version: 66.06
glider: 148
mission: 9
dive: 194
start: 12 5 110 8 38 24
data:
$ID,148
$MISSION,9
$DIVE,194
$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,-862061.31
$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,44
$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
$GPS1,082931,2249.106,-15757.272,39,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.3
$GPS2,083726,2249.118,-15757.261,14,1.0,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.062,-0.252
$KALMAN_X,-80565.8,-283.5,121.9,102408.2,-40.4
$KALMAN_Y,6804.2,-287.7,583.4,121097.0,-279.3
$MHEAD_RNG_PITCHd_Wd,183.8,4029,-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,-82.65,0.000,2,0.000,0.000,410,1903,3384,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.8,-6.5,11,131,11.60,2.78,-5.95,0.000,4,0.161,0.047,2575,204,3718,0,0,0,0,0,0
$GC,226,-1.28,-146.0,32.9,-14.8,28,230,0.00,2.45,0.00,0.000,6,0.000,0.019,2575,1794,3720,0,0,0,0,0,0
$GC,495,-1.10,-146.0,78.7,-16.7,52,500,0.20,2.50,0.00,0.000,4,0.105,0.030,2618,3363,3721,0,0,0,0,0,0
$GC,543,-1.10,-146.0,87.7,-14.7,56,548,0.00,2.50,0.00,0.000,6,0.000,0.023,2617,1789,3721,0,0,0,0,0,0
$GC,807,-1.10,-146.0,119.4,-11.3,80,811,0.00,2.50,0.00,0.000,4,0.000,0.029,2617,3364,3722,0,0,0,0,0,0
$GC,832,-1.10,-146.0,122.9,-12.8,82,837,0.00,2.45,0.00,0.000,6,0.000,0.021,2617,1795,3722,0,0,0,0,0,0
$GC,1097,-1.19,-146.0,149.2,-9.8,106,1101,0.00,2.50,0.00,0.000,4,0.000,0.029,2617,3368,3722,0,0,0,0,0,0
$GC,1121,-1.27,-146.0,152.0,-10.1,108,1126,0.15,2.45,0.00,0.000,6,0.052,0.021,2524,1799,3722,0,0,0,0,0,0
$GC,1382,-1.06,-146.0,189.0,-14.5,132,1394,0.52,2.50,0.00,0.000,4,0.087,0.029,2624,3370,3723,0,0,0,0,0,0
$GC,1428,-1.23,-146.0,193.3,-8.0,136,1433,0.15,2.45,0.00,0.000,6,0.052,0.022,2538,1816,3723,0,0,0,0,0,0
$GC,1692,-1.10,-146.0,229.2,-13.9,146,1699,0.38,2.60,0.00,0.000,4,0.087,0.038,2614,208,3724,0,0,0,0,0,0
$GC,1738,-1.28,-146.0,234.5,-9.4,147,1743,0.15,2.50,0.00,0.000,6,0.055,0.020,2540,1817,3724,0,0,0,0,0,0
$GC,2026,-1.21,-146.0,270.2,-12.2,154,2031,0.25,2.47,0.00,0.000,4,0.090,0.031,2598,3364,3724,0,0,0,0,0,0
$GC,2066,-1.37,-146.0,274.2,-9.2,154,2072,0.15,2.45,0.00,0.000,6,0.054,0.025,2489,1824,3724,0,0,0,0,0,0
$GC,2316,-1.19,-146.0,309.5,-14.6,161,2318,0.50,0.00,0.00,0.000,6,0.087,0.000,2599,1823,3724,0,0,0,0,0,0
$GC,2561,-1.32,-146.0,333.1,-9.1,167,2566,0.12,2.53,0.00,0.000,4,0.065,0.038,2537,3361,3724,0,0,0,0,0,0
$GC,2599,-1.32,-146.0,337.6,-11.3,167,2605,0.15,2.45,0.00,0.000,6,0.100,0.026,2570,1820,3724,0,0,0,0,0,0
$GC,2848,-1.32,-146.0,363.2,-10.3,174,2852,0.00,2.50,0.00,0.000,4,0.000,0.040,2570,3359,3723,0,0,0,0,0,0
$GC,2868,-1.32,-146.0,365.2,-10.3,174,2872,0.00,2.45,0.00,0.000,6,0.000,0.028,2570,1823,3723,0,0,0,0,0,0
$GC,3131,-1.32,-146.0,391.6,-10.2,181,3136,0.00,2.50,0.00,0.000,4,0.000,0.041,2570,3354,3721,0,0,0,0,0,0
$GC,3154,-1.32,-146.0,394.1,-11.3,181,3158,0.00,2.42,0.00,0.000,6,0.000,0.028,2571,1836,3721,0,0,0,0,0,0
$GC,3415,-1.39,-146.0,417.3,-8.7,188,3420,0.00,2.50,0.00,0.000,4,0.000,0.044,2570,3361,3718,0,0,0,0,0,0
$GC,3429,-1.39,-146.0,418.9,-8.7,188,3434,0.00,2.45,0.00,0.000,6,0.000,0.028,2570,1840,3719,0,0,0,0,0,0
$GC,3698,-1.46,-146.0,444.2,-9.4,195,3703,0.12,2.53,0.00,0.000,4,0.066,0.047,2516,3352,3717,0,0,0,0,0,0
$GC,3719,-1.46,-146.0,446.3,-10.2,195,3724,0.12,2.45,0.00,0.000,6,0.110,0.029,2542,1836,3717,0,0,0,0,0,0
$GC,3983,-1.46,-146.0,471.6,-9.3,202,3987,0.00,2.53,0.00,0.000,4,0.000,0.047,2542,3350,3714,0,0,0,0,0,0
$GC,4001,-1.46,-146.0,473.7,-10.4,202,4006,0.00,2.42,0.00,0.000,6,0.000,0.028,2542,1846,3714,0,0,0,0,0,0
$STATE,4263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4263,begin apogee
$GC,4270,-0.31,0.0,500.5,10.2,209,4391,1.12,0.00,117.30,0.874,6,0.081,0.000,2793,1662,3120,0,0,0,0,0,0
$STATE,4392,end apogee,CONTROL_FINISHED_OK
$STATE,4392,begin climb
$GC,4394,1.28,146.0,505.9,0.0,212,4525,1.40,2.65,120.45,0.856,4,0.026,0.069,3140,182,2523,0,0,0,0,0,0
$GC,4535,0.98,232.8,508.4,6.0,215,4620,0.32,2.40,73.07,0.839,6,0.120,0.028,3076,1657,2170,0,0,0,0,0,0
$GC,4893,0.88,232.8,470.3,11.4,224,4898,0.12,2.55,0.00,0.000,4,0.127,0.058,3051,179,2160,0,0,0,0,0,0
$GC,4956,0.81,232.8,462.6,12.1,225,4960,0.00,2.42,0.00,0.000,6,0.000,0.028,3051,1682,2160,0,0,0,0,0,0
$GC,5226,0.81,232.8,432.7,11.0,232,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1681,2157,0,0,0,0,0,0
$GC,5468,0.81,237.7,408.5,9.8,238,5472,0.00,2.55,0.00,0.000,4,0.000,0.057,3051,182,2156,0,0,0,0,0,0
$GC,5481,0.81,237.7,406.9,10.0,238,5486,0.00,2.42,0.00,0.000,6,0.000,0.025,3051,1685,2155,0,0,0,0,0,0
$GC,5751,0.83,252.1,381.4,9.4,245,5768,0.00,0.00,15.48,0.755,6,0.000,0.000,3051,1686,2092,0,0,0,0,0,0
$GC,5993,0.83,256.2,357.6,9.8,251,6005,0.00,2.58,4.60,0.551,4,0.000,0.055,3051,179,2074,0,0,0,0,0,0
$GC,6019,0.83,256.2,354.6,11.1,251,6023,0.00,2.42,0.00,0.000,6,0.000,0.025,3051,1684,2074,0,0,0,0,0,0
$GC,6279,0.83,256.2,328.3,10.1,258,6283,0.00,2.55,0.00,0.000,4,0.000,0.055,3051,184,2072,0,0,0,0,0,0
$GC,6311,0.83,256.2,324.6,11.7,258,6315,0.00,2.38,0.00,0.000,6,0.000,0.024,3051,1681,2072,0,0,0,0,0,0
$GC,6561,0.87,282.1,301.9,8.8,264,6590,0.00,2.70,23.75,0.733,4,0.000,0.048,3051,3251,1968,0,0,0,0,0,0
$GC,6610,0.93,331.0,297.9,7.8,265,6660,0.00,2.60,43.78,0.735,6,0.000,0.032,3051,1688,1770,0,0,0,0,0,0
$GC,6930,0.93,331.0,262.2,11.3,273,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1688,1762,0,0,0,0,0,0
$GC,7173,0.93,331.0,237.7,10.1,279,7178,0.00,2.58,0.00,0.000,4,0.000,0.038,3051,3254,1759,0,0,0,0,0,0
$GC,7188,0.99,331.0,236.1,10.3,279,7193,0.10,2.58,0.00,0.000,6,0.077,0.028,3106,1681,1758,0,0,0,0,0,0
$GC,7457,0.91,331.0,201.2,12.8,286,7462,0.22,2.53,0.00,0.000,4,0.100,0.050,3059,174,1758,0,0,0,0,0,0
$GC,7511,0.91,331.0,194.7,11.6,288,7516,0.00,2.40,0.00,0.000,6,0.000,0.022,3059,1694,1757,0,0,0,0,0,0
$GC,7773,0.92,336.6,167.5,9.8,312,7787,0.00,2.58,3.72,0.403,4,0.000,0.035,3059,3253,1747,0,0,0,0,0,0
$GC,7823,1.03,336.6,162.1,10.4,316,7830,0.10,2.55,0.00,0.000,6,0.076,0.028,3109,1684,1745,0,0,0,0,0,0
$GC,8089,0.97,336.6,127.8,13.1,341,8094,0.17,0.00,0.00,0.000,6,0.103,0.000,3073,1684,1745,0,0,0,0,0,0
$GC,8353,1.03,336.6,99.0,10.7,366,8357,0.00,2.47,0.00,0.000,4,0.000,0.046,3073,167,1745,0,0,0,0,0,0
$GC,8371,1.03,336.6,96.8,11.1,367,8375,0.00,2.40,0.00,0.000,6,0.000,0.021,3073,1699,1745,0,0,0,0,0,0
$GC,8640,1.17,349.8,71.7,9.4,391,8666,0.17,2.60,13.23,0.512,4,0.050,0.046,3158,175,1692,0,0,0,0,0,0
$GC,8682,1.01,349.8,66.2,13.8,394,8687,0.38,2.38,0.00,0.000,6,0.103,0.021,3081,1690,1692,0,0,0,0,0,0
$GC,8951,1.10,349.8,39.0,11.0,418,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1694,1690,0,0,0,0,0,0
$GC,9248,1.15,393.5,6.8,8.0,461,9273,0.12,0.00,22.08,0.472,2,0.062,0.000,3157,1694,1596,0,0,0,0,0,0
$STATE,9274,end climb,SURFACE_DEPTH_REACHED
$STATE,9274,begin surface coast
$FINISH,0.8,1.023644
$STATE,9316,end surface coast,CONTROL_FINISHED_OK
$STATE,9316,begin surface
$SM_CCo,9338,42.35,0.383,1,0,1284,450.13
$SM_GC,1.58,0.00,0.00,42.35,0.000,0.000,0.383,407,1869,1284,-11.28,2.21,450.13
$IRIDIUM_FIX,2241.69,-15754.11,290200,050553
$TT8_MAMPS,0.026845
$HUMID,43.85
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,28.751
$10V_AH,10.4,23.971
$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,29.825,120.500,437.450,42.350,0.000,30.691,35.254,275.246,0.250,0.000,15.639,972.397,6048.419,506.639,1724.128,614.400,33.365,1236.067,0.000,1731.223,0.000,0.537,0.000
$DEVICE_MAMPS,161.070,69.030,874.380,382.733,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.419,288.084,364.451,555.266,981.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38369,470
$CAP_FILE_SIZE,109073,0
$CFSIZE,260165632,161157120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,111558,2247.768,-15757.729,9,99.0,28,10.1