version: 66.06
glider: 148
mission: 9
dive: 187
start: 12 4 110 12 36 33
data:
$ID,148
$MISSION,9
$DIVE,187
$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,-861874.25
$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,34
$R_STBD_OVSHOOT,67
$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
$GPS1,122446,2247.882,-15802.614,39,1.4,48,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-63.7
$GPS2,123538,2247.956,-15802.714,14,1.3,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.007,0.260
$KALMAN_X,-79361.1,62.4,-40.2,91632.1,-276.4
$KALMAN_Y,7705.0,-0.8,-261.3,118607.5,60.1
$MHEAD_RNG_PITCHd_Wd,348.4,3817,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,96,0.00,0.00,-75.03,0.000,2,0.000,0.000,411,1825,3184,0,0,0,0,0,0
$GC,101,-1.28,-146.0,3.4,-5.8,10,133,11.32,2.47,-10.20,0.000,4,0.151,0.044,2573,3340,3719,0,0,0,0,0,0
$GC,212,-1.16,-146.0,29.4,-17.0,26,221,0.12,2.50,0.00,0.000,6,0.083,0.024,2605,1786,3720,0,0,0,0,0,0
$GC,479,-1.16,-146.0,68.3,-15.9,51,484,0.00,2.50,0.00,0.000,4,0.000,0.031,2605,3354,3721,0,0,0,0,0,0
$GC,523,-1.07,-146.0,75.5,-16.4,54,528,0.00,2.47,0.00,0.000,6,0.000,0.021,2605,1791,3721,0,0,0,0,0,0
$GC,787,-1.07,-146.0,110.9,-10.5,78,792,0.10,2.47,0.00,0.000,4,0.126,0.030,2626,3346,3721,0,0,0,0,0,0
$GC,821,-1.15,-146.0,114.3,-9.4,80,830,0.05,2.45,0.00,0.000,6,0.046,0.021,2559,1808,3721,0,0,0,0,0,0
$GC,1089,-1.05,-146.0,150.4,-14.2,105,1098,0.30,0.00,0.00,0.000,6,0.089,0.000,2628,1808,3722,0,0,0,0,0,0
$GC,1356,-1.19,-146.0,174.4,-8.1,130,1360,0.12,2.45,0.00,0.000,4,0.064,0.030,2559,3346,3722,0,0,0,0,0,0
$GC,1400,-1.19,-146.0,179.4,-10.8,134,1405,0.17,2.40,0.00,0.000,6,0.099,0.022,2598,1812,3722,0,0,0,0,0,0
$GC,1694,-1.19,-146.0,208.6,-10.4,155,1698,0.00,2.45,0.00,0.000,4,0.000,0.031,2598,3353,3722,0,0,0,0,0,0
$GC,1717,-1.19,-146.0,211.6,-11.1,155,1721,0.00,2.42,0.00,0.000,6,0.000,0.021,2598,1816,3722,0,0,0,0,0,0
$GC,1978,-1.26,-146.0,235.9,-9.3,162,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1816,3722,0,0,0,0,0,0
$GC,2220,-1.34,-146.0,257.9,-9.2,168,2225,0.12,2.47,0.00,0.000,4,0.064,0.033,2515,3343,3722,0,0,0,0,0,0
$GC,2272,-1.21,-146.0,264.3,-13.0,169,2277,0.35,2.40,0.00,0.000,6,0.086,0.024,2594,1815,3722,0,0,0,0,0,0
$GC,2552,-1.29,-146.0,287.3,-7.9,176,2556,0.00,2.45,0.00,0.000,4,0.000,0.034,2593,3346,3722,0,0,0,0,0,0
$GC,2590,-1.41,-146.0,290.5,-7.6,176,2596,0.17,2.42,0.00,0.000,6,0.049,0.025,2506,1823,3722,0,0,0,0,0,0
$GC,2841,-1.24,-146.0,324.6,-14.5,183,2848,0.32,2.62,0.00,0.000,4,0.092,0.044,2580,215,3722,0,0,0,0,0,0
$GC,2881,-1.37,-146.0,329.7,-10.6,183,2887,0.00,2.50,0.00,0.000,6,0.000,0.023,2581,1798,3722,0,0,0,0,0,0
$GC,3131,-1.44,-146.0,354.7,-9.9,190,3136,0.15,2.58,0.00,0.000,4,0.057,0.040,2514,3372,3721,0,0,0,0,0,0
$GC,3180,-1.37,-146.0,360.4,-12.5,191,3185,0.20,2.47,0.00,0.000,6,0.096,0.028,2558,1822,3721,0,0,0,0,0,0
$GC,3463,-1.37,-146.0,387.8,-9.3,198,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1822,3719,0,0,0,0,0,0
$GC,3708,-1.37,-146.0,410.4,-9.3,204,3713,0.00,2.58,0.00,0.000,4,0.000,0.045,2558,3368,3718,0,0,0,0,0,0
$GC,3765,-1.46,-146.0,415.6,-8.4,205,3769,0.00,2.50,0.00,0.000,6,0.000,0.031,2558,1830,3718,0,0,0,0,0,0
$GC,4038,-1.46,-146.0,441.4,-9.6,212,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1830,3715,0,0,0,0,0,0
$GC,4283,-1.46,-146.0,464.7,-9.5,218,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1830,3714,0,0,0,0,0,0
$GC,4525,-1.46,-146.0,485.5,-8.3,224,4529,0.00,2.58,0.00,0.000,4,0.000,0.054,2558,3358,3712,0,0,0,0,0,0
$GC,4544,-1.46,-146.0,487.1,-7.9,224,4548,0.00,2.45,0.00,0.000,6,0.000,0.031,2558,1833,3712,0,0,0,0,0,0
$STATE,4723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4724,begin apogee
$GC,4731,-0.31,0.0,501.5,8.0,229,4851,1.05,0.00,117.07,0.873,6,0.084,0.000,2792,1666,3120,0,0,0,0,0,0
$STATE,4852,end apogee,CONTROL_FINISHED_OK
$STATE,4852,begin climb
$GC,4854,1.28,146.0,505.0,0.0,232,4986,1.42,2.78,121.38,0.854,4,0.031,0.051,3141,3253,2523,0,0,0,0,0,0
$GC,5057,0.99,146.0,500.3,10.6,236,5064,0.32,2.62,0.00,0.000,6,0.113,0.038,3075,1688,2518,0,0,0,0,0,0
$GC,5315,0.92,208.5,480.4,7.1,243,5375,0.00,2.75,52.75,0.835,4,0.000,0.074,3076,164,2267,0,0,0,0,0,0
$GC,5422,0.73,208.5,470.3,11.4,245,5428,0.28,2.45,0.00,0.000,6,0.110,0.030,3019,1663,2264,0,0,0,0,0,0
$GC,5687,0.78,248.7,448.7,8.2,252,5729,0.00,2.67,34.28,0.817,4,0.000,0.059,3018,170,2105,0,0,0,0,0,0
$GC,5763,0.78,248.7,441.8,10.1,253,5768,0.00,2.42,0.00,0.000,6,0.000,0.028,3019,1665,2103,0,0,0,0,0,0
$GC,6018,0.89,266.4,418.4,9.2,260,6036,0.15,0.00,15.77,0.768,6,0.058,0.000,3092,1666,2033,0,0,0,0,0,0
$GC,6263,0.78,266.4,386.1,13.5,266,6270,0.25,2.70,0.00,0.000,4,0.102,0.053,3035,3261,2027,0,0,0,0,0,0
$GC,6280,0.78,266.4,383.6,12.7,266,6284,0.00,2.65,0.00,0.000,6,0.000,0.031,3035,1657,2026,0,0,0,0,0,0
$GC,6548,0.81,286.2,357.5,9.1,273,6568,0.00,0.00,17.98,0.752,6,0.000,0.000,3035,1657,1952,0,0,0,0,0,0
$GC,6794,0.92,321.9,337.3,8.4,279,6836,0.10,2.62,32.10,0.762,4,0.079,0.063,3079,164,1805,0,0,0,0,0,0
$GC,6841,0.92,321.9,332.1,10.7,280,6845,0.00,2.42,0.00,0.000,6,0.000,0.025,3079,1669,1805,0,0,0,0,0,0
$GC,7124,0.92,321.9,298.4,12.0,287,7129,0.00,2.55,0.00,0.000,4,0.000,0.055,3079,171,1799,0,0,0,0,0,0
$GC,7147,0.92,321.9,295.1,12.7,287,7151,0.00,2.40,0.00,0.000,6,0.000,0.025,3079,1666,1799,0,0,0,0,0,0
$GC,7412,0.92,321.9,261.2,13.0,294,7416,0.00,2.65,0.00,0.000,4,0.000,0.044,3079,3258,1796,0,0,0,0,0,0
$GC,7426,0.92,321.9,259.2,12.8,294,7430,0.00,2.62,0.00,0.000,6,0.000,0.029,3079,1657,1795,0,0,0,0,0,0
$GC,7696,0.92,321.9,227.2,11.7,301,7700,0.00,2.47,0.00,0.000,4,0.000,0.054,3079,167,1794,0,0,0,0,0,0
$GC,7738,0.92,321.9,221.7,13.0,302,7742,0.00,2.38,0.00,0.000,6,0.000,0.023,3079,1668,1793,0,0,0,0,0,0
$GC,7998,0.92,321.9,191.2,11.9,312,8002,0.00,2.58,0.00,0.000,4,0.000,0.037,3079,3253,1792,0,0,0,0,0,0
$GC,8047,0.92,321.9,184.9,12.5,316,8053,0.00,2.58,0.00,0.000,6,0.000,0.028,3079,1655,1791,0,0,0,0,0,0
$GC,8309,0.92,321.9,154.6,11.0,341,8314,0.00,2.62,0.00,0.000,4,0.000,0.034,3079,3264,1791,0,0,0,0,0,0
$GC,8338,0.92,321.9,151.7,11.2,343,8343,0.00,2.58,0.00,0.000,6,0.000,0.028,3079,1662,1790,0,0,0,0,0,0
$GC,8604,0.92,321.9,122.6,10.8,367,8608,0.00,2.42,0.00,0.000,4,0.000,0.045,3079,171,1790,0,0,0,0,0,0
$GC,8638,0.92,321.9,117.7,12.9,370,8643,0.00,2.35,0.00,0.000,6,0.000,0.021,3079,1675,1790,0,0,0,0,0,0
$GC,8903,1.08,371.7,93.9,7.7,394,8953,0.00,2.58,41.08,0.561,4,0.000,0.044,3079,171,1604,0,0,0,0,0,0
$GC,8966,1.20,398.7,88.7,8.8,400,9000,0.17,2.38,24.00,0.540,6,0.054,0.020,3132,1677,1493,0,0,0,0,0,0
$GC,9254,1.13,398.7,46.7,17.6,427,9259,0.12,2.55,0.00,0.000,4,0.115,0.033,3107,3253,1488,0,0,0,0,0,0
$GC,9275,1.13,398.7,43.5,17.7,428,9279,0.00,2.58,0.00,0.000,6,0.000,0.025,3106,1654,1488,0,0,0,0,0,0
$GC,9567,1.16,423.3,7.7,8.9,468,9592,0.00,0.00,20.90,0.469,6,0.000,0.000,3106,1654,1395,0,0,0,0,0,0
$STATE,9599,end climb,SURFACE_DEPTH_REACHED
$STATE,9599,begin surface coast
$FINISH,0.8,1.022645
$STATE,9632,end surface coast,CONTROL_FINISHED_OK
$STATE,9632,begin surface
$SM_CCo,9653,21.62,0.289,1,0,1283,450.13
$SM_GC,1.59,0.00,0.00,21.62,0.000,0.000,0.289,413,1873,1283,-11.26,2.35,450.13
$IRIDIUM_FIX,2239.35,-15804.53,280200,121236
$TT8_MAMPS,0.026845
$HUMID,43.77
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,27.897
$10V_AH,10.4,23.252
$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,28.300,121.450,477.300,21.625,0.000,52.294,86.994,306.603,0.000,0.000,16.440,982.914,6356.631,531.988,1734.482,727.417,33.366,1277.454,0.000,1737.221,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,74.399,872.846,289.159,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.178,292.096,363.153,534.952,945.687,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,38384,477
$CAP_FILE_SIZE,113141,0
$CFSIZE,260165632,161542144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,151904,2249.640,-15802.923,11,3.0,30,10.1