version: 66.06
glider: 148
mission: 9
dive: 355
start: 12 24 110 14 57 31
data:
$ID,148
$MISSION,9
$DIVE,355
$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,-865568.62
$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,19
$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
$GPS1,144908,2246.980,-15758.251,7,1.6,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.3
$GPS2,145636,2246.926,-15758.260,13,1.6,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.234,0.090
$KALMAN_X,-45763.3,-208.2,-245.8,66186.8,265.1
$KALMAN_Y,-18087.6,174.9,-180.9,142238.6,-958.2
$MHEAD_RNG_PITCHd_Wd,280.9,8096,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.82,0.000,2,0.000,0.000,417,1843,3293,0,0,0,0,0,0
$GC,101,-1.17,-146.0,3.5,-4.4,10,126,11.38,2.35,-7.65,0.000,4,0.149,0.041,2598,3322,3718,0,0,0,0,0,0
$GC,279,-1.08,-146.0,38.5,-13.2,33,284,0.12,2.45,0.00,0.000,6,0.104,0.024,2625,1770,3720,0,0,0,0,0,0
$GC,548,-1.02,-146.0,73.7,-12.9,57,552,0.00,2.47,0.00,0.000,4,0.000,0.029,2625,3325,3720,0,0,0,0,0,0
$GC,621,-1.02,-146.0,83.4,-11.6,63,625,0.00,2.42,0.00,0.000,6,0.000,0.023,2625,1798,3720,0,0,0,0,0,0
$GC,888,-1.02,-146.0,116.0,-11.6,87,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1798,3721,0,0,0,0,0,0
$GC,1148,-1.02,-146.0,142.0,-9.0,112,1152,0.00,2.40,0.00,0.000,4,0.000,0.027,2625,3323,3722,0,0,0,0,0,0
$GC,1209,-1.16,-146.0,146.9,-8.7,117,1213,0.00,2.38,0.00,0.000,6,0.000,0.022,2625,1806,3722,0,0,0,0,0,0
$GC,1471,-1.16,-146.0,171.1,-9.2,141,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1806,3722,0,0,0,0,0,0
$GC,1728,-1.24,-146.0,193.2,-8.1,165,1733,0.15,2.40,0.00,0.000,4,0.054,0.029,2553,3322,3724,0,0,0,0,0,0
$GC,1794,-1.15,-146.0,200.5,-11.8,171,1799,0.25,2.38,0.00,0.000,6,0.084,0.023,2608,1816,3724,0,0,0,0,0,0
$GC,2064,-1.15,-146.0,226.7,-10.0,178,2068,0.00,2.38,0.00,0.000,4,0.000,0.030,2608,3320,3724,0,0,0,0,0,0
$GC,2107,-1.22,-146.0,231.1,-10.0,179,2111,0.00,2.35,0.00,0.000,6,0.000,0.023,2608,1821,3724,0,0,0,0,0,0
$GC,2394,-1.22,-146.0,255.5,-8.0,186,2398,0.00,2.38,0.00,0.000,4,0.000,0.031,2609,3319,3724,0,0,0,0,0,0
$GC,2439,-1.33,-146.0,258.8,-6.8,187,2444,0.15,2.35,0.00,0.000,6,0.054,0.025,2526,1842,3724,0,0,0,0,0,0
$GC,2726,-1.12,-146.0,297.8,-14.5,194,2731,0.40,2.40,0.00,0.000,4,0.083,0.032,2612,3326,3724,0,0,0,0,0,0
$GC,2777,-1.24,-146.0,303.3,-9.4,195,2782,0.10,2.38,0.00,0.000,6,0.074,0.027,2541,1844,3724,0,0,0,0,0,0
$GC,3060,-1.10,-146.0,338.0,-12.0,202,3062,0.35,0.00,0.00,0.000,6,0.081,0.000,2617,1844,3723,0,0,0,0,0,0
$GC,3304,-1.20,-146.0,353.3,-5.7,208,3308,0.00,2.40,0.00,0.000,4,0.000,0.038,2617,3315,3722,0,0,0,0,0,0
$GC,3352,-1.36,-146.0,356.1,-5.5,209,3357,0.22,2.35,0.00,0.000,6,0.037,0.028,2515,1857,3722,0,0,0,0,0,0
$GC,3635,-1.17,-146.0,388.9,-12.5,216,3643,0.38,2.75,0.00,0.000,4,0.084,0.052,2601,219,3720,0,0,0,0,0,0
$GC,3673,-1.31,-146.0,393.0,-9.3,216,3678,0.12,2.53,0.00,0.000,6,0.062,0.026,2529,1799,3720,0,0,0,0,0,0
$GC,3922,-1.17,-146.0,424.1,-12.8,222,3929,0.32,2.58,0.00,0.000,4,0.084,0.043,2602,3373,3719,0,0,0,0,0,0
$GC,3978,-1.31,-146.0,429.6,-8.9,223,3983,0.12,2.45,0.00,0.000,6,0.061,0.030,2537,1863,3719,0,0,0,0,0,0
$GC,4257,-1.20,-146.0,461.2,-11.3,230,4264,0.25,2.83,0.00,0.000,4,0.087,0.064,2596,217,3717,0,0,0,0,0,0
$GC,4278,-1.20,-146.0,463.6,-9.5,230,4282,0.00,2.62,0.00,0.000,6,0.000,0.030,2596,1857,3717,0,0,0,0,0,0
$GC,4544,-1.28,-146.0,483.8,-7.6,237,4548,0.00,2.50,0.00,0.000,4,0.000,0.051,2596,3371,3715,0,0,0,0,0,0
$GC,4572,-1.38,-146.0,486.1,-6.8,237,4577,0.15,2.45,0.00,0.000,6,0.054,0.030,2526,1860,3715,0,0,0,0,0,0
$STATE,4704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4704,begin apogee
$GC,4710,-0.31,0.0,500.3,10.9,241,4832,1.17,0.00,118.40,0.856,6,0.077,0.000,2789,1678,3120,0,0,0,0,0,0
$STATE,4833,end apogee,CONTROL_FINISHED_OK
$STATE,4833,begin climb
$GC,4837,1.17,146.0,505.5,0.0,244,4967,1.35,2.67,121.15,0.841,4,0.025,0.072,3120,187,2523,0,0,0,0,0,0
$GC,5057,0.74,146.0,499.8,10.5,249,5065,0.47,2.42,0.00,0.000,6,0.103,0.028,3021,1675,2518,0,0,0,0,0,0
$GC,5324,0.82,215.4,482.6,6.1,256,5389,0.00,2.67,58.20,0.825,4,0.000,0.061,3021,184,2241,0,0,0,0,0,0
$GC,5469,0.76,223.7,470.9,8.7,259,5482,0.00,2.42,8.32,0.689,6,0.000,0.028,3021,1672,2207,0,0,0,0,0,0
$GC,5741,0.77,233.1,447.5,8.6,266,5758,0.00,2.58,8.95,0.704,4,0.000,0.058,3021,186,2168,0,0,0,0,0,0
$GC,5783,0.71,233.1,443.7,9.4,266,5789,0.00,2.42,0.00,0.000,6,0.000,0.027,3021,1677,2167,0,0,0,0,0,0
$GC,6033,0.73,253.7,422.7,8.1,273,6057,0.00,2.62,19.27,0.769,4,0.000,0.059,3021,185,2084,0,0,0,0,0,0
$GC,6083,0.74,257.3,418.6,8.9,274,6094,0.00,2.38,4.47,0.542,6,0.000,0.026,3021,1663,2070,0,0,0,0,0,0
$GC,6362,0.77,285.6,396.5,7.8,281,6395,0.00,2.78,25.92,0.775,4,0.000,0.052,3021,3241,1954,0,0,0,0,0,0
$GC,6409,0.79,303.0,392.4,8.3,282,6433,0.00,2.62,17.20,0.741,6,0.000,0.035,3021,1668,1883,0,0,0,0,0,0
$GC,6694,0.79,303.0,364.2,10.3,289,6698,0.00,2.60,0.00,0.000,4,0.000,0.064,3021,164,1878,0,0,0,0,0,0
$GC,6745,0.79,303.0,358.2,11.7,290,6749,0.00,2.38,0.00,0.000,6,0.000,0.025,3020,1657,1877,0,0,0,0,0,0
$GC,7024,0.81,315.5,333.1,8.5,297,7040,0.00,2.72,11.40,0.686,4,0.000,0.048,3021,3247,1832,0,0,0,0,0,0
$GC,7074,0.97,339.1,328.8,8.0,298,7103,0.20,2.65,22.02,0.723,6,0.045,0.035,3092,1647,1736,0,0,0,0,0,0
$GC,7358,0.86,339.1,293.1,13.4,305,7360,0.20,0.00,0.00,0.000,6,0.100,0.000,3050,1647,1731,0,0,0,0,0,0
$GC,7598,0.86,339.1,267.4,9.8,311,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1647,1729,0,0,0,0,0,0
$GC,7841,0.86,339.1,243.2,10.5,317,7846,0.00,2.65,0.00,0.000,4,0.000,0.038,3049,3251,1728,0,0,0,0,0,0
$GC,7876,0.93,339.1,239.5,11.5,317,7881,0.00,2.65,0.00,0.000,6,0.000,0.031,3049,1641,1726,0,0,0,0,0,0
$GC,8125,0.93,339.1,213.9,9.9,323,8129,0.00,2.47,0.00,0.000,4,0.000,0.054,3049,172,1726,0,0,0,0,0,0
$GC,8153,0.93,339.1,211.0,10.6,323,8157,0.00,2.33,0.00,0.000,6,0.000,0.021,3049,1664,1726,0,0,0,0,0,0
$GC,8418,0.93,339.1,185.9,9.1,339,8423,0.00,2.58,0.00,0.000,4,0.000,0.034,3049,3254,1725,0,0,0,0,0,0
$GC,8444,0.93,341.4,183.3,8.9,341,8449,0.00,2.60,0.00,0.000,6,0.000,0.028,3049,1653,1724,0,0,0,0,0,0
$GC,8707,0.99,341.4,156.7,10.6,365,8712,0.12,2.47,0.00,0.000,4,0.064,0.048,3110,168,1724,0,0,0,0,0,0
$GC,8778,0.93,341.4,147.5,13.3,371,8783,0.22,2.33,0.00,0.000,6,0.096,0.022,3062,1645,1724,0,0,0,0,0,0
$GC,9042,0.99,341.7,123.6,9.0,395,9047,0.00,2.60,0.00,0.000,4,0.000,0.031,3062,3267,1723,0,0,0,0,0,0
$GC,9073,1.13,369.6,121.3,7.8,397,9106,0.17,2.65,26.45,0.565,6,0.051,0.028,3120,1627,1611,0,0,0,0,0,0
$GC,9374,1.06,369.6,85.8,12.3,425,9379,0.15,2.40,0.00,0.000,4,0.104,0.045,3087,168,1608,0,0,0,0,0,0
$GC,9389,1.06,369.6,83.0,12.4,426,9394,0.00,2.30,0.00,0.000,6,0.000,0.021,3088,1660,1608,0,0,0,0,0,0
$GC,9656,1.06,369.6,56.2,10.3,450,9661,0.00,2.53,0.00,0.000,4,0.000,0.031,3087,3247,1607,0,0,0,0,0,0
$GC,9678,1.06,369.6,53.3,10.3,451,9687,0.00,2.62,0.00,0.000,6,0.000,0.026,3087,1637,1606,0,0,0,0,0,0
$GC,9948,1.06,369.6,26.7,9.6,478,9956,0.00,2.42,0.00,0.000,4,0.000,0.043,3087,168,1606,0,0,0,0,0,0
$GC,9998,1.06,369.6,21.2,10.8,485,10007,0.00,2.30,0.00,0.000,6,0.000,0.019,3087,1640,1606,0,0,0,0,0,0
$STATE,10167,end climb,SURFACE_DEPTH_REACHED
$STATE,10167,begin surface coast
$FINISH,0.7,1.012051
$STATE,10218,end surface coast,CONTROL_FINISHED_OK
$STATE,10218,begin surface
$SM_CCo,10238,26.25,0.061,0,0,1406,420.20
$SM_GC,1.41,0.00,0.00,26.25,0.000,0.000,0.061,412,1844,1406,-11.26,1.53,420.20
$IRIDIUM_FIX,2241.69,-15759.32,190300,121258
$TT8_MAMPS,0.026845
$HUMID,46.10
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,47.555
$10V_AH,10.3,40.950
$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,29.375,135.250,441.775,26.250,0.000,26.084,35.792,243.680,0.250,0.000,31.377,1100.290,6486.535,513.470,2015.292,602.125,33.396,1311.801,0.000,2003.300,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,72.098,855.972,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.310,324.576,409.039,613.484,1085.030,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41506,519
$CAP_FILE_SIZE,119427,0
$CFSIZE,260165632,152289280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241210,174954,2247.296,-15759.745,33,1.0,37,10.1