version: 66.06
glider: 148
mission: 9
dive: 344
start: 12 23 110 6 30 4
data:
$ID,148
$MISSION,9
$DIVE,344
$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,-865331.25
$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,36
$R_STBD_OVSHOOT,92
$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
$GPS1,062107,2247.371,-15801.552,38,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.9
$GPS2,062908,2247.333,-15801.566,9,1.4,9,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.221,-0.045
$KALMAN_X,-46968.9,-4.9,-235.8,61487.4,-16.0
$KALMAN_Y,-9752.8,-198.7,-32.1,134879.5,-114.9
$MHEAD_RNG_PITCHd_Wd,248.4,2525,-18.1,-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,19,-1.27,-115.8,0.0,0.0,0,96,0.00,0.00,-75.28,0.000,2,0.000,0.000,412,1837,3276,0,0,0,0,0,0
$GC,99,-1.31,-146.0,3.4,-3.7,10,124,11.23,2.38,-8.30,0.000,4,0.149,0.041,2566,3322,3718,0,0,0,0,0,0
$GC,243,-1.11,-146.0,35.7,-17.5,29,249,0.22,2.45,0.00,0.000,6,0.096,0.022,2615,1781,3719,0,0,0,0,0,0
$GC,510,-1.11,-146.0,74.9,-15.2,53,514,0.00,2.47,0.00,0.000,4,0.000,0.029,2615,3323,3719,0,0,0,0,0,0
$GC,570,-1.11,-146.0,84.5,-13.3,58,575,0.00,2.42,0.00,0.000,6,0.000,0.022,2615,1796,3720,0,0,0,0,0,0
$GC,833,-1.11,-146.0,117.7,-11.4,82,837,0.00,2.42,0.00,0.000,4,0.000,0.028,2615,3328,3720,0,0,0,0,0,0
$GC,871,-1.21,-146.0,121.2,-9.4,85,875,0.00,2.40,0.00,0.000,6,0.000,0.028,2615,1803,3720,0,0,0,0,0,0
$GC,1139,-1.30,-146.0,146.9,-9.1,109,1144,0.17,2.45,0.00,0.000,4,0.049,0.029,2537,3327,3722,0,0,0,0,0,0
$GC,1208,-1.21,-146.0,156.0,-13.9,115,1213,0.25,2.40,0.00,0.000,6,0.087,0.023,2592,1812,3721,0,0,0,0,0,0
$GC,1472,-1.21,-146.0,185.2,-11.0,139,1476,0.00,2.38,0.00,0.000,4,0.000,0.029,2592,3321,3722,0,0,0,0,0,0
$GC,1516,-1.29,-146.0,190.5,-10.3,143,1521,0.00,2.38,0.00,0.000,6,0.000,0.022,2592,1815,3722,0,0,0,0,0,0
$GC,1771,-1.29,-146.0,216.9,-10.3,155,1775,0.00,2.40,0.00,0.000,4,0.000,0.029,2592,3329,3722,0,0,0,0,0,0
$GC,1789,-1.29,-146.0,219.3,-11.3,155,1794,0.00,2.35,0.00,0.000,6,0.000,0.022,2592,1826,3722,0,0,0,0,0,0
$GC,2057,-1.29,-146.0,246.6,-10.1,162,2062,0.00,2.40,0.00,0.000,4,0.000,0.030,2592,3325,3722,0,0,0,0,0,0
$GC,2120,-1.43,-146.0,252.1,-8.3,163,2125,0.17,2.35,0.00,0.000,6,0.048,0.024,2493,1846,3722,0,0,0,0,0,0
$GC,2389,-1.18,-146.0,296.3,-17.3,170,2396,0.50,2.62,0.00,0.000,4,0.087,0.039,2597,217,3722,0,0,0,0,0,0
$GC,2420,-1.28,-146.0,300.6,-11.2,170,2424,0.00,2.45,0.00,0.000,6,0.000,0.021,2597,1801,3722,0,0,0,0,0,0
$GC,2676,-1.40,-146.0,320.7,-7.5,177,2681,0.17,2.50,0.00,0.000,4,0.049,0.035,2516,3361,3722,0,0,0,0,0,0
$GC,2710,-1.30,-146.0,324.4,-10.8,177,2715,0.28,2.42,0.00,0.000,6,0.085,0.025,2577,1843,3722,0,0,0,0,0,0
$GC,2962,-1.37,-146.0,349.1,-10.2,183,2966,0.00,2.47,0.00,0.000,4,0.000,0.039,2577,3358,3721,0,0,0,0,0,0
$GC,2985,-1.43,-146.0,352.1,-11.1,183,2990,0.12,2.42,0.00,0.000,6,0.064,0.027,2500,1849,3721,0,0,0,0,0,0
$GC,3245,-1.27,-146.0,387.4,-13.6,190,3247,0.40,0.00,0.00,0.000,6,0.085,0.000,2583,1850,3720,0,0,0,0,0,0
$GC,3491,-1.38,-146.0,408.5,-8.4,196,3496,0.10,2.53,0.00,0.000,4,0.077,0.045,2533,3359,3718,0,0,0,0,0,0
$GC,3524,-1.38,-146.0,412.3,-10.9,196,3529,0.12,2.42,0.00,0.000,6,0.103,0.028,2561,1858,3718,0,0,0,0,0,0
$GC,3773,-1.38,-146.0,437.1,-10.0,202,3778,0.00,2.78,0.00,0.000,4,0.000,0.061,2560,222,3717,0,0,0,0,0,0
$GC,3812,-1.48,-146.0,441.0,-10.1,202,3818,0.00,2.62,0.00,0.000,6,0.000,0.030,2561,1845,3717,0,0,0,0,0,0
$GC,4062,-1.48,-146.0,464.7,-9.5,209,4066,0.00,2.47,0.00,0.000,4,0.000,0.050,2561,3353,3714,0,0,0,0,0,0
$GC,4090,-1.54,-146.0,467.3,-9.6,209,4094,0.15,2.40,0.00,0.000,6,0.054,0.029,2470,1865,3714,0,0,0,0,0,0
$STATE,4342,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4350,-0.31,0.0,502.8,14.3,216,4472,1.50,0.00,117.70,0.858,6,0.085,0.000,2791,1682,3120,0,0,0,0,0,0
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4475,1.31,146.0,506.3,0.0,219,4603,1.42,0.00,120.62,0.840,6,0.022,0.000,3165,1682,2524,0,0,0,0,0,0
$GC,4841,0.97,146.0,482.6,10.4,228,4849,0.43,2.60,0.00,0.000,4,0.104,0.067,3074,185,2517,0,0,0,0,0,0
$GC,5032,0.77,159.4,466.1,8.3,232,5049,0.22,2.40,10.90,0.732,6,0.107,0.028,3027,1663,2470,0,0,0,0,0,0
$GC,5319,0.82,197.0,446.0,7.0,239,5357,0.00,0.00,33.40,0.805,6,0.000,0.000,3026,1663,2315,0,0,0,0,0,0
$GC,5603,0.90,212.4,422.8,8.2,246,5624,0.12,2.62,13.57,0.746,4,0.067,0.057,3081,183,2253,0,0,0,0,0,0
$GC,5672,0.73,212.4,415.4,11.1,247,5677,0.30,2.42,0.00,0.000,6,0.098,0.026,3018,1685,2252,0,0,0,0,0,0
$GC,5937,0.86,234.2,394.1,7.9,254,5963,0.12,2.65,19.58,0.760,4,0.066,0.058,3073,178,2164,0,0,0,0,0,0
$GC,6003,0.75,234.2,387.1,12.8,255,6008,0.22,2.42,0.00,0.000,6,0.098,0.027,3025,1674,2163,0,0,0,0,0,0
$GC,6268,0.86,242.6,363.6,8.6,262,6279,0.00,0.00,8.68,0.673,6,0.000,0.000,3025,1674,2130,0,0,0,0,0,0
$GC,6514,0.97,249.5,342.6,8.6,268,6524,0.20,0.00,7.35,0.639,6,0.045,0.000,3116,1674,2102,0,0,0,0,0,0
$GC,6755,0.84,249.5,313.3,12.1,274,6762,0.32,2.58,0.00,0.000,4,0.094,0.054,3042,175,2098,0,0,0,0,0,0
$GC,6810,0.84,249.5,307.5,10.4,275,6815,0.00,2.40,0.00,0.000,6,0.000,0.025,3042,1667,2098,0,0,0,0,0,0
$GC,7088,0.92,249.5,281.1,10.1,282,7092,0.00,2.53,0.00,0.000,4,0.000,0.054,3042,182,2096,0,0,0,0,0,0
$GC,7111,0.92,249.5,278.4,10.9,282,7115,0.00,2.38,0.00,0.000,6,0.000,0.025,3042,1670,2096,0,0,0,0,0,0
$GC,7374,1.06,279.7,257.0,7.4,289,7405,0.20,0.00,26.65,0.692,6,0.047,0.000,3123,1674,1978,0,0,0,0,0,0
$GC,7661,0.95,279.7,223.3,12.2,296,7668,0.25,2.65,0.00,0.000,4,0.098,0.044,3067,3252,1972,0,0,0,0,0,0
$GC,7682,0.95,279.7,220.6,10.4,296,7687,0.00,2.60,0.00,0.000,6,0.000,0.029,3067,1671,1971,0,0,0,0,0,0
$GC,7939,1.02,279.7,196.1,10.1,305,7943,0.00,2.53,0.00,0.000,4,0.000,0.052,3067,170,1971,0,0,0,0,0,0
$GC,7996,1.02,279.7,190.2,10.0,310,8000,0.00,2.35,0.00,0.000,6,0.000,0.023,3067,1663,1970,0,0,0,0,0,0
$GC,8264,1.09,279.7,164.7,10.2,334,8269,0.12,2.58,0.00,0.000,4,0.066,0.033,3131,3248,1970,0,0,0,0,0,0
$GC,8302,1.01,279.7,159.9,12.6,337,8311,0.22,2.60,0.00,0.000,6,0.097,0.028,3081,1650,1968,0,0,0,0,0,0
$GC,8565,1.01,279.7,133.6,9.6,362,8570,0.00,2.42,0.00,0.000,4,0.000,0.047,3081,168,1968,0,0,0,0,0,0
$GC,8611,1.01,279.7,128.9,11.0,366,8615,0.00,2.35,0.00,0.000,6,0.000,0.022,3081,1666,1968,0,0,0,0,0,0
$GC,8876,1.13,323.3,106.8,6.7,390,8920,0.10,2.58,37.85,0.565,4,0.077,0.045,3152,171,1801,0,0,0,0,0,0
$GC,8970,1.00,323.3,96.8,11.8,399,8975,0.35,2.35,0.00,0.000,6,0.093,0.021,3078,1660,1800,0,0,0,0,0,0
$GC,9239,1.15,341.5,77.2,8.1,423,9265,0.12,2.53,16.45,0.509,4,0.063,0.043,3154,177,1725,0,0,0,0,0,0
$GC,9271,1.09,341.5,72.9,11.8,425,9280,0.25,2.35,0.00,0.000,6,0.081,0.021,3097,1650,1725,0,0,0,0,0,0
$GC,9540,1.17,341.5,47.2,9.9,450,9544,0.00,2.58,0.00,0.000,4,0.000,0.031,3097,3253,1722,0,0,0,0,0,0
$GC,9582,1.31,341.5,42.3,9.7,453,9592,0.15,2.60,0.00,0.000,6,0.020,0.026,3168,1661,1720,0,0,0,0,0,0
$STATE,9875,end climb,SURFACE_DEPTH_REACHED
$STATE,9875,begin surface coast
$FINISH,0.7,1.011718
$STATE,9914,end surface coast,CONTROL_FINISHED_OK
$STATE,9914,begin surface
$SM_CCo,9934,38.05,0.061,0,0,1407,420.20
$SM_GC,1.80,0.00,0.00,38.05,0.000,0.000,0.061,414,1872,1407,-11.25,2.35,420.20
$IRIDIUM_FIX,2237.01,-15802.37,180300,030318
$TT8_MAMPS,0.026845
$HUMID,46.69
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,46.333
$10V_AH,10.3,39.749
$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,31.800,124.275,412.750,38.050,0.000,31.196,35.608,271.454,0.250,0.000,11.330,1048.672,6402.717,507.249,1857.749,637.950,33.371,1244.396,0.000,1866.552,0.000,0.538,0.000
$DEVICE_MAMPS,148.798,66.729,857.506,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.216,303.626,388.259,580.546,1026.655,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38403,499
$CAP_FILE_SIZE,115011,0
$CFSIZE,260165632,152911872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231210,091725,2247.333,-15803.074,11,1.8,28,10.1