version: 66.06
glider: 148
mission: 9
dive: 193
start: 12 5 110 5 49 57
data:
$ID,148
$MISSION,9
$DIVE,193
$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,-862045.06
$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,20
$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
$GPS1,053936,2250.006,-15757.018,37,1.1,43,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.0
$GPS2,054902,2250.052,-15757.012,16,1.3,16,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.051,-0.255
$KALMAN_X,-80461.4,-210.9,-126.5,102911.8,-136.2
$KALMAN_Y,6440.9,-400.0,262.8,123632.2,-127.0
$MHEAD_RNG_PITCHd_Wd,181.1,5811,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-81.93,0.000,2,0.000,0.000,411,1886,3376,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.9,-6.5,11,132,11.50,2.75,-6.10,0.000,4,0.158,0.051,2574,192,3718,0,0,0,0,0,0
$GC,248,-1.18,-146.0,39.8,-19.0,29,257,0.10,2.53,0.00,0.000,6,0.087,0.019,2599,1798,3720,0,0,0,0,0,0
$GC,517,-1.07,-146.0,79.1,-14.4,54,522,0.12,2.53,0.00,0.000,4,0.120,0.031,2625,3368,3720,0,0,0,0,0,0
$GC,558,-1.07,-146.0,85.3,-13.1,57,562,0.00,2.50,0.00,0.000,6,0.000,0.021,2625,1775,3720,0,0,0,0,0,0
$GC,823,-1.07,-146.0,120.0,-10.4,81,828,0.00,2.55,0.00,0.000,4,0.000,0.028,2625,3374,3721,0,0,0,0,0,0
$GC,875,-1.22,-146.0,125.4,-9.7,85,881,0.12,2.45,0.00,0.000,6,0.061,0.022,2546,1810,3721,0,0,0,0,0,0
$GC,1138,-1.09,-146.0,161.3,-13.7,110,1143,0.30,2.47,0.00,0.000,4,0.089,0.029,2616,3367,3722,0,0,0,0,0,0
$GC,1159,-1.09,-146.0,163.9,-11.6,111,1168,0.00,2.47,0.00,0.000,6,0.000,0.021,2616,1808,3722,0,0,0,0,0,0
$GC,1425,-1.19,-146.0,185.5,-8.3,136,1429,0.00,2.47,0.00,0.000,4,0.000,0.029,2616,3364,3723,0,0,0,0,0,0
$GC,1465,-1.32,-146.0,188.6,-8.2,139,1470,0.17,2.40,0.00,0.000,6,0.045,0.022,2519,1827,3723,0,0,0,0,0,0
$GC,1719,-1.12,-146.0,225.5,-15.1,151,1726,0.43,2.60,0.00,0.000,4,0.088,0.037,2610,204,3723,0,0,0,0,0,0
$GC,1761,-1.27,-146.0,230.3,-10.7,151,1767,0.12,2.50,0.00,0.000,6,0.064,0.021,2539,1825,3723,0,0,0,0,0,0
$GC,2011,-1.17,-146.0,262.6,-13.2,158,2013,0.30,0.00,0.00,0.000,6,0.085,0.000,2605,1826,3723,0,0,0,0,0,0
$GC,2255,-1.30,-146.0,284.9,-8.9,164,2259,0.12,2.45,0.00,0.000,4,0.065,0.032,2545,3362,3723,0,0,0,0,0,0
$GC,2312,-1.30,-146.0,291.1,-10.6,165,2317,0.15,2.45,0.00,0.000,6,0.096,0.025,2579,1824,3723,0,0,0,0,0,0
$GC,2586,-1.30,-146.0,315.4,-8.7,172,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1824,3723,0,0,0,0,0,0
$GC,2830,-1.36,-146.0,337.0,-9.2,178,2834,0.00,2.50,0.00,0.000,4,0.000,0.037,2579,3359,3723,0,0,0,0,0,0
$GC,2869,-1.47,-146.0,340.4,-8.6,178,2875,0.17,2.45,0.00,0.000,6,0.048,0.028,2462,1821,3722,0,0,0,0,0,0
$GC,3119,-1.22,-146.0,377.6,-15.4,185,3126,0.55,2.67,0.00,0.000,4,0.087,0.051,2588,207,3721,0,0,0,0,0,0
$GC,3175,-1.40,-146.0,383.4,-8.9,186,3180,0.15,2.53,0.00,0.000,6,0.055,0.026,2522,1804,3720,0,0,0,0,0,0
$GC,3454,-1.33,-146.0,414.1,-11.1,193,3459,0.22,2.58,0.00,0.000,4,0.094,0.043,2571,3368,3718,0,0,0,0,0,0
$GC,3501,-1.43,-146.0,419.2,-9.1,194,3506,0.00,2.50,0.00,0.000,6,0.000,0.031,2571,1816,3718,0,0,0,0,0,0
$GC,3786,-1.50,-146.0,446.8,-9.9,201,3791,0.15,2.60,0.00,0.000,4,0.058,0.048,2510,3364,3716,0,0,0,0,0,0
$GC,3810,-1.43,-146.0,450.1,-12.7,201,3815,0.17,2.47,0.00,0.000,6,0.097,0.031,2548,1822,3716,0,0,0,0,0,0
$GC,4071,-1.43,-146.0,476.3,-9.6,208,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1819,3713,0,0,0,0,0,0
$GC,4313,-1.43,-146.0,499.8,-9.8,214,4317,0.00,2.08,0.00,0.000,3,0.000,0.048,2548,3076,3711,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4326,-0.31,0.0,500.4,9.8,214,4447,1.05,0.00,116.75,0.869,6,0.077,0.000,2788,1677,3120,0,0,0,0,0,0
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4451,1.28,146.0,506.0,0.0,217,4582,1.42,2.70,120.03,0.852,4,0.025,0.067,3160,180,2523,0,0,0,0,0,0
$GC,4693,0.79,146.0,495.5,12.1,222,4701,0.60,2.45,0.00,0.000,6,0.110,0.029,3036,1671,2517,0,0,0,0,0,0
$GC,4955,0.84,182.0,473.4,8.4,229,4992,0.00,2.67,30.12,0.815,4,0.000,0.059,3036,176,2377,0,0,0,0,0,0
$GC,5091,0.75,182.0,460.0,10.6,232,5095,0.00,2.42,0.00,0.000,6,0.000,0.027,3036,1673,2374,0,0,0,0,0,0
$GC,5377,0.81,229.9,436.2,7.8,239,5426,0.00,2.65,41.15,0.813,4,0.000,0.058,3036,166,2181,0,0,0,0,0,0
$GC,5461,0.82,236.0,429.2,9.8,240,5474,0.00,2.45,6.70,0.649,6,0.000,0.026,3036,1673,2156,0,0,0,0,0,0
$GC,5758,0.87,275.7,404.0,8.2,248,5800,0.00,2.78,34.45,0.794,4,0.000,0.050,3036,3256,1995,0,0,0,0,0,0
$GC,5819,0.90,302.5,398.5,8.8,249,5852,0.00,2.65,25.35,0.772,6,0.000,0.034,3036,1665,1886,0,0,0,0,0,0
$GC,6136,0.90,303.4,367.2,10.0,257,6140,0.00,2.70,0.00,0.000,4,0.000,0.044,3036,3262,1878,0,0,0,0,0,0
$GC,6164,0.98,303.4,364.1,10.4,257,6169,0.15,2.62,0.00,0.000,6,0.057,0.033,3096,1668,1876,0,0,0,0,0,0
$GC,6419,0.89,303.4,331.9,12.7,264,6425,0.20,2.58,0.00,0.000,4,0.102,0.062,3053,164,1874,0,0,0,0,0,0
$GC,6442,0.89,303.4,329.3,12.3,264,6446,0.00,2.42,0.00,0.000,6,0.000,0.025,3053,1677,1873,0,0,0,0,0,0
$GC,6705,0.89,303.4,298.5,11.6,271,6709,0.00,2.62,0.00,0.000,4,0.000,0.046,3054,3259,1872,0,0,0,0,0,0
$GC,6766,0.99,304.4,291.9,10.0,272,6771,0.10,2.60,0.00,0.000,6,0.078,0.032,3101,1672,1871,0,0,0,0,0,0
$GC,7036,0.91,304.4,257.4,13.0,279,7041,0.20,2.55,0.00,0.000,4,0.100,0.058,3059,162,1870,0,0,0,0,0,0
$GC,7057,0.91,304.4,254.8,11.4,279,7062,0.00,2.42,0.00,0.000,6,0.000,0.023,3059,1694,1869,0,0,0,0,0,0
$GC,7322,0.92,308.6,228.7,9.8,286,7327,0.00,2.58,0.00,0.000,4,0.000,0.058,3059,170,1869,0,0,0,0,0,0
$GC,7336,0.92,308.6,226.9,10.1,286,7340,0.00,2.40,0.00,0.000,6,0.000,0.023,3059,1686,1869,0,0,0,0,0,0
$GC,7604,0.93,314.4,199.8,9.8,293,7618,0.00,2.60,8.35,0.582,4,0.000,0.049,3059,160,1838,0,0,0,0,0,0
$GC,7663,0.93,314.4,194.1,11.2,298,7667,0.00,2.38,0.00,0.000,6,0.000,0.023,3059,1669,1838,0,0,0,0,0,0
$GC,7929,0.99,314.4,166.0,10.9,322,7933,0.00,2.55,0.00,0.000,4,0.000,0.035,3059,3255,1836,0,0,0,0,0,0
$GC,8037,1.11,314.4,154.0,10.4,332,8043,0.17,2.55,0.00,0.000,6,0.051,0.028,3134,1670,1834,0,0,0,0,0,0
$GC,8303,1.00,314.4,118.6,14.1,357,8308,0.25,2.45,0.00,0.000,4,0.095,0.044,3076,171,1834,0,0,0,0,0,0
$GC,8333,1.00,314.4,114.9,12.4,359,8337,0.00,2.38,0.00,0.000,6,0.000,0.021,3076,1692,1833,0,0,0,0,0,0
$GC,8600,1.12,340.1,90.2,8.8,384,8632,0.10,0.00,22.60,0.549,6,0.078,0.000,3129,1696,1732,0,0,0,0,0,0
$GC,8885,1.12,340.1,56.5,12.4,411,8886,0.12,0.00,0.00,0.000,6,0.110,0.000,3103,1696,1730,0,0,0,0,0,0
$GC,9140,1.12,340.1,30.2,11.9,435,9144,0.00,2.50,0.00,0.000,4,0.000,0.043,3103,173,1730,0,0,0,0,0,0
$GC,9174,1.12,340.1,25.8,14.6,439,9182,0.00,2.38,0.00,0.000,6,0.000,0.020,3103,1681,1730,0,0,0,0,0,0
$STATE,9364,end climb,SURFACE_DEPTH_REACHED
$STATE,9365,begin surface coast
$FINISH,0.7,1.023695
$STATE,9422,end surface coast,CONTROL_FINISHED_OK
$STATE,9422,begin surface
$SM_CCo,9442,52.12,0.061,0,0,1285,450.13
$SM_GC,1.70,0.00,0.00,52.12,0.000,0.000,0.061,411,1902,1285,-11.27,3.17,450.13
$IRIDIUM_FIX,2239.35,-15757.16,290200,050521
$TT8_MAMPS,0.026845
$HUMID,44.01
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,28.628
$10V_AH,10.4,23.870
$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,30.150,126.000,405.500,52.125,0.000,59.236,71.554,241.866,0.500,0.000,17.600,1009.537,6049.358,485.577,1870.894,649.899,33.354,1262.613,0.000,1868.187,0.000,0.538,0.000
$DEVICE_MAMPS,158.002,67.496,869.011,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.464,289.600,370.318,557.629,986.386,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,38233,478
$CAP_FILE_SIZE,115804,0
$CFSIZE,260165632,161206272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051210,082931,2249.106,-15757.272,39,1.3,39,10.1