version: 66.06
glider: 148
mission: 9
dive: 170
start: 12 2 110 10 17 8
data:
$ID,148
$MISSION,9
$DIVE,170
$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,-861300.25
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,100106,2246.929,-15757.952,43,1.0,49,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.1
$GPS2,101613,2246.893,-15758.087,12,1.0,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.259,0.023
$KALMAN_X,-71220.3,80.4,31.6,91374.2,-759.1
$KALMAN_Y,8947.8,-158.7,-280.1,115577.7,-149.8
$MHEAD_RNG_PITCHd_Wd,264.9,8392,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,97,0.00,0.00,-75.78,0.000,2,0.000,0.000,412,1869,3213,0,0,0,0,0,0
$GC,102,-1.28,-146.0,3.4,-5.6,10,134,11.43,2.78,-9.40,0.000,4,0.156,0.058,2573,212,3720,0,0,0,0,0,0
$GC,268,-1.17,-146.0,37.8,-17.6,32,274,0.15,2.45,0.00,0.000,6,0.107,0.021,2604,1795,3721,0,0,0,0,0,0
$GC,537,-1.17,-146.0,77.3,-12.8,56,541,0.00,2.47,0.00,0.000,4,0.000,0.030,2604,3368,3721,0,0,0,0,0,0
$GC,598,-1.23,-146.0,85.0,-11.9,61,602,0.00,2.50,0.00,0.000,6,0.000,0.028,2604,1788,3721,0,0,0,0,0,0
$GC,865,-1.23,-146.0,115.7,-11.5,85,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1788,3722,0,0,0,0,0,0
$GC,1125,-1.23,-146.0,144.2,-10.5,110,1129,0.00,2.53,0.00,0.000,4,0.000,0.029,2604,3367,3722,0,0,0,0,0,0
$GC,1185,-1.35,-146.0,150.1,-10.5,115,1190,0.17,2.47,0.00,0.000,6,0.047,0.023,2519,1797,3722,0,0,0,0,0,0
$GC,1450,-1.17,-146.0,190.3,-14.9,139,1459,0.38,2.55,0.00,0.000,4,0.091,0.037,2602,215,3723,0,0,0,0,0,0
$GC,1514,-1.32,-146.0,197.4,-9.6,145,1519,0.12,2.47,0.00,0.000,6,0.064,0.020,2537,1815,3723,0,0,0,0,0,0
$GC,1785,-1.21,-146.0,232.1,-12.7,153,1790,0.25,2.45,0.00,0.000,4,0.089,0.030,2597,3361,3723,0,0,0,0,0,0
$GC,1830,-1.32,-146.0,237.0,-9.7,154,1835,0.10,2.47,0.00,0.000,6,0.076,0.023,2522,1792,3723,0,0,0,0,0,0
$GC,2118,-1.16,-146.0,276.0,-13.4,161,2120,0.43,0.00,0.00,0.000,6,0.087,0.000,2605,1791,3723,0,0,0,0,0,0
$GC,2362,-1.28,-146.0,298.7,-9.2,167,2367,0.10,2.55,0.00,0.000,4,0.077,0.035,2549,3355,3723,0,0,0,0,0,0
$GC,2387,-1.28,-146.0,301.4,-11.8,167,2392,0.15,2.47,0.00,0.000,6,0.096,0.025,2583,1802,3723,0,0,0,0,0,0
$GC,2647,-1.35,-146.0,326.3,-9.2,174,2652,0.00,2.50,0.00,0.000,4,0.000,0.037,2583,3352,3722,0,0,0,0,0,0
$GC,2680,-1.44,-146.0,329.7,-10.1,174,2685,0.15,2.47,0.00,0.000,6,0.055,0.026,2500,1809,3722,0,0,0,0,0,0
$GC,2931,-1.28,-146.0,365.3,-14.5,180,2933,0.40,0.00,0.00,0.000,6,0.087,0.000,2580,1809,3721,0,0,0,0,0,0
$GC,3174,-1.36,-146.0,386.9,-8.2,186,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1809,3720,0,0,0,0,0,0
$GC,3417,-1.45,-146.0,405.7,-7.7,192,3422,0.15,2.58,0.00,0.000,4,0.057,0.048,2512,3346,3718,0,0,0,0,0,0
$GC,3463,-1.39,-146.0,410.4,-11.8,193,3468,0.20,2.47,0.00,0.000,6,0.092,0.030,2556,1811,3718,0,0,0,0,0,0
$GC,3750,-1.39,-146.0,437.9,-9.7,200,3755,0.00,2.58,0.00,0.000,4,0.000,0.051,2555,3351,3716,0,0,0,0,0,0
$GC,3770,-1.39,-146.0,440.0,-10.8,200,3775,0.00,2.50,0.00,0.000,6,0.000,0.028,2556,1800,3716,0,0,0,0,0,0
$GC,4034,-1.39,-146.0,466.5,-10.1,207,4038,0.00,2.60,0.00,0.000,4,0.000,0.051,2556,3349,3713,0,0,0,0,0,0
$GC,4062,-1.39,-146.0,469.4,-10.0,207,4066,0.00,2.47,0.00,0.000,6,0.000,0.031,2556,1813,3713,0,0,0,0,0,0
$GC,4318,-1.39,-146.0,493.2,-9.4,214,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1813,3711,0,0,0,0,0,0
$STATE,4395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4400,-0.31,0.0,500.7,9.2,216,4521,1.05,0.00,117.30,0.867,6,0.079,0.000,2791,1660,3120,0,0,0,0,0,0
$STATE,4522,end apogee,CONTROL_FINISHED_OK
$STATE,4522,begin climb
$GC,4524,1.28,146.0,505.6,0.0,219,4655,1.42,2.62,120.45,0.855,4,0.030,0.071,3138,184,2522,0,0,0,0,0,0
$GC,4661,1.04,242.5,508.0,5.6,222,4754,0.25,2.40,81.72,0.841,6,0.124,0.029,3089,1663,2130,0,0,0,0,0,0
$GC,5023,0.91,242.5,469.7,11.3,231,5028,0.15,2.55,0.00,0.000,4,0.120,0.059,3058,186,2120,0,0,0,0,0,0
$GC,5119,0.83,242.5,458.7,12.1,233,5123,0.00,2.42,0.00,0.000,6,0.000,0.029,3059,1684,2119,0,0,0,0,0,0
$GC,5401,0.83,242.5,427.0,11.6,240,5405,0.00,2.58,0.00,0.000,4,0.000,0.058,3059,184,2115,0,0,0,0,0,0
$GC,5429,0.74,242.5,423.5,13.1,240,5434,0.17,2.42,0.00,0.000,6,0.111,0.028,3023,1678,2115,0,0,0,0,0,0
$GC,5686,0.86,281.7,401.1,8.2,247,5728,0.10,2.72,32.47,0.795,4,0.078,0.051,3070,3265,1970,0,0,0,0,0,0
$GC,5743,0.86,281.7,395.1,10.9,248,5749,0.10,2.62,0.00,0.000,6,0.119,0.034,3048,1685,1968,0,0,0,0,0,0
$GC,6018,0.86,281.7,365.3,11.0,255,6023,0.00,2.62,0.00,0.000,4,0.000,0.065,3047,163,1964,0,0,0,0,0,0
$GC,6069,0.86,281.7,359.0,12.6,256,6074,0.00,2.45,0.00,0.000,6,0.000,0.027,3048,1680,1963,0,0,0,0,0,0
$GC,6346,0.86,281.7,328.2,11.2,263,6351,0.00,2.60,0.00,0.000,4,0.000,0.058,3048,161,1961,0,0,0,0,0,0
$GC,6375,0.86,281.7,324.8,12.5,263,6380,0.00,2.42,0.00,0.000,6,0.000,0.025,3048,1674,1961,0,0,0,0,0,0
$GC,6629,0.86,281.7,297.9,10.5,270,6634,0.00,2.62,0.00,0.000,4,0.000,0.047,3048,3255,1960,0,0,0,0,0,0
$GC,6658,0.94,285.1,295.1,9.9,270,6662,0.00,2.60,0.00,0.000,6,0.000,0.031,3048,1671,1959,0,0,0,0,0,0
$GC,6914,1.02,299.5,271.3,9.4,277,6935,0.15,2.62,15.12,0.686,4,0.058,0.062,3116,164,1899,0,0,0,0,0,0
$GC,6945,0.88,299.5,267.2,12.9,277,6950,0.30,2.45,0.00,0.000,6,0.099,0.023,3053,1689,1898,0,0,0,0,0,0
$GC,7204,0.95,299.5,240.6,10.2,284,7208,0.00,2.58,0.00,0.000,4,0.000,0.042,3054,3260,1895,0,0,0,0,0,0
$GC,7227,1.04,315.0,238.1,9.3,284,7248,0.12,2.60,14.80,0.654,6,0.064,0.031,3120,1671,1834,0,0,0,0,0,0
$GC,7538,0.93,315.0,197.7,13.4,292,7544,0.28,0.00,0.00,0.000,6,0.100,0.000,3062,1671,1829,0,0,0,0,0,0
$GC,7801,0.94,319.0,170.4,9.9,317,7811,0.00,2.50,3.97,0.423,4,0.000,0.048,3062,164,1818,0,0,0,0,0,0
$GC,7835,0.94,319.0,166.4,11.1,320,7841,0.00,2.38,0.00,0.000,6,0.000,0.022,3062,1683,1818,0,0,0,0,0,0
$GC,8103,1.07,370.7,143.7,7.6,345,8156,0.12,2.62,46.12,0.604,4,0.067,0.037,3123,3248,1607,0,0,0,0,0,0
$GC,8207,1.07,370.7,131.2,11.8,355,8212,0.12,2.55,0.00,0.000,6,0.109,0.028,3096,1668,1603,0,0,0,0,0,0
$GC,8471,1.07,370.7,97.3,13.0,379,8475,0.00,2.45,0.00,0.000,4,0.000,0.048,3095,165,1601,0,0,0,0,0,0
$GC,8519,1.07,370.7,91.5,11.8,383,8523,0.00,2.35,0.00,0.000,6,0.000,0.021,3096,1672,1600,0,0,0,0,0,0
$GC,8785,1.08,375.3,62.8,9.8,407,8794,0.00,0.00,4.10,0.362,6,0.000,0.000,3095,1676,1589,0,0,0,0,0,0
$GC,9052,1.08,375.3,33.5,10.5,432,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1676,1589,0,0,0,0,0,0
$STATE,9342,end climb,SURFACE_DEPTH_REACHED
$STATE,9342,begin surface coast
$FINISH,0.9,1.023586
$STATE,9381,end surface coast,CONTROL_FINISHED_OK
$STATE,9381,begin surface
$SM_CCo,9402,36.25,0.061,0,0,1285,450.13
$SM_GC,1.67,0.00,0.00,36.25,0.000,0.000,0.061,414,1864,1285,-11.25,2.12,450.13
$IRIDIUM_FIX,2239.35,-15757.16,260200,101056
$TT8_MAMPS,0.026845
$HUMID,42.95
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,23.6,25.538
$10V_AH,10.4,21.407
$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,29.450,111.500,436.075,36.250,0.000,56.100,69.049,579.616,0.750,0.000,13.940,986.974,6066.450,486.345,1826.023,981.350,33.363,1226.282,0.000,1829.807,0.000,0.538,0.000
$DEVICE_MAMPS,155.701,71.331,867.477,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.860,294.116,376.152,580.572,1026.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38316,483
$CAP_FILE_SIZE,115891,0
$CFSIZE,260165632,162484224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021210,125534,2247.180,-15759.907,8,99.0,27,10.1