version: 66.06
glider: 148
mission: 9
dive: 264
start: 12 13 110 8 4 14
data:
$ID,148
$MISSION,9
$DIVE,264
$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,-863551.62
$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,31
$R_STBD_OVSHOOT,52
$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
$GPS1,075706,2249.892,-15758.560,24,1.2,24,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-66.1
$GPS2,080319,2249.888,-15758.559,8,1.3,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,-0.026
$KALMAN_X,-59716.7,75.1,104.4,78984.5,-141.0
$KALMAN_Y,1830.7,-328.5,-437.8,128568.0,441.9
$MHEAD_RNG_PITCHd_Wd,85.5,2669,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.85,0.000,2,0.000,0.000,409,1863,3371,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.0,-6.7,11,132,11.75,2.70,-5.97,0.000,4,0.166,0.049,2575,197,3717,0,0,0,0,0,0
$GC,240,-1.28,-146.0,34.9,-12.7,29,249,0.00,2.50,0.00,0.000,6,0.000,0.020,2575,1782,3720,0,0,0,0,0,0
$GC,503,-1.10,-146.0,82.4,-17.7,54,509,0.20,2.53,0.00,0.000,4,0.103,0.030,2617,3371,3720,0,0,0,0,0,0
$GC,546,-1.10,-146.0,89.6,-13.5,57,552,0.00,2.47,0.00,0.000,6,0.000,0.021,2617,1786,3720,0,0,0,0,0,0
$GC,810,-1.18,-146.0,120.4,-9.1,82,815,0.00,2.53,0.00,0.000,4,0.000,0.029,2617,3374,3720,0,0,0,0,0,0
$GC,901,-1.31,-146.0,128.9,-8.0,90,910,0.15,2.50,0.00,0.000,6,0.021,0.022,2505,1812,3721,0,0,0,0,0,0
$GC,1168,-1.07,-146.0,169.5,-17.4,115,1177,0.52,2.58,0.00,0.000,4,0.085,0.035,2625,214,3722,0,0,0,0,0,0
$GC,1203,-1.26,-146.0,175.4,-11.5,118,1209,0.15,2.50,0.00,0.000,6,0.053,0.019,2539,1820,3722,0,0,0,0,0,0
$GC,1463,-1.13,-146.0,213.3,-15.2,137,1468,0.30,2.45,0.00,0.000,4,0.086,0.029,2609,3367,3723,0,0,0,0,0,0
$GC,1520,-1.31,-146.0,219.5,-8.9,138,1525,0.15,2.45,0.00,0.000,6,0.053,0.023,2521,1809,3723,0,0,0,0,0,0
$GC,1793,-1.12,-146.0,259.8,-14.9,145,1800,0.47,2.47,0.00,0.000,4,0.084,0.030,2613,3361,3723,0,0,0,0,0,0
$GC,1828,-1.22,-146.0,263.4,-8.7,145,1832,0.00,2.42,0.00,0.000,6,0.000,0.023,2613,1816,3723,0,0,0,0,0,0
$GC,2082,-1.37,-146.0,284.3,-8.2,152,2087,0.22,2.47,0.00,0.000,4,0.041,0.031,2519,3364,3723,0,0,0,0,0,0
$GC,2128,-1.30,-146.0,289.4,-11.8,153,2133,0.25,2.42,0.00,0.000,6,0.086,0.025,2575,1824,3723,0,0,0,0,0,0
$GC,2415,-1.30,-146.0,317.2,-9.5,160,2419,0.00,2.47,0.00,0.000,4,0.000,0.035,2575,3358,3723,0,0,0,0,0,0
$GC,2434,-1.30,-146.0,319.2,-9.9,160,2438,0.00,2.42,0.00,0.000,6,0.000,0.025,2575,1823,3724,0,0,0,0,0,0
$GC,2699,-1.30,-146.0,342.5,-8.6,167,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1823,3723,0,0,0,0,0,0
$GC,2942,-1.37,-146.0,362.4,-8.3,173,2946,0.00,2.50,0.00,0.000,4,0.000,0.038,2575,3355,3721,0,0,0,0,0,0
$GC,2985,-1.48,-146.0,366.2,-8.6,174,2990,0.15,2.42,0.00,0.000,6,0.055,0.028,2495,1834,3721,0,0,0,0,0,0
$GC,3274,-1.32,-146.0,405.9,-14.2,181,3282,0.32,2.72,0.00,0.000,4,0.090,0.055,2567,208,3720,0,0,0,0,0,0
$GC,3305,-1.39,-146.0,410.2,-11.5,181,3310,0.00,2.55,0.00,0.000,6,0.000,0.027,2567,1815,3719,0,0,0,0,0,0
$GC,3562,-1.45,-146.0,435.8,-9.9,188,3567,0.10,2.55,0.00,0.000,4,0.079,0.043,2518,3372,3718,0,0,0,0,0,0
$GC,3595,-1.39,-146.0,439.9,-11.6,188,3601,0.17,2.50,0.00,0.000,6,0.093,0.030,2557,1831,3718,0,0,0,0,0,0
$GC,3845,-1.39,-146.0,463.8,-9.4,194,3850,0.00,2.75,0.00,0.000,4,0.000,0.064,2557,211,3716,0,0,0,0,0,0
$GC,3866,-1.39,-146.0,465.7,-9.7,194,3870,0.00,2.60,0.00,0.000,6,0.000,0.029,2557,1825,3716,0,0,0,0,0,0
$GC,4130,-1.39,-146.0,488.9,-8.7,201,4134,0.00,2.55,0.00,0.000,4,0.000,0.048,2557,3376,3714,0,0,0,0,0,0
$GC,4187,-1.47,-146.0,494.0,-8.7,202,4192,0.00,2.50,0.00,0.000,6,0.000,0.034,2557,1834,3714,0,0,0,0,0,0
$STATE,4295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4295,begin apogee
$GC,4301,-0.31,0.0,503.3,8.3,205,4423,1.05,0.00,118.28,0.867,6,0.078,0.000,2792,1666,3120,0,0,0,0,0,0
$STATE,4424,end apogee,CONTROL_FINISHED_OK
$STATE,4424,begin climb
$GC,4426,1.28,146.0,507.2,0.0,208,4560,1.42,2.65,121.68,0.851,4,0.024,0.072,3155,181,2523,0,0,0,0,0,0
$GC,4603,0.79,146.0,504.0,11.1,212,4610,0.60,2.45,0.00,0.000,6,0.109,0.029,3033,1679,2518,0,0,0,0,0,0
$GC,4876,0.87,211.0,484.2,7.0,219,4937,0.00,2.67,54.72,0.832,4,0.000,0.061,3032,188,2258,0,0,0,0,0,0
$GC,4978,0.87,211.0,475.5,10.1,221,4982,0.00,2.42,0.00,0.000,6,0.000,0.028,3033,1680,2255,0,0,0,0,0,0
$GC,5248,0.92,255.2,453.5,8.0,228,5293,0.12,2.67,38.72,0.815,4,0.067,0.060,3088,187,2078,0,0,0,0,0,0
$GC,5312,0.74,255.2,446.5,12.3,229,5318,0.30,2.40,0.00,0.000,6,0.097,0.027,3024,1670,2077,0,0,0,0,0,0
$GC,5573,0.82,270.6,422.0,9.3,236,5593,0.00,2.65,13.98,0.753,4,0.000,0.058,3024,182,2015,0,0,0,0,0,0
$GC,5614,0.82,270.8,418.0,10.0,236,5619,0.00,2.40,0.00,0.000,6,0.000,0.026,3024,1667,2015,0,0,0,0,0,0
$GC,5864,0.91,283.1,394.1,9.5,243,5880,0.15,0.00,12.10,0.729,6,0.056,0.000,3090,1669,1964,0,0,0,0,0,0
$GC,6155,0.82,283.1,356.9,12.9,250,6157,0.25,0.00,0.00,0.000,6,0.100,0.000,3037,1669,1960,0,0,0,0,0,0
$GC,6397,0.82,283.5,332.1,10.0,256,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1670,1958,0,0,0,0,0,0
$GC,6641,0.89,283.6,308.0,10.0,262,6645,0.00,2.65,0.00,0.000,4,0.000,0.044,3037,3257,1956,0,0,0,0,0,0
$GC,6657,0.97,293.2,306.6,9.6,262,6674,0.15,2.60,9.20,0.662,6,0.058,0.031,3105,1674,1924,0,0,0,0,0,0
$GC,6930,0.87,293.2,270.7,13.4,269,6935,0.25,2.60,0.00,0.000,4,0.100,0.061,3049,164,1921,0,0,0,0,0,0
$GC,6975,0.87,293.2,265.7,10.2,270,6980,0.00,2.38,0.00,0.000,6,0.000,0.024,3049,1673,1921,0,0,0,0,0,0
$GC,7264,1.00,342.4,243.3,7.8,277,7315,0.12,2.70,43.72,0.697,4,0.066,0.044,3112,3240,1723,0,0,0,0,0,0
$GC,7340,0.94,342.4,234.9,12.4,278,7348,0.22,2.65,0.00,0.000,6,0.097,0.031,3065,1645,1719,0,0,0,0,0,0
$GC,7597,0.94,342.4,208.6,10.2,285,7602,0.00,2.65,0.00,0.000,4,0.000,0.035,3065,3249,1716,0,0,0,0,0,0
$GC,7641,1.04,342.4,204.2,10.4,286,7645,0.00,2.60,0.00,0.000,6,0.000,0.030,3064,1662,1714,0,0,0,0,0,0
$GC,7906,1.04,342.4,175.8,11.1,308,7908,0.10,0.00,0.00,0.000,6,0.079,0.000,3124,1662,1713,0,0,0,0,0,0
$GC,8162,0.94,342.4,137.9,14.9,332,8167,0.25,2.45,0.00,0.000,4,0.095,0.044,3067,171,1713,0,0,0,0,0,0
$GC,8194,0.94,342.4,133.3,13.9,334,8202,0.00,2.38,0.00,0.000,6,0.000,0.021,3067,1667,1713,0,0,0,0,0,0
$GC,8460,1.07,342.4,105.3,10.1,359,8465,0.10,2.47,0.00,0.000,4,0.077,0.045,3126,162,1712,0,0,0,0,0,0
$GC,8480,1.07,342.4,102.3,11.3,360,8489,0.12,2.40,0.00,0.000,6,0.081,0.021,3094,1678,1712,0,0,0,0,0,0
$GC,8746,1.07,342.4,72.0,10.9,385,8751,0.00,2.53,0.00,0.000,4,0.000,0.031,3095,3254,1712,0,0,0,0,0,0
$GC,8776,1.14,342.4,68.2,11.9,387,8781,0.00,2.53,0.00,0.000,6,0.000,0.026,3094,1669,1712,0,0,0,0,0,0
$GC,9045,1.15,352.8,38.9,9.6,411,9059,0.00,2.53,9.10,0.454,4,0.000,0.041,3094,165,1680,0,0,0,0,0,0
$GC,9096,1.15,352.8,33.0,11.6,415,9100,0.00,2.38,0.00,0.000,6,0.000,0.021,3094,1680,1680,0,0,0,0,0,0
$STATE,9367,end climb,SURFACE_DEPTH_REACHED
$STATE,9367,begin surface coast
$FINISH,0.8,1.019874
$STATE,9406,end surface coast,CONTROL_FINISHED_OK
$STATE,9406,begin surface
$SM_CCo,9426,52.88,0.402,1,0,1284,450.13
$SM_GC,1.58,0.00,0.00,52.88,0.000,0.000,0.402,408,1826,1284,-11.28,1.02,450.13
$IRIDIUM_FIX,2241.69,-15757.16,080300,050544
$TT8_MAMPS,0.026845
$HUMID,44.56
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,36.585
$10V_AH,10.3,31.032
$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,30.975,126.750,421.500,52.875,0.000,27.670,32.342,173.538,0.500,0.000,14.634,984.014,6065.366,534.695,1765.296,511.932,33.369,1272.343,0.000,1765.065,0.000,0.539,0.000
$DEVICE_MAMPS,165.672,72.098,867.477,401.908,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.908,280.005,349.027,534.929,946.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,35066,461
$CAP_FILE_SIZE,111100,0
$CFSIZE,260165632,157405184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131210,104336,2249.550,-15757.036,36,0.9,36,10.1