version: 66.06
glider: 148
mission: 9
dive: 183
start: 12 4 110 0 4 56
data:
$ID,148
$MISSION,9
$DIVE,183
$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,-861753.69
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,235703,2247.240,-15757.744,7,2.6,26,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.0
$GPS2,000401,2247.217,-15757.780,63,1.9,63,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.258,0.031
$KALMAN_X,-77700.7,-74.4,36.3,98528.4,-835.4
$KALMAN_Y,7148.7,98.5,-112.3,117543.5,-459.2
$MHEAD_RNG_PITCHd_Wd,266.8,8923,-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,18,-1.28,-146.0,0.0,0.0,0,95,0.00,0.00,-74.93,0.000,2,0.000,0.000,412,1856,3163,0,0,0,0,0,0
$GC,100,-1.28,-146.0,3.3,-5.9,10,132,11.43,2.70,-10.57,0.000,4,0.156,0.049,2573,225,3720,0,0,0,0,0,0
$GC,237,-1.18,-146.0,32.6,-17.7,30,247,0.10,2.45,0.00,0.000,6,0.081,0.021,2601,1777,3721,0,0,0,0,0,0
$GC,505,-1.07,-146.0,68.5,-14.7,55,511,0.12,2.58,0.00,0.000,4,0.117,0.031,2626,3376,3722,0,0,0,0,0,0
$GC,571,-1.07,-146.0,77.9,-12.7,60,575,0.00,2.50,0.00,0.000,6,0.000,0.022,2626,1798,3722,0,0,0,0,0,0
$GC,835,-1.15,-146.0,109.4,-10.4,84,839,0.00,2.53,0.00,0.000,4,0.000,0.030,2626,3374,3723,0,0,0,0,0,0
$GC,864,-1.26,-146.0,113.0,-10.6,86,873,0.15,2.50,0.00,0.000,6,0.023,0.022,2533,1807,3723,0,0,0,0,0,0
$GC,1128,-1.11,-146.0,154.5,-16.2,111,1138,0.38,0.00,0.00,0.000,6,0.084,0.000,2616,1806,3724,0,0,0,0,0,0
$GC,1395,-1.22,-146.0,180.9,-8.5,136,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,1806,3724,0,0,0,0,0,0
$GC,1677,-1.33,-146.0,204.1,-8.5,160,1682,0.20,2.50,0.00,0.000,4,0.046,0.029,2530,3367,3725,0,0,0,0,0,0
$GC,1721,-1.21,-146.0,209.6,-12.8,161,1726,0.30,2.47,0.00,0.000,6,0.084,0.022,2596,1799,3725,0,0,0,0,0,0
$GC,2012,-1.27,-146.0,239.0,-9.8,168,2016,0.00,2.50,0.00,0.000,4,0.000,0.031,2596,3367,3724,0,0,0,0,0,0
$GC,2064,-1.39,-146.0,244.4,-9.3,169,2069,0.17,2.45,0.00,0.000,6,0.050,0.023,2500,1808,3724,0,0,0,0,0,0
$GC,2342,-1.18,-146.0,287.1,-15.8,176,2345,0.50,0.00,0.00,0.000,6,0.085,0.000,2603,1808,3725,0,0,0,0,0,0
$GC,2588,-1.31,-146.0,308.0,-8.1,182,2593,0.12,2.55,0.00,0.000,4,0.064,0.035,2542,3370,3724,0,0,0,0,0,0
$GC,2622,-1.24,-146.0,311.3,-9.5,182,2627,0.20,2.45,0.00,0.000,6,0.089,0.024,2588,1815,3724,0,0,0,0,0,0
$GC,2873,-1.33,-146.0,333.0,-8.7,188,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1815,3724,0,0,0,0,0,0
$GC,3115,-1.42,-146.0,355.7,-9.5,194,3121,0.15,2.55,0.00,0.000,4,0.056,0.038,2520,3361,3724,0,0,0,0,0,0
$GC,3140,-1.36,-146.0,358.6,-11.5,194,3145,0.20,2.45,0.00,0.000,6,0.096,0.027,2563,1827,3723,0,0,0,0,0,0
$GC,3401,-1.36,-146.0,382.7,-9.0,201,3405,0.00,2.53,0.00,0.000,4,0.000,0.041,2563,3360,3722,0,0,0,0,0,0
$GC,3439,-1.43,-146.0,386.5,-9.0,201,3444,0.00,2.47,0.00,0.000,6,0.000,0.029,2563,1829,3722,0,0,0,0,0,0
$GC,3688,-1.43,-146.0,410.8,-10.0,208,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1829,3720,0,0,0,0,0,0
$GC,3934,-1.43,-146.0,434.3,-9.5,214,3938,0.00,2.75,0.00,0.000,4,0.000,0.060,2564,205,3719,0,0,0,0,0,0
$GC,3952,-1.43,-146.0,436.4,-9.7,214,3957,0.00,2.60,0.00,0.000,6,0.000,0.029,2563,1834,3719,0,0,0,0,0,0
$GC,4216,-1.43,-146.0,459.0,-8.4,221,4221,0.00,2.55,0.00,0.000,4,0.000,0.050,2563,3367,3717,0,0,0,0,0,0
$GC,4256,-1.52,-146.0,462.1,-8.1,221,4262,0.15,2.47,0.00,0.000,6,0.055,0.031,2481,1844,3717,0,0,0,0,0,0
$GC,4505,-1.35,-146.0,493.0,-12.9,228,4507,0.38,0.00,0.00,0.000,6,0.090,0.000,2562,1843,3715,0,0,0,0,0,0
$STATE,4584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4584,begin apogee
$GC,4590,-0.31,0.0,501.0,11.5,230,4711,1.02,0.00,117.85,0.871,6,0.078,0.000,2793,1678,3120,0,0,0,0,0,0
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$GC,4716,1.28,146.0,506.5,0.0,233,4846,1.40,2.72,120.47,0.857,4,0.025,0.072,3157,181,2523,0,0,0,0,0,0
$GC,4948,0.80,146.0,500.4,10.7,238,4956,0.60,2.42,0.00,0.000,6,0.110,0.030,3035,1676,2517,0,0,0,0,0,0
$GC,5220,0.90,225.9,482.7,6.3,245,5289,0.00,0.00,67.40,0.843,6,0.000,0.000,3035,1676,2199,0,0,0,0,0,0
$GC,5505,0.91,239.0,457.7,9.4,252,5523,0.10,2.62,11.93,0.753,4,0.080,0.059,3081,181,2145,0,0,0,0,0,0
$GC,5537,0.76,239.0,453.8,11.5,252,5542,0.28,2.47,0.00,0.000,6,0.102,0.028,3025,1686,2143,0,0,0,0,0,0
$GC,5787,0.81,278.1,432.5,8.2,258,5829,0.00,2.70,34.53,0.815,4,0.000,0.059,3024,176,1985,0,0,0,0,0,0
$GC,5869,0.82,292.1,425.4,9.4,259,5890,0.00,2.45,13.98,0.754,6,0.000,0.028,3025,1686,1928,0,0,0,0,0,0
$GC,6169,0.90,292.1,395.9,10.2,267,6171,0.12,0.00,0.00,0.000,6,0.066,0.000,3085,1686,1921,0,0,0,0,0,0
$GC,6413,0.84,292.1,364.4,12.9,273,6420,0.20,2.67,0.00,0.000,4,0.102,0.049,3043,3265,1919,0,0,0,0,0,0
$GC,6434,0.84,292.1,361.7,10.9,273,6439,0.00,2.60,0.00,0.000,6,0.000,0.033,3043,1691,1917,0,0,0,0,0,0
$GC,6698,0.86,308.1,337.3,9.3,280,6713,0.00,0.00,13.68,0.725,6,0.000,0.000,3043,1691,1864,0,0,0,0,0,0
$GC,6988,0.92,308.1,306.1,10.9,287,6993,0.00,2.62,0.00,0.000,4,0.000,0.063,3043,163,1860,0,0,0,0,0,0
$GC,7039,0.92,308.1,300.1,11.5,288,7043,0.00,2.47,0.00,0.000,6,0.000,0.025,3043,1704,1859,0,0,0,0,0,0
$GC,7318,1.00,308.1,272.4,10.2,295,7320,0.15,0.00,0.00,0.000,6,0.059,0.000,3113,1706,1857,0,0,0,0,0,0
$GC,7560,0.91,308.1,240.4,13.2,301,7566,0.25,2.60,0.00,0.000,4,0.096,0.053,3055,166,1856,0,0,0,0,0,0
$GC,7591,0.91,308.1,236.5,12.1,301,7595,0.00,2.40,0.00,0.000,6,0.000,0.022,3055,1693,1856,0,0,0,0,0,0
$GC,7847,0.93,323.7,212.4,9.3,308,7867,0.00,2.62,13.60,0.635,4,0.000,0.036,3055,3254,1799,0,0,0,0,0,0
$GC,7905,1.05,323.7,206.5,10.7,309,7910,0.15,2.58,0.00,0.000,6,0.056,0.029,3127,1684,1796,0,0,0,0,0,0
$GC,8166,0.92,323.7,169.4,14.4,329,8171,0.30,2.50,0.00,0.000,4,0.097,0.046,3062,167,1795,0,0,0,0,0,0
$GC,8262,0.98,323.7,157.0,12.7,338,8266,0.00,2.35,0.00,0.000,6,0.000,0.022,3062,1673,1795,0,0,0,0,0,0
$GC,8535,1.07,329.5,131.0,9.8,363,8548,0.12,2.60,5.85,0.479,4,0.066,0.033,3122,3252,1776,0,0,0,0,0,0
$GC,8564,1.07,329.5,126.6,12.8,366,8570,0.12,2.58,0.00,0.000,6,0.112,0.027,3095,1662,1774,0,0,0,0,0,0
$GC,8826,1.17,355.5,99.0,8.8,390,8859,0.00,2.53,23.92,0.560,4,0.000,0.047,3095,177,1669,0,0,0,0,0,0
$GC,8903,1.17,355.5,91.8,11.2,397,8907,0.00,2.35,0.00,0.000,6,0.000,0.021,3095,1671,1669,0,0,0,0,0,0
$GC,9171,1.17,355.5,64.6,11.4,421,9175,0.00,2.55,0.00,0.000,4,0.000,0.031,3095,3258,1667,0,0,0,0,0,0
$GC,9192,1.24,355.5,61.2,11.6,422,9201,0.10,2.60,0.00,0.000,6,0.031,0.026,3179,1663,1665,0,0,0,0,0,0
$GC,9467,1.07,355.5,18.4,15.0,452,9476,0.38,2.45,0.00,0.000,4,0.096,0.042,3094,181,1665,0,0,0,0,0,0
$GC,9498,1.00,355.5,14.7,11.7,456,9506,0.00,2.33,0.00,0.000,6,0.000,0.020,3094,1661,1665,0,0,0,0,0,0
$STATE,9593,end climb,SURFACE_DEPTH_REACHED
$STATE,9593,begin surface coast
$FINISH,0.8,1.023457
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9658,51.70,0.403,1,0,1285,450.13
$SM_GC,1.67,0.00,0.00,51.70,0.000,0.000,0.403,412,1883,1285,-11.26,2.63,450.13
$IRIDIUM_FIX,2241.69,-15757.16,270200,212135
$TT8_MAMPS,0.026845
$HUMID,43.46
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,27.242
$10V_AH,10.4,22.799
$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,30.800,111.775,423.200,51.700,0.000,29.261,33.517,176.803,0.250,0.000,65.449,991.973,6304.764,530.191,1798.515,510.730,33.360,1256.653,0.000,1752.005,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,72.098,870.545,403.442,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.938,285.378,364.863,537.399,950.537,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,38320,477
$CAP_FILE_SIZE,109051,0
$CFSIZE,260165632,161771520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,024838,2247.369,-15759.663,50,1.4,67,10.1