version: 66.06
glider: 148
mission: 9
dive: 181
start: 12 3 110 18 40 45
data:
$ID,148
$MISSION,9
$DIVE,181
$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,-861655.06
$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
$GPS1,182936,2249.782,-15757.022,81,0.9,81,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.7
$GPS2,183950,2249.825,-15757.055,15,1.2,15,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.048,-0.255
$KALMAN_X,-76660.6,130.5,-17.7,98586.0,-264.6
$KALMAN_Y,7173.0,269.5,322.2,121753.4,-500.3
$MHEAD_RNG_PITCHd_Wd,180.6,5385,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-82.80,0.000,2,0.000,0.000,408,1876,3410,0,0,0,0,0,0
$GC,107,-1.28,-146.0,4.1,-7.6,11,131,11.55,2.75,-5.38,0.000,4,0.160,0.044,2571,206,3717,0,0,0,0,0,0
$GC,239,-1.28,-146.0,39.0,-18.9,28,248,0.00,2.50,0.00,0.000,6,0.000,0.021,2571,1787,3719,0,0,0,0,0,0
$GC,506,-1.11,-146.0,84.7,-18.2,53,511,0.20,2.53,0.00,0.000,4,0.106,0.030,2613,3367,3719,0,0,0,0,0,0
$GC,585,-1.11,-146.0,97.5,-14.2,60,590,0.00,2.47,0.00,0.000,6,0.000,0.022,2614,1790,3720,0,0,0,0,0,0
$GC,848,-1.18,-146.0,126.5,-9.4,84,852,0.00,2.55,0.00,0.000,4,0.000,0.038,2614,213,3720,0,0,0,0,0,0
$GC,870,-1.25,-146.0,128.0,-8.9,85,875,0.12,2.47,0.00,0.000,6,0.063,0.019,2545,1823,3720,0,0,0,0,0,0
$GC,1134,-1.14,-146.0,165.3,-13.1,109,1139,0.25,2.42,0.00,0.000,4,0.091,0.028,2604,3364,3721,0,0,0,0,0,0
$GC,1182,-1.27,-146.0,170.3,-8.7,113,1186,0.00,2.45,0.00,0.000,6,0.000,0.022,2604,1797,3721,0,0,0,0,0,0
$GC,1444,-1.37,-146.0,196.4,-10.5,137,1449,0.17,2.53,0.00,0.000,4,0.051,0.031,2530,3361,3722,0,0,0,0,0,0
$GC,1466,-1.37,-146.0,199.2,-13.0,138,1476,0.10,2.47,0.00,0.000,6,0.080,0.022,2557,1812,3722,0,0,0,0,0,0
$GC,1716,-1.37,-146.0,228.7,-11.2,145,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1812,3722,0,0,0,0,0,0
$GC,1959,-1.37,-146.0,257.0,-11.5,151,1963,0.00,2.50,0.00,0.000,4,0.000,0.032,2557,3363,3722,0,0,0,0,0,0
$GC,2016,-1.37,-146.0,263.1,-10.1,152,2020,0.00,2.45,0.00,0.000,6,0.000,0.024,2557,1814,3722,0,0,0,0,0,0
$GC,2293,-1.37,-146.0,292.5,-10.6,159,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1814,3722,0,0,0,0,0,0
$GC,2537,-1.37,-146.0,318.6,-10.7,165,2541,0.00,2.50,0.00,0.000,4,0.000,0.037,2557,3360,3721,0,0,0,0,0,0
$GC,2550,-1.37,-146.0,320.2,-11.1,165,2555,0.00,2.42,0.00,0.000,6,0.000,0.024,2557,1823,3721,0,0,0,0,0,0
$GC,2820,-1.37,-146.0,348.0,-10.1,172,2824,0.00,2.50,0.00,0.000,4,0.000,0.040,2557,3351,3720,0,0,0,0,0,0
$GC,2843,-1.37,-146.0,350.7,-11.2,172,2847,0.00,2.45,0.00,0.000,6,0.000,0.027,2557,1824,3720,0,0,0,0,0,0
$GC,3101,-1.37,-146.0,378.9,-11.4,179,3106,0.00,2.53,0.00,0.000,4,0.000,0.044,2557,3353,3718,0,0,0,0,0,0
$GC,3126,-1.37,-146.0,381.7,-12.1,179,3130,0.00,2.45,0.00,0.000,6,0.000,0.028,2558,1818,3718,0,0,0,0,0,0
$GC,3385,-1.37,-146.0,406.9,-9.0,186,3389,0.00,2.53,0.00,0.000,4,0.000,0.046,2557,3353,3716,0,0,0,0,0,0
$GC,3413,-1.37,-146.0,409.8,-9.7,186,3417,0.00,2.45,0.00,0.000,6,0.000,0.029,2557,1824,3716,0,0,0,0,0,0
$GC,3669,-1.37,-146.0,434.0,-9.7,193,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1825,3714,0,0,0,0,0,0
$GC,3911,-1.37,-146.0,457.6,-9.7,199,3915,0.00,2.58,0.00,0.000,4,0.000,0.052,2557,3353,3712,0,0,0,0,0,0
$GC,3925,-1.37,-146.0,459.1,-9.9,199,3930,0.00,2.45,0.00,0.000,6,0.000,0.028,2558,1833,3712,0,0,0,0,0,0
$GC,4195,-1.37,-146.0,482.8,-8.6,206,4200,0.00,2.53,0.00,0.000,4,0.000,0.051,2557,3348,3710,0,0,0,0,0,0
$GC,4223,-1.37,-146.0,485.4,-8.5,206,4227,0.00,2.42,0.00,0.000,6,0.000,0.031,2557,1842,3710,0,0,0,0,0,0
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4399,-0.31,0.0,500.1,8.6,211,4520,1.02,0.00,116.57,0.868,6,0.077,0.000,2790,1673,3120,0,0,0,0,0,0
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4520,begin climb
$GC,4524,1.28,146.0,504.1,0.0,214,4654,1.40,2.70,120.25,0.853,4,0.025,0.069,3146,183,2524,0,0,0,0,0,0
$GC,4808,0.83,146.0,488.3,12.2,220,4815,0.50,2.42,0.00,0.000,6,0.110,0.029,3044,1665,2516,0,0,0,0,0,0
$GC,5074,0.90,204.3,468.4,7.3,227,5130,0.00,2.62,48.88,0.828,4,0.000,0.059,3044,182,2286,0,0,0,0,0,0
$GC,5178,0.83,208.6,459.5,9.8,229,5189,0.00,2.45,4.50,0.555,6,0.000,0.029,3044,1682,2269,0,0,0,0,0,0
$GC,5450,0.88,245.7,436.3,8.3,236,5492,0.00,2.62,32.83,0.809,4,0.000,0.059,3043,184,2117,0,0,0,0,0,0
$GC,5501,0.90,263.4,431.3,9.2,237,5525,0.00,2.42,16.45,0.763,6,0.000,0.027,3043,1679,2046,0,0,0,0,0,0
$GC,5782,0.91,270.7,404.4,9.7,244,5794,0.00,2.62,6.80,0.653,4,0.000,0.059,3043,193,2016,0,0,0,0,0,0
$GC,5827,0.91,270.7,398.6,13.0,245,5832,0.00,2.40,0.00,0.000,6,0.000,0.027,3043,1669,2015,0,0,0,0,0,0
$GC,6114,0.91,270.7,367.2,10.6,252,6118,0.00,2.67,0.00,0.000,4,0.000,0.048,3043,3261,2012,0,0,0,0,0,0
$GC,6143,0.91,270.7,364.1,10.6,252,6148,0.00,2.62,0.00,0.000,6,0.000,0.034,3043,1682,2010,0,0,0,0,0,0
$GC,6398,0.92,279.7,338.9,9.6,259,6413,0.00,2.62,8.70,0.676,4,0.000,0.063,3044,172,1978,0,0,0,0,0,0
$GC,6436,0.92,279.7,334.6,10.9,259,6442,0.00,2.42,0.00,0.000,6,0.000,0.025,3044,1675,1977,0,0,0,0,0,0
$GC,6688,0.92,284.0,309.9,9.8,266,6695,0.00,0.00,5.03,0.558,6,0.000,0.000,3044,1675,1962,0,0,0,0,0,0
$GC,6930,0.95,306.1,286.9,9.0,272,6959,0.10,2.62,21.38,0.719,4,0.077,0.057,3104,166,1871,0,0,0,0,0,0
$GC,7041,0.85,306.1,272.5,13.8,274,7046,0.28,2.42,0.00,0.000,6,0.100,0.025,3047,1668,1869,0,0,0,0,0,0
$GC,7311,0.94,310.7,246.3,9.8,281,7323,0.00,2.65,4.70,0.510,4,0.000,0.043,3047,3262,1852,0,0,0,0,0,0
$GC,7360,1.07,310.7,240.6,11.3,282,7366,0.20,2.65,0.00,0.000,6,0.051,0.031,3108,1656,1850,0,0,0,0,0,0
$GC,7645,0.98,310.7,203.7,12.7,289,7650,0.15,2.50,0.00,0.000,4,0.110,0.052,3077,171,1849,0,0,0,0,0,0
$GC,7664,0.98,310.7,200.9,13.1,289,7669,0.00,2.38,0.00,0.000,6,0.000,0.022,3077,1675,1849,0,0,0,0,0,0
$GC,7935,0.98,310.7,171.7,11.3,313,7939,0.00,2.55,0.00,0.000,4,0.000,0.035,3077,3258,1848,0,0,0,0,0,0
$GC,7962,0.98,310.7,167.6,11.1,315,7971,0.00,2.62,0.00,0.000,6,0.000,0.028,3077,1658,1847,0,0,0,0,0,0
$GC,8226,0.98,310.7,139.4,10.9,340,8230,0.00,2.45,0.00,0.000,4,0.000,0.047,3077,171,1848,0,0,0,0,0,0
$GC,8286,0.98,310.7,131.9,11.3,345,8292,0.00,2.33,0.00,0.000,6,0.000,0.021,3077,1653,1847,0,0,0,0,0,0
$GC,8549,0.98,310.7,104.2,11.5,370,8554,0.00,2.45,0.00,0.000,4,0.000,0.045,3077,164,1847,0,0,0,0,0,0
$GC,8595,0.98,310.7,98.4,12.7,374,8599,0.00,2.30,0.00,0.000,6,0.000,0.021,3077,1647,1847,0,0,0,0,0,0
$GC,8863,1.10,322.6,74.5,9.5,398,8879,0.10,2.62,11.15,0.513,4,0.077,0.034,3144,3257,1803,0,0,0,0,0,0
$GC,8935,1.10,322.6,66.1,12.8,404,8940,0.20,2.58,0.00,0.000,6,0.096,0.028,3101,1655,1801,0,0,0,0,0,0
$GC,9199,1.10,322.6,34.9,12.2,428,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1654,1801,0,0,0,0,0,0
$GC,9493,1.10,322.6,8.8,11.2,472,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1655,1801,0,0,0,0,0,0
$STATE,9526,end climb,SURFACE_DEPTH_REACHED
$STATE,9526,begin surface coast
$FINISH,0.6,1.023621
$STATE,9565,end surface coast,CONTROL_FINISHED_OK
$STATE,9565,begin surface
$SM_CCo,9587,61.30,0.061,0,0,1285,450.13
$SM_GC,1.73,0.00,0.00,61.30,0.000,0.000,0.061,412,1878,1285,-11.26,2.52,450.13
$IRIDIUM_FIX,2241.69,-15759.32,270200,181827
$TT8_MAMPS,0.027612
$HUMID,44.21
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.6,27.019
$10V_AH,10.4,22.598
$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,27.125,126.100,397.225,61.300,0.000,55.656,73.696,279.916,0.000,0.000,16.529,1013.257,6192.446,497.123,1855.459,705.887,33.362,1262.580,0.000,1861.021,0.000,0.538,0.000
$DEVICE_MAMPS,159.536,69.030,868.244,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.148,291.604,374.254,567.966,1004.291,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355352
$DATA_FILE_SIZE,38504,483
$CAP_FILE_SIZE,112424,0
$CFSIZE,260165632,161869824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031210,212220,2248.344,-15757.480,8,1.6,8,10.1