version: 66.06
glider: 148
mission: 9
dive: 160
start: 12 1 110 4 55 33
data:
$ID,148
$MISSION,9
$DIVE,160
$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,-861053.5
$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,34
$R_STBD_OVSHOOT,48
$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
$GPS1,042954,2247.101,-15802.718,22,0.8,39,10.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.3
$GPS2,045438,2246.966,-15802.732,12,1.5,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.029,0.258
$KALMAN_X,-67018.1,198.2,152.6,78930.8,-447.3
$KALMAN_Y,11241.7,-63.0,360.8,112681.4,-646.2
$MHEAD_RNG_PITCHd_Wd,356.3,5637,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.22,0.000,2,0.000,0.000,405,1877,3379,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.6,-5.9,11,129,11.62,2.38,-6.18,0.000,4,0.162,0.040,2572,3368,3716,0,0,0,0,0,0
$GC,209,-1.12,-146.0,29.9,-17.4,26,218,0.17,2.53,0.00,0.000,6,0.084,0.021,2614,1784,3718,0,0,0,0,0,0
$GC,476,-1.04,-146.0,69.5,-14.2,51,480,0.00,2.55,0.00,0.000,4,0.000,0.031,2614,3368,3718,0,0,0,0,0,0
$GC,519,-0.97,-146.0,76.1,-14.6,54,525,0.15,2.50,0.00,0.000,6,0.101,0.021,2648,1791,3718,0,0,0,0,0,0
$GC,784,-1.07,-146.0,105.7,-9.5,78,788,0.00,2.50,0.00,0.000,4,0.000,0.029,2648,3368,3718,0,0,0,0,0,0
$GC,812,-1.20,-146.0,108.4,-8.5,80,817,0.20,2.47,0.00,0.000,6,0.042,0.022,2562,1795,3718,0,0,0,0,0,0
$GC,1076,-1.10,-146.0,142.6,-12.8,104,1085,0.28,0.00,0.00,0.000,6,0.091,0.000,2621,1795,3719,0,0,0,0,0,0
$GC,1340,-1.21,-146.0,165.8,-8.4,129,1349,0.10,0.00,0.00,0.000,6,0.077,0.000,2559,1795,3719,0,0,0,0,0,0
$GC,1606,-1.21,-146.0,197.9,-12.4,154,1611,0.17,2.53,0.00,0.000,4,0.098,0.031,2597,3372,3719,0,0,0,0,0,0
$GC,1635,-1.21,-146.0,201.9,-10.8,155,1639,0.00,2.47,0.00,0.000,6,0.000,0.022,2598,1792,3719,0,0,0,0,0,0
$GC,1891,-1.27,-146.0,225.5,-9.1,162,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1792,3719,0,0,0,0,0,0
$GC,2133,-1.35,-146.0,247.0,-9.0,168,2138,0.12,2.53,0.00,0.000,4,0.065,0.031,2531,3367,3719,0,0,0,0,0,0
$GC,2157,-1.27,-146.0,250.1,-13.0,168,2162,0.25,2.47,0.00,0.000,6,0.087,0.022,2586,1790,3718,0,0,0,0,0,0
$GC,2419,-1.33,-146.0,278.0,-10.9,175,2423,0.00,2.53,0.00,0.000,4,0.000,0.034,2586,3361,3719,0,0,0,0,0,0
$GC,2479,-1.44,-146.0,284.4,-10.1,176,2484,0.17,2.45,0.00,0.000,6,0.050,0.024,2503,1807,3718,0,0,0,0,0,0
$GC,2750,-1.28,-146.0,320.0,-12.8,183,2757,0.32,2.60,0.00,0.000,4,0.089,0.044,2578,214,3718,0,0,0,0,0,0
$GC,2780,-1.36,-146.0,323.9,-10.5,183,2785,0.00,2.50,0.00,0.000,6,0.000,0.023,2577,1813,3718,0,0,0,0,0,0
$GC,3036,-1.42,-146.0,347.5,-9.6,190,3041,0.12,2.53,0.00,0.000,4,0.066,0.039,2521,3365,3716,0,0,0,0,0,0
$GC,3075,-1.42,-146.0,352.5,-12.4,190,3081,0.15,2.47,0.00,0.000,6,0.104,0.027,2553,1810,3716,0,0,0,0,0,0
$GC,3324,-1.42,-146.0,380.5,-11.0,197,3328,0.00,2.65,0.00,0.000,4,0.000,0.054,2553,214,3715,0,0,0,0,0,0
$GC,3342,-1.42,-146.0,382.7,-11.5,197,3347,0.00,2.53,0.00,0.000,6,0.000,0.026,2553,1816,3714,0,0,0,0,0,0
$GC,3607,-1.42,-146.0,410.5,-10.4,204,3612,0.00,2.53,0.00,0.000,4,0.000,0.044,2553,3363,3713,0,0,0,0,0,0
$GC,3650,-1.42,-146.0,415.2,-10.4,205,3654,0.00,2.47,0.00,0.000,6,0.000,0.030,2553,1820,3712,0,0,0,0,0,0
$GC,3937,-1.42,-146.0,442.9,-9.2,212,3941,0.00,2.55,0.00,0.000,4,0.000,0.049,2553,3361,3709,0,0,0,0,0,0
$GC,3962,-1.42,-146.0,445.1,-9.2,212,3966,0.00,2.47,0.00,0.000,6,0.000,0.030,2553,1826,3709,0,0,0,0,0,0
$GC,4221,-1.42,-146.0,465.9,-8.1,219,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1826,3707,0,0,0,0,0,0
$GC,4464,-1.42,-146.0,486.6,-8.5,225,4469,0.00,2.60,0.00,0.000,4,0.000,0.053,2553,3365,3706,0,0,0,0,0,0
$GC,4494,-1.42,-146.0,489.4,-9.2,225,4498,0.00,2.50,0.00,0.000,6,0.000,0.031,2553,1830,3706,0,0,0,0,0,0
$STATE,4624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4624,begin apogee
$GC,4630,-0.31,0.0,501.2,9.0,229,4749,1.05,0.00,115.97,0.871,6,0.078,0.000,2789,1662,3120,0,0,0,0,0,0
$STATE,4750,end apogee,CONTROL_FINISHED_OK
$STATE,4750,begin climb
$GC,4752,1.28,146.0,505.5,0.0,232,4884,1.42,2.75,120.72,0.854,4,0.030,0.050,3147,3254,2522,0,0,0,0,0,0
$GC,5002,0.99,154.1,496.7,9.7,237,5018,0.35,2.60,7.32,0.683,6,0.112,0.038,3077,1697,2490,0,0,0,0,0,0
$GC,5260,0.90,194.4,475.8,8.2,244,5303,0.10,2.75,34.88,0.825,4,0.138,0.074,3057,167,2326,0,0,0,0,0,0
$GC,5377,0.75,194.4,464.9,10.1,246,5382,0.17,2.42,0.00,0.000,6,0.115,0.028,3022,1671,2323,0,0,0,0,0,0
$GC,5637,0.81,249.6,445.0,7.5,253,5690,0.00,2.65,47.28,0.827,4,0.000,0.059,3022,166,2101,0,0,0,0,0,0
$GC,5760,0.85,279.8,434.5,8.6,255,5793,0.10,2.42,27.15,0.797,6,0.080,0.028,3068,1670,1979,0,0,0,0,0,0
$GC,6058,0.85,279.8,402.5,10.8,263,6063,0.12,2.67,0.00,0.000,4,0.114,0.051,3044,3256,1970,0,0,0,0,0,0
$GC,6098,0.93,283.7,398.4,9.9,263,6104,0.00,2.65,0.00,0.000,6,0.000,0.035,3043,1667,1967,0,0,0,0,0,0
$GC,6348,0.93,283.7,373.1,10.2,270,6352,0.00,2.67,0.00,0.000,4,0.000,0.043,3043,3258,1966,0,0,0,0,0,0
$GC,6371,0.93,283.7,370.5,10.2,270,6375,0.00,2.60,0.00,0.000,6,0.000,0.034,3044,1677,1965,0,0,0,0,0,0
$GC,6631,0.93,288.8,344.7,9.8,277,6644,0.00,2.62,7.07,0.647,4,0.000,0.064,3043,171,1942,0,0,0,0,0,0
$GC,6713,0.93,288.8,335.5,11.2,278,6718,0.00,2.40,0.00,0.000,6,0.000,0.025,3044,1677,1941,0,0,0,0,0,0
$GC,6965,0.94,291.9,311.0,9.9,284,6974,0.00,2.65,4.03,0.497,4,0.000,0.047,3043,3258,1930,0,0,0,0,0,0
$GC,6999,1.04,304.9,307.5,9.4,284,7020,0.17,2.62,13.90,0.706,6,0.051,0.034,3114,1662,1875,0,0,0,0,0,0
$GC,7301,0.92,304.9,268.6,13.3,292,7303,0.25,0.00,0.00,0.000,6,0.099,0.000,3061,1662,1870,0,0,0,0,0,0
$GC,7541,0.92,304.9,241.8,10.9,298,7546,0.00,2.50,0.00,0.000,4,0.000,0.057,3060,172,1869,0,0,0,0,0,0
$GC,7569,0.92,304.9,238.5,11.9,298,7573,0.00,2.38,0.00,0.000,6,0.000,0.022,3061,1681,1868,0,0,0,0,0,0
$GC,7827,0.92,304.9,208.7,11.5,305,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1684,1867,0,0,0,0,0,0
$GC,8080,0.92,304.9,181.4,10.7,323,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1684,1866,0,0,0,0,0,0
$GC,8334,0.92,309.6,155.3,9.8,347,8338,0.00,2.50,0.00,0.000,4,0.000,0.048,3060,168,1866,0,0,0,0,0,0
$GC,8362,0.92,309.6,152.6,11.5,349,8367,0.00,2.35,0.00,0.000,6,0.000,0.022,3061,1675,1866,0,0,0,0,0,0
$GC,8629,1.00,309.6,124.7,10.2,374,8634,0.00,2.50,0.00,0.000,4,0.000,0.045,3060,166,1866,0,0,0,0,0,0
$GC,8710,1.07,309.6,115.8,12.8,381,8715,0.12,2.33,0.00,0.000,6,0.066,0.021,3126,1668,1866,0,0,0,0,0,0
$GC,8975,1.07,309.6,83.1,10.7,405,8980,0.17,2.58,0.00,0.000,4,0.101,0.035,3090,3259,1866,0,0,0,0,0,0
$GC,8995,1.08,322.0,80.7,9.5,406,9015,0.00,2.60,14.60,0.526,6,0.000,0.027,3089,1655,1805,0,0,0,0,0,0
$GC,9279,1.10,337.4,54.8,9.3,433,9299,0.00,0.00,14.23,0.499,6,0.000,0.000,3089,1655,1742,0,0,0,0,0,0
$GC,9564,1.17,337.4,25.4,10.8,462,9573,0.10,0.00,0.00,0.000,6,0.078,0.000,3150,1655,1741,0,0,0,0,0,0
$STATE,9723,end climb,SURFACE_DEPTH_REACHED
$STATE,9723,begin surface coast
$FINISH,0.7,1.023557
$STATE,9763,end surface coast,CONTROL_FINISHED_OK
$STATE,9763,begin surface
$SM_CCo,9785,53.05,0.061,0,0,1285,450.13
$SM_GC,1.67,0.00,0.00,53.05,0.000,0.000,0.061,415,1850,1285,-11.25,1.70,450.13
$IRIDIUM_FIX,2237.01,-15805.41,250200,040407
$TT8_MAMPS,0.026845
$HUMID,43.06
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,24.183
$10V_AH,10.4,20.343
$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,29.025,116.975,407.150,53.050,0.000,135.335,264.174,697.927,0.250,0.000,13.708,1017.063,6587.566,486.782,1847.616,1386.506,33.372,1251.676,0.000,1850.371,0.000,0.539,0.000
$DEVICE_MAMPS,161.837,74.399,870.545,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.504,301.376,381.277,573.009,1011.460,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38314,493
$CAP_FILE_SIZE,124092,0
$CFSIZE,260165632,163024896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011210,074019,2248.009,-15802.607,8,1.8,8,10.1