version: 66.06
glider: 148
mission: 9
dive: 178
start: 12 3 110 9 58 0
data:
$ID,148
$MISSION,9
$DIVE,178
$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,-861568.81
$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,33
$R_STBD_OVSHOOT,60
$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
$GPS1,094709,2249.842,-15800.580,37,1.7,45,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.8
$GPS2,095706,2249.800,-15800.636,10,1.8,26,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.256,0.044
$KALMAN_X,-75364.3,-48.3,261.6,91023.9,-769.7
$KALMAN_Y,8714.9,-361.5,44.2,121070.5,-335.4
$MHEAD_RNG_PITCHd_Wd,70.1,6217,-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,17,-1.28,-146.0,0.0,0.0,0,95,0.00,0.00,-75.57,0.000,2,0.000,0.000,412,1812,3173,0,0,0,0,0,0
$GC,98,-1.28,-146.0,3.1,-4.3,10,131,11.40,2.50,-10.80,0.000,4,0.154,0.041,2572,3350,3718,0,0,0,0,0,0
$GC,142,-0.37,-146.0,14.4,-26.4,15,151,0.90,2.53,0.00,0.000,6,0.081,0.021,2776,1777,3719,0,0,0,0,0,0
$GC,446,-0.87,-146.0,35.3,-4.1,57,458,0.40,2.53,0.00,0.000,4,0.028,0.027,2653,3352,3720,0,0,0,0,0,0
$GC,486,-1.01,-146.0,37.5,-6.7,60,490,0.00,2.45,0.00,0.000,6,0.000,0.022,2653,1793,3720,0,0,0,0,0,0
$GC,752,-1.08,-146.0,69.7,-12.1,84,757,0.12,2.50,0.00,0.000,4,0.060,0.030,2585,3351,3720,0,0,0,0,0,0
$GC,817,-1.08,-146.0,78.7,-14.5,89,822,0.17,2.42,0.00,0.000,6,0.098,0.021,2622,1802,3721,0,0,0,0,0,0
$GC,1083,-1.17,-146.0,110.1,-10.7,113,1087,0.00,2.55,0.00,0.000,4,0.000,0.038,2622,206,3721,0,0,0,0,0,0
$GC,1123,-1.33,-146.0,115.6,-12.4,116,1133,0.17,2.50,0.00,0.000,6,0.023,0.019,2509,1801,3721,0,0,0,0,0,0
$GC,1385,-1.14,-146.0,161.5,-16.6,141,1388,0.45,0.00,0.00,0.000,6,0.087,0.000,2609,1805,3722,0,0,0,0,0,0
$GC,1643,-1.23,-146.0,187.2,-9.2,165,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1805,3722,0,0,0,0,0,0
$GC,1909,-1.32,-146.0,212.1,-9.3,182,1914,0.15,2.50,0.00,0.000,4,0.056,0.031,2543,3370,3722,0,0,0,0,0,0
$GC,1949,-1.26,-146.0,216.8,-12.8,182,1955,0.20,2.47,0.00,0.000,6,0.091,0.022,2587,1802,3722,0,0,0,0,0,0
$GC,2198,-1.26,-146.0,243.5,-10.3,189,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1802,3722,0,0,0,0,0,0
$GC,2442,-1.26,-146.0,268.2,-9.9,195,2446,0.00,2.50,0.00,0.000,4,0.000,0.032,2587,3368,3722,0,0,0,0,0,0
$GC,2523,-1.37,-146.0,276.1,-9.2,196,2528,0.10,2.45,0.00,0.000,6,0.078,0.024,2519,1825,3722,0,0,0,0,0,0
$GC,2773,-1.22,-146.0,309.4,-13.4,202,2780,0.35,2.62,0.00,0.000,4,0.089,0.043,2590,211,3722,0,0,0,0,0,0
$GC,2810,-1.35,-146.0,313.6,-10.0,202,2815,0.10,2.53,0.00,0.000,6,0.077,0.023,2533,1812,3722,0,0,0,0,0,0
$GC,3060,-1.29,-146.0,344.7,-12.4,208,3065,0.20,2.53,0.00,0.000,4,0.096,0.038,2577,3367,3722,0,0,0,0,0,0
$GC,3085,-1.29,-146.0,347.5,-10.7,208,3089,0.00,2.47,0.00,0.000,6,0.000,0.026,2576,1821,3722,0,0,0,0,0,0
$GC,3346,-1.37,-146.0,371.8,-9.4,215,3350,0.00,2.53,0.00,0.000,4,0.000,0.042,2577,3367,3720,0,0,0,0,0,0
$GC,3384,-1.48,-146.0,375.6,-9.7,215,3390,0.17,2.47,0.00,0.000,6,0.048,0.028,2496,1829,3720,0,0,0,0,0,0
$GC,3633,-1.34,-146.0,408.1,-13.1,222,3641,0.30,2.70,0.00,0.000,4,0.094,0.055,2565,214,3719,0,0,0,0,0,0
$GC,3661,-1.34,-146.0,411.2,-10.4,222,3665,0.00,2.58,0.00,0.000,6,0.000,0.029,2565,1821,3719,0,0,0,0,0,0
$GC,3920,-1.34,-146.0,435.4,-9.3,229,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1820,3717,0,0,0,0,0,0
$GC,4164,-1.41,-146.0,458.8,-9.6,235,4169,0.00,2.60,0.00,0.000,4,0.000,0.053,2565,3373,3715,0,0,0,0,0,0
$GC,4199,-1.48,-146.0,462.1,-9.7,235,4204,0.12,2.50,0.00,0.000,6,0.065,0.031,2493,1818,3714,0,0,0,0,0,0
$GC,4449,-1.36,-146.0,495.2,-13.2,241,4456,0.30,2.75,0.00,0.000,4,0.095,0.063,2561,214,3713,0,0,0,0,0,0
$GC,4475,-1.36,-146.0,498.6,-11.9,241,4479,0.00,2.60,0.00,0.000,6,0.000,0.035,2561,1822,3713,0,0,0,0,0,0
$STATE,4488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4488,begin apogee
$GC,4495,-0.31,0.0,500.2,10.4,242,4616,1.02,0.00,117.47,0.864,6,0.077,0.000,2791,1655,3120,0,0,0,0,0,0
$STATE,4617,end apogee,CONTROL_FINISHED_OK
$STATE,4617,begin climb
$GC,4619,1.28,146.0,506.0,0.0,245,4750,1.42,2.60,120.45,0.851,4,0.032,0.064,3139,190,2522,0,0,0,0,0,0
$GC,4835,0.85,146.0,500.6,10.7,250,4842,0.45,2.45,0.00,0.000,6,0.118,0.030,3047,1683,2517,0,0,0,0,0,0
$GC,5127,0.86,214.1,480.3,6.9,257,5191,0.00,2.62,56.67,0.834,4,0.000,0.058,3046,192,2246,0,0,0,0,0,0
$GC,5272,0.77,214.1,466.8,10.5,260,5276,0.00,2.40,0.00,0.000,6,0.000,0.028,3047,1672,2242,0,0,0,0,0,0
$GC,5544,0.79,227.6,440.9,9.4,267,5561,0.00,2.60,11.55,0.746,4,0.000,0.058,3047,187,2192,0,0,0,0,0,0
$GC,5584,0.70,227.6,436.7,11.3,267,5591,0.17,2.42,0.00,0.000,6,0.113,0.028,3011,1676,2190,0,0,0,0,0,0
$GC,5836,0.81,249.1,414.3,9.0,274,5862,0.10,2.62,19.73,0.783,4,0.077,0.058,3065,184,2103,0,0,0,0,0,0
$GC,5910,0.71,249.1,405.2,13.5,275,5915,0.22,2.42,0.00,0.000,6,0.125,0.028,3017,1671,2102,0,0,0,0,0,0
$GC,6166,0.82,268.4,381.0,9.1,282,6191,0.10,2.62,17.35,0.760,4,0.076,0.056,3070,190,2025,0,0,0,0,0,0
$GC,6211,0.72,268.4,376.1,11.8,283,6216,0.25,2.40,0.00,0.000,6,0.102,0.027,3019,1664,2023,0,0,0,0,0,0
$GC,6500,0.87,317.2,352.4,7.8,290,6550,0.12,2.78,43.65,0.775,4,0.064,0.051,3085,3264,1825,0,0,0,0,0,0
$GC,6574,0.87,317.2,344.3,12.3,291,6579,0.15,2.65,0.00,0.000,6,0.103,0.034,3051,1682,1821,0,0,0,0,0,0
$GC,6825,0.87,317.2,319.1,10.1,297,6829,0.00,2.60,0.00,0.000,4,0.000,0.063,3050,171,1816,0,0,0,0,0,0
$GC,6849,0.87,317.2,315.9,11.8,297,6853,0.00,2.40,0.00,0.000,6,0.000,0.025,3050,1665,1816,0,0,0,0,0,0
$GC,7108,0.87,317.2,286.9,11.1,304,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1666,1814,0,0,0,0,0,0
$GC,7353,0.87,317.2,260.1,11.0,310,7357,0.00,2.65,0.00,0.000,4,0.000,0.044,3050,3260,1812,0,0,0,0,0,0
$GC,7376,0.94,317.2,257.3,11.0,310,7381,0.00,2.65,0.00,0.000,6,0.000,0.031,3051,1647,1810,0,0,0,0,0,0
$GC,7636,1.00,317.2,228.6,11.2,317,7641,0.12,2.65,0.00,0.000,4,0.065,0.037,3114,3256,1810,0,0,0,0,0,0
$GC,7655,1.00,317.2,226.0,12.5,317,7660,0.17,2.60,0.00,0.000,6,0.101,0.029,3077,1650,1809,0,0,0,0,0,0
$GC,7921,1.00,317.2,195.5,11.5,324,7925,0.00,2.65,0.00,0.000,4,0.000,0.036,3077,3260,1809,0,0,0,0,0,0
$GC,7941,1.00,317.2,192.8,11.9,325,7946,0.00,2.58,0.00,0.000,6,0.000,0.028,3077,1652,1808,0,0,0,0,0,0
$GC,8204,1.00,317.2,162.5,11.1,350,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1652,1808,0,0,0,0,0,0
$GC,8455,1.00,317.2,134.9,11.1,374,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1652,1808,0,0,0,0,0,0
$GC,8712,1.00,317.2,107.8,10.3,398,8716,0.00,2.42,0.00,0.000,4,0.000,0.046,3077,174,1808,0,0,0,0,0,0
$GC,8793,1.07,317.2,99.0,10.2,405,8798,0.00,2.35,0.00,0.000,6,0.000,0.021,3077,1677,1808,0,0,0,0,0,0
$GC,9060,1.22,361.7,78.2,8.0,430,9110,0.20,2.60,36.17,0.541,4,0.047,0.033,3139,3256,1642,0,0,0,0,0,0
$GC,9125,1.22,361.7,71.0,11.7,435,9130,0.00,2.60,0.00,0.000,6,0.000,0.031,3139,1659,1640,0,0,0,0,0,0
$GC,9394,1.14,361.7,38.9,14.6,459,9403,0.15,0.00,0.00,0.000,6,0.108,0.000,3108,1659,1639,0,0,0,0,0,0
$STATE,9652,end climb,SURFACE_DEPTH_REACHED
$STATE,9652,begin surface coast
$FINISH,0.7,1.023617
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9679,begin surface
$SM_CCo,9701,41.75,0.061,0,0,1285,450.13
$SM_GC,1.58,0.00,0.00,41.75,0.000,0.000,0.061,411,1844,1285,-11.27,1.53,450.13
$IRIDIUM_FIX,2241.69,-15759.32,270200,090900
$TT8_MAMPS,0.027612
$HUMID,43.34
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,23.6,26.650
$10V_AH,10.4,22.284
$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,31.150,122.575,423.050,41.750,0.000,57.335,69.624,253.677,0.250,0.000,27.974,1031.076,6216.315,493.505,1930.526,667.298,33.366,1275.807,0.000,1921.984,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,64.428,863.642,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.117,311.356,393.883,621.127,1098.490,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355356
$DATA_FILE_SIZE,38472,500
$CAP_FILE_SIZE,115894,0
$CFSIZE,260165632,162033664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031210,124136,2249.684,-15759.397,34,1.7,34,10.1