version: 66.06
glider: 148
mission: 9
dive: 267
start: 12 13 110 16 33 57
data:
$ID,148
$MISSION,9
$DIVE,267
$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,-863596.25
$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,50
$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
$GPS1,162401,2247.340,-15757.641,40,1.7,40,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.0
$GPS2,163302,2247.341,-15757.522,10,1.7,10,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,0.018
$KALMAN_X,-58556.0,-100.0,47.3,79838.2,495.3
$KALMAN_Y,1259.8,7.5,205.2,123441.9,-314.4
$MHEAD_RNG_PITCHd_Wd,263.8,9374,-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,-83.10,0.000,2,0.000,0.000,415,1844,3357,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.6,-5.4,11,131,11.35,2.67,-6.75,0.000,4,0.152,0.046,2574,197,3717,0,0,0,0,0,0
$GC,252,-1.28,-146.0,33.5,-12.7,32,261,0.00,2.50,0.00,0.000,6,0.000,0.021,2574,1776,3719,0,0,0,0,0,0
$GC,519,-1.09,-146.0,76.3,-16.7,57,524,0.22,2.55,0.00,0.000,4,0.104,0.030,2621,3376,3719,0,0,0,0,0,0
$GC,559,-1.09,-146.0,83.6,-14.6,60,563,0.00,2.50,0.00,0.000,6,0.000,0.021,2622,1786,3720,0,0,0,0,0,0
$GC,821,-1.09,-146.0,117.3,-10.9,84,825,0.00,2.53,0.00,0.000,4,0.000,0.029,2622,3373,3720,0,0,0,0,0,0
$GC,889,-1.20,-146.0,123.7,-9.3,90,894,0.10,2.50,0.00,0.000,6,0.074,0.022,2556,1796,3721,0,0,0,0,0,0
$GC,1152,-1.11,-146.0,156.0,-11.9,114,1154,0.30,0.00,0.00,0.000,6,0.086,0.000,2619,1795,3721,0,0,0,0,0,0
$GC,1408,-1.23,-146.0,179.2,-9.6,138,1413,0.12,2.53,0.00,0.000,4,0.063,0.028,2550,3370,3723,0,0,0,0,0,0
$GC,1487,-1.23,-146.0,190.1,-14.2,145,1493,0.17,2.47,0.00,0.000,6,0.094,0.022,2589,1806,3723,0,0,0,0,0,0
$GC,1770,-1.23,-146.0,223.0,-11.1,158,1775,0.00,2.50,0.00,0.000,4,0.000,0.030,2589,3368,3723,0,0,0,0,0,0
$GC,1808,-1.30,-146.0,226.8,-9.3,158,1813,0.00,2.47,0.00,0.000,6,0.000,0.022,2589,1808,3723,0,0,0,0,0,0
$GC,2059,-1.30,-146.0,250.8,-9.8,165,2063,0.00,2.50,0.00,0.000,4,0.000,0.031,2589,3368,3723,0,0,0,0,0,0
$GC,2129,-1.41,-146.0,258.2,-9.7,166,2134,0.15,2.42,0.00,0.000,6,0.055,0.023,2504,1823,3723,0,0,0,0,0,0
$GC,2389,-1.21,-146.0,296.5,-15.0,173,2391,0.43,0.00,0.00,0.000,6,0.085,0.000,2593,1823,3723,0,0,0,0,0,0
$GC,2634,-1.32,-146.0,319.2,-8.7,179,2639,0.00,2.50,0.00,0.000,4,0.000,0.035,2593,3366,3723,0,0,0,0,0,0
$GC,2678,-1.46,-146.0,323.2,-8.7,180,2683,0.22,2.45,0.00,0.000,6,0.038,0.026,2485,1823,3723,0,0,0,0,0,0
$GC,2967,-1.24,-146.0,367.2,-15.5,187,2975,0.50,2.67,0.00,0.000,4,0.085,0.049,2586,214,3721,0,0,0,0,0,0
$GC,2994,-1.32,-146.0,370.8,-10.6,187,2998,0.00,2.55,0.00,0.000,6,0.000,0.025,2587,1819,3721,0,0,0,0,0,0
$GC,3254,-1.43,-146.0,392.4,-8.5,194,3259,0.17,2.55,0.00,0.000,4,0.050,0.041,2515,3373,3720,0,0,0,0,0,0
$GC,3312,-1.36,-146.0,398.8,-12.0,195,3317,0.22,2.50,0.00,0.000,6,0.087,0.028,2565,1826,3720,0,0,0,0,0,0
$GC,3585,-1.36,-146.0,426.2,-10.0,202,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1826,3718,0,0,0,0,0,0
$GC,3829,-1.36,-146.0,451.1,-10.1,208,3833,0.00,2.58,0.00,0.000,4,0.000,0.047,2565,3367,3717,0,0,0,0,0,0
$GC,3874,-1.45,-146.0,455.3,-9.7,209,3878,0.00,2.50,0.00,0.000,6,0.000,0.031,2565,1832,3717,0,0,0,0,0,0
$GC,4161,-1.52,-146.0,482.4,-9.1,216,4163,0.15,0.00,0.00,0.000,6,0.056,0.000,2501,1832,3714,0,0,0,0,0,0
$STATE,4320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4321,begin apogee
$GC,4328,-0.31,0.0,501.0,11.5,220,4449,1.30,0.00,117.72,0.867,6,0.080,0.000,2791,1667,3120,0,0,0,0,0,0
$STATE,4450,end apogee,CONTROL_FINISHED_OK
$STATE,4450,begin climb
$GC,4452,1.28,146.0,505.6,0.0,223,4581,1.42,0.00,121.22,0.849,6,0.027,0.000,3143,1667,2524,0,0,0,0,0,0
$GC,4819,0.95,146.0,483.9,10.3,232,4826,0.32,2.60,0.00,0.000,4,0.111,0.071,3074,183,2516,0,0,0,0,0,0
$GC,4831,0.66,146.0,482.7,10.1,232,4836,0.32,2.40,0.00,0.000,6,0.102,0.028,3006,1670,2515,0,0,0,0,0,0
$GC,5107,0.79,245.4,466.9,5.4,239,5200,0.10,2.65,83.57,0.838,4,0.077,0.060,3057,192,2117,0,0,0,0,0,0
$GC,5287,0.70,245.4,450.8,10.2,243,5292,0.20,2.42,0.00,0.000,6,0.100,0.028,3016,1675,2113,0,0,0,0,0,0
$GC,5576,0.85,295.1,428.3,7.7,250,5625,0.12,2.65,43.05,0.810,4,0.064,0.060,3075,181,1915,0,0,0,0,0,0
$GC,5664,0.77,295.1,417.7,14.4,252,5669,0.22,2.42,0.00,0.000,6,0.101,0.028,3028,1666,1914,0,0,0,0,0,0
$GC,5952,0.85,301.8,388.3,9.7,259,5964,0.00,2.75,6.10,0.621,4,0.000,0.047,3028,3259,1888,0,0,0,0,0,0
$GC,5980,0.95,316.3,385.7,9.4,259,6002,0.17,2.65,14.77,0.740,6,0.049,0.034,3095,1678,1829,0,0,0,0,0,0
$GC,6289,0.87,316.3,345.5,13.2,267,6291,0.22,0.00,0.00,0.000,6,0.107,0.000,3048,1678,1823,0,0,0,0,0,0
$GC,6532,0.87,316.3,320.0,10.1,273,6537,0.00,2.60,0.00,0.000,4,0.000,0.064,3048,170,1821,0,0,0,0,0,0
$GC,6571,0.87,316.3,315.8,11.5,273,6577,0.00,2.42,0.00,0.000,6,0.000,0.025,3048,1686,1820,0,0,0,0,0,0
$GC,6823,0.93,316.3,288.1,11.4,280,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1689,1819,0,0,0,0,0,0
$GC,7064,1.00,316.3,261.4,10.6,286,7070,0.12,2.58,0.00,0.000,4,0.066,0.041,3105,3250,1818,0,0,0,0,0,0
$GC,7081,1.00,316.3,259.5,10.7,286,7086,0.12,2.58,0.00,0.000,6,0.112,0.031,3079,1667,1817,0,0,0,0,0,0
$GC,7349,1.00,316.3,227.7,11.8,293,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1667,1817,0,0,0,0,0,0
$GC,7593,1.00,316.3,200.2,11.2,299,7597,0.00,2.53,0.00,0.000,4,0.000,0.054,3079,162,1815,0,0,0,0,0,0
$GC,7614,1.00,316.3,197.7,12.1,299,7619,0.00,2.38,0.00,0.000,6,0.000,0.022,3079,1681,1815,0,0,0,0,0,0
$GC,7880,1.00,316.3,167.7,11.2,323,7884,0.00,2.53,0.00,0.000,4,0.000,0.033,3079,3255,1815,0,0,0,0,0,0
$GC,7907,1.00,316.3,164.9,11.2,325,7911,0.00,2.58,0.00,0.000,6,0.000,0.028,3079,1662,1814,0,0,0,0,0,0
$GC,8174,1.00,316.3,136.4,10.1,349,8178,0.00,2.45,0.00,0.000,4,0.000,0.047,3079,164,1814,0,0,0,0,0,0
$GC,8284,1.00,316.3,124.2,10.3,359,8288,0.00,2.35,0.00,0.000,6,0.000,0.021,3079,1667,1813,0,0,0,0,0,0
$GC,8552,1.12,336.9,98.5,9.1,383,8574,0.10,2.55,16.55,0.538,4,0.076,0.030,3145,3253,1744,0,0,0,0,0,0
$GC,8625,1.12,336.9,89.6,11.9,390,8631,0.20,2.58,0.00,0.000,6,0.096,0.027,3102,1655,1741,0,0,0,0,0,0
$GC,8894,1.12,336.9,61.5,11.3,414,8898,0.00,2.42,0.00,0.000,4,0.000,0.044,3102,164,1741,0,0,0,0,0,0
$GC,8923,1.12,336.9,57.3,12.6,416,8927,0.00,2.33,0.00,0.000,6,0.000,0.020,3102,1671,1741,0,0,0,0,0,0
$GC,9195,1.12,336.9,26.6,11.8,442,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1673,1741,0,0,0,0,0,0
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9396,begin surface coast
$FINISH,0.6,1.023527
$STATE,9442,end surface coast,CONTROL_FINISHED_OK
$STATE,9442,begin surface
$SM_CCo,9464,59.88,0.410,1,0,1283,450.13
$SM_GC,1.51,0.00,0.00,59.88,0.000,0.000,0.410,412,1867,1283,-11.27,2.18,450.13
$IRIDIUM_FIX,2241.69,-15759.32,080300,161656
$TT8_MAMPS,0.027612
$HUMID,44.60
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,36.937
$10V_AH,10.3,31.332
$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,29.950,106.250,403.000,59.875,0.000,52.466,74.148,217.546,0.250,0.000,12.460,990.307,6153.513,506.445,1809.598,613.926,33.369,1218.068,0.000,1810.815,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,70.564,866.710,409.578,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.780,289.572,371.235,567.883,1002.760,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,38493,481
$CAP_FILE_SIZE,108463,0
$CFSIZE,260165632,157245440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131210,191406,2247.360,-15758.852,34,1.0,40,10.1