version: 66.06
glider: 148
mission: 9
dive: 186
start: 12 4 110 9 38 45
data:
$ID,148
$MISSION,9
$DIVE,186
$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,-861857.19
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,090054,2246.997,-15802.591,63,1.1,63,10.1
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-56.9
$GPS2,093750,2246.722,-15802.991,12,1.5,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.054,0.252
$KALMAN_X,-79253.9,-92.3,92.9,91081.1,-547.3
$KALMAN_Y,7487.2,-34.8,237.0,116085.9,-596.9
$MHEAD_RNG_PITCHd_Wd,2.0,6071,-17.7,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-143.6,0.0,0.0,0,127,0.00,0.00,-105.05,0.000,2,0.000,0.000,405,1900,3215,0,0,0,0,0,0
$GC,132,-1.29,-146.0,3.2,-5.2,14,164,11.68,2.38,-9.27,0.000,4,0.164,0.040,2570,3369,3718,0,0,0,0,0,0
$GC,186,-1.00,-146.0,19.3,-22.1,21,195,0.30,2.55,0.00,0.000,6,0.094,0.022,2638,1780,3719,0,0,0,0,0,0
$GC,468,-1.00,-146.0,52.3,-10.7,52,472,0.00,2.53,0.00,0.000,4,0.000,0.030,2638,3365,3719,0,0,0,0,0,0
$GC,523,-1.06,-146.0,59.3,-12.2,56,531,0.00,2.50,0.00,0.000,6,0.000,0.022,2638,1799,3719,0,0,0,0,0,0
$GC,793,-1.16,-146.0,93.1,-11.4,81,798,0.12,2.53,0.00,0.000,4,0.064,0.030,2567,3367,3719,0,0,0,0,0,0
$GC,852,-1.16,-146.0,103.1,-14.3,86,862,0.12,2.47,0.00,0.000,6,0.077,0.022,2601,1812,3720,0,0,0,0,0,0
$GC,1119,-1.16,-146.0,130.7,-9.8,111,1123,0.00,2.55,0.00,0.000,4,0.000,0.038,2601,212,3720,0,0,0,0,0,0
$GC,1134,-1.16,-146.0,132.8,-9.8,112,1138,0.00,2.47,0.00,0.000,6,0.000,0.018,2601,1832,3719,0,0,0,0,0,0
$GC,1400,-1.16,-146.0,158.9,-9.4,136,1404,0.00,2.42,0.00,0.000,4,0.000,0.030,2601,3364,3719,0,0,0,0,0,0
$GC,1455,-1.28,-146.0,164.4,-9.2,141,1460,0.00,2.40,0.00,0.000,6,0.000,0.023,2601,1823,3720,0,0,0,0,0,0
$GC,1718,-1.35,-146.0,188.8,-10.4,165,1723,0.15,2.60,0.00,0.000,4,0.056,0.039,2522,208,3719,0,0,0,0,0,0
$GC,1746,-1.27,-146.0,192.6,-15.1,167,1752,0.28,2.47,0.00,0.000,6,0.092,0.021,2582,1812,3719,0,0,0,0,0,0
$GC,2008,-1.27,-146.0,225.8,-12.1,177,2012,0.00,2.47,0.00,0.000,4,0.000,0.031,2582,3371,3720,0,0,0,0,0,0
$GC,2053,-1.35,-146.0,230.8,-11.9,178,2057,0.00,2.42,0.00,0.000,6,0.000,0.023,2582,1826,3719,0,0,0,0,0,0
$GC,2339,-1.35,-146.0,262.8,-11.1,185,2343,0.00,2.47,0.00,0.000,4,0.000,0.031,2583,3367,3718,0,0,0,0,0,0
$GC,2386,-1.44,-146.0,267.9,-10.4,186,2391,0.15,2.40,0.00,0.000,6,0.052,0.023,2498,1834,3718,0,0,0,0,0,0
$GC,2670,-1.27,-146.0,309.5,-14.9,193,2677,0.35,2.62,0.00,0.000,4,0.091,0.041,2577,216,3718,0,0,0,0,0,0
$GC,2691,-1.27,-146.0,312.6,-12.8,193,2696,0.00,2.53,0.00,0.000,6,0.000,0.022,2577,1836,3717,0,0,0,0,0,0
$GC,2957,-1.33,-146.0,339.5,-10.5,200,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1836,3717,0,0,0,0,0,0
$GC,3199,-1.40,-146.0,362.8,-9.4,206,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1836,3715,0,0,0,0,0,0
$GC,3443,-1.47,-146.0,382.3,-7.9,212,3448,0.15,2.47,0.00,0.000,4,0.058,0.041,2509,3360,3712,0,0,0,0,0,0
$GC,3501,-1.38,-146.0,388.2,-10.4,213,3506,0.22,2.42,0.00,0.000,6,0.093,0.027,2558,1838,3713,0,0,0,0,0,0
$GC,3775,-1.38,-146.0,413.4,-9.1,220,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1838,3710,0,0,0,0,0,0
$GC,4019,-1.38,-146.0,436.1,-9.3,226,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1838,3709,0,0,0,0,0,0
$GC,4264,-1.38,-146.0,458.9,-9.4,232,4268,0.00,2.55,0.00,0.000,4,0.000,0.051,2558,3364,3707,0,0,0,0,0,0
$GC,4296,-1.38,-146.0,462.5,-9.9,232,4301,0.00,2.47,0.00,0.000,6,0.000,0.031,2557,1836,3707,0,0,0,0,0,0
$GC,4546,-1.38,-146.0,487.5,-10.4,238,4550,0.00,2.55,0.00,0.000,4,0.000,0.053,2558,3359,3704,0,0,0,0,0,0
$GC,4564,-1.38,-146.0,489.6,-10.6,238,4568,0.00,2.47,0.00,0.000,6,0.000,0.031,2558,1833,3704,0,0,0,0,0,0
$STATE,4662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4670,-0.31,0.0,500.5,10.8,241,4789,1.02,0.00,115.38,0.874,6,0.079,0.000,2790,1665,3120,0,0,0,0,0,0
$STATE,4789,end apogee,CONTROL_FINISHED_OK
$STATE,4789,begin climb
$GC,4792,1.29,146.0,507.2,0.0,244,4924,1.45,2.65,120.88,0.858,4,0.025,0.070,3147,182,2523,0,0,0,0,0,0
$GC,5133,0.86,146.0,489.8,11.6,251,5139,0.47,2.40,0.00,0.000,6,0.116,0.028,3050,1663,2515,0,0,0,0,0,0
$GC,5384,0.88,218.3,472.5,6.6,258,5453,0.00,2.60,60.55,0.838,4,0.000,0.057,3050,186,2228,0,0,0,0,0,0
$GC,5489,0.81,227.5,463.9,9.6,260,5504,0.00,2.45,8.93,0.709,6,0.000,0.028,3050,1677,2192,0,0,0,0,0,0
$GC,5759,0.84,250.8,439.5,8.9,267,5787,0.00,2.60,20.77,0.793,4,0.000,0.057,3050,183,2096,0,0,0,0,0,0
$GC,5844,0.84,250.8,430.7,11.4,268,5850,0.00,2.40,0.00,0.000,6,0.000,0.028,3050,1670,2093,0,0,0,0,0,0
$GC,6095,0.84,250.8,405.3,10.2,275,6100,0.00,2.53,0.00,0.000,4,0.000,0.057,3050,185,2088,0,0,0,0,0,0
$GC,6138,0.84,250.8,400.4,11.6,276,6142,0.00,2.40,0.00,0.000,6,0.000,0.027,3050,1666,2087,0,0,0,0,0,0
$GC,6426,0.86,265.3,372.7,9.4,283,6445,0.00,2.72,12.27,0.732,4,0.000,0.048,3050,3260,2036,0,0,0,0,0,0
$GC,6483,0.93,268.3,367.0,9.9,284,6488,0.00,2.62,0.00,0.000,6,0.000,0.032,3050,1678,2033,0,0,0,0,0,0
$GC,6756,0.95,283.3,341.5,9.3,291,6780,0.00,2.62,16.20,0.739,4,0.000,0.064,3050,170,1965,0,0,0,0,0,0
$GC,6814,0.95,283.3,335.4,11.7,292,6818,0.00,2.40,0.00,0.000,6,0.000,0.025,3050,1669,1963,0,0,0,0,0,0
$GC,7086,0.97,297.1,309.4,9.4,299,7107,0.00,2.60,13.70,0.706,4,0.000,0.056,3050,166,1906,0,0,0,0,0,0
$GC,7124,0.97,297.1,305.4,10.6,299,7128,0.00,2.40,0.00,0.000,6,0.000,0.024,3050,1666,1905,0,0,0,0,0,0
$GC,7373,0.97,297.1,278.4,10.9,305,7377,0.00,2.53,0.00,0.000,4,0.000,0.055,3050,170,1902,0,0,0,0,0,0
$GC,7396,0.97,297.1,275.7,11.5,305,7400,0.00,2.35,0.00,0.000,6,0.000,0.024,3050,1654,1901,0,0,0,0,0,0
$GC,7656,1.04,297.1,249.0,10.3,312,7662,0.15,2.62,0.00,0.000,4,0.057,0.040,3127,3258,1900,0,0,0,0,0,0
$GC,7676,1.04,297.1,246.4,11.6,312,7683,0.17,2.65,0.00,0.000,6,0.105,0.031,3089,1644,1898,0,0,0,0,0,0
$GC,7942,1.04,297.1,214.7,11.9,319,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1643,1898,0,0,0,0,0,0
$GC,8194,1.04,297.1,187.0,11.3,331,8198,0.00,2.45,0.00,0.000,4,0.000,0.050,3089,166,1898,0,0,0,0,0,0
$GC,8260,1.04,297.1,178.2,13.8,337,8264,0.00,2.33,0.00,0.000,6,0.000,0.023,3089,1662,1897,0,0,0,0,0,0
$GC,8526,1.04,297.1,148.9,10.7,361,8530,0.00,2.55,0.00,0.000,4,0.000,0.034,3089,3254,1897,0,0,0,0,0,0
$GC,8555,1.04,300.5,145.8,9.9,363,8559,0.00,2.58,0.00,0.000,6,0.000,0.028,3089,1645,1896,0,0,0,0,0,0
$GC,8822,1.06,314.3,119.9,9.4,387,8843,0.00,2.47,14.02,0.556,4,0.000,0.047,3089,177,1838,0,0,0,0,0,0
$GC,8899,1.06,314.3,110.9,10.5,394,8908,0.00,2.33,0.00,0.000,6,0.000,0.022,3089,1636,1837,0,0,0,0,0,0
$GC,9165,1.11,355.2,87.6,8.1,419,9206,0.00,2.65,35.72,0.555,4,0.000,0.031,3089,3260,1670,0,0,0,0,0,0
$GC,9232,1.24,381.9,81.9,8.8,425,9266,0.17,2.62,23.30,0.532,6,0.049,0.027,3174,1647,1561,0,0,0,0,0,0
$GC,9520,1.07,381.9,36.3,17.4,452,9529,0.38,0.00,0.00,0.000,6,0.098,0.000,3095,1647,1556,0,0,0,0,0,0
$STATE,9771,end climb,SURFACE_DEPTH_REACHED
$STATE,9771,begin surface coast
$FINISH,0.7,1.023658
$STATE,9810,end surface coast,CONTROL_FINISHED_OK
$STATE,9810,begin surface
$SM_CCo,9830,36.42,0.368,1,0,1283,450.13
$SM_GC,1.51,0.00,0.00,36.42,0.000,0.000,0.368,412,1824,1283,-11.27,0.96,450.13
$IRIDIUM_FIX,2241.69,-15847.51,280200,090909
$TT8_MAMPS,0.026845
$HUMID,44.80
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.6,27.765
$10V_AH,10.4,23.151
$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,28.300,125.750,441.725,36.425,0.000,139.844,234.738,1383.923,0.500,0.000,14.344,1015.410,6536.665,523.622,1900.763,2114.916,33.372,1336.808,0.000,1897.738,0.000,0.539,0.000
$DEVICE_MAMPS,164.138,69.797,873.613,368.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.901,304.368,383.106,578.047,1022.275,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,38344,495
$CAP_FILE_SIZE,136072,0
$CFSIZE,260165632,161579008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,041210,122446,2247.882,-15802.614,39,1.4,48,10.1