version: 66.06
glider: 148
mission: 9
dive: 318
start: 12 20 110 0 3 21
data:
$ID,148
$MISSION,9
$DIVE,318
$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,-864668.19
$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,30
$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
$GPS1,234206,2247.022,-15759.826,32,0.9,32,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.1
$GPS2,000226,2247.002,-15759.806,12,1.3,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.249,0.024
$KALMAN_X,-48822.1,232.8,44.9,65846.2,-420.3
$KALMAN_Y,-2997.1,361.7,-528.5,127451.3,-274.2
$MHEAD_RNG_PITCHd_Wd,265.5,5454,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.25,0.000,2,0.000,0.000,411,1874,3241,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.1,-3.4,10,131,11.55,2.78,-9.25,0.000,4,0.155,0.048,2596,205,3718,0,0,0,0,0,0
$GC,248,-1.11,-146.0,31.3,-13.7,32,253,0.10,2.47,0.00,0.000,6,0.130,0.018,2615,1805,3719,0,0,0,0,0,0
$GC,517,-0.96,-146.0,67.7,-14.2,56,522,0.15,2.47,0.00,0.000,4,0.118,0.031,2646,3360,3719,0,0,0,0,0,0
$GC,592,-1.07,-146.0,77.4,-10.5,62,596,0.00,2.50,0.00,0.000,6,0.000,0.022,2646,1784,3719,0,0,0,0,0,0
$GC,854,-1.07,-146.0,101.8,-9.0,86,859,0.00,2.53,0.00,0.000,4,0.000,0.029,2647,3360,3719,0,0,0,0,0,0
$GC,906,-1.18,-146.0,106.3,-8.6,90,915,0.15,2.47,0.00,0.000,6,0.021,0.022,2567,1806,3720,0,0,0,0,0,0
$GC,1171,-1.03,-146.0,138.6,-12.4,115,1176,0.28,2.50,0.00,0.000,4,0.089,0.029,2631,3360,3720,0,0,0,0,0,0
$GC,1203,-1.03,-146.0,142.8,-10.1,117,1209,0.00,2.45,0.00,0.000,6,0.000,0.021,2632,1809,3720,0,0,0,0,0,0
$GC,1470,-1.10,-146.0,163.7,-7.8,142,1474,0.00,2.50,0.00,0.000,4,0.000,0.030,2632,3368,3721,0,0,0,0,0,0
$GC,1526,-1.25,-146.0,168.3,-7.4,147,1531,0.17,2.42,0.00,0.000,6,0.047,0.022,2550,1817,3721,0,0,0,0,0,0
$GC,1817,-1.08,-146.0,205.5,-12.8,171,1822,0.30,2.45,0.00,0.000,4,0.088,0.029,2619,3358,3721,0,0,0,0,0,0
$GC,1847,-1.08,-146.0,209.0,-10.7,171,1851,0.00,2.40,0.00,0.000,6,0.000,0.021,2619,1836,3721,0,0,0,0,0,0
$GC,2101,-1.08,-146.0,234.5,-10.1,178,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1836,3721,0,0,0,0,0,0
$GC,2345,-1.15,-146.0,255.9,-8.5,184,2349,0.00,2.42,0.00,0.000,4,0.000,0.031,2619,3360,3721,0,0,0,0,0,0
$GC,2398,-1.27,-146.0,260.2,-7.7,185,2403,0.15,2.38,0.00,0.000,6,0.052,0.024,2532,1850,3720,0,0,0,0,0,0
$GC,2677,-1.08,-146.0,296.8,-13.2,192,2684,0.40,2.67,0.00,0.000,4,0.083,0.042,2619,218,3720,0,0,0,0,0,0
$GC,2719,-1.24,-146.0,300.9,-8.7,192,2725,0.12,2.53,0.00,0.000,6,0.062,0.023,2540,1835,3720,0,0,0,0,0,0
$GC,2969,-1.12,-146.0,328.7,-11.3,199,2974,0.30,2.47,0.00,0.000,4,0.081,0.035,2613,3369,3718,0,0,0,0,0,0
$GC,3022,-1.26,-146.0,333.6,-7.6,200,3026,0.12,2.42,0.00,0.000,6,0.061,0.028,2540,1859,3719,0,0,0,0,0,0
$GC,3302,-1.15,-146.0,362.3,-10.3,207,3307,0.28,2.45,0.00,0.000,4,0.083,0.038,2605,3363,3717,0,0,0,0,0,0
$GC,3316,-1.15,-146.0,364.0,-9.8,207,3320,0.00,2.40,0.00,0.000,6,0.000,0.026,2605,1854,3718,0,0,0,0,0,0
$GC,3586,-1.24,-146.0,382.0,-6.9,214,3591,0.00,2.47,0.00,0.000,4,0.000,0.040,2605,3361,3716,0,0,0,0,0,0
$GC,3624,-1.36,-146.0,385.1,-7.0,214,3630,0.17,2.42,0.00,0.000,6,0.048,0.028,2519,1859,3716,0,0,0,0,0,0
$GC,3874,-1.21,-146.0,414.4,-12.1,221,3881,0.32,2.78,0.00,0.000,4,0.086,0.057,2596,221,3714,0,0,0,0,0,0
$GC,3925,-1.35,-146.0,419.3,-8.6,222,3931,0.12,2.58,0.00,0.000,6,0.063,0.027,2530,1842,3713,0,0,0,0,0,0
$GC,4208,-1.23,-146.0,448.4,-10.4,229,4213,0.25,2.50,0.00,0.000,4,0.087,0.045,2590,3360,3711,0,0,0,0,0,0
$GC,4225,-1.23,-146.0,449.9,-10.1,229,4229,0.00,2.40,0.00,0.000,6,0.000,0.026,2590,1856,3711,0,0,0,0,0,0
$GC,4495,-1.30,-146.0,469.7,-7.3,236,4500,0.00,2.53,0.00,0.000,4,0.000,0.048,2590,3364,3709,0,0,0,0,0,0
$GC,4519,-1.36,-146.0,471.9,-8.3,236,4524,0.12,2.42,0.00,0.000,6,0.062,0.029,2513,1854,3709,0,0,0,0,0,0
$STATE,4776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4777,begin apogee
$GC,4784,-0.31,0.0,502.5,12.1,243,4904,1.25,0.00,116.88,0.864,6,0.077,0.000,2790,1681,3120,0,0,0,0,0,0
$STATE,4905,end apogee,CONTROL_FINISHED_OK
$STATE,4905,begin climb
$GC,4907,1.17,146.0,507.4,0.0,246,5038,1.33,2.65,120.50,0.847,4,0.027,0.071,3127,188,2522,0,0,0,0,0,0
$GC,5307,0.72,146.0,479.1,12.0,254,5313,0.52,2.42,0.00,0.000,6,0.102,0.028,3017,1679,2515,0,0,0,0,0,0
$GC,5557,0.79,204.0,461.4,6.6,261,5607,0.00,0.00,48.70,0.823,6,0.000,0.000,3017,1679,2287,0,0,0,0,0,0
$GC,5840,0.80,214.3,437.7,8.6,268,5856,0.00,2.60,8.85,0.703,4,0.000,0.055,3017,187,2247,0,0,0,0,0,0
$GC,5916,0.75,215.9,431.0,8.9,269,5920,0.00,2.45,0.00,0.000,6,0.000,0.027,3017,1692,2245,0,0,0,0,0,0
$GC,6175,0.79,253.2,410.8,7.5,276,6219,0.00,2.65,34.97,0.795,4,0.000,0.058,3017,187,2087,0,0,0,0,0,0
$GC,6272,0.81,269.4,402.8,8.3,278,6293,0.00,2.42,15.35,0.745,6,0.000,0.026,3017,1677,2021,0,0,0,0,0,0
$GC,6557,0.84,291.5,379.7,8.1,285,6579,0.10,0.00,20.17,0.756,6,0.077,0.000,3078,1678,1931,0,0,0,0,0,0
$GC,6802,0.73,291.5,353.0,11.1,291,6809,0.25,2.70,0.00,0.000,4,0.096,0.051,3020,3257,1925,0,0,0,0,0,0
$GC,6819,0.73,291.5,351.1,9.9,291,6823,0.00,2.58,0.00,0.000,6,0.000,0.031,3020,1693,1923,0,0,0,0,0,0
$GC,7087,0.73,291.5,327.3,9.3,298,7091,0.00,2.62,0.00,0.000,4,0.000,0.041,3020,3262,1922,0,0,0,0,0,0
$GC,7107,0.79,291.5,325.4,9.8,298,7112,0.00,2.62,0.00,0.000,6,0.000,0.032,3020,1679,1921,0,0,0,0,0,0
$GC,7373,0.87,299.4,300.8,8.7,305,7386,0.12,2.62,7.03,0.613,4,0.064,0.062,3086,169,1899,0,0,0,0,0,0
$GC,7410,0.71,299.4,296.7,12.9,305,7415,0.32,2.42,0.00,0.000,6,0.095,0.025,3016,1681,1898,0,0,0,0,0,0
$GC,7661,0.82,318.8,276.2,8.2,311,7683,0.10,0.00,19.02,0.690,6,0.076,0.000,3068,1683,1819,0,0,0,0,0,0
$GC,7903,0.82,318.8,247.3,12.2,317,7904,0.15,0.00,0.00,0.000,6,0.102,0.000,3036,1683,1815,0,0,0,0,0,0
$GC,8146,0.82,318.8,224.5,9.1,323,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1684,1813,0,0,0,0,0,0
$GC,8392,0.89,318.8,200.7,9.9,329,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1684,1812,0,0,0,0,0,0
$GC,8643,0.90,332.1,177.5,8.5,350,8664,0.00,0.00,11.93,0.582,6,0.000,0.000,3036,1685,1764,0,0,0,0,0,0
$GC,8920,1.00,341.1,152.4,8.6,376,8936,0.17,0.00,9.02,0.534,6,0.049,0.000,3099,1685,1728,0,0,0,0,0,0
$GC,9191,0.94,341.1,122.9,9.7,402,9193,0.17,0.00,0.00,0.000,6,0.096,0.000,3061,1685,1726,0,0,0,0,0,0
$GC,9449,1.07,383.1,101.6,7.3,426,9493,0.12,2.60,38.25,0.557,4,0.064,0.052,3139,160,1556,0,0,0,0,0,0
$GC,9579,0.95,383.1,85.5,13.5,438,9584,0.32,2.42,0.00,0.000,6,0.093,0.021,3070,1690,1554,0,0,0,0,0,0
$GC,9843,1.04,383.1,58.7,10.3,462,9848,0.00,2.53,0.00,0.000,4,0.000,0.032,3070,3258,1552,0,0,0,0,0,0
$GC,9887,1.18,383.1,54.6,10.1,465,9892,0.20,2.55,0.00,0.000,6,0.045,0.026,3153,1665,1550,0,0,0,0,0,0
$GC,10166,1.03,383.1,15.4,14.7,497,10176,0.30,2.47,0.00,0.000,4,0.095,0.042,3084,173,1550,0,0,0,0,0,0
$GC,10224,1.12,383.1,9.4,9.4,505,10233,0.00,2.38,0.00,0.000,6,0.000,0.021,3084,1679,1549,0,0,0,0,0,0
$STATE,10278,end climb,SURFACE_DEPTH_REACHED
$STATE,10279,begin surface coast
$FINISH,0.5,1.009519
$STATE,10324,end surface coast,CONTROL_FINISHED_OK
$STATE,10324,begin surface
$SM_CCo,10344,23.35,0.297,1,0,1406,420.20
$SM_GC,1.52,0.00,0.00,23.35,0.000,0.000,0.297,414,1870,1406,-11.25,2.26,420.20
$IRIDIUM_FIX,2237.01,-15800.20,140300,232300
$TT8_MAMPS,0.026845
$HUMID,46.25
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,43.316
$10V_AH,10.3,36.857
$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,31.425,115.925,450.675,23.350,0.000,58.798,69.752,879.536,0.500,0.000,13.887,1080.348,6742.352,525.824,1933.756,1313.371,33.377,1301.651,0.000,1937.268,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,70.564,863.642,296.829,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.274,316.071,401.739,598.280,1058.139,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,41610,520
$CAP_FILE_SIZE,127315,0
$CFSIZE,260165632,154378240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201210,025736,2247.073,-15801.438,36,1.8,41,10.1