version: 66.06
glider: 148
mission: 9
dive: 212
start: 12 7 110 10 13 33
data:
$ID,148
$MISSION,9
$DIVE,212
$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,-862424.5
$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
$GPS1,100700,2246.963,-15802.147,35,1.2,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.0
$GPS2,101238,2246.947,-15802.137,11,1.2,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.193,0.017
$KALMAN_X,-77840.3,-462.2,101.3,91492.9,435.0
$KALMAN_Y,7782.7,-308.0,560.2,116149.5,-75.3
$MHEAD_RNG_PITCHd_Wd,265.1,1477,-24.4,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.62,-78.3,0.0,0.0,0,105,0.00,0.00,-83.22,0.000,2,0.000,0.000,408,1866,3347,0,0,0,0,0,0
$GC,108,-1.70,-137.2,3.5,-5.0,11,133,11.12,2.70,-6.35,0.000,4,0.161,0.044,2483,201,3683,0,0,0,0,0,0
$GC,305,-1.61,-137.2,54.5,-23.5,34,310,0.12,2.47,0.00,0.000,6,0.133,0.021,2507,1789,3685,0,0,0,0,0,0
$GC,568,-1.61,-137.2,108.1,-19.4,58,573,0.00,2.53,0.00,0.000,4,0.000,0.031,2506,3368,3686,0,0,0,0,0,0
$GC,590,-1.61,-137.2,112.9,-18.2,59,595,0.00,2.50,0.00,0.000,6,0.000,0.020,2506,1775,3686,0,0,0,0,0,0
$GC,853,-1.61,-137.2,156.6,-17.5,84,858,0.00,2.53,0.00,0.000,4,0.000,0.037,2506,207,3688,0,0,0,0,0,0
$GC,873,-1.61,-137.2,161.0,-18.3,85,879,0.00,2.45,0.00,0.000,6,0.000,0.020,2506,1799,3688,0,0,0,0,0,0
$GC,1165,-1.61,-137.2,208.2,-16.5,110,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1799,3689,0,0,0,0,0,0
$GC,1410,-1.68,-137.2,248.4,-16.6,116,1414,0.00,2.50,0.00,0.000,4,0.000,0.031,2507,3366,3689,0,0,0,0,0,0
$GC,1433,-1.76,-137.2,252.5,-15.8,116,1438,0.12,2.47,0.00,0.000,6,0.065,0.023,2449,1792,3689,0,0,0,0,0,0
$GC,1693,-1.69,-137.2,295.0,-16.2,123,1698,0.20,2.58,0.00,0.000,4,0.108,0.039,2490,208,3689,0,0,0,0,0,0
$GC,1718,-1.69,-137.2,298.9,-15.4,123,1723,0.00,2.45,0.00,0.000,6,0.000,0.021,2490,1784,3689,0,0,0,0,0,0
$GC,1978,-1.77,-137.2,333.4,-13.2,130,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1784,3689,0,0,0,0,0,0
$GC,2221,-1.87,-137.2,366.1,-13.6,136,2226,0.15,2.65,0.00,0.000,4,0.061,0.052,2436,217,3689,0,0,0,0,0,0
$GC,2242,-1.87,-137.2,369.4,-15.8,136,2247,0.00,2.50,0.00,0.000,6,0.000,0.025,2436,1789,3689,0,0,0,0,0,0
$GC,2506,-1.87,-137.2,411.8,-15.7,143,2510,0.00,2.65,0.00,0.000,4,0.000,0.054,2436,212,3688,0,0,0,0,0,0
$GC,2575,-1.87,-137.2,423.8,-16.7,144,2579,0.00,2.53,0.00,0.000,6,0.000,0.031,2436,1770,3688,0,0,0,0,0,0
$GC,2835,-1.87,-137.2,465.2,-16.1,151,2840,0.00,2.65,0.00,0.000,4,0.000,0.059,2436,219,3686,0,0,0,0,0,0
$GC,2878,-1.87,-137.2,472.7,-16.7,152,2882,0.00,2.53,0.00,0.000,6,0.000,0.037,2436,1772,3686,0,0,0,0,0,0
$STATE,3081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3081,begin apogee
$GC,3087,-0.31,0.0,505.0,15.6,157,3204,1.60,0.00,112.00,0.868,6,0.087,0.000,2788,1665,3120,0,0,0,0,0,0
$STATE,3204,end apogee,CONTROL_FINISHED_OK
$STATE,3205,begin climb
$GC,3208,1.70,137.2,509.9,0.0,160,3333,1.83,2.65,113.18,0.852,4,0.026,0.066,3236,197,2558,0,0,0,0,0,0
$GC,3597,1.28,137.2,474.4,13.6,168,3604,0.47,2.42,0.00,0.000,6,0.126,0.028,3143,1684,2550,0,0,0,0,0,0
$GC,3848,1.30,155.6,451.9,8.5,175,3869,0.00,2.62,14.90,0.773,4,0.000,0.058,3142,193,2484,0,0,0,0,0,0
$GC,4111,1.16,155.6,425.2,10.4,180,4116,0.15,2.42,0.00,0.000,6,0.132,0.027,3115,1684,2480,0,0,0,0,0,0
$GC,4366,1.20,189.8,406.2,7.1,187,4403,0.00,2.65,29.50,0.800,4,0.000,0.057,3115,194,2345,0,0,0,0,0,0
$GC,4462,1.20,189.8,397.0,11.3,189,4467,0.00,2.40,0.00,0.000,6,0.000,0.027,3115,1674,2342,0,0,0,0,0,0
$GC,4742,1.27,190.1,369.0,10.0,196,4747,0.10,2.58,0.00,0.000,4,0.083,0.057,3156,182,2338,0,0,0,0,0,0
$GC,5012,1.14,190.1,333.2,13.0,201,5019,0.22,2.35,0.00,0.000,6,0.124,0.025,3111,1660,2336,0,0,0,0,0,0
$GC,5263,1.26,209.3,311.3,8.4,208,5287,0.10,2.55,16.23,0.724,4,0.082,0.053,3152,190,2265,0,0,0,0,0,0
$GC,5357,1.16,209.3,300.1,12.7,210,5362,0.20,2.35,0.00,0.000,6,0.120,0.025,3113,1654,2263,0,0,0,0,0,0
$GC,5640,1.27,209.3,270.3,10.4,217,5645,0.10,2.67,0.00,0.000,4,0.081,0.049,3154,3251,2260,0,0,0,0,0,0
$GC,5657,1.34,209.3,268.5,10.5,217,5661,0.00,2.58,0.00,0.000,6,0.000,0.032,3153,1673,2259,0,0,0,0,0,0
$GC,5925,1.34,209.3,237.5,11.7,224,5929,0.00,2.55,0.00,0.000,4,0.000,0.060,3154,170,2258,0,0,0,0,0,0
$GC,6177,1.26,209.3,208.6,11.3,229,6182,0.00,2.33,0.00,0.000,6,0.000,0.022,3153,1646,2257,0,0,0,0,0,0
$GC,6441,1.27,210.5,182.2,9.9,247,6446,0.00,2.47,0.00,0.000,4,0.000,0.054,3153,167,2256,0,0,0,0,0,0
$GC,6471,1.20,210.5,178.7,11.1,249,6479,0.12,2.35,0.00,0.000,6,0.103,0.023,3125,1640,2256,0,0,0,0,0,0
$GC,6739,1.31,220.2,153.6,9.2,274,6757,0.00,2.47,9.12,0.560,4,0.000,0.046,3125,170,2221,0,0,0,0,0,0
$GC,6783,1.31,220.2,148.2,11.4,278,6792,0.00,2.35,0.00,0.000,6,0.000,0.022,3124,1639,2220,0,0,0,0,0,0
$GC,7049,1.45,229.0,121.2,9.3,303,7070,0.20,2.45,8.98,0.530,4,0.050,0.044,3202,168,2184,0,0,0,0,0,0
$GC,7243,1.31,229.0,93.6,12.9,321,7249,0.28,2.30,0.00,0.000,6,0.120,0.021,3148,1628,2182,0,0,0,0,0,0
$GC,7511,1.49,257.8,69.6,7.6,346,7541,0.15,0.00,25.23,0.540,6,0.058,0.000,3214,1631,2068,0,0,0,0,0,0
$GC,7795,1.49,257.8,35.8,13.3,373,7800,0.15,2.45,0.00,0.000,4,0.116,0.044,3183,159,2065,0,0,0,0,0,0
$GC,7850,1.49,257.8,28.7,13.9,377,7859,0.00,2.33,0.00,0.000,6,0.000,0.020,3183,1640,2065,0,0,0,0,0,0
$STATE,8066,end climb,SURFACE_DEPTH_REACHED
$STATE,8066,begin surface coast
$FINISH,0.7,1.012143
$STATE,8111,end surface coast,CONTROL_FINISHED_OK
$STATE,8111,begin surface
$SM_CCo,8133,95.90,0.442,1,0,1285,450.13
$SM_GC,1.65,0.00,0.00,95.90,0.000,0.000,0.442,412,1831,1285,-11.27,1.16,450.13
$IRIDIUM_FIX,2241.69,-15804.53,020300,070752
$TT8_MAMPS,0.028379
$HUMID,44.36
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.6,30.756
$10V_AH,10.4,25.787
$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,28.700,95.325,329.125,95.900,0.000,29.954,32.254,144.840,0.250,0.000,13.411,907.940,4912.602,484.762,1817.132,451.655,33.358,1213.335,0.000,1812.690,0.000,0.537,0.000
$DEVICE_MAMPS,161.070,72.865,868.244,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,282.607,258.025,328.558,504.194,891.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,32067,418
$CAP_FILE_SIZE,96060,0
$CFSIZE,260165632,160215040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,123158,2247.077,-15803.108,11,99.0,30,10.1