4934,0.88,0.00,117.75,0.861,6,0.072,0.000,2791,1687,3120,0,0,0,0,0,0
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4937,1.17,146.0,506.0,0.0,235,5066,1.33,2.72,120.22,0.846,4,0.028,0.075,3119,180,2523,0,0,0,0,0,0
$GC,5295,0.74,146.0,485.6,9.9,243,5302,0.47,2.45,0.00,0.000,6,0.102,0.028,3020,1676,2516,0,0,0,0,0,0
$GC,5580,0.82,211.8,466.5,6.3,250,5641,0.00,2.65,55.08,0.825,4,0.000,0.058,3020,177,2255,0,0,0,0,0,0
$GC,5666,0.75,211.8,460.6,9.2,252,5670,0.00,2.47,0.00,0.000,6,0.000,0.027,3020,1684,2254,0,0,0,0,0,0
$GC,5953,0.82,270.2,441.0,6.6,259,6009,0.00,2.67,50.78,0.813,4,0.000,0.058,3020,181,2017,0,0,0,0,0,0
$GC,6070,0.82,270.2,431.1,9.6,261,6074,0.00,2.45,0.00,0.000,6,0.000,0.027,3019,1680,2015,0,0,0,0,0,0
$GC,6324,0.84,284.8,409.5,8.4,268,6345,0.10,2.78,13.40,0.740,4,0.078,0.055,3077,3253,1956,0,0,0,0,0,0
$GC,6375,0.75,284.8,404.5,11.0,269,6382,0.25,2.62,0.00,0.000,6,0.089,0.034,3022,1686,1953,0,0,0,0,0,0
$GC,6660,0.78,309.9,381.8,8.0,276,6686,0.00,0.00,23.52,0.765,6,0.000,0.000,3022,1686,1855,0,0,0,0,0,0
$GC,6904,0.78,309.9,356.9,10.4,282,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1686,1850,0,0,0,0,0,0
$GC,7149,0.81,337.1,336.2,7.9,288,7181,0.00,2.67,24.35,0.740,4,0.000,0.041,3022,3259,1744,0,0,0,0,0,0
$GC,7229,0.98,371.2,330.4,7.6,289,7267,0.22,2.65,31.50,0.739,6,0.042,0.033,3117,1668,1606,0,0,0,0,0,0
$GC,7522,0.82,371.2,287.5,16.1,297,7524,0.35,0.00,0.00,0.000,6,0.090,0.000,3040,1668,1600,0,0,0,0,0,0
$GC,7765,0.82,371.2,261.2,10.1,303,7770,0.00,2.65,0.00,0.000,4,0.000,0.041,3041,3255,1598,0,0,0,0,0,0
$GC,7804,0.93,371.2,257.2,9.7,303,7810,0.00,2.62,0.00,0.000,6,0.000,0.031,3040,1666,1595,0,0,0,0,0,0
$GC,8055,0.93,371.2,232.4,10.2,310,8060,0.10,2.53,0.00,0.000,4,0.077,0.054,3094,164,1595,0,0,0,0,0,0
$GC,8079,0.87,371.2,229.2,12.8,310,8085,0.20,2.40,0.00,0.000,6,0.095,0.024,3051,1680,1595,0,0,0,0,0,0
$GC,8339,0.87,371.2,203.7,9.8,317,8343,0.00,2.58,0.00,0.000,4,0.000,0.037,3051,3256,1595,0,0,0,0,0,0
$GC,8409,0.99,371.2,196.8,10.3,320,8416,0.10,2.58,0.00,0.000,6,0.076,0.029,3107,1681,1592,0,0,0,0,0,0
$GC,8672,0.88,371.2,162.5,14.4,345,8677,0.25,2.50,0.00,0.000,4,0.091,0.044,3048,173,1592,0,0,0,0,0,0
$GC,8722,0.97,371.2,156.8,12.1,349,8727,0.10,2.40,0.00,0.000,6,0.077,0.021,3103,1693,1592,0,0,0,0,0,0
$GC,8988,0.90,371.2,123.6,12.7,373,8993,0.22,2.55,0.00,0.000,4,0.091,0.050,3054,164,1592,0,0,0,0,0,0
$GC,9026,0.97,371.2,119.1,10.6,376,9030,0.00,2.38,0.00,0.000,6,0.000,0.021,3053,1687,1592,0,0,0,0,0,0
$GC,9298,1.16,425.1,97.4,6.8,401,9351,0.25,2.60,45.45,0.555,4,0.038,0.035,3172,3238,1386,0,0,0,0,0,0
$GC,9386,1.02,425.1,84.5,16.0,409,9392,0.43,2.55,0.00,0.000,6,0.123,0.027,3080,1675,1382,0,0,0,0,0,0
$GC,9654,1.02,425.1,56.0,10.0,434,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1675,1381,0,0,0,0,0,0
$GC,9921,1.02,425.1,25.7,12.2,461,9930,0.00,2.58,0.00,0.000,4,0.000,0.033,3080,3244,1381,0,0,0,0,0,0
$GC,9958,1.11,425.1,21.5,11.8,466,9967,0.00,2.53,0.00,0.000,6,0.000,0.027,3080,1690,1380,0,0,0,0,0,0
$STATE,10123,end climb,SURFACE_DEPTH_REACHED
$STATE,10127,begin surface coast
$FINISH,0.7,1.023887
$STATE,10172,end surface coast,CONTROL_FINISHED_OK
$STATE,10172,begin surface
$SM_CCo,10252,0.00,0.000,0,0,1376,427.80
$SM_GC,1.61,10.88,0.00,0.00,0.028,0.000,0.000,411,1821,1376,-11.19,0.85,427.80
$IRIDIUM_FIX,2239.35,-15757.16,140300,080829
$TT8_MAMPS,0.026845
$HUMID,45.62
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.90
$XPDR_PINGS,3
$24V_AH,23.6,42.726
$10V_AH,10.4,36.391
$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,32.300,116.625,482.050,0.000,0.000,25.146,40.893,460.389,0.750,0.000,14.032,1043.065,6652.197,493.495,1907.043,820.164,33.377,1294.862,0.000,1908.664,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,75.166,861.341,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.615,307.384,379.757,582.639,1031.237,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38448,499
$CAP_FILE_SIZE,118373,0
$CFSIZE,260165632,154615808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191210,143236,2248.689,-15757.549,38,0.9,44,10.1