version: 66.06
glider: 148
mission: 9
dive: 165
start: 12 1 110 19 21 49
data:
$ID,148
$MISSION,9
$DIVE,165
$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,-861183.81
$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,32
$R_STBD_OVSHOOT,92
$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
$GPS1,190837,2249.781,-15800.814,10,1.7,15,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-64.3
$GPS2,192055,2249.765,-15800.836,15,1.7,32,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.244,0.090
$KALMAN_X,-68603.6,-227.6,15.4,84347.1,-234.6
$KALMAN_Y,10354.6,237.6,59.7,118759.5,-753.4
$MHEAD_RNG_PITCHd_Wd,59.7,6562,-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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.15,0.000,2,0.000,0.000,407,1845,3380,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.6,-5.4,11,131,11.43,2.35,-6.15,0.000,4,0.154,0.040,2574,3327,3717,0,0,0,0,0,0
$GC,153,-0.70,-146.0,19.5,-30.1,17,162,0.57,2.45,0.00,0.000,6,0.084,0.023,2704,1778,3719,0,0,0,0,0,0
$GC,439,-0.93,-146.0,43.6,-7.7,50,444,0.20,2.47,0.00,0.000,4,0.043,0.029,2604,3326,3720,0,0,0,0,0,0
$GC,506,-0.93,-146.0,51.2,-12.9,55,511,0.25,2.40,0.00,0.000,6,0.087,0.023,2658,1809,3720,0,0,0,0,0,0
$GC,773,-0.99,-146.0,81.1,-10.9,79,777,0.00,2.38,0.00,0.000,4,0.000,0.028,2658,3323,3720,0,0,0,0,0,0
$GC,808,-1.08,-146.0,85.0,-9.3,82,813,0.15,2.38,0.00,0.000,6,0.055,0.021,2576,1803,3720,0,0,0,0,0,0
$GC,1072,-1.01,-146.0,120.7,-13.2,106,1077,0.30,2.55,0.00,0.000,4,0.087,0.036,2636,206,3721,0,0,0,0,0,0
$GC,1141,-1.26,-146.0,127.3,-8.5,112,1146,0.20,2.38,0.00,0.000,6,0.044,0.020,2541,1751,3721,0,0,0,0,0,0
$GC,1406,-1.12,-146.0,160.6,-14.3,136,1415,0.32,2.55,0.00,0.000,4,0.087,0.029,2610,3368,3722,0,0,0,0,0,0
$GC,1470,-1.28,-146.0,166.7,-8.6,142,1475,0.12,2.45,0.00,0.000,6,0.061,0.023,2528,1800,3722,0,0,0,0,0,0
$GC,1761,-1.13,-146.0,206.3,-14.1,166,1768,0.35,2.55,0.00,0.000,4,0.087,0.038,2604,210,3722,0,0,0,0,0,0
$GC,1831,-1.32,-146.0,213.1,-8.3,167,1836,0.15,2.47,0.00,0.000,6,0.054,0.020,2526,1802,3723,0,0,0,0,0,0
$GC,2095,-1.19,-146.0,246.1,-13.3,174,2100,0.32,2.47,0.00,0.000,4,0.089,0.030,2596,3368,3722,0,0,0,0,0,0
$GC,2158,-1.32,-146.0,252.9,-9.9,175,2163,0.10,2.47,0.00,0.000,6,0.074,0.024,2521,1794,3722,0,0,0,0,0,0
$GC,2427,-1.20,-146.0,291.7,-14.9,182,2433,0.32,2.55,0.00,0.000,4,0.088,0.041,2593,215,3723,0,0,0,0,0,0
$GC,2461,-1.35,-146.0,296.3,-11.2,182,2466,0.12,2.45,0.00,0.000,6,0.064,0.021,2523,1791,3723,0,0,0,0,0,0
$GC,2712,-1.24,-146.0,330.1,-13.5,188,2719,0.28,2.60,0.00,0.000,4,0.091,0.043,2585,211,3723,0,0,0,0,0,0
$GC,2738,-1.32,-146.0,333.5,-11.5,188,2743,0.00,2.50,0.00,0.000,6,0.000,0.023,2585,1798,3723,0,0,0,0,0,0
$GC,2999,-1.41,-146.0,355.5,-8.4,195,3004,0.12,2.53,0.00,0.000,4,0.066,0.040,2522,3363,3721,0,0,0,0,0,0
$GC,3051,-1.41,-146.0,361.2,-10.9,196,3056,0.15,2.50,0.00,0.000,6,0.102,0.027,2553,1804,3721,0,0,0,0,0,0
$GC,3329,-1.41,-146.0,385.9,-8.6,203,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1804,3720,0,0,0,0,0,0
$GC,3574,-1.41,-146.0,408.0,-9.1,209,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1804,3718,0,0,0,0,0,0
$GC,3817,-1.41,-146.0,431.6,-9.6,215,3821,0.00,2.58,0.00,0.000,4,0.000,0.045,2553,3359,3717,0,0,0,0,0,0
$GC,3835,-1.41,-146.0,433.8,-10.8,215,3839,0.00,2.53,0.00,0.000,6,0.000,0.029,2554,1795,3717,0,0,0,0,0,0
$GC,4100,-1.41,-146.0,459.4,-9.7,222,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,1795,3714,0,0,0,0,0,0
$GC,4342,-1.41,-146.0,483.5,-9.9,228,4347,0.00,2.62,0.00,0.000,4,0.000,0.052,2553,3367,3712,0,0,0,0,0,0
$GC,4394,-1.48,-146.0,489.0,-11.1,229,4398,0.00,2.53,0.00,0.000,6,0.000,0.034,2553,1816,3712,0,0,0,0,0,0
$STATE,4506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4507,begin apogee
$GC,4514,-0.31,0.0,500.4,9.9,232,4635,1.08,0.00,117.25,0.866,6,0.083,0.000,2793,1666,3120,0,0,0,0,0,0
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4638,1.28,146.0,505.5,0.0,235,4771,1.42,2.62,121.50,0.852,4,0.026,0.071,3143,184,2523,0,0,0,0,0,0
$GC,4983,0.84,146.0,482.1,12.3,243,4990,0.47,2.42,0.00,0.000,6,0.111,0.028,3046,1676,2514,0,0,0,0,0,0
$GC,5274,0.92,204.0,459.5,7.3,250,5330,0.00,2.62,48.47,0.825,4,0.000,0.056,3046,181,2286,0,0,0,0,0,0
$GC,5350,0.81,204.0,453.0,10.1,251,5355,0.00,2.45,0.00,0.000,6,0.000,0.028,3046,1680,2284,0,0,0,0,0,0
$GC,5601,0.86,249.5,432.2,7.9,257,5646,0.00,2.62,39.28,0.807,4,0.000,0.058,3046,179,2101,0,0,0,0,0,0
$GC,5680,0.86,249.5,425.0,11.2,258,5684,0.00,2.45,0.00,0.000,6,0.000,0.028,3046,1678,2099,0,0,0,0,0,0
$GC,5930,0.89,270.9,402.1,9.1,264,5954,0.00,2.65,18.33,0.767,4,0.000,0.057,3046,181,2014,0,0,0,0,0,0
$GC,5979,0.89,270.9,397.1,10.9,265,5983,0.00,2.42,0.00,0.000,6,0.000,0.027,3046,1669,2013,0,0,0,0,0,0
$GC,6261,0.89,270.9,368.4,10.2,272,6265,0.00,2.55,0.00,0.000,4,0.000,0.056,3046,180,2008,0,0,0,0,0,0
$GC,6293,0.89,270.9,364.5,12.0,272,6297,0.00,2.40,0.00,0.000,6,0.000,0.025,3046,1666,2008,0,0,0,0,0,0
$GC,6544,0.89,270.9,339.1,10.2,278,6548,0.00,2.65,0.00,0.000,4,0.000,0.048,3046,3254,2007,0,0,0,0,0,0
$GC,6581,0.98,270.9,335.1,10.5,278,6587,0.12,2.60,0.00,0.000,6,0.065,0.033,3110,1679,2005,0,0,0,0,0,0
$GC,6833,0.86,270.9,303.9,12.6,285,6838,0.25,2.58,0.00,0.000,4,0.103,0.061,3053,166,2004,0,0,0,0,0,0
$GC,6893,0.86,270.9,296.7,10.3,286,6898,0.00,2.40,0.00,0.000,6,0.000,0.025,3053,1670,2003,0,0,0,0,0,0
$GC,7163,0.87,274.5,270.0,9.9,293,7167,0.00,2.55,0.00,0.000,4,0.000,0.054,3053,165,2002,0,0,0,0,0,0
$GC,7187,0.87,274.5,267.3,11.1,293,7192,0.00,2.38,0.00,0.000,6,0.000,0.023,3053,1663,2002,0,0,0,0,0,0
$GC,7446,0.89,289.8,242.5,9.3,300,7464,0.00,0.00,16.10,0.668,6,0.000,0.000,3053,1666,1938,0,0,0,0,0,0
$GC,7690,0.92,315.8,220.3,8.8,306,7719,0.00,2.62,23.70,0.663,4,0.000,0.038,3052,3250,1830,0,0,0,0,0,0
$GC,7764,1.06,328.6,213.9,9.4,307,7782,0.15,2.62,11.80,0.610,6,0.053,0.031,3106,1646,1779,0,0,0,0,0,0
$GC,8042,0.99,328.6,180.2,13.6,324,8047,0.15,2.45,0.00,0.000,4,0.113,0.048,3075,167,1775,0,0,0,0,0,0
$GC,8111,0.99,328.6,170.3,14.7,330,8119,0.00,2.38,0.00,0.000,6,0.000,0.022,3075,1651,1774,0,0,0,0,0,0
$GC,8378,0.99,328.6,137.3,11.7,355,8382,0.00,2.60,0.00,0.000,4,0.000,0.035,3075,3265,1774,0,0,0,0,0,0
$GC,8469,1.08,328.6,126.2,11.7,363,8474,0.00,2.58,0.00,0.000,6,0.000,0.028,3076,1658,1771,0,0,0,0,0,0
$GC,8735,1.14,376.4,102.7,7.8,387,8785,0.12,2.53,41.35,0.568,4,0.065,0.051,3160,177,1583,0,0,0,0,0,0
$GC,8843,1.02,376.4,89.8,13.5,397,8849,0.38,2.33,0.00,0.000,6,0.100,0.021,3082,1662,1582,0,0,0,0,0,0
$GC,9108,1.15,406.6,66.0,8.6,421,9145,0.12,2.65,25.92,0.522,4,0.062,0.036,3161,3245,1460,0,0,0,0,0,0
$GC,9161,1.04,406.6,58.7,13.9,425,9170,0.30,2.60,0.00,0.000,6,0.079,0.026,3091,1658,1459,0,0,0,0,0,0
$GC,9431,1.04,406.6,27.4,11.2,451,9439,0.00,2.60,0.00,0.000,4,0.000,0.032,3091,3248,1457,0,0,0,0,0,0
$GC,9467,1.15,406.6,21.9,13.5,456,9476,0.00,2.58,0.00,0.000,6,0.000,0.026,3091,1662,1455,0,0,0,0,0,0
$STATE,9607,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FINISH,0.7,1.023554
$STATE,9649,end surface coast,CONTROL_FINISHED_OK
$STATE,9649,begin surface
$SM_CCo,9669,27.30,0.326,1,0,1283,450.13
$SM_GC,1.57,0.00,0.00,27.30,0.000,0.000,0.326,408,1878,1283,-11.28,2.49,450.13
$IRIDIUM_FIX,2241.69,-15802.37,250200,191927
$TT8_MAMPS,0.026845
$HUMID,43.18
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,24.828
$10V_AH,10.4,20.868
$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,30.825,131.025,463.700,27.300,0.000,58.635,64.939,393.737,0.500,0.000,33.560,1028.032,6115.037,537.740,1953.899,806.961,33.366,1332.560,0.000,1934.188,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,70.564,865.943,325.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.113,297.591,377.220,599.210,1057.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,38584,484
$CAP_FILE_SIZE,121075,0
$CFSIZE,260165632,162754560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011210,220506,2249.749,-15759.686,55,2.0,55,10.1