version: 66.06
glider: 148
mission: 9
dive: 321
start: 12 20 110 9 38 50
data:
$ID,148
$MISSION,9
$DIVE,321
$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,-864736.75
$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,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
$GPS1,091852,2248.291,-15802.662,8,2.3,27,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.1
$GPS2,093756,2248.146,-15802.559,33,2.0,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.066,0.242
$KALMAN_X,-47390.4,-96.2,148.9,59898.1,255.1
$KALMAN_Y,-2866.8,-577.7,114.9,129738.1,-500.1
$MHEAD_RNG_PITCHd_Wd,334.6,3515,-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,-75.43,0.000,2,0.000,0.000,412,1867,3298,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-3.8,10,124,11.52,2.40,-7.90,0.000,4,0.153,0.038,2597,3377,3717,0,0,0,0,0,0
$GC,246,-1.03,-146.0,32.8,-15.4,31,251,0.17,2.55,0.00,0.000,6,0.095,0.022,2636,1777,3719,0,0,0,0,0,0
$GC,513,-0.96,-146.0,69.4,-13.6,55,517,0.00,2.53,0.00,0.000,4,0.000,0.031,2636,3363,3719,0,0,0,0,0,0
$GC,557,-0.96,-146.0,76.2,-12.9,58,566,0.00,2.50,0.00,0.000,6,0.000,0.021,2635,1799,3719,0,0,0,0,0,0
$GC,823,-0.96,-146.0,107.4,-10.9,83,827,0.00,2.50,0.00,0.000,4,0.000,0.029,2635,3364,3719,0,0,0,0,0,0
$GC,871,-1.09,-146.0,112.2,-8.4,87,875,0.00,2.45,0.00,0.000,6,0.000,0.022,2636,1809,3719,0,0,0,0,0,0
$GC,1139,-1.15,-146.0,135.3,-7.8,111,1144,0.12,0.00,0.00,0.000,6,0.062,0.000,2553,1809,3720,0,0,0,0,0,0
$GC,1405,-0.99,-146.0,168.4,-13.9,136,1410,0.38,2.47,0.00,0.000,4,0.079,0.029,2641,3364,3721,0,0,0,0,0,0
$GC,1465,-1.19,-146.0,174.2,-6.5,141,1474,0.15,2.47,0.00,0.000,6,0.023,0.022,2560,1815,3721,0,0,0,0,0,0
$GC,1736,-1.07,-146.0,205.5,-12.3,164,1741,0.28,2.47,0.00,0.000,4,0.086,0.028,2626,3373,3721,0,0,0,0,0,0
$GC,1756,-1.07,-146.0,208.2,-12.1,164,1761,0.00,2.45,0.00,0.000,6,0.000,0.021,2625,1814,3721,0,0,0,0,0,0
$GC,2020,-1.14,-146.0,231.3,-9.0,171,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1813,3721,0,0,0,0,0,0
$GC,2264,-1.22,-146.0,253.1,-8.8,177,2269,0.15,2.50,0.00,0.000,4,0.054,0.031,2540,3366,3721,0,0,0,0,0,0
$GC,2331,-1.13,-146.0,261.2,-11.9,178,2337,0.32,2.45,0.00,0.000,6,0.077,0.024,2613,1818,3721,0,0,0,0,0,0
$GC,2597,-1.21,-146.0,283.3,-7.9,185,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1818,3720,0,0,0,0,0,0
$GC,2842,-1.29,-146.0,302.6,-8.1,191,2847,0.15,2.50,0.00,0.000,4,0.054,0.034,2534,3369,3720,0,0,0,0,0,0
$GC,2898,-1.21,-146.0,309.1,-12.0,192,2904,0.28,2.47,0.00,0.000,6,0.081,0.025,2596,1822,3720,0,0,0,0,0,0
$GC,3174,-1.21,-146.0,334.1,-9.0,199,3178,0.00,2.47,0.00,0.000,4,0.000,0.036,2596,3360,3718,0,0,0,0,0,0
$GC,3193,-1.21,-146.0,336.0,-8.9,199,3197,0.00,2.47,0.00,0.000,6,0.000,0.027,2596,1819,3718,0,0,0,0,0,0
$GC,3457,-1.27,-146.0,359.3,-8.9,206,3461,0.00,2.53,0.00,0.000,4,0.000,0.038,2595,3367,3717,0,0,0,0,0,0
$GC,3486,-1.34,-146.0,362.1,-9.1,206,3491,0.12,2.47,0.00,0.000,6,0.063,0.028,2529,1834,3717,0,0,0,0,0,0
$GC,3742,-1.21,-146.0,393.7,-12.7,213,3744,0.30,0.00,0.00,0.000,6,0.085,0.000,2594,1834,3715,0,0,0,0,0,0
$GC,3986,-1.28,-146.0,414.5,-8.3,219,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1834,3713,0,0,0,0,0,0
$GC,4231,-1.34,-146.0,435.0,-8.4,225,4233,0.12,0.00,0.00,0.000,6,0.064,0.000,2527,1834,3712,0,0,0,0,0,0
$GC,4473,-1.22,-146.0,460.9,-10.7,231,4478,0.28,2.53,0.00,0.000,4,0.086,0.045,2590,3357,3710,0,0,0,0,0,0
$GC,4497,-1.22,-146.0,463.2,-7.9,231,4501,0.00,2.45,0.00,0.000,6,0.000,0.029,2590,1831,3710,0,0,0,0,0,0
$GC,4758,-1.28,-146.0,481.2,-6.9,238,4762,0.00,2.53,0.00,0.000,4,0.000,0.048,2591,3352,3708,0,0,0,0,0,0
$GC,4791,-1.38,-146.0,483.8,-7.6,238,4796,0.15,2.42,0.00,0.000,6,0.053,0.031,2523,1843,3708,0,0,0,0,0,0
$STATE,4957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4957,begin apogee
$GC,4963,-0.31,0.0,500.8,10.4,242,5083,1.20,0.00,116.88,0.862,6,0.081,0.000,2789,1675,3120,0,0,0,0,0,0
$STATE,5084,end apogee,CONTROL_FINISHED_OK
$STATE,5084,begin climb
$GC,5088,1.17,146.0,505.0,0.0,245,5221,1.38,2.67,121.18,0.848,4,0.029,0.073,3137,177,2522,0,0,0,0,0,0
$GC,5228,0.85,226.3,506.8,5.7,248,5306,0.45,2.45,68.07,0.830,6,0.106,0.028,3045,1670,2197,0,0,0,0,0,0
$GC,5575,0.77,226.3,475.3,9.6,257,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1670,2187,0,0,0,0,0,0
$GC,5820,0.70,226.3,452.0,9.5,263,5828,0.15,2.72,0.00,0.000,4,0.114,0.057,3014,3259,2185,0,0,0,0,0,0
$GC,5851,0.70,226.3,449.0,9.0,263,5856,0.00,2.60,0.00,0.000,6,0.000,0.035,3014,1688,2184,0,0,0,0,0,0
$GC,6106,0.72,247.1,428.1,8.1,270,6125,0.00,0.00,17.62,0.773,6,0.000,0.000,3014,1688,2112,0,0,0,0,0,0
$GC,6351,0.78,295.0,410.4,7.0,276,6399,0.00,2.70,43.10,0.799,4,0.000,0.068,3013,170,1917,0,0,0,0,0,0
$GC,6443,0.79,300.2,403.1,8.8,278,6455,0.00,2.47,6.45,0.630,6,0.000,0.027,3014,1688,1896,0,0,0,0,0,0
$GC,6730,0.81,320.5,379.8,8.2,285,6755,0.10,2.70,18.77,0.752,4,0.077,0.052,3063,3259,1812,0,0,0,0,0,0
$GC,6769,0.74,320.5,375.5,10.4,285,6775,0.20,2.62,0.00,0.000,6,0.093,0.033,3021,1679,1809,0,0,0,0,0,0
$GC,7020,0.74,320.5,350.7,9.9,292,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1679,1806,0,0,0,0,0,0
$GC,7263,0.80,320.5,327.9,9.3,298,7267,0.00,2.65,0.00,0.000,4,0.000,0.042,3020,3259,1804,0,0,0,0,0,0
$GC,7295,0.90,320.5,324.6,10.4,298,7301,0.15,2.60,0.00,0.000,6,0.058,0.032,3083,1687,1803,0,0,0,0,0,0
$GC,7547,0.80,320.5,292.8,13.2,304,7552,0.22,2.60,0.00,0.000,4,0.094,0.061,3034,172,1802,0,0,0,0,0,0
$GC,7575,0.80,320.5,288.8,12.4,304,7580,0.00,2.45,0.00,0.000,6,0.000,0.025,3034,1699,1802,0,0,0,0,0,0
$GC,7829,0.80,320.5,263.1,10.1,311,7831,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1700,1801,0,0,0,0,0,0
$GC,8073,0.87,320.5,240.6,9.1,317,8078,0.00,2.58,0.00,0.000,4,0.000,0.041,3034,3257,1800,0,0,0,0,0,0
$GC,8122,1.01,335.8,236.6,8.4,318,8143,0.17,2.58,12.60,0.637,6,0.050,0.031,3108,1676,1750,0,0,0,0,0,0
$GC,8408,0.87,335.8,199.7,13.6,325,8413,0.25,2.53,0.00,0.000,4,0.093,0.051,3052,172,1746,0,0,0,0,0,0
$GC,8488,0.87,335.8,189.8,10.8,332,8494,0.00,2.40,0.00,0.000,6,0.000,0.023,3052,1684,1746,0,0,0,0,0,0
$GC,8752,0.87,335.8,164.2,9.1,357,8756,0.00,2.53,0.00,0.000,4,0.000,0.035,3052,3258,1745,0,0,0,0,0,0
$GC,8774,0.89,349.7,162.1,8.4,358,8799,0.00,2.55,12.98,0.577,6,0.000,0.028,3052,1671,1693,0,0,0,0,0,0
$GC,9054,0.93,378.8,140.7,7.8,385,9087,0.00,2.53,27.60,0.585,4,0.000,0.048,3052,175,1574,0,0,0,0,0,0
$GC,9132,1.03,378.8,133.9,9.8,392,9137,0.12,2.35,0.00,0.000,6,0.063,0.021,3120,1679,1574,0,0,0,0,0,0
$GC,9393,0.95,378.8,99.4,12.1,416,9398,0.25,2.55,0.00,0.000,4,0.090,0.035,3065,3258,1572,0,0,0,0,0,0
$GC,9421,1.01,378.8,96.6,10.4,418,9426,0.00,2.53,0.00,0.000,6,0.000,0.026,3065,1681,1569,0,0,0,0,0,0
$GC,9689,1.11,378.8,71.5,10.1,442,9697,0.15,0.00,0.00,0.000,6,0.056,0.000,3145,1681,1569,0,0,0,0,0,0
$GC,9956,0.97,378.8,34.7,14.3,467,9961,0.30,2.47,0.00,0.000,4,0.088,0.042,3075,166,1569,0,0,0,0,0,0
$GC,9988,0.97,378.8,30.5,11.2,469,9992,0.00,2.38,0.00,0.000,6,0.000,0.020,3075,1688,1569,0,0,0,0,0,0
$STATE,10244,end climb,SURFACE_DEPTH_REACHED
$STATE,10244,begin surface coast
$FINISH,0.7,1.023168
$STATE,10291,end surface coast,CONTROL_FINISHED_OK
$STATE,10291,begin surface
$SM_CCo,10311,26.40,0.319,1,0,1406,420.20
$SM_GC,1.36,0.00,0.00,26.40,0.000,0.000,0.319,411,1866,1406,-11.27,2.15,420.20
$IRIDIUM_FIX,2239.35,-15804.53,150300,090951
$TT8_MAMPS,0.027612
$HUMID,46.61
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.6,43.757
$10V_AH,10.3,37.202
$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,30.250,116.175,445.250,26.400,0.000,60.259,69.033,789.183,0.000,0.000,34.508,1050.172,6835.995,509.041,1871.642,1219.130,33.368,1251.066,0.000,1859.342,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,72.865,862.108,319.072,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.808,312.354,397.987,595.753,1053.363,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41569,516
$CAP_FILE_SIZE,122872,0
$CFSIZE,260165632,154214400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201210,123231,2249.358,-15802.991,39,1.4,39,10.1