version: 66.06
glider: 148
mission: 9
dive: 173
start: 12 2 110 19 16 9
data:
$ID,148
$MISSION,9
$DIVE,173
$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,-861400.12
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,185937,2247.133,-15802.917,39,1.3,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-56.9
$GPS2,191514,2247.104,-15803.024,12,1.2,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.035,0.261
$KALMAN_X,-72146.6,-158.0,182.4,83886.5,-336.6
$KALMAN_Y,9322.5,399.1,509.0,114242.8,-756.6
$MHEAD_RNG_PITCHd_Wd,357.6,5364,-17.3,-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,-1.26,-146.0,0.0,0.0,0,133,0.00,0.00,-112.03,0.000,2,0.000,0.000,413,1886,3407,0,0,0,0,0,0
$GC,137,-1.26,-146.0,3.9,-5.7,15,161,11.32,2.72,-5.38,0.000,4,0.152,0.046,2576,196,3718,0,0,0,0,0,0
$GC,232,-1.15,-146.0,30.6,-20.1,29,237,0.15,2.50,0.00,0.000,6,0.107,0.020,2608,1805,3720,0,0,0,0,0,0
$GC,501,-1.05,-146.0,68.6,-15.5,53,506,0.10,2.47,0.00,0.000,4,0.127,0.031,2629,3363,3720,0,0,0,0,0,0
$GC,567,-1.05,-146.0,77.9,-10.2,58,576,0.00,2.53,0.00,0.000,6,0.000,0.023,2629,1788,3720,0,0,0,0,0,0
$GC,835,-1.12,-146.0,106.2,-10.0,83,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1787,3720,0,0,0,0,0,0
$GC,1096,-1.22,-146.0,132.0,-9.4,108,1101,0.15,2.53,0.00,0.000,4,0.055,0.028,2552,3365,3720,0,0,0,0,0,0
$GC,1155,-1.22,-146.0,139.0,-12.1,113,1160,0.20,2.45,0.00,0.000,6,0.090,0.023,2597,1798,3720,0,0,0,0,0,0
$GC,1415,-1.22,-146.0,166.6,-10.2,137,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1798,3721,0,0,0,0,0,0
$GC,1674,-1.28,-146.0,190.3,-9.2,161,1678,0.00,2.50,0.00,0.000,4,0.000,0.030,2597,3371,3721,0,0,0,0,0,0
$GC,1719,-1.37,-146.0,194.9,-9.4,165,1724,0.15,2.45,0.00,0.000,6,0.055,0.023,2505,1809,3720,0,0,0,0,0,0
$GC,1971,-1.10,-146.0,236.3,-17.1,174,1973,0.62,0.00,0.00,0.000,6,0.088,0.000,2617,1809,3720,0,0,0,0,0,0
$GC,2216,-1.24,-146.0,258.8,-9.0,180,2221,0.12,2.50,0.00,0.000,4,0.064,0.031,2548,3368,3721,0,0,0,0,0,0
$GC,2254,-1.24,-146.0,263.6,-12.4,180,2260,0.20,2.45,0.00,0.000,6,0.091,0.024,2591,1810,3721,0,0,0,0,0,0
$GC,2504,-1.30,-146.0,290.1,-10.4,187,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1811,3720,0,0,0,0,0,0
$GC,2749,-1.38,-146.0,315.7,-10.5,193,2754,0.15,2.53,0.00,0.000,4,0.056,0.034,2520,3364,3719,0,0,0,0,0,0
$GC,2783,-1.28,-146.0,320.3,-13.6,193,2788,0.28,2.45,0.00,0.000,6,0.087,0.025,2581,1822,3719,0,0,0,0,0,0
$GC,3033,-1.34,-146.0,345.2,-9.5,199,3037,0.00,2.50,0.00,0.000,4,0.000,0.037,2581,3367,3718,0,0,0,0,0,0
$GC,3072,-1.45,-146.0,348.7,-8.9,199,3078,0.17,2.45,0.00,0.000,6,0.050,0.028,2501,1834,3717,0,0,0,0,0,0
$GC,3322,-1.30,-146.0,381.9,-13.6,206,3329,0.30,2.72,0.00,0.000,4,0.090,0.051,2571,206,3716,0,0,0,0,0,0
$GC,3388,-1.37,-146.0,389.4,-11.2,207,3393,0.00,2.55,0.00,0.000,6,0.000,0.025,2571,1813,3716,0,0,0,0,0,0
$GC,3656,-1.37,-146.0,416.9,-10.1,214,3660,0.00,2.55,0.00,0.000,4,0.000,0.047,2571,3367,3714,0,0,0,0,0,0
$GC,3689,-1.37,-146.0,420.1,-9.2,214,3693,0.00,2.45,0.00,0.000,6,0.000,0.029,2572,1830,3714,0,0,0,0,0,0
$GC,3940,-1.44,-146.0,443.8,-9.5,220,3942,0.10,0.00,0.00,0.000,6,0.077,0.000,2517,1830,3712,0,0,0,0,0,0
$GC,4182,-1.35,-146.0,472.2,-11.8,226,4184,0.22,0.00,0.00,0.000,6,0.093,0.000,2566,1830,3710,0,0,0,0,0,0
$GC,4426,-1.42,-146.0,495.9,-9.7,232,4431,0.00,2.55,0.00,0.000,4,0.000,0.051,2566,3360,3708,0,0,0,0,0,0
$GC,4466,-1.52,-146.0,499.7,-9.6,232,4472,0.15,2.50,0.00,0.000,6,0.057,0.033,2488,1828,3708,0,0,0,0,0,0
$STATE,4511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4511,begin apogee
$GC,4517,-0.31,0.0,505.4,12.0,234,4638,1.38,0.00,116.70,0.871,6,0.084,0.000,2793,1660,3120,0,0,0,0,0,0
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4641,1.26,146.0,511.4,0.0,237,4775,1.42,2.80,122.10,0.854,4,0.026,0.049,3140,3251,2523,0,0,0,0,0,0
$GC,4836,0.96,146.6,508.8,10.0,241,4845,0.32,2.62,0.00,0.000,6,0.110,0.038,3073,1695,2518,0,0,0,0,0,0
$GC,5090,0.89,199.1,489.0,7.7,248,5143,0.00,2.72,44.97,0.831,4,0.000,0.074,3073,171,2307,0,0,0,0,0,0
$GC,5168,0.69,199.1,481.8,12.0,249,5173,0.30,2.42,0.00,0.000,6,0.106,0.029,3012,1665,2304,0,0,0,0,0,0
$GC,5419,0.77,265.8,463.4,7.0,255,5484,0.00,2.62,57.08,0.831,4,0.000,0.059,3011,166,2034,0,0,0,0,0,0
$GC,5517,0.86,285.7,455.1,9.1,257,5542,0.15,2.42,18.67,0.780,6,0.058,0.028,3074,1663,1954,0,0,0,0,0,0
$GC,5795,0.79,285.7,420.8,12.8,264,5800,0.20,2.58,0.00,0.000,4,0.100,0.055,3033,169,1945,0,0,0,0,0,0
$GC,5811,0.79,285.7,418.3,13.2,264,5816,0.00,2.42,0.00,0.000,6,0.000,0.027,3033,1664,1945,0,0,0,0,0,0
$GC,6079,0.79,285.7,389.1,10.5,271,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1664,1942,0,0,0,0,0,0
$GC,6325,0.88,309.8,366.8,9.0,277,6352,0.00,2.62,20.17,0.765,4,0.000,0.057,3032,160,1856,0,0,0,0,0,0
$GC,6376,0.88,313.8,361.8,9.9,278,6388,0.00,2.42,4.70,0.551,6,0.000,0.025,3033,1657,1840,0,0,0,0,0,0
$GC,6658,0.97,323.2,335.4,9.6,285,6675,0.15,2.70,8.90,0.673,4,0.057,0.044,3099,3254,1801,0,0,0,0,0,0
$GC,6717,0.97,323.2,327.3,14.3,286,6722,0.12,2.65,0.00,0.000,6,0.112,0.033,3073,1655,1798,0,0,0,0,0,0
$GC,6992,0.97,323.2,291.4,13.2,293,6996,0.00,2.67,0.00,0.000,4,0.000,0.039,3073,3261,1796,0,0,0,0,0,0
$GC,7029,0.97,323.2,286.3,13.7,293,7034,0.00,2.65,0.00,0.000,6,0.000,0.032,3073,1653,1795,0,0,0,0,0,0
$GC,7278,0.97,323.2,255.3,12.4,300,7282,0.00,2.50,0.00,0.000,4,0.000,0.058,3073,173,1794,0,0,0,0,0,0
$GC,7301,0.97,323.2,252.2,13.8,300,7305,0.00,2.38,0.00,0.000,6,0.000,0.023,3073,1670,1793,0,0,0,0,0,0
$GC,7561,0.97,323.2,223.2,10.9,307,7565,0.00,2.58,0.00,0.000,4,0.000,0.038,3073,3253,1792,0,0,0,0,0,0
$GC,7598,0.97,323.2,218.7,11.1,307,7603,0.00,2.60,0.00,0.000,6,0.000,0.029,3073,1658,1791,0,0,0,0,0,0
$GC,7852,0.97,323.2,188.4,12.3,320,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1657,1791,0,0,0,0,0,0
$GC,8106,0.97,323.2,158.5,11.4,344,8110,0.00,2.42,0.00,0.000,4,0.000,0.048,3073,173,1791,0,0,0,0,0,0
$GC,8133,0.97,323.2,155.5,12.1,346,8137,0.00,2.35,0.00,0.000,6,0.000,0.021,3073,1683,1791,0,0,0,0,0,0
$GC,8404,0.97,323.2,126.0,10.5,371,8408,0.00,2.53,0.00,0.000,4,0.000,0.033,3073,3257,1790,0,0,0,0,0,0
$GC,8452,1.07,323.2,120.8,10.2,375,8457,0.00,2.53,0.00,0.000,6,0.000,0.028,3073,1674,1790,0,0,0,0,0,0
$GC,8719,1.07,323.2,94.8,10.0,399,8723,0.00,2.47,0.00,0.000,4,0.000,0.048,3073,168,1790,0,0,0,0,0,0
$GC,8787,1.15,323.2,87.4,10.8,405,8792,0.15,2.35,0.00,0.000,6,0.054,0.021,3137,1677,1790,0,0,0,0,0,0
$GC,9052,1.07,323.2,58.9,12.7,429,9057,0.20,2.53,0.00,0.000,4,0.102,0.031,3095,3251,1790,0,0,0,0,0,0
$GC,9071,1.07,323.2,56.3,13.7,430,9075,0.00,2.55,0.00,0.000,6,0.000,0.025,3095,1652,1790,0,0,0,0,0,0
$GC,9338,1.11,355.6,32.1,8.6,454,9369,0.00,0.00,27.50,0.501,6,0.000,0.000,3095,1652,1668,0,0,0,0,0,0
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.8,1.023618
$STATE,9658,end surface coast,CONTROL_FINISHED_OK
$STATE,9658,begin surface
$SM_CCo,9680,49.60,0.396,1,0,1284,450.13
$SM_GC,1.68,0.00,0.00,49.60,0.000,0.000,0.396,408,1872,1284,-11.28,2.32,450.13
$IRIDIUM_FIX,2239.35,-15804.53,260200,191929
$TT8_MAMPS,0.026845
$HUMID,42.83
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,25.980
$10V_AH,10.4,21.739
$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,29.725,116.925,420.800,49.600,0.000,52.599,76.035,599.177,0.500,0.000,14.282,1018.232,6258.032,533.276,1852.147,1010.312,33.358,1270.619,0.000,1853.566,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,74.399,870.545,395.772,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.747,310.553,398.475,610.094,1079.523,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38315,503
$CAP_FILE_SIZE,116332,0
$CFSIZE,260165632,162312192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021210,220007,2248.045,-15802.996,64,1.3,64,10.1