version: 66.06
glider: 148
mission: 9
dive: 163
start: 12 1 110 13 20 22
data:
$ID,148
$MISSION,9
$DIVE,163
$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,639.98767
$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,-861136.88
$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,42
$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
$GPS1,130222,2250.176,-15803.149,7,99.0,26,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-65.4
$GPS2,131927,2250.264,-15803.227,10,3.3,29,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.252,-0.064
$KALMAN_X,-67498.3,-192.5,-147.9,79256.8,-129.0
$KALMAN_Y,10995.5,-136.9,-84.3,119553.1,530.9
$MHEAD_RNG_PITCHd_Wd,94.2,10639,-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,-82.82,0.000,2,0.000,0.000,411,1874,3426,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.1,-7.5,11,132,11.52,2.70,-5.00,0.000,4,0.160,0.043,2574,221,3717,0,0,0,0,0,0
$GC,203,-1.28,-146.0,31.4,-16.4,25,207,0.00,2.42,0.00,0.000,6,0.000,0.020,2574,1790,3719,0,0,0,0,0,0
$GC,470,-1.08,-146.0,76.7,-20.0,49,475,0.22,2.50,0.00,0.000,4,0.099,0.030,2623,3366,3719,0,0,0,0,0,0
$GC,522,-1.08,-146.0,85.7,-14.0,53,526,0.00,2.45,0.00,0.000,6,0.000,0.022,2623,1791,3720,0,0,0,0,0,0
$GC,789,-1.15,-146.0,118.1,-12.1,77,793,0.00,2.50,0.00,0.000,4,0.000,0.029,2623,3368,3720,0,0,0,0,0,0
$GC,841,-1.29,-146.0,123.9,-9.3,81,847,0.17,2.45,0.00,0.000,6,0.046,0.022,2502,1800,3720,0,0,0,0,0,0
$GC,1109,-1.03,-146.0,164.1,-16.3,106,1118,0.57,2.53,0.00,0.000,4,0.091,0.035,2631,208,3721,0,0,0,0,0,0
$GC,1162,-1.28,-146.0,170.8,-7.4,111,1172,0.17,2.47,0.00,0.000,6,0.023,0.019,2539,1799,3721,0,0,0,0,0,0
$GC,1435,-1.17,-146.0,206.2,-13.8,134,1440,0.28,2.47,0.00,0.000,4,0.089,0.030,2604,3361,3721,0,0,0,0,0,0
$GC,1492,-1.28,-146.0,212.9,-9.3,135,1497,0.10,2.47,0.00,0.000,6,0.074,0.023,2528,1788,3721,0,0,0,0,0,0
$GC,1765,-1.11,-146.0,253.6,-15.0,142,1768,0.47,0.00,0.00,0.000,6,0.090,0.000,2615,1788,3721,0,0,0,0,0,0
$GC,2011,-1.24,-146.0,275.2,-8.4,148,2016,0.12,2.53,0.00,0.000,4,0.064,0.033,2554,3361,3721,0,0,0,0,0,0
$GC,2035,-1.24,-146.0,277.9,-10.5,148,2040,0.15,2.42,0.00,0.000,6,0.097,0.023,2587,1804,3721,0,0,0,0,0,0
$GC,2297,-1.32,-146.0,301.9,-9.2,155,2301,0.00,2.47,0.00,0.000,4,0.000,0.036,2588,3353,3721,0,0,0,0,0,0
$GC,2320,-1.39,-146.0,304.6,-10.4,155,2325,0.12,2.42,0.00,0.000,6,0.064,0.024,2512,1815,3721,0,0,0,0,0,0
$GC,2580,-1.27,-146.0,340.5,-13.8,162,2587,0.30,2.62,0.00,0.000,4,0.091,0.048,2580,210,3721,0,0,0,0,0,0
$GC,2617,-1.38,-146.0,344.7,-11.3,162,2622,0.00,2.50,0.00,0.000,6,0.000,0.024,2580,1801,3721,0,0,0,0,0,0
$GC,2868,-1.46,-146.0,367.5,-8.9,168,2873,0.17,2.53,0.00,0.000,4,0.050,0.042,2494,3367,3720,0,0,0,0,0,0
$GC,2915,-1.36,-146.0,373.6,-13.0,169,2920,0.32,2.45,0.00,0.000,6,0.085,0.028,2566,1818,3719,0,0,0,0,0,0
$GC,3200,-1.36,-146.0,401.6,-9.7,176,3204,0.00,2.53,0.00,0.000,4,0.000,0.046,2566,3364,3718,0,0,0,0,0,0
$GC,3243,-1.44,-146.0,405.8,-8.6,177,3247,0.00,2.45,0.00,0.000,6,0.000,0.031,2566,1823,3716,0,0,0,0,0,0
$GC,3532,-1.50,-146.0,431.1,-8.8,184,3537,0.15,2.58,0.00,0.000,4,0.058,0.051,2501,3363,3715,0,0,0,0,0,0
$GC,3565,-1.39,-146.0,435.1,-11.6,184,3571,0.25,2.47,0.00,0.000,6,0.091,0.031,2555,1823,3715,0,0,0,0,0,0
$GC,3816,-1.39,-146.0,459.8,-9.8,190,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1823,3713,0,0,0,0,0,0
$GC,4058,-1.39,-146.0,484.0,-10.1,196,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1823,3710,0,0,0,0,0,0
$STATE,4219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4219,begin apogee
$GC,4224,-0.31,0.0,501.3,10.6,200,4345,1.05,0.00,116.85,0.867,6,0.081,0.000,2790,1671,3120,0,0,0,0,0,0
$STATE,4345,end apogee,CONTROL_FINISHED_OK
$STATE,4346,begin climb
$GC,4348,1.28,146.0,507.5,0.0,203,4478,1.42,2.62,120.28,0.853,4,0.028,0.071,3154,186,2523,0,0,0,0,0,0
$GC,4747,0.82,146.0,478.0,12.6,211,4753,0.55,2.38,0.00,0.000,6,0.143,0.029,3041,1676,2515,0,0,0,0,0,0
$GC,4997,0.87,187.9,456.8,8.1,218,5039,0.00,2.62,34.83,0.818,4,0.000,0.059,3041,184,2352,0,0,0,0,0,0
$GC,5152,0.79,190.7,442.4,9.9,221,5156,0.00,2.40,0.00,0.000,6,0.000,0.028,3041,1680,2348,0,0,0,0,0,0
$GC,5420,0.85,238.9,421.3,7.8,228,5466,0.00,0.00,43.40,0.809,6,0.000,0.000,3041,1680,2146,0,0,0,0,0,0
$GC,5707,0.89,270.1,397.0,8.6,235,5739,0.00,0.00,27.58,0.782,6,0.000,0.000,3041,1680,2017,0,0,0,0,0,0
$GC,5994,0.90,279.1,369.8,9.6,242,6009,0.00,2.67,8.30,0.676,4,0.000,0.047,3041,3258,1981,0,0,0,0,0,0
$GC,6030,0.90,279.1,366.2,10.3,242,6034,0.00,2.60,0.00,0.000,6,0.000,0.035,3041,1682,1978,0,0,0,0,0,0
$GC,6279,0.91,289.4,341.9,9.6,248,6295,0.00,2.67,10.18,0.691,4,0.000,0.064,3041,165,1940,0,0,0,0,0,0
$GC,6339,0.91,289.4,335.5,11.4,249,6343,0.00,2.45,0.00,0.000,6,0.000,0.026,3040,1685,1939,0,0,0,0,0,0
$GC,6611,0.93,308.2,309.7,9.2,256,6632,0.10,0.00,18.25,0.721,6,0.079,0.000,3090,1687,1862,0,0,0,0,0,0
$GC,6855,0.87,308.2,280.9,12.0,262,6860,0.20,2.60,0.00,0.000,4,0.103,0.055,3047,167,1857,0,0,0,0,0,0
$GC,6871,0.87,308.2,278.8,12.8,262,6876,0.00,2.42,0.00,0.000,6,0.000,0.023,3048,1688,1857,0,0,0,0,0,0
$GC,7139,0.87,308.2,248.6,11.4,269,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1690,1855,0,0,0,0,0,0
$GC,7383,0.95,308.2,223.5,10.2,275,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1690,1854,0,0,0,0,0,0
$GC,7628,1.03,312.2,199.5,9.9,281,7633,0.15,2.55,0.00,0.000,4,0.057,0.038,3124,3254,1854,0,0,0,0,0,0
$GC,7658,0.95,312.2,196.3,13.0,283,7663,0.25,2.58,0.00,0.000,6,0.096,0.031,3069,1668,1852,0,0,0,0,0,0
$GC,7922,0.95,312.2,166.5,11.6,307,7926,0.00,2.58,0.00,0.000,4,0.000,0.035,3069,3265,1852,0,0,0,0,0,0
$GC,7942,0.95,312.2,163.8,11.6,308,7948,0.00,2.55,0.00,0.000,6,0.000,0.028,3069,1676,1852,0,0,0,0,0,0
$GC,8207,0.95,312.2,135.2,10.3,333,8212,0.00,2.47,0.00,0.000,4,0.000,0.054,3069,170,1851,0,0,0,0,0,0
$GC,8288,0.95,312.2,125.4,12.0,340,8297,0.00,2.38,0.00,0.000,6,0.000,0.022,3069,1672,1851,0,0,0,0,0,0
$GC,8553,1.05,326.7,100.0,9.4,365,8575,0.00,2.55,15.45,0.548,4,0.000,0.032,3069,3254,1786,0,0,0,0,0,0
$GC,8621,1.20,344.0,93.9,9.2,371,8644,0.22,2.58,15.90,0.537,6,0.042,0.026,3171,1658,1716,0,0,0,0,0,0
$GC,8897,1.05,344.0,57.8,13.9,397,8910,0.35,2.60,0.00,0.000,4,0.097,0.032,3093,3261,1712,0,0,0,0,0,0
$GC,8917,0.97,344.0,55.5,11.5,398,8927,0.08,2.60,0.00,0.000,6,0.098,0.026,3074,1659,1712,0,0,0,0,0,0
$GC,9184,1.08,350.3,35.1,9.7,423,9198,0.10,2.47,6.45,0.421,4,0.075,0.046,3137,178,1691,0,0,0,0,0,0
$GC,9215,1.08,350.3,31.1,12.5,425,9220,0.20,2.30,0.00,0.000,6,0.102,0.019,3096,1675,1691,0,0,0,0,0,0
$STATE,9434,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,0.8,1.023507
$STATE,9485,end surface coast,CONTROL_FINISHED_OK
$STATE,9485,begin surface
$SM_CCo,9506,160.60,0.453,1,0,509,639.99
$SM_GC,1.32,0.00,0.00,160.60,0.000,0.000,0.453,411,1848,509,-11.27,1.64,639.99
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026845
$HUMID,41.25
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,23.6,24.555
$10V_AH,10.4,20.646
$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,30.400,110.975,417.450,160.600,0.000,141.566,312.201,173.015,0.750,0.000,33.059,978.937,6383.336,611.323,1814.108,913.483,33.360,1359.917,0.000,1807.748,0.000,0.539,0.000
$DEVICE_MAMPS,159.536,70.564,867.477,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.167,284.144,361.746,544.801,963.971,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355356
$DATA_FILE_SIZE,35282,467
$CAP_FILE_SIZE,112867,0
$CFSIZE,260165632,162869248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011210,160254,2250.142,-15802.100,41,1.4,41,10.1