version: 66.06
glider: 148
mission: 9
dive: 240
start: 12 10 110 14 38 33
data:
$ID,148
$MISSION,9
$DIVE,240
$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,-862995.5
$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,28
$R_STBD_OVSHOOT,89
$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
$GPS1,142656,2247.244,-15759.234,24,99.0,43,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.2
$GPS2,143738,2247.272,-15759.139,11,1.2,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.258,-0.030
$KALMAN_X,-67043.7,-280.7,47.2,85729.3,337.0
$KALMAN_Y,1771.5,-117.3,142.1,122992.7,131.8
$MHEAD_RNG_PITCHd_Wd,253.2,6613,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,105,0.00,0.00,-83.07,0.000,2,0.000,0.000,406,1830,3386,0,0,0,0,0,0
$GC,109,-1.28,-146.0,4.1,-7.7,11,134,11.57,2.62,-5.68,0.000,4,0.160,0.042,2572,194,3717,0,0,0,0,0,0
$GC,251,-1.28,-146.0,36.9,-14.9,29,255,0.00,2.42,0.00,0.000,6,0.000,0.020,2572,1745,3719,0,0,0,0,0,0
$GC,520,-1.08,-146.0,82.2,-17.6,53,525,0.22,2.58,0.00,0.000,4,0.101,0.031,2621,3366,3720,0,0,0,0,0,0
$GC,610,-1.17,-146.0,95.4,-10.6,61,615,0.00,2.50,0.00,0.000,6,0.000,0.022,2621,1791,3720,0,0,0,0,0,0
$GC,878,-1.26,-146.0,120.2,-8.2,85,883,0.15,2.53,0.00,0.000,4,0.054,0.029,2546,3370,3720,0,0,0,0,0,0
$GC,935,-1.15,-146.0,127.4,-13.3,90,940,0.28,2.47,0.00,0.000,6,0.084,0.022,2607,1804,3721,0,0,0,0,0,0
$GC,1196,-1.22,-146.0,151.1,-9.2,114,1200,0.00,2.50,0.00,0.000,4,0.000,0.029,2607,3374,3721,0,0,0,0,0,0
$GC,1234,-1.33,-146.0,154.7,-9.8,117,1239,0.15,2.45,0.00,0.000,6,0.055,0.022,2521,1819,3721,0,0,0,0,0,0
$GC,1495,-1.11,-146.0,195.1,-16.5,141,1497,0.52,0.00,0.00,0.000,6,0.087,0.000,2618,1819,3722,0,0,0,0,0,0
$GC,1741,-1.24,-146.0,218.9,-9.1,150,1746,0.12,2.50,0.00,0.000,4,0.063,0.031,2550,3368,3722,0,0,0,0,0,0
$GC,1789,-1.24,-146.0,224.5,-11.9,151,1795,0.17,2.45,0.00,0.000,6,0.090,0.024,2589,1826,3722,0,0,0,0,0,0
$GC,2073,-1.24,-146.0,253.1,-9.7,158,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1826,3722,0,0,0,0,0,0
$GC,2317,-1.31,-146.0,276.9,-9.9,164,2321,0.00,2.50,0.00,0.000,4,0.000,0.032,2589,3374,3722,0,0,0,0,0,0
$GC,2365,-1.45,-146.0,281.9,-10.1,165,2370,0.20,2.47,0.00,0.000,6,0.043,0.025,2484,1829,3722,0,0,0,0,0,0
$GC,2648,-1.23,-146.0,328.9,-17.0,172,2655,0.47,2.65,0.00,0.000,4,0.087,0.046,2586,213,3721,0,0,0,0,0,0
$GC,2695,-1.37,-146.0,334.8,-11.3,173,2701,0.10,2.55,0.00,0.000,6,0.076,0.024,2527,1825,3721,0,0,0,0,0,0
$GC,2983,-1.28,-146.0,371.5,-12.7,180,2988,0.25,2.50,0.00,0.000,4,0.090,0.038,2584,3366,3720,0,0,0,0,0,0
$GC,3002,-1.28,-146.0,373.8,-10.9,180,3006,0.00,2.47,0.00,0.000,6,0.000,0.028,2584,1826,3720,0,0,0,0,0,0
$GC,3268,-1.38,-146.0,396.3,-8.4,187,3273,0.12,2.55,0.00,0.000,4,0.066,0.041,2523,3365,3718,0,0,0,0,0,0
$GC,3319,-1.38,-146.0,402.4,-12.1,188,3324,0.15,2.47,0.00,0.000,6,0.099,0.029,2557,1834,3718,0,0,0,0,0,0
$GC,3599,-1.38,-146.0,433.8,-11.4,195,3603,0.00,2.75,0.00,0.000,4,0.000,0.061,2558,214,3716,0,0,0,0,0,0
$GC,3627,-1.38,-146.0,437.4,-11.2,195,3631,0.00,2.58,0.00,0.000,6,0.000,0.029,2557,1827,3716,0,0,0,0,0,0
$GC,3881,-1.38,-146.0,462.2,-9.6,202,3886,0.00,2.55,0.00,0.000,4,0.000,0.045,2557,3377,3715,0,0,0,0,0,0
$GC,3921,-1.38,-146.0,466.1,-9.6,202,3926,0.00,2.50,0.00,0.000,6,0.000,0.031,2557,1837,3714,0,0,0,0,0,0
$GC,4170,-1.38,-146.0,488.9,-9.2,209,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1837,3712,0,0,0,0,0,0
$STATE,4290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4290,begin apogee
$GC,4295,-0.31,0.0,500.3,9.3,212,4417,1.05,0.00,117.62,0.867,6,0.077,0.000,2794,1672,3120,0,0,0,0,0,0
$STATE,4417,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4421,1.28,146.0,504.7,0.0,215,4552,1.40,2.78,121.57,0.851,4,0.029,0.049,3151,3264,2523,0,0,0,0,0,0
$GC,4620,0.97,151.5,500.8,9.8,219,4632,0.38,2.65,5.38,0.608,6,0.110,0.037,3075,1691,2501,0,0,0,0,0,0
$GC,4883,0.91,215.2,481.3,7.1,226,4944,0.00,2.78,54.60,0.833,4,0.000,0.074,3075,169,2242,0,0,0,0,0,0
$GC,5000,0.73,215.2,470.7,10.9,228,5005,0.25,2.45,0.00,0.000,6,0.105,0.028,3021,1671,2237,0,0,0,0,0,0
$GC,5255,0.78,261.6,450.6,7.9,235,5301,0.00,2.67,39.97,0.815,4,0.000,0.060,3021,165,2053,0,0,0,0,0,0
$GC,5323,0.79,264.6,444.7,9.9,236,5332,0.00,2.47,4.10,0.515,6,0.000,0.027,3021,1680,2041,0,0,0,0,0,0
$GC,5582,0.86,264.6,417.7,10.3,243,5587,0.10,2.65,0.00,0.000,4,0.077,0.061,3068,164,2035,0,0,0,0,0,0
$GC,5603,0.86,264.6,415.4,11.2,243,5608,0.10,2.42,0.00,0.000,6,0.127,0.026,3049,1664,2035,0,0,0,0,0,0
$GC,5869,0.89,292.3,390.4,8.8,250,5901,0.00,2.75,25.05,0.775,4,0.000,0.050,3049,3256,1926,0,0,0,0,0,0
$GC,5945,0.99,298.8,383.2,9.7,251,5960,0.10,2.65,6.72,0.636,6,0.079,0.034,3098,1668,1902,0,0,0,0,0,0
$GC,6205,0.89,298.8,346.0,15.4,258,6210,0.20,2.60,0.00,0.000,4,0.104,0.064,3055,169,1897,0,0,0,0,0,0
$GC,6256,0.89,298.8,337.8,15.0,259,6261,0.00,2.42,0.00,0.000,6,0.000,0.026,3055,1674,1897,0,0,0,0,0,0
$GC,6535,0.89,298.8,305.6,10.8,266,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1674,1895,0,0,0,0,0,0
$GC,6777,0.91,315.6,283.4,9.3,272,6795,0.00,0.00,15.57,0.691,6,0.000,0.000,3055,1674,1833,0,0,0,0,0,0
$GC,7021,0.91,315.7,259.2,10.0,278,7025,0.00,2.58,0.00,0.000,4,0.000,0.055,3056,163,1829,0,0,0,0,0,0
$GC,7050,0.91,315.7,256.1,10.7,278,7054,0.00,2.40,0.00,0.000,6,0.000,0.024,3055,1679,1829,0,0,0,0,0,0
$GC,7310,0.91,315.7,229.5,10.3,285,7315,0.00,2.60,0.00,0.000,4,0.000,0.040,3055,3258,1827,0,0,0,0,0,0
$GC,7329,0.92,322.6,227.5,9.7,285,7341,0.00,2.60,6.75,0.563,6,0.000,0.029,3055,1668,1803,0,0,0,0,0,0
$GC,7598,0.99,327.8,201.4,9.8,292,7606,0.00,0.00,5.88,0.521,6,0.000,0.000,3055,1668,1782,0,0,0,0,0,0
$GC,7853,1.06,327.8,175.0,10.3,313,7858,0.15,0.00,0.00,0.000,6,0.058,0.000,3124,1668,1780,0,0,0,0,0,0
$GC,8117,0.97,327.8,139.4,13.6,338,8122,0.25,2.47,0.00,0.000,4,0.096,0.046,3066,171,1780,0,0,0,0,0,0
$GC,8136,0.97,327.8,136.9,13.3,339,8140,0.00,2.38,0.00,0.000,6,0.000,0.021,3066,1684,1780,0,0,0,0,0,0
$GC,8404,1.06,331.9,109.9,9.8,363,8411,0.10,0.00,4.82,0.426,6,0.082,0.000,3107,1687,1766,0,0,0,0,0,0
$GC,8664,1.06,331.9,81.5,10.3,388,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1688,1765,0,0,0,0,0,0
$GC,8924,1.07,335.5,55.1,9.9,412,8933,0.00,0.00,4.85,0.393,6,0.000,0.000,3107,1687,1750,0,0,0,0,0,0
$GC,9194,1.10,362.9,27.6,8.8,439,9225,0.00,2.55,25.75,0.492,4,0.000,0.043,3107,161,1638,0,0,0,0,0,0
$GC,9247,1.10,362.9,21.1,13.6,446,9255,0.00,2.40,0.00,0.000,6,0.000,0.021,3107,1670,1639,0,0,0,0,0,0
$STATE,9392,end climb,SURFACE_DEPTH_REACHED
$STATE,9392,begin surface coast
$FINISH,0.6,1.023760
$STATE,9441,end surface coast,CONTROL_FINISHED_OK
$STATE,9441,begin surface
$SM_CCo,9462,47.20,0.392,1,0,1285,450.13
$SM_GC,1.62,0.00,0.00,47.20,0.000,0.000,0.392,408,1849,1285,-11.28,1.67,450.13
$IRIDIUM_FIX,2237.01,-15800.20,050300,141444
$TT8_MAMPS,0.026845
$HUMID,44.29
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.6,33.923
$10V_AH,10.3,28.624
$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,29.550,107.250,438.650,47.200,0.000,51.540,63.997,329.166,0.000,0.000,13.245,986.110,6169.782,516.471,1761.108,726.746,33.367,1226.627,0.000,1771.167,0.000,0.537,0.000
$DEVICE_MAMPS,159.536,74.399,867.477,391.937,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.307,296.034,368.487,562.824,994.229,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38434,476
$CAP_FILE_SIZE,110800,0
$CFSIZE,260165632,158683136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101210,171819,2247.132,-15800.416,12,2.0,31,10.1