version: 66.06
glider: 148
mission: 9
dive: 169
start: 12 2 110 7 21 39
data:
$ID,148
$MISSION,9
$DIVE,169
$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,-861285.69
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,070336,2248.675,-15757.464,13,1.2,29,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.4
$GPS2,072044,2248.663,-15757.483,11,1.0,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.017,-0.243
$KALMAN_X,-70523.9,154.7,113.6,91554.6,-371.8
$KALMAN_Y,9234.9,-272.4,392.2,118005.0,-652.7
$MHEAD_RNG_PITCHd_Wd,174.0,3128,-19.0,-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,19,-1.34,-126.9,0.0,0.0,0,104,0.00,0.00,-82.80,0.000,2,0.000,0.000,409,1797,3422,0,0,0,0,0,0
$GC,107,-1.36,-146.0,4.1,-7.8,11,132,11.30,2.60,-5.28,0.000,4,0.154,0.044,2555,211,3717,0,0,0,0,0,0
$GC,251,-1.36,-146.0,36.2,-15.4,30,256,0.00,2.45,0.00,0.000,6,0.000,0.021,2556,1796,3719,0,0,0,0,0,0
$GC,514,-1.18,-146.0,85.1,-18.2,54,519,0.22,2.53,0.00,0.000,4,0.102,0.030,2603,3372,3719,0,0,0,0,0,0
$GC,536,-1.08,-146.0,89.3,-17.1,55,542,0.00,2.47,0.00,0.000,6,0.000,0.021,2603,1780,3719,0,0,0,0,0,0
$GC,800,-1.18,-146.0,118.5,-11.9,80,804,0.00,2.53,0.00,0.000,4,0.000,0.030,2603,3370,3720,0,0,0,0,0,0
$GC,820,-1.26,-146.0,121.4,-11.4,81,826,0.00,2.45,0.00,0.000,6,0.000,0.028,2603,1797,3720,0,0,0,0,0,0
$GC,1085,-1.36,-146.0,147.6,-9.8,106,1090,0.17,2.53,0.00,0.000,4,0.051,0.031,2527,3367,3720,0,0,0,0,0,0
$GC,1144,-1.36,-146.0,156.1,-13.7,111,1153,0.12,2.47,0.00,0.000,6,0.080,0.023,2560,1816,3720,0,0,0,0,0,0
$GC,1410,-1.36,-146.0,188.2,-11.5,136,1414,0.00,2.58,0.00,0.000,4,0.000,0.038,2560,205,3721,0,0,0,0,0,0
$GC,1428,-1.36,-146.0,191.6,-13.1,137,1434,0.00,2.47,0.00,0.000,6,0.000,0.019,2560,1820,3721,0,0,0,0,0,0
$GC,1712,-1.36,-146.0,225.9,-12.1,150,1716,0.00,2.45,0.00,0.000,4,0.000,0.031,2560,3364,3721,0,0,0,0,0,0
$GC,1736,-1.36,-146.0,228.7,-12.0,150,1740,0.00,2.42,0.00,0.000,6,0.000,0.021,2560,1812,3721,0,0,0,0,0,0
$GC,1995,-1.36,-146.0,258.0,-11.4,157,1999,0.00,2.47,0.00,0.000,4,0.000,0.032,2560,3364,3721,0,0,0,0,0,0
$GC,2027,-1.36,-146.0,262.1,-11.8,157,2031,0.00,2.42,0.00,0.000,6,0.000,0.022,2560,1817,3720,0,0,0,0,0,0
$GC,2278,-1.36,-146.0,287.8,-10.4,163,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1817,3721,0,0,0,0,0,0
$GC,2520,-1.43,-146.0,315.2,-11.4,169,2525,0.00,2.50,0.00,0.000,4,0.000,0.037,2560,3355,3721,0,0,0,0,0,0
$GC,2543,-1.43,-146.0,318.0,-11.8,169,2547,0.00,2.42,0.00,0.000,6,0.000,0.025,2560,1817,3720,0,0,0,0,0,0
$GC,2804,-1.51,-146.0,343.8,-9.6,176,2809,0.12,2.53,0.00,0.000,4,0.067,0.038,2503,3357,3719,0,0,0,0,0,0
$GC,2824,-1.51,-146.0,346.2,-10.8,176,2829,0.12,2.42,0.00,0.000,6,0.109,0.026,2530,1826,3719,0,0,0,0,0,0
$GC,3088,-1.51,-146.0,373.1,-10.1,183,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1827,3718,0,0,0,0,0,0
$GC,3333,-1.51,-146.0,397.7,-10.2,189,3337,0.00,2.70,0.00,0.000,4,0.000,0.057,2530,218,3716,0,0,0,0,0,0
$GC,3347,-1.51,-146.0,399.5,-10.6,189,3351,0.00,2.55,0.00,0.000,6,0.000,0.026,2530,1816,3716,0,0,0,0,0,0
$GC,3615,-1.51,-146.0,430.1,-11.4,196,3619,0.00,2.58,0.00,0.000,4,0.000,0.050,2529,3368,3715,0,0,0,0,0,0
$GC,3639,-1.51,-146.0,432.9,-11.9,196,3644,0.00,2.45,0.00,0.000,6,0.000,0.028,2529,1834,3714,0,0,0,0,0,0
$GC,3899,-1.51,-146.0,458.9,-9.8,203,3903,0.00,2.75,0.00,0.000,4,0.000,0.063,2530,214,3712,0,0,0,0,0,0
$GC,3936,-1.58,-146.0,463.0,-10.1,203,3942,0.00,2.60,0.00,0.000,6,0.000,0.035,2530,1819,3711,0,0,0,0,0,0
$GC,4187,-1.58,-146.0,488.9,-10.6,210,4191,0.00,2.58,0.00,0.000,4,0.000,0.053,2530,3373,3709,0,0,0,0,0,0
$GC,4233,-1.65,-146.0,494.5,-10.8,211,4239,0.12,2.50,0.00,0.000,6,0.068,0.034,2460,1828,3709,0,0,0,0,0,0
$STATE,4311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4311,begin apogee
$GC,4317,-0.31,0.0,505.2,14.1,213,4437,1.52,0.00,116.80,0.871,6,0.089,0.000,2792,1659,3120,0,0,0,0,0,0
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4442,1.36,146.0,509.1,0.0,216,4572,1.48,2.83,120.40,0.854,4,0.021,0.051,3165,3259,2523,0,0,0,0,0,0
$GC,4676,1.07,146.0,498.9,10.7,221,4683,0.35,2.60,0.00,0.000,6,0.107,0.038,3094,1699,2517,0,0,0,0,0,0
$GC,4948,0.99,183.0,475.9,8.1,228,4984,0.00,2.75,31.20,0.818,4,0.000,0.074,3093,163,2373,0,0,0,0,0,0
$GC,5015,0.78,183.0,470.3,11.4,228,5021,0.30,2.50,0.00,0.000,6,0.103,0.029,3031,1688,2371,0,0,0,0,0,0
$GC,5276,0.84,231.8,450.8,7.4,235,5324,0.00,2.72,41.95,0.821,4,0.000,0.059,3030,163,2174,0,0,0,0,0,0
$GC,5385,0.84,231.8,440.3,10.8,237,5389,0.00,2.45,0.00,0.000,6,0.000,0.028,3031,1677,2169,0,0,0,0,0,0
$GC,5649,0.97,270.7,418.3,8.0,244,5691,0.17,2.70,33.65,0.802,4,0.053,0.060,3107,167,2015,0,0,0,0,0,0
$GC,5709,0.83,270.7,411.8,12.3,245,5714,0.32,2.45,0.00,0.000,6,0.100,0.028,3040,1665,2014,0,0,0,0,0,0
$GC,5983,0.92,270.7,383.7,10.2,252,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1666,2008,0,0,0,0,0,0
$GC,6228,1.02,273.4,359.6,9.9,258,6233,0.17,2.58,0.00,0.000,4,0.052,0.056,3117,166,2005,0,0,0,0,0,0
$GC,6248,0.96,273.4,356.8,12.6,258,6253,0.22,2.42,0.00,0.000,6,0.106,0.027,3071,1666,2005,0,0,0,0,0,0
$GC,6512,0.96,273.4,328.5,10.4,265,6516,0.00,2.67,0.00,0.000,4,0.000,0.049,3071,3258,2003,0,0,0,0,0,0
$GC,6527,0.96,274.1,326.9,10.0,265,6532,0.00,2.62,0.00,0.000,6,0.000,0.033,3071,1655,2001,0,0,0,0,0,0
$GC,6797,0.96,274.1,297.1,11.2,272,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1655,2001,0,0,0,0,0,0
$GC,7042,0.96,274.1,271.7,10.5,278,7047,0.00,2.53,0.00,0.000,4,0.000,0.061,3071,171,2000,0,0,0,0,0,0
$GC,7095,0.96,274.1,265.2,13.0,279,7099,0.00,2.38,0.00,0.000,6,0.000,0.023,3070,1669,2000,0,0,0,0,0,0
$GC,7377,0.98,295.7,237.9,8.9,286,7404,0.00,2.65,20.55,0.676,4,0.000,0.041,3071,3255,1913,0,0,0,0,0,0
$GC,7424,1.09,318.3,233.8,8.8,287,7452,0.10,2.62,20.70,0.666,6,0.077,0.031,3125,1652,1822,0,0,0,0,0,0
$GC,7710,1.01,318.3,194.6,14.6,294,7719,0.20,0.00,0.00,0.000,6,0.101,0.000,3083,1652,1816,0,0,0,0,0,0
$GC,7974,1.01,318.3,162.3,11.7,319,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1652,1814,0,0,0,0,0,0
$GC,8237,1.01,318.3,130.6,11.1,344,8241,0.00,2.62,0.00,0.000,4,0.000,0.036,3083,3259,1814,0,0,0,0,0,0
$GC,8263,1.09,318.3,127.9,10.7,346,8267,0.00,2.58,0.00,0.000,6,0.000,0.034,3083,1655,1812,0,0,0,0,0,0
$GC,8527,1.17,318.3,99.9,10.6,370,8536,0.12,0.00,0.00,0.000,6,0.065,0.000,3156,1655,1812,0,0,0,0,0,0
$GC,8790,1.17,318.3,65.3,11.5,395,8795,0.20,2.42,0.00,0.000,4,0.101,0.043,3114,173,1812,0,0,0,0,0,0
$GC,8889,1.17,318.3,54.2,10.7,403,8898,0.00,2.35,0.00,0.000,6,0.000,0.021,3114,1665,1812,0,0,0,0,0,0
$GC,9159,1.24,318.3,27.9,10.2,429,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1669,1812,0,0,0,0,0,0
$STATE,9361,end climb,SURFACE_DEPTH_REACHED
$STATE,9361,begin surface coast
$FINISH,0.9,1.023576
$STATE,9394,end surface coast,CONTROL_FINISHED_OK
$STATE,9394,begin surface
$SM_CCo,9414,63.95,0.061,0,0,1285,450.13
$SM_GC,1.60,0.00,0.00,63.95,0.000,0.000,0.061,412,1870,1285,-11.26,2.26,450.13
$IRIDIUM_FIX,2239.35,-15800.20,260200,070729
$TT8_MAMPS,0.026845
$HUMID,43.81
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.6,25.397
$10V_AH,10.4,21.298
$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,28.400,117.300,385.250,63.950,0.000,92.361,99.108,567.994,1.000,0.000,13.375,962.698,6257.935,495.102,1749.800,1042.715,33.362,1221.665,0.000,1749.681,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,74.399,870.545,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.253,282.863,355.859,542.566,959.478,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,35151,466
$CAP_FILE_SIZE,114648,0
$CFSIZE,260165632,162545664
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021210,100106,2246.929,-15757.952,43,1.0,49,10.1