version: 66.06
glider: 148
mission: 9
dive: 185
start: 12 4 110 6 13 39
data:
$ID,148
$MISSION,9
$DIVE,185
$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,639.98767
$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,-861842.19
$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,92
$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
$GPS1,053449,2247.476,-15801.180,8,1.5,13,10.1
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-61.5
$GPS2,061245,2247.500,-15801.146,51,2.8,70,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.238,-0.104
$KALMAN_X,-78300.9,-136.7,-36.4,93468.0,78.9
$KALMAN_Y,7892.4,-4.9,179.6,117137.4,375.9
$MHEAD_RNG_PITCHd_Wd,236.3,3300,-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,-75.57,0.000,2,0.000,0.000,412,1835,3234,0,0,0,0,0,0
$GC,100,-1.28,-146.0,3.7,-6.9,10,132,11.35,2.72,-8.77,0.000,4,0.153,0.057,2572,210,3718,0,0,0,0,0,0
$GC,234,-1.28,-146.0,34.2,-11.8,28,238,0.00,2.38,0.00,0.000,6,0.000,0.021,2572,1739,3719,0,0,0,0,0,0
$GC,501,-1.08,-146.0,75.5,-16.7,52,506,0.25,2.53,0.00,0.000,4,0.104,0.028,2628,3330,3719,0,0,0,0,0,0
$GC,551,-1.08,-146.0,84.2,-14.8,56,555,0.00,2.45,0.00,0.000,6,0.000,0.021,2628,1781,3719,0,0,0,0,0,0
$GC,815,-1.17,-146.0,115.7,-9.7,80,820,0.10,2.47,0.00,0.000,4,0.076,0.030,2568,3322,3719,0,0,0,0,0,0
$GC,854,-1.17,-146.0,120.3,-12.1,83,859,0.17,2.40,0.00,0.000,6,0.094,0.022,2607,1799,3719,0,0,0,0,0,0
$GC,1119,-1.24,-146.0,147.4,-10.9,107,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1799,3720,0,0,0,0,0,0
$GC,1383,-1.32,-146.0,172.8,-8.9,132,1388,0.15,2.42,0.00,0.000,4,0.057,0.030,2540,3322,3720,0,0,0,0,0,0
$GC,1439,-1.32,-146.0,179.6,-11.7,137,1444,0.15,2.40,0.00,0.000,6,0.100,0.023,2573,1802,3720,0,0,0,0,0,0
$GC,1698,-1.32,-146.0,210.0,-12.2,155,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1802,3720,0,0,0,0,0,0
$GC,1940,-1.32,-146.0,238.6,-11.7,161,1944,0.00,2.42,0.00,0.000,4,0.000,0.031,2573,3321,3720,0,0,0,0,0,0
$GC,1958,-1.32,-146.0,240.9,-12.4,161,1962,0.00,2.40,0.00,0.000,6,0.000,0.022,2573,1803,3720,0,0,0,0,0,0
$GC,2222,-1.32,-146.0,268.4,-10.2,168,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1803,3719,0,0,0,0,0,0
$GC,2465,-1.32,-146.0,291.9,-9.6,174,2469,0.00,2.45,0.00,0.000,4,0.000,0.034,2573,3323,3719,0,0,0,0,0,0
$GC,2483,-1.32,-146.0,294.0,-10.5,174,2487,0.00,2.38,0.00,0.000,6,0.000,0.024,2573,1814,3718,0,0,0,0,0,0
$GC,2748,-1.32,-146.0,318.7,-9.4,181,2753,0.00,2.42,0.00,0.000,4,0.000,0.036,2573,3317,3717,0,0,0,0,0,0
$GC,2786,-1.39,-146.0,322.4,-8.7,181,2791,0.00,2.40,0.00,0.000,6,0.000,0.027,2573,1820,3717,0,0,0,0,0,0
$GC,3036,-1.46,-146.0,344.8,-9.1,188,3038,0.12,0.00,0.00,0.000,6,0.065,0.000,2512,1820,3716,0,0,0,0,0,0
$GC,3281,-1.36,-146.0,377.0,-13.5,194,3286,0.22,2.47,0.00,0.000,4,0.095,0.040,2562,3322,3714,0,0,0,0,0,0
$GC,3324,-1.43,-146.0,382.2,-10.6,195,3329,0.00,2.40,0.00,0.000,6,0.000,0.030,2562,1836,3714,0,0,0,0,0,0
$GC,3611,-1.43,-146.0,409.1,-8.9,202,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1836,3712,0,0,0,0,0,0
$GC,3857,-1.43,-146.0,428.3,-7.8,208,3861,0.00,2.45,0.00,0.000,4,0.000,0.046,2562,3317,3709,0,0,0,0,0,0
$GC,3900,-1.51,-146.0,431.9,-8.2,209,3905,0.12,2.38,0.00,0.000,6,0.065,0.031,2487,1844,3709,0,0,0,0,0,0
$GC,4189,-1.35,-146.0,469.2,-13.5,216,4196,0.32,2.78,0.00,0.000,4,0.092,0.062,2560,208,3707,0,0,0,0,0,0
$GC,4252,-1.44,-146.0,476.0,-9.3,217,4257,0.00,2.55,0.00,0.000,6,0.000,0.034,2560,1773,3706,0,0,0,0,0,0
$GC,4521,-1.44,-146.0,497.5,-8.0,224,4525,0.00,2.67,0.00,0.000,4,0.000,0.053,2560,3371,3704,0,0,0,0,0,0
$STATE,4547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4547,begin apogee
$GC,4557,-0.31,0.0,500.1,8.7,224,4676,1.00,0.00,115.60,0.877,6,0.080,0.000,2787,1687,3120,0,0,0,0,0,0
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4679,1.28,146.0,503.7,0.0,227,4807,1.42,0.00,120.57,0.858,6,0.028,0.000,3140,1687,2524,0,0,0,0,0,0
$GC,5046,1.00,169.5,487.2,8.9,236,5068,0.30,0.00,20.05,0.802,6,0.112,0.000,3079,1687,2428,0,0,0,0,0,0
$GC,5289,0.91,210.1,467.4,8.2,242,5332,0.00,2.70,34.85,0.825,4,0.000,0.067,3079,171,2262,0,0,0,0,0,0
$GC,5431,0.73,210.1,452.0,12.3,245,5436,0.30,2.47,0.00,0.000,6,0.109,0.029,3017,1686,2258,0,0,0,0,0,0
$GC,5715,0.81,229.4,426.2,9.1,252,5740,0.00,2.65,16.70,0.779,4,0.000,0.058,3017,167,2183,0,0,0,0,0,0
$GC,5800,0.81,229.4,417.5,10.4,253,5806,0.00,2.47,0.00,0.000,6,0.000,0.027,3017,1686,2180,0,0,0,0,0,0
$GC,6050,0.95,277.9,397.3,7.8,260,6100,0.20,2.78,42.15,0.805,4,0.047,0.054,3100,3258,1987,0,0,0,0,0,0
$GC,6119,0.83,277.9,389.5,12.6,261,6126,0.28,2.67,0.00,0.000,6,0.094,0.035,3042,1667,1983,0,0,0,0,0,0
$GC,6381,0.86,304.6,365.9,8.8,268,6408,0.00,0.00,24.33,0.770,6,0.000,0.000,3042,1668,1877,0,0,0,0,0,0
$GC,6669,0.86,304.6,336.7,10.3,275,6674,0.00,2.70,0.00,0.000,4,0.000,0.044,3042,3267,1870,0,0,0,0,0,0
$GC,6702,0.97,304.6,333.0,11.3,275,6707,0.12,2.62,0.00,0.000,6,0.067,0.034,3096,1684,1868,0,0,0,0,0,0
$GC,6952,0.90,304.6,299.6,13.7,281,6957,0.20,2.60,0.00,0.000,4,0.103,0.063,3055,161,1866,0,0,0,0,0,0
$GC,6980,0.90,304.6,295.7,12.7,281,6984,0.00,2.45,0.00,0.000,6,0.000,0.025,3055,1690,1866,0,0,0,0,0,0
$GC,7234,0.90,304.6,267.8,10.7,288,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1691,1865,0,0,0,0,0,0
$GC,7479,0.90,304.6,242.4,10.6,294,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1692,1864,0,0,0,0,0,0
$GC,7722,0.91,317.1,218.6,9.5,300,7738,0.00,2.62,9.77,0.617,4,0.000,0.051,3055,175,1826,0,0,0,0,0,0
$GC,7761,0.91,317.1,214.3,10.7,300,7767,0.00,2.42,0.00,0.000,6,0.000,0.024,3055,1693,1826,0,0,0,0,0,0
$GC,8020,0.91,317.1,188.3,10.1,313,8024,0.00,2.53,0.00,0.000,4,0.000,0.047,3055,170,1823,0,0,0,0,0,0
$GC,8047,0.91,317.1,184.4,11.8,315,8056,0.00,2.40,0.00,0.000,6,0.000,0.023,3055,1671,1823,0,0,0,0,0,0
$GC,8313,0.92,323.9,158.2,9.7,340,8326,0.00,2.62,6.95,0.527,4,0.000,0.035,3055,3253,1798,0,0,0,0,0,0
$GC,8396,1.05,323.9,149.8,10.5,348,8406,0.10,2.58,0.00,0.000,6,0.032,0.028,3117,1682,1796,0,0,0,0,0,0
$GC,8661,0.98,323.9,116.3,13.7,373,8666,0.20,2.47,0.00,0.000,4,0.100,0.044,3074,168,1796,0,0,0,0,0,0
$GC,8718,0.98,323.9,108.3,13.1,378,8723,0.00,2.38,0.00,0.000,6,0.000,0.021,3074,1682,1796,0,0,0,0,0,0
$GC,8981,1.13,363.0,82.7,8.2,402,9026,0.12,2.62,34.65,0.555,4,0.065,0.035,3137,3255,1638,0,0,0,0,0,0
$GC,9033,1.13,363.0,76.5,13.0,406,9043,0.10,2.60,0.00,0.000,6,0.082,0.026,3112,1676,1637,0,0,0,0,0,0
$GC,9299,1.13,363.0,48.7,10.2,431,9304,0.00,2.45,0.00,0.000,4,0.000,0.041,3111,173,1635,0,0,0,0,0,0
$GC,9330,1.17,392.0,45.7,8.7,433,9368,0.00,2.35,25.35,0.512,6,0.000,0.021,3111,1674,1521,0,0,0,0,0,0
$GC,9650,1.17,392.0,12.5,11.6,474,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1677,1518,0,0,0,0,0,0
$STATE,9732,end climb,SURFACE_DEPTH_REACHED
$STATE,9732,begin surface coast
$FINISH,0.7,1.007019
$STATE,9771,end surface coast,CONTROL_FINISHED_OK
$STATE,9771,begin surface
$SM_CCo,9791,139.05,0.062,0,0,510,639.99
$SM_GC,1.46,0.00,0.00,139.05,0.000,0.000,0.062,407,1899,510,-11.28,3.08,639.99
$IRIDIUM_FIX,2239.35,-15800.20,280200,060615
$TT8_MAMPS,0.026845
$HUMID,42.16
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,27.562
$10V_AH,10.4,23.024
$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,28.300,111.075,450.975,139.050,0.000,144.569,181.380,1473.909,0.250,0.000,72.696,995.560,6602.334,621.319,1876.702,2115.475,33.375,1368.990,0.000,1825.533,0.000,0.540,0.000
$DEVICE_MAMPS,153.400,67.496,876.681,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.021,297.088,380.967,575.519,1017.802,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,38358,493
$CAP_FILE_SIZE,131208,0
$CFSIZE,260165632,161607680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041210,090054,2246.997,-15802.591,63,1.1,63,10.1