version: 66.06
glider: 148
mission: 9
dive: 211
start: 12 7 110 7 18 51
data:
$ID,148
$MISSION,9
$DIVE,211
$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,166
$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,450
$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,-862410.44
$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,51
$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
$GPS1,071206,2246.806,-15800.891,11,0.9,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.7
$GPS2,071755,2246.834,-15800.843,11,1.3,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.254,-0.054
$KALMAN_X,-78018.7,-403.4,-85.9,94024.1,490.1
$KALMAN_Y,7596.0,-414.6,100.9,116691.7,711.9
$MHEAD_RNG_PITCHd_Wd,247.8,3696,-17.6,-10.040
$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,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.45,0.000,2,0.000,0.000,411,1847,3344,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.6,-5.7,11,132,11.35,2.67,-6.75,0.000,4,0.153,0.045,2574,197,3717,0,0,0,0,0,0
$GC,221,-1.28,-146.0,30.5,-14.0,28,230,0.00,2.50,0.00,0.000,6,0.000,0.020,2574,1780,3719,0,0,0,0,0,0
$GC,488,-1.07,-146.0,76.4,-18.2,53,494,0.25,2.53,0.00,0.000,4,0.098,0.028,2631,3371,3720,0,0,0,0,0,0
$GC,541,-1.07,-146.0,85.0,-13.3,57,545,0.00,2.53,0.00,0.000,6,0.000,0.022,2631,1780,3720,0,0,0,0,0,0
$GC,806,-1.07,-146.0,117.0,-12.1,81,811,0.00,2.53,0.00,0.000,4,0.000,0.028,2631,3373,3720,0,0,0,0,0,0
$GC,837,-1.15,-146.0,120.9,-11.1,83,843,0.00,2.47,0.00,0.000,6,0.000,0.021,2631,1799,3721,0,0,0,0,0,0
$GC,1100,-1.27,-146.0,146.8,-9.4,108,1105,0.20,2.53,0.00,0.000,4,0.045,0.027,2541,3381,3722,0,0,0,0,0,0
$GC,1138,-1.20,-146.0,151.4,-13.1,111,1143,0.25,2.50,0.00,0.000,6,0.084,0.023,2597,1802,3722,0,0,0,0,0,0
$GC,1399,-1.20,-146.0,177.8,-11.0,135,1403,0.00,2.50,0.00,0.000,4,0.000,0.029,2597,3371,3723,0,0,0,0,0,0
$GC,1422,-1.20,-146.0,180.2,-11.3,136,1427,0.00,2.47,0.00,0.000,6,0.000,0.022,2597,1806,3723,0,0,0,0,0,0
$GC,1690,-1.20,-146.0,208.7,-9.8,156,1694,0.00,2.47,0.00,0.000,4,0.000,0.029,2597,3371,3723,0,0,0,0,0,0
$GC,1722,-1.28,-146.0,211.9,-9.4,156,1727,0.00,2.45,0.00,0.000,6,0.000,0.023,2597,1822,3723,0,0,0,0,0,0
$GC,1974,-1.34,-146.0,235.7,-9.4,162,1979,0.12,2.47,0.00,0.000,4,0.064,0.030,2538,3371,3723,0,0,0,0,0,0
$GC,1993,-1.34,-146.0,238.2,-10.6,162,1998,0.12,2.45,0.00,0.000,6,0.107,0.025,2566,1825,3723,0,0,0,0,0,0
$GC,2257,-1.34,-146.0,268.4,-11.5,169,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1825,3723,0,0,0,0,0,0
$GC,2503,-1.34,-146.0,294.2,-10.2,175,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1824,3723,0,0,0,0,0,0
$GC,2745,-1.34,-146.0,318.1,-9.9,181,2749,0.00,2.50,0.00,0.000,4,0.000,0.035,2566,3368,3723,0,0,0,0,0,0
$GC,2824,-1.34,-146.0,325.8,-9.3,182,2828,0.00,2.47,0.00,0.000,6,0.000,0.026,2566,1824,3723,0,0,0,0,0,0
$GC,3079,-1.34,-146.0,351.9,-10.5,189,3084,0.00,2.50,0.00,0.000,4,0.000,0.038,2566,3367,3722,0,0,0,0,0,0
$GC,3113,-1.34,-146.0,355.9,-10.7,189,3118,0.00,2.47,0.00,0.000,6,0.000,0.028,2566,1830,3722,0,0,0,0,0,0
$GC,3363,-1.34,-146.0,380.1,-9.4,195,3367,0.00,2.72,0.00,0.000,4,0.000,0.055,2566,203,3720,0,0,0,0,0,0
$GC,3388,-1.34,-146.0,382.3,-10.0,195,3393,0.00,2.58,0.00,0.000,6,0.000,0.025,2566,1832,3720,0,0,0,0,0,0
$GC,3647,-1.34,-146.0,405.7,-9.1,202,3652,0.00,2.50,0.00,0.000,4,0.000,0.041,2566,3367,3719,0,0,0,0,0,0
$GC,3671,-1.34,-146.0,408.1,-10.0,202,3675,0.00,2.47,0.00,0.000,6,0.000,0.029,2566,1834,3718,0,0,0,0,0,0
$GC,3931,-1.34,-146.0,431.5,-9.0,209,3935,0.00,2.53,0.00,0.000,4,0.000,0.045,2566,3367,3717,0,0,0,0,0,0
$GC,3964,-1.40,-146.0,434.7,-9.1,209,3968,0.00,2.47,0.00,0.000,6,0.000,0.029,2567,1836,3717,0,0,0,0,0,0
$GC,4214,-1.40,-146.0,455.5,-8.3,215,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1836,3714,0,0,0,0,0,0
$GC,4459,-1.40,-146.0,475.8,-8.3,221,4463,0.00,2.55,0.00,0.000,4,0.000,0.050,2566,3363,3713,0,0,0,0,0,0
$GC,4482,-1.40,-146.0,478.0,-8.9,221,4487,0.00,2.47,0.00,0.000,6,0.000,0.029,2567,1833,3713,0,0,0,0,0,0
$GC,4741,-1.40,-146.0,499.7,-8.5,228,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1833,3711,0,0,0,0,0,0
$STATE,4779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4787,-0.31,0.0,503.2,8.7,229,4907,1.00,0.00,116.82,0.883,6,0.077,0.000,2793,1665,3120,0,0,0,0,0,0
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4910,1.28,146.0,508.3,0.0,232,5043,1.42,2.75,121.47,0.863,4,0.025,0.049,3146,3254,2522,0,0,0,0,0,0
$GC,5105,0.96,146.0,504.8,10.1,236,5114,0.38,2.62,0.00,0.000,6,0.109,0.036,3070,1695,2518,0,0,0,0,0,0
$GC,5358,0.89,193.6,484.2,7.8,243,5404,0.00,2.75,39.90,0.834,4,0.000,0.072,3069,163,2329,0,0,0,0,0,0
$GC,5520,0.70,193.6,466.7,12.0,246,5525,0.28,2.42,0.00,0.000,6,0.100,0.027,3012,1658,2324,0,0,0,0,0,0
$GC,5775,0.76,240.2,446.1,7.9,253,5821,0.00,2.65,39.90,0.825,4,0.000,0.060,3012,164,2140,0,0,0,0,0,0
$GC,5852,0.76,240.2,439.5,10.9,254,5856,0.00,2.45,0.00,0.000,6,0.000,0.026,3012,1666,2137,0,0,0,0,0,0
$GC,6102,0.86,255.1,415.6,9.3,260,6118,0.15,0.00,13.38,0.759,6,0.058,0.000,3073,1667,2079,0,0,0,0,0,0
$GC,6345,0.79,255.1,386.2,12.3,266,6350,0.20,2.60,0.00,0.000,4,0.164,0.058,3031,170,2074,0,0,0,0,0,0
$GC,6371,0.79,255.1,383.4,10.9,266,6375,0.00,2.40,0.00,0.000,6,0.000,0.025,3031,1665,2074,0,0,0,0,0,0
$GC,6634,0.82,278.7,358.9,8.9,273,6662,0.00,2.60,21.15,0.766,4,0.000,0.057,3031,167,1981,0,0,0,0,0,0
$GC,6755,0.82,278.7,346.5,10.9,275,6759,0.00,2.38,0.00,0.000,6,0.000,0.025,3031,1645,1979,0,0,0,0,0,0
$GC,7011,0.90,293.9,322.6,9.3,282,7033,0.10,2.78,14.30,0.725,4,0.079,0.047,3081,3250,1920,0,0,0,0,0,0
$GC,7053,0.90,293.9,317.7,12.3,282,7059,0.12,2.67,0.00,0.000,6,0.110,0.034,3055,1644,1917,0,0,0,0,0,0
$GC,7302,0.90,293.9,289.0,11.2,289,7307,0.00,2.67,0.00,0.000,4,0.000,0.041,3055,3256,1915,0,0,0,0,0,0
$GC,7325,0.90,293.9,286.3,10.4,289,7330,0.00,2.65,0.00,0.000,6,0.000,0.032,3055,1651,1914,0,0,0,0,0,0
$GC,7586,0.90,293.9,259.5,10.1,296,7590,0.00,2.53,0.00,0.000,4,0.000,0.059,3055,167,1913,0,0,0,0,0,0
$GC,7605,0.90,293.9,257.3,10.9,296,7609,0.00,2.35,0.00,0.000,6,0.000,0.022,3055,1656,1913,0,0,0,0,0,0
$GC,7868,0.90,293.9,229.0,10.8,303,7872,0.00,2.62,0.00,0.000,4,0.000,0.039,3055,3250,1912,0,0,0,0,0,0
$GC,7886,0.90,293.9,226.9,10.4,303,7891,0.00,2.60,0.00,0.000,6,0.000,0.031,3055,1647,1911,0,0,0,0,0,0
$GC,8151,0.90,293.9,199.4,10.3,310,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1646,1911,0,0,0,0,0,0
$GC,8408,0.90,293.9,173.7,10.4,334,8413,0.00,2.62,0.00,0.000,4,0.000,0.034,3055,3257,1911,0,0,0,0,0,0
$GC,8435,0.99,301.1,170.9,9.7,336,8448,0.00,2.62,6.12,0.522,6,0.000,0.030,3055,1641,1892,0,0,0,0,0,0
$GC,8703,1.06,312.5,144.5,9.5,361,8723,0.15,0.00,11.60,0.574,6,0.058,0.000,3141,1641,1846,0,0,0,0,0,0
$GC,8977,0.93,312.5,105.6,12.6,387,8982,0.35,2.42,0.00,0.000,4,0.097,0.044,3062,175,1843,0,0,0,0,0,0
$GC,8996,0.93,312.5,102.9,11.7,388,9005,0.00,2.35,0.00,0.000,6,0.000,0.021,3062,1657,1842,0,0,0,0,0,0
$GC,9264,1.12,353.6,82.2,8.1,413,9308,0.17,2.50,36.15,0.558,4,0.050,0.051,3137,174,1677,0,0,0,0,0,0
$GC,9324,1.03,353.6,75.6,12.3,418,9329,0.25,2.33,0.00,0.000,6,0.096,0.021,3084,1646,1676,0,0,0,0,0,0
$GC,9593,1.09,353.6,47.7,10.5,442,9598,0.00,2.60,0.00,0.000,4,0.000,0.032,3083,3255,1673,0,0,0,0,0,0
$GC,9636,1.23,353.6,41.8,10.7,445,9646,0.15,2.60,0.00,0.000,6,0.026,0.026,3164,1656,1671,0,0,0,0,0,0
$STATE,9903,end climb,SURFACE_DEPTH_REACHED
$STATE,9904,begin surface coast
$FINISH,0.7,1.010959
$STATE,9936,end surface coast,CONTROL_FINISHED_OK
$STATE,9936,begin surface
$SM_CCo,9956,52.28,0.407,1,0,1284,450.13
$SM_GC,1.51,0.00,0.00,52.28,0.000,0.000,0.407,408,1866,1284,-11.28,2.15,450.13
$IRIDIUM_FIX,2237.01,-15800.20,020300,040426
$TT8_MAMPS,0.026845
$HUMID,44.52
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.20
$XPDR_PINGS,4
$24V_AH,23.6,30.658
$10V_AH,10.3,25.693
$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,28.100,132.325,420.800,52.275,0.000,22.485,33.454,157.077,1.000,0.000,16.899,1008.494,6571.618,537.207,1743.528,504.248,33.368,1266.451,0.000,1757.807,0.000,0.537,0.000
$DEVICE_MAMPS,164.138,72.098,882.817,406.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.775,298.539,375.440,538.827,953.890,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,38300,486
$CAP_FILE_SIZE,110140,0
$CFSIZE,260165632,160247808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,100700,2246.963,-15802.147,35,1.2,35,10.1