version: 66.06
glider: 148
mission: 9
dive: 167
start: 12 2 110 1 22 45
data:
$ID,148
$MISSION,9
$DIVE,167
$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,-861254
$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,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
$GPS1,005652,2249.638,-15758.515,8,99.0,27,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-64.5
$GPS2,012151,2249.680,-15758.621,22,2.0,34,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.257,0.040
$KALMAN_X,-69842.9,-16.6,-101.1,89304.6,-334.7
$KALMAN_Y,9398.2,-37.3,-272.3,120159.9,69.0
$MHEAD_RNG_PITCHd_Wd,71.0,2830,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-75.22,0.000,2,0.000,0.000,412,1881,3188,0,0,0,0,0,0
$GC,98,-1.28,-146.0,3.0,-4.9,10,131,11.82,2.42,-10.52,0.000,4,0.170,0.042,2572,3371,3719,0,0,0,0,0,0
$GC,160,-1.07,-146.0,17.7,-18.9,18,170,0.20,2.53,0.00,0.000,6,0.083,0.022,2621,1790,3720,0,0,0,0,0,0
$GC,438,-1.07,-146.0,56.3,-13.3,49,442,0.00,2.53,0.00,0.000,4,0.000,0.029,2621,3373,3720,0,0,0,0,0,0
$GC,481,-1.07,-146.0,61.7,-13.0,52,486,0.00,2.47,0.00,0.000,6,0.000,0.022,2621,1794,3720,0,0,0,0,0,0
$GC,744,-1.07,-146.0,96.6,-13.4,76,749,0.00,2.50,0.00,0.000,4,0.000,0.030,2621,3369,3720,0,0,0,0,0,0
$GC,773,-1.07,-146.0,101.3,-14.3,78,782,0.00,2.47,0.00,0.000,6,0.000,0.021,2621,1810,3720,0,0,0,0,0,0
$GC,1040,-1.07,-146.0,133.2,-11.0,103,1045,0.00,2.55,0.00,0.000,4,0.000,0.045,2621,214,3721,0,0,0,0,0,0
$GC,1076,-1.16,-146.0,137.9,-11.5,106,1080,0.00,2.45,0.00,0.000,6,0.000,0.019,2621,1815,3721,0,0,0,0,0,0
$GC,1343,-1.27,-146.0,163.0,-8.1,130,1348,0.15,2.45,0.00,0.000,4,0.055,0.029,2541,3359,3721,0,0,0,0,0,0
$GC,1421,-1.27,-146.0,172.6,-11.6,137,1428,0.20,2.45,0.00,0.000,6,0.094,0.022,2584,1806,3721,0,0,0,0,0,0
$GC,1685,-1.27,-146.0,199.7,-11.1,162,1689,0.00,2.58,0.00,0.000,4,0.000,0.038,2585,207,3722,0,0,0,0,0,0
$GC,1712,-1.27,-146.0,203.3,-11.5,162,1717,0.00,2.47,0.00,0.000,6,0.000,0.020,2584,1810,3722,0,0,0,0,0,0
$GC,1966,-1.27,-146.0,230.0,-10.6,169,1970,0.00,2.45,0.00,0.000,4,0.000,0.030,2584,3358,3721,0,0,0,0,0,0
$GC,2024,-1.36,-146.0,235.7,-9.6,170,2028,0.00,2.42,0.00,0.000,6,0.000,0.023,2584,1824,3721,0,0,0,0,0,0
$GC,2301,-1.36,-146.0,263.2,-9.9,177,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1824,3721,0,0,0,0,0,0
$GC,2545,-1.42,-146.0,288.4,-10.6,183,2550,0.15,2.45,0.00,0.000,4,0.057,0.031,2514,3360,3721,0,0,0,0,0,0
$GC,2565,-1.42,-146.0,290.9,-12.1,183,2570,0.17,2.42,0.00,0.000,6,0.100,0.024,2552,1829,3721,0,0,0,0,0,0
$GC,2829,-1.42,-146.0,321.7,-11.5,190,2834,0.00,2.62,0.00,0.000,4,0.000,0.046,2552,216,3720,0,0,0,0,0,0
$GC,2885,-1.42,-146.0,328.2,-11.1,191,2889,0.00,2.53,0.00,0.000,6,0.000,0.023,2552,1817,3720,0,0,0,0,0,0
$GC,3159,-1.42,-146.0,357.0,-10.5,198,3163,0.00,2.47,0.00,0.000,4,0.000,0.038,2552,3364,3718,0,0,0,0,0,0
$GC,3210,-1.42,-146.0,362.5,-9.6,199,3214,0.00,2.45,0.00,0.000,6,0.000,0.027,2552,1820,3718,0,0,0,0,0,0
$GC,3488,-1.42,-146.0,390.4,-10.1,206,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1820,3717,0,0,0,0,0,0
$GC,3731,-1.42,-146.0,415.7,-10.3,212,3735,0.00,2.53,0.00,0.000,4,0.000,0.042,2552,3365,3714,0,0,0,0,0,0
$GC,3754,-1.42,-146.0,418.2,-10.6,212,3758,0.00,2.45,0.00,0.000,6,0.000,0.030,2552,1831,3715,0,0,0,0,0,0
$GC,4013,-1.42,-146.0,443.5,-9.7,219,4017,0.00,2.72,0.00,0.000,4,0.000,0.061,2552,212,3712,0,0,0,0,0,0
$GC,4033,-1.42,-146.0,445.6,-10.2,219,4037,0.00,2.58,0.00,0.000,6,0.000,0.030,2552,1822,3712,0,0,0,0,0,0
$GC,4297,-1.42,-146.0,472.1,-9.9,226,4301,0.00,2.58,0.00,0.000,4,0.000,0.050,2552,3372,3710,0,0,0,0,0,0
$GC,4334,-1.48,-146.0,475.9,-9.6,226,4340,0.00,2.50,0.00,0.000,6,0.000,0.033,2551,1835,3710,0,0,0,0,0,0
$GC,4585,-1.48,-146.0,500.0,-9.5,233,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1835,3708,0,0,0,0,0,0
$STATE,4622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4622,begin apogee
$GC,4628,-0.31,0.0,503.7,9.4,234,4748,1.08,0.00,116.78,0.866,6,0.081,0.000,2792,1671,3120,0,0,0,0,0,0
$STATE,4749,end apogee,CONTROL_FINISHED_OK
$STATE,4749,begin climb
$GC,4751,1.28,146.0,507.9,0.0,237,4881,1.40,2.70,120.35,0.851,4,0.023,0.071,3152,183,2523,0,0,0,0,0,0
$GC,4970,0.82,146.0,498.9,13.1,242,4977,0.55,2.45,0.00,0.000,6,0.109,0.028,3039,1680,2518,0,0,0,0,0,0
$GC,5261,0.91,220.6,477.9,6.6,249,5330,0.00,2.67,62.45,0.833,4,0.000,0.061,3039,188,2219,0,0,0,0,0,0
$GC,5366,0.94,241.2,470.4,9.1,251,5392,0.10,2.45,19.17,0.783,6,0.081,0.029,3080,1683,2135,0,0,0,0,0,0
$GC,5637,0.85,241.2,443.0,10.3,258,5642,0.17,2.58,0.00,0.000,4,0.105,0.058,3044,183,2127,0,0,0,0,0,0
$GC,5657,0.78,246.0,440.7,9.8,258,5666,0.00,2.42,3.97,0.515,6,0.000,0.027,3043,1677,2117,0,0,0,0,0,0
$GC,5922,0.78,246.0,414.2,10.3,265,5926,0.00,2.58,0.00,0.000,4,0.000,0.059,3043,181,2114,0,0,0,0,0,0
$GC,5958,0.78,246.0,409.6,12.0,265,5964,0.00,2.42,0.00,0.000,6,0.000,0.026,3044,1683,2113,0,0,0,0,0,0
$GC,6208,0.78,246.0,380.6,11.7,272,6212,0.00,2.58,0.00,0.000,4,0.000,0.058,3044,180,2112,0,0,0,0,0,0
$GC,6232,0.78,246.0,377.4,12.4,272,6237,0.00,2.38,0.00,0.000,6,0.000,0.025,3044,1666,2112,0,0,0,0,0,0
$GC,6493,0.78,246.0,349.7,10.3,279,6497,0.00,2.65,0.00,0.000,4,0.000,0.044,3043,3258,2110,0,0,0,0,0,0
$GC,6530,0.85,246.0,345.8,10.2,279,6536,0.00,2.60,0.00,0.000,6,0.000,0.034,3043,1672,2109,0,0,0,0,0,0
$GC,6781,0.87,267.3,322.5,9.1,286,6801,0.00,0.00,18.58,0.732,6,0.000,0.000,3044,1672,2029,0,0,0,0,0,0
$GC,7023,0.88,276.0,299.3,9.6,292,7039,0.00,2.60,8.57,0.649,4,0.000,0.062,3044,161,1994,0,0,0,0,0,0
$GC,7053,0.88,276.0,296.1,10.6,292,7057,0.00,2.42,0.00,0.000,6,0.000,0.024,3043,1673,1993,0,0,0,0,0,0
$GC,7309,0.90,289.5,272.0,9.4,299,7329,0.00,2.60,13.27,0.676,4,0.000,0.054,3043,171,1939,0,0,0,0,0,0
$GC,7380,0.90,289.5,264.6,10.3,300,7384,0.00,2.38,0.00,0.000,6,0.000,0.023,3043,1660,1938,0,0,0,0,0,0
$GC,7645,1.01,323.3,242.1,8.5,307,7683,0.15,2.72,30.40,0.687,4,0.058,0.042,3110,3254,1800,0,0,0,0,0,0
$GC,7707,1.01,323.3,234.5,13.7,308,7713,0.15,2.62,0.00,0.000,6,0.105,0.031,3079,1652,1797,0,0,0,0,0,0
$GC,7976,1.01,323.3,201.0,12.4,315,7981,0.00,2.65,0.00,0.000,4,0.000,0.035,3079,3264,1794,0,0,0,0,0,0
$GC,8010,1.01,323.3,196.5,13.4,315,8014,0.00,2.60,0.00,0.000,6,0.000,0.029,3079,1666,1793,0,0,0,0,0,0
$GC,8272,1.01,323.3,161.6,12.5,339,8276,0.00,2.47,0.00,0.000,4,0.000,0.054,3079,170,1792,0,0,0,0,0,0
$GC,8332,1.01,323.3,153.4,13.8,344,8338,0.00,2.35,0.00,0.000,6,0.000,0.022,3079,1663,1792,0,0,0,0,0,0
$GC,8598,1.04,349.3,126.1,8.8,369,8623,0.00,0.00,22.00,0.578,6,0.000,0.000,3079,1666,1696,0,0,0,0,0,0
$GC,8882,1.16,362.3,97.7,9.4,396,8904,0.15,2.50,12.70,0.525,4,0.055,0.044,3139,166,1642,0,0,0,0,0,0
$GC,8926,1.07,362.3,92.0,14.0,400,8931,0.22,2.33,0.00,0.000,6,0.098,0.021,3092,1657,1641,0,0,0,0,0,0
$GC,9190,1.14,362.3,64.4,10.5,424,9194,0.00,2.55,0.00,0.000,4,0.000,0.032,3092,3251,1640,0,0,0,0,0,0
$GC,9220,1.23,368.2,61.5,9.8,426,9235,0.15,2.58,6.38,0.432,6,0.054,0.027,3175,1638,1617,0,0,0,0,0,0
$GC,9502,1.07,368.2,19.4,12.8,457,9510,0.35,0.00,0.00,0.000,6,0.097,0.000,3097,1638,1617,0,0,0,0,0,0
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9667,begin surface coast
$FINISH,0.8,1.023603
$STATE,9719,end surface coast,CONTROL_FINISHED_OK
$STATE,9719,begin surface
$SM_CCo,9741,150.18,0.449,1,0,510,639.99
$SM_GC,1.48,0.00,0.00,150.18,0.000,0.000,0.449,413,1856,510,-11.26,1.87,639.99
$IRIDIUM_FIX,2239.35,-15759.32,260200,010159
$TT8_MAMPS,0.026845
$HUMID,42.36
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,25.127
$10V_AH,10.4,21.089
$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,27.950,131.375,434.625,150.175,0.000,151.290,277.099,653.742,0.500,0.000,36.224,1010.575,6499.366,621.472,1878.582,1387.750,33.359,1394.896,0.000,1860.202,0.000,0.541,0.000
$DEVICE_MAMPS,169.507,71.331,865.943,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.442,307.796,378.419,578.080,1022.356,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38267,491
$CAP_FILE_SIZE,125452,0
$CFSIZE,260165632,162635776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,040939,2250.041,-15757.223,71,1.7,79,10.1