version: 66.06
glider: 148
mission: 9
dive: 190
start: 12 4 110 21 25 30
data:
$ID,148
$MISSION,9
$DIVE,190
$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,-861959.75
$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,34
$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
$GPS1,211057,2249.464,-15759.769,8,99.0,27,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.2
$GPS2,212436,2249.451,-15759.771,14,1.3,30,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.237,0.107
$KALMAN_X,-79687.1,198.2,158.1,96690.3,-365.4
$KALMAN_Y,7920.1,81.7,128.0,120698.7,-638.5
$MHEAD_RNG_PITCHd_Wd,55.7,4838,-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,-75.60,0.000,2,0.000,0.000,413,1873,3215,0,0,0,0,0,0
$GC,98,-1.28,-146.0,3.7,-7.2,10,131,11.40,2.78,-9.45,0.000,4,0.154,0.050,2574,205,3719,0,0,0,0,0,0
$GC,154,-1.00,-146.0,19.0,-22.8,17,163,0.28,2.50,0.00,0.000,6,0.076,0.021,2639,1782,3720,0,0,0,0,0,0
$GC,430,-1.00,-146.0,55.1,-12.6,47,434,0.00,2.53,0.00,0.000,4,0.000,0.031,2639,3367,3721,0,0,0,0,0,0
$GC,518,-1.07,-146.0,64.8,-10.2,54,522,0.00,2.47,0.00,0.000,6,0.000,0.023,2639,1795,3720,0,0,0,0,0,0
$GC,780,-1.07,-146.0,96.6,-11.5,78,784,0.00,2.53,0.00,0.000,4,0.000,0.044,2639,213,3721,0,0,0,0,0,0
$GC,803,-1.19,-146.0,99.3,-11.4,79,809,0.17,2.47,0.00,0.000,6,0.048,0.018,2549,1813,3721,0,0,0,0,0,0
$GC,1065,-1.08,-146.0,134.7,-14.0,104,1070,0.30,2.42,0.00,0.000,4,0.087,0.028,2620,3359,3722,0,0,0,0,0,0
$GC,1108,-1.21,-146.0,139.6,-9.8,107,1115,0.10,2.47,0.00,0.000,6,0.074,0.021,2553,1789,3722,0,0,0,0,0,0
$GC,1371,-1.13,-146.0,172.0,-12.1,132,1373,0.28,0.00,0.00,0.000,6,0.086,0.000,2614,1789,3722,0,0,0,0,0,0
$GC,1626,-1.24,-146.0,194.0,-8.4,156,1631,0.10,2.55,0.00,0.000,4,0.077,0.031,2560,3364,3722,0,0,0,0,0,0
$GC,1675,-1.24,-146.0,199.0,-11.1,160,1680,0.12,2.45,0.00,0.000,6,0.104,0.022,2588,1800,3722,0,0,0,0,0,0
$GC,1935,-1.24,-146.0,224.2,-9.5,167,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1801,3722,0,0,0,0,0,0
$GC,2180,-1.24,-146.0,250.7,-11.1,173,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1800,3722,0,0,0,0,0,0
$GC,2422,-1.32,-146.0,276.2,-10.4,179,2427,0.00,2.50,0.00,0.000,4,0.000,0.033,2587,3353,3722,0,0,0,0,0,0
$GC,2492,-1.42,-146.0,284.2,-11.4,180,2497,0.15,2.42,0.00,0.000,6,0.055,0.025,2508,1817,3722,0,0,0,0,0,0
$GC,2753,-1.28,-146.0,319.6,-13.7,187,2760,0.30,2.62,0.00,0.000,4,0.091,0.044,2576,211,3722,0,0,0,0,0,0
$GC,2784,-1.36,-146.0,323.6,-10.8,187,2789,0.00,2.47,0.00,0.000,6,0.000,0.023,2576,1799,3722,0,0,0,0,0,0
$GC,3041,-1.42,-146.0,346.7,-8.7,194,3046,0.12,2.55,0.00,0.000,4,0.067,0.039,2520,3365,3720,0,0,0,0,0,0
$GC,3074,-1.34,-146.0,350.6,-11.5,194,3079,0.20,2.50,0.00,0.000,6,0.093,0.026,2565,1810,3721,0,0,0,0,0,0
$GC,3324,-1.34,-146.0,374.2,-9.4,200,3328,0.00,2.55,0.00,0.000,4,0.000,0.042,2565,3360,3719,0,0,0,0,0,0
$GC,3353,-1.34,-146.0,376.9,-9.1,200,3358,0.00,2.47,0.00,0.000,6,0.000,0.028,2565,1819,3719,0,0,0,0,0,0
$GC,3608,-1.34,-146.0,400.2,-9.0,207,3612,0.00,2.55,0.00,0.000,4,0.000,0.046,2565,3367,3717,0,0,0,0,0,0
$GC,3640,-1.34,-146.0,403.4,-9.4,207,3645,0.00,2.47,0.00,0.000,6,0.000,0.029,2565,1823,3717,0,0,0,0,0,0
$GC,3892,-1.34,-146.0,425.9,-9.1,213,3896,0.00,2.55,0.00,0.000,4,0.000,0.046,2565,3361,3715,0,0,0,0,0,0
$GC,3915,-1.34,-146.0,428.3,-9.9,213,3919,0.00,2.47,0.00,0.000,6,0.000,0.030,2564,1833,3714,0,0,0,0,0,0
$GC,4174,-1.34,-146.0,449.5,-8.0,220,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1832,3713,0,0,0,0,0,0
$GC,4419,-1.34,-146.0,468.6,-7.8,226,4423,0.00,2.55,0.00,0.000,4,0.000,0.050,2565,3366,3711,0,0,0,0,0,0
$GC,4438,-1.34,-146.0,470.6,-8.8,226,4442,0.00,2.47,0.00,0.000,6,0.000,0.029,2565,1833,3711,0,0,0,0,0,0
$GC,4701,-1.34,-146.0,493.8,-9.2,233,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1833,3710,0,0,0,0,0,0
$STATE,4780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4780,begin apogee
$GC,4787,-0.31,0.0,501.5,9.5,235,4907,1.00,0.00,116.45,0.877,6,0.077,0.000,2791,1664,3120,0,0,0,0,0,0
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4910,1.28,146.0,506.5,0.0,238,5039,1.40,2.75,120.28,0.859,4,0.024,0.052,3147,3244,2523,0,0,0,0,0,0
$GC,5080,0.97,148.4,506.3,9.9,242,5088,0.38,2.60,0.00,0.000,6,0.110,0.036,3071,1699,2520,0,0,0,0,0,0
$GC,5372,0.91,206.6,484.2,7.3,249,5428,0.00,2.75,51.00,0.836,4,0.000,0.072,3070,170,2276,0,0,0,0,0,0
$GC,5526,0.76,206.6,467.9,12.2,252,5531,0.22,2.42,0.00,0.000,6,0.104,0.027,3025,1662,2270,0,0,0,0,0,0
$GC,5792,0.81,250.6,446.2,8.0,259,5837,0.00,2.67,37.75,0.817,4,0.000,0.059,3024,168,2097,0,0,0,0,0,0
$GC,5911,0.81,250.6,434.0,11.5,261,5915,0.00,2.40,0.00,0.000,6,0.000,0.026,3024,1660,2094,0,0,0,0,0,0
$GC,6167,0.83,261.7,409.8,9.5,268,6183,0.00,2.78,9.73,0.716,4,0.000,0.051,3024,3258,2052,0,0,0,0,0,0
$GC,6202,0.92,275.6,406.2,9.4,268,6223,0.15,2.67,13.82,0.748,6,0.058,0.034,3083,1660,1995,0,0,0,0,0,0
$GC,6503,0.84,275.6,369.6,12.3,276,6505,0.20,0.00,0.00,0.000,6,0.105,0.000,3042,1660,1990,0,0,0,0,0,0
$GC,6746,0.85,281.3,344.8,9.8,282,6754,0.00,0.00,5.32,0.587,6,0.000,0.000,3042,1660,1973,0,0,0,0,0,0
$GC,6989,0.88,307.6,322.6,8.8,288,7016,0.00,0.00,25.12,0.749,6,0.000,0.000,3042,1660,1866,0,0,0,0,0,0
$GC,7232,0.88,308.2,298.5,10.0,294,7237,0.00,2.70,0.00,0.000,4,0.000,0.043,3042,3266,1860,0,0,0,0,0,0
$GC,7248,0.88,308.2,296.8,10.1,294,7252,0.00,2.65,0.00,0.000,6,0.000,0.030,3042,1658,1859,0,0,0,0,0,0
$GC,7517,0.95,308.2,269.1,10.3,301,7522,0.10,2.67,0.00,0.000,4,0.078,0.040,3089,3263,1857,0,0,0,0,0,0
$GC,7532,0.95,309.7,267.3,10.0,301,7537,0.10,2.62,0.00,0.000,6,0.123,0.030,3068,1666,1857,0,0,0,0,0,0
$GC,7802,0.95,309.7,236.8,11.1,308,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1667,1856,0,0,0,0,0,0
$GC,8044,0.95,309.7,209.3,11.1,314,8048,0.00,2.50,0.00,0.000,4,0.000,0.052,3068,172,1855,0,0,0,0,0,0
$GC,8090,0.95,309.7,203.3,12.8,315,8094,0.00,2.40,0.00,0.000,6,0.000,0.023,3068,1686,1855,0,0,0,0,0,0
$GC,8362,0.95,309.7,174.3,10.7,338,8366,0.00,2.55,0.00,0.000,4,0.000,0.048,3068,162,1854,0,0,0,0,0,0
$GC,8426,0.95,309.7,166.7,12.9,344,8430,0.00,2.38,0.00,0.000,6,0.000,0.023,3068,1665,1854,0,0,0,0,0,0
$GC,8690,0.95,309.7,139.0,10.9,368,8694,0.00,2.58,0.00,0.000,4,0.000,0.035,3068,3256,1854,0,0,0,0,0,0
$GC,8748,1.05,309.7,132.6,10.9,373,8753,0.00,2.60,0.00,0.000,6,0.000,0.028,3068,1651,1852,0,0,0,0,0,0
$GC,9015,1.05,309.7,103.9,10.4,397,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1651,1852,0,0,0,0,0,0
$GC,9277,1.25,379.3,80.8,6.8,422,9347,0.25,2.50,60.30,0.559,4,0.038,0.048,3157,178,1571,0,0,0,0,0,0
$GC,9407,1.14,379.3,64.0,16.1,433,9417,0.20,2.38,0.00,0.000,6,0.088,0.021,3112,1662,1570,0,0,0,0,0,0
$GC,9674,1.14,379.3,31.8,12.2,458,9678,0.00,2.55,0.00,0.000,4,0.000,0.032,3112,3258,1566,0,0,0,0,0,0
$GC,9713,1.14,379.3,26.6,13.4,462,9721,0.00,2.60,0.00,0.000,6,0.000,0.027,3112,1665,1563,0,0,0,0,0,0
$STATE,9884,end climb,SURFACE_DEPTH_REACHED
$STATE,9885,begin surface coast
$FINISH,0.7,1.008387
$STATE,9918,end surface coast,CONTROL_FINISHED_OK
$STATE,9918,begin surface
$SM_CCo,9939,39.17,0.378,1,0,1284,450.13
$SM_GC,1.49,0.00,0.00,39.17,0.000,0.000,0.378,416,1872,1284,-11.24,2.32,450.13
$IRIDIUM_FIX,2239.35,-15802.37,280200,212157
$TT8_MAMPS,0.026845
$HUMID,44.52
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.6,28.277
$10V_AH,10.4,23.563
$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,28.425,117.525,439.775,39.175,0.000,76.795,105.582,343.714,0.500,0.000,32.184,1008.699,6636.692,502.337,1829.901,827.420,33.359,1260.257,0.000,1818.553,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,72.098,876.681,378.131,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.517,294.271,380.406,560.353,990.910,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,38286,494
$CAP_FILE_SIZE,116009,0
$CFSIZE,260165632,161370112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,001307,2249.411,-15758.490,34,1.7,34,10.1