version: 66.06
glider: 148
mission: 9
dive: 184
start: 12 4 110 2 56 3
data:
$ID,148
$MISSION,9
$DIVE,184
$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,-861768.88
$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,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
$GPS1,024838,2247.369,-15759.663,50,1.4,67,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.0
$GPS2,025508,2247.416,-15759.660,13,1.1,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,-0.072
$KALMAN_X,-78089.4,-148.4,-167.8,95956.5,-379.3
$KALMAN_Y,7433.6,-1.2,-234.4,117850.3,332.0
$MHEAD_RNG_PITCHd_Wd,243.9,5755,-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,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.57,0.000,2,0.000,0.000,412,1883,3346,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.3,-4.9,11,131,11.73,2.72,-6.75,0.000,4,0.166,0.046,2575,201,3717,0,0,0,0,0,0
$GC,250,-1.28,-146.0,36.0,-15.6,31,258,0.00,2.50,0.00,0.000,6,0.000,0.021,2575,1782,3720,0,0,0,0,0,0
$GC,517,-1.09,-146.0,80.3,-16.6,56,522,0.22,2.53,0.00,0.000,4,0.100,0.029,2623,3371,3720,0,0,0,0,0,0
$GC,565,-1.09,-146.0,88.5,-12.2,60,570,0.00,2.50,0.00,0.000,6,0.000,0.021,2623,1791,3720,0,0,0,0,0,0
$GC,829,-1.09,-146.0,120.9,-10.2,84,833,0.00,2.53,0.00,0.000,4,0.000,0.029,2623,3381,3721,0,0,0,0,0,0
$GC,879,-1.23,-146.0,126.0,-8.8,88,889,0.10,2.50,0.00,0.000,6,0.028,0.022,2524,1815,3721,0,0,0,0,0,0
$GC,1143,-1.05,-146.0,165.7,-16.8,113,1152,0.45,2.58,0.00,0.000,4,0.087,0.038,2627,201,3722,0,0,0,0,0,0
$GC,1183,-1.24,-146.0,171.4,-10.7,117,1188,0.15,2.50,0.00,0.000,6,0.054,0.019,2548,1827,3722,0,0,0,0,0,0
$GC,1445,-1.14,-146.0,205.5,-13.2,138,1447,0.30,0.00,0.00,0.000,6,0.087,0.000,2610,1830,3723,0,0,0,0,0,0
$GC,1686,-1.25,-146.0,229.0,-9.4,144,1690,0.00,2.42,0.00,0.000,4,0.000,0.031,2611,3362,3723,0,0,0,0,0,0
$GC,1733,-1.42,-146.0,233.3,-8.8,145,1739,0.25,2.45,0.00,0.000,6,0.035,0.024,2505,1804,3723,0,0,0,0,0,0
$GC,2023,-1.24,-146.0,276.7,-15.5,152,2025,0.38,0.00,0.00,0.000,6,0.087,0.000,2586,1803,3723,0,0,0,0,0,0
$GC,2265,-1.32,-146.0,302.6,-10.4,158,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1803,3724,0,0,0,0,0,0
$GC,2509,-1.41,-146.0,325.0,-8.9,164,2514,0.15,2.53,0.00,0.000,4,0.057,0.036,2523,3359,3724,0,0,0,0,0,0
$GC,2530,-1.41,-146.0,327.2,-10.4,164,2535,0.15,2.47,0.00,0.000,6,0.103,0.025,2556,1810,3723,0,0,0,0,0,0
$GC,2794,-1.41,-146.0,356.5,-10.8,171,2798,0.00,2.55,0.00,0.000,4,0.000,0.040,2556,3364,3723,0,0,0,0,0,0
$GC,2818,-1.41,-146.0,359.2,-11.9,171,2823,0.00,2.47,0.00,0.000,6,0.000,0.028,2556,1822,3723,0,0,0,0,0,0
$GC,3079,-1.41,-146.0,386.5,-10.4,178,3083,0.00,2.55,0.00,0.000,4,0.000,0.044,2556,3361,3721,0,0,0,0,0,0
$GC,3130,-1.41,-146.0,391.4,-8.9,179,3134,0.00,2.47,0.00,0.000,6,0.000,0.030,2556,1831,3721,0,0,0,0,0,0
$GC,3407,-1.41,-146.0,417.5,-9.7,186,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1831,3719,0,0,0,0,0,0
$GC,3653,-1.41,-146.0,441.1,-9.5,192,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1831,3717,0,0,0,0,0,0
$GC,3895,-1.41,-146.0,461.4,-8.3,198,3899,0.00,2.53,0.00,0.000,4,0.000,0.049,2556,3351,3715,0,0,0,0,0,0
$GC,3918,-1.41,-146.0,463.6,-9.5,198,3922,0.00,2.47,0.00,0.000,6,0.000,0.030,2556,1826,3715,0,0,0,0,0,0
$GC,4179,-1.41,-146.0,485.8,-8.6,205,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1823,3713,0,0,0,0,0,0
$STATE,4337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4337,begin apogee
$GC,4343,-0.31,0.0,500.8,9.3,209,4463,1.05,0.00,117.15,0.872,6,0.074,0.000,2794,1675,3120,0,0,0,0,0,0
$STATE,4464,end apogee,CONTROL_FINISHED_OK
$STATE,4464,begin climb
$GC,4466,1.28,146.0,505.2,0.0,212,4599,1.40,2.78,120.82,0.854,4,0.024,0.051,3163,3237,2523,0,0,0,0,0,0
$GC,4609,1.01,237.9,506.6,5.8,215,4698,0.40,2.62,77.40,0.842,6,0.110,0.038,3082,1690,2149,0,0,0,0,0,0
$GC,4967,0.91,237.9,469.7,11.0,224,4972,0.12,2.70,0.00,0.000,4,0.125,0.074,3057,165,2140,0,0,0,0,0,0
$GC,5042,0.82,237.9,461.1,11.0,225,5046,0.00,2.42,0.00,0.000,6,0.000,0.028,3057,1651,2139,0,0,0,0,0,0
$GC,5298,0.82,237.9,435.1,10.4,232,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1652,2136,0,0,0,0,0,0
$GC,5540,0.82,237.9,409.8,10.1,238,5544,0.00,2.55,0.00,0.000,4,0.000,0.058,3057,168,2135,0,0,0,0,0,0
$GC,5591,0.75,237.9,404.0,11.0,239,5596,0.17,2.42,0.00,0.000,6,0.109,0.027,3021,1668,2134,0,0,0,0,0,0
$GC,5871,0.87,268.7,379.8,8.6,246,5899,0.12,0.00,25.10,0.779,6,0.067,0.000,3083,1668,2024,0,0,0,0,0,0
$GC,6160,0.81,268.7,346.0,12.0,253,6167,0.22,2.70,0.00,0.000,4,0.100,0.047,3036,3266,2018,0,0,0,0,0,0
$GC,6207,0.94,274.1,341.1,9.8,254,6220,0.12,2.67,5.50,0.590,6,0.066,0.032,3094,1650,2002,0,0,0,0,0,0
$GC,6500,0.86,274.1,307.9,11.5,261,6505,0.22,2.55,0.00,0.000,4,0.099,0.062,3045,169,1998,0,0,0,0,0,0
$GC,6576,0.86,274.1,299.7,10.8,262,6580,0.00,2.40,0.00,0.000,6,0.000,0.024,3045,1672,1998,0,0,0,0,0,0
$GC,6830,0.86,274.1,274.6,10.1,269,6834,0.00,2.62,0.00,0.000,4,0.000,0.044,3045,3256,1997,0,0,0,0,0,0
$GC,6858,0.95,274.1,271.7,10.6,269,6863,0.10,2.62,0.00,0.000,6,0.078,0.032,3097,1664,1995,0,0,0,0,0,0
$GC,7115,0.88,274.1,241.4,11.9,276,7120,0.20,2.53,0.00,0.000,4,0.101,0.055,3053,173,1995,0,0,0,0,0,0
$GC,7161,0.88,274.1,235.4,11.4,277,7166,0.00,2.38,0.00,0.000,6,0.000,0.022,3053,1677,1995,0,0,0,0,0,0
$GC,7445,0.88,274.1,206.3,10.2,284,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1680,1994,0,0,0,0,0,0
$GC,7695,0.96,281.9,181.3,9.7,302,7708,0.00,2.58,7.07,0.545,4,0.000,0.048,3053,171,1969,0,0,0,0,0,0
$GC,7734,0.96,281.9,177.1,11.7,306,7738,0.00,2.35,0.00,0.000,6,0.000,0.022,3053,1656,1969,0,0,0,0,0,0
$GC,7998,1.07,313.2,152.8,8.6,330,8036,0.17,2.67,29.15,0.611,4,0.051,0.035,3129,3248,1840,0,0,0,0,0,0
$GC,8052,0.96,313.2,146.5,12.7,335,8061,0.28,2.62,0.00,0.000,6,0.094,0.028,3071,1645,1838,0,0,0,0,0,0
$GC,8316,0.99,342.5,120.3,8.7,360,8349,0.00,2.50,25.30,0.574,4,0.000,0.045,3071,177,1722,0,0,0,0,0,0
$GC,8403,1.10,342.5,111.6,10.8,368,8408,0.12,2.33,0.00,0.000,6,0.064,0.021,3133,1652,1721,0,0,0,0,0,0
$GC,8664,1.10,342.5,81.7,10.9,392,8669,0.15,2.60,0.00,0.000,4,0.107,0.033,3100,3251,1719,0,0,0,0,0,0
$GC,8685,1.10,342.5,79.3,11.5,393,8693,0.00,2.60,0.00,0.000,6,0.000,0.024,3100,1648,1717,0,0,0,0,0,0
$GC,8951,1.10,342.5,51.4,11.6,418,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1647,1717,0,0,0,0,0,0
$GC,9233,1.10,342.5,17.4,12.6,451,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1647,1717,0,0,0,0,0,0
$STATE,9340,end climb,SURFACE_DEPTH_REACHED
$STATE,9340,begin surface coast
$FINISH,0.8,1.023623
$STATE,9388,end surface coast,CONTROL_FINISHED_OK
$STATE,9388,begin surface
$SM_CCo,9408,58.22,0.410,1,0,1283,450.13
$SM_GC,1.49,0.00,0.00,58.22,0.000,0.000,0.410,413,1835,1283,-11.26,1.30,450.13
$IRIDIUM_FIX,2239.35,-15757.16,280200,000047
$TT8_MAMPS,0.026845
$HUMID,43.14
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,27.356
$10V_AH,10.4,22.899
$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,29.675,101.925,407.500,58.225,0.000,41.012,33.064,183.544,0.500,0.000,14.580,960.703,6137.420,507.410,1731.184,530.359,33.371,1214.836,0.000,1737.937,0.000,0.538,0.000
$DEVICE_MAMPS,165.672,73.632,872.079,409.578,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.644,287.130,365.600,554.053,979.662,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,38335,475
$CAP_FILE_SIZE,102549,0
$CFSIZE,260165632,161722368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,053449,2247.476,-15801.180,8,1.5,13,10.1