version: 66.06
glider: 148
mission: 9
dive: 197
start: 12 5 110 16 42 45
data:
$ID,148
$MISSION,9
$DIVE,197
$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,-862132.31
$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,45
$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
$GPS1,163408,2246.856,-15758.778,32,1.4,32,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.3
$GPS2,164150,2246.906,-15758.745,13,1.4,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.252,-0.064
$KALMAN_X,-80694.9,205.5,-132.8,99746.7,377.5
$KALMAN_Y,7347.1,613.9,-284.5,116433.9,683.1
$MHEAD_RNG_PITCHd_Wd,245.8,7268,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-75.80,0.000,2,0.000,0.000,411,1875,3161,0,0,0,0,0,0
$GC,102,-1.28,-146.0,3.1,-4.9,10,134,11.55,2.75,-11.00,0.000,4,0.159,0.047,2574,211,3719,0,0,0,0,0,0
$GC,283,-1.21,-146.0,34.9,-14.7,35,288,0.00,2.47,0.00,0.000,6,0.000,0.018,2574,1800,3720,0,0,0,0,0,0
$GC,552,-1.02,-146.0,82.6,-16.3,59,557,0.25,2.47,0.00,0.000,4,0.104,0.029,2631,3364,3720,0,0,0,0,0,0
$GC,589,-1.02,-146.0,89.3,-12.6,62,593,0.00,2.50,0.00,0.000,6,0.000,0.022,2631,1785,3721,0,0,0,0,0,0
$GC,853,-1.02,-146.0,118.0,-9.0,86,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1785,3721,0,0,0,0,0,0
$GC,1118,-1.15,-146.0,139.3,-7.1,111,1122,0.00,2.53,0.00,0.000,4,0.000,0.029,2631,3364,3722,0,0,0,0,0,0
$GC,1179,-1.32,-146.0,144.1,-6.8,116,1190,0.20,2.50,0.00,0.000,6,0.018,0.022,2508,1797,3722,0,0,0,0,0,0
$GC,1442,-1.12,-146.0,185.1,-16.2,141,1454,0.45,2.50,0.00,0.000,4,0.089,0.029,2611,3368,3722,0,0,0,0,0,0
$GC,1461,-1.00,-146.0,188.1,-15.8,142,1467,0.15,2.47,0.00,0.000,6,0.097,0.021,2646,1794,3722,0,0,0,0,0,0
$GC,1720,-1.20,-146.0,205.5,-6.1,161,1725,0.20,2.50,0.00,0.000,4,0.044,0.028,2552,3361,3723,0,0,0,0,0,0
$GC,1746,-1.20,-146.0,207.9,-10.0,161,1751,0.20,2.45,0.00,0.000,6,0.087,0.022,2597,1812,3723,0,0,0,0,0,0
$GC,2006,-1.27,-146.0,232.3,-9.5,168,2010,0.00,2.45,0.00,0.000,4,0.000,0.030,2596,3360,3723,0,0,0,0,0,0
$GC,2021,-1.34,-146.0,233.8,-8.8,168,2026,0.12,2.45,0.00,0.000,6,0.064,0.021,2516,1809,3723,0,0,0,0,0,0
$GC,2291,-1.14,-146.0,269.9,-14.4,175,2298,0.45,2.60,0.00,0.000,4,0.087,0.039,2605,210,3723,0,0,0,0,0,0
$GC,2341,-1.33,-146.0,275.4,-8.9,176,2346,0.15,2.50,0.00,0.000,6,0.055,0.021,2529,1808,3723,0,0,0,0,0,0
$GC,2626,-1.22,-146.0,311.4,-12.9,183,2631,0.28,2.50,0.00,0.000,4,0.088,0.033,2592,3372,3723,0,0,0,0,0,0
$GC,2670,-1.36,-146.0,315.9,-8.6,184,2675,0.12,2.47,0.00,0.000,6,0.061,0.026,2506,1825,3723,0,0,0,0,0,0
$GC,2959,-1.18,-146.0,353.6,-13.1,191,2967,0.45,2.67,0.00,0.000,4,0.087,0.048,2599,209,3722,0,0,0,0,0,0
$GC,2976,-1.18,-146.0,355.8,-11.6,191,2981,0.00,2.53,0.00,0.000,6,0.000,0.023,2599,1823,3722,0,0,0,0,0,0
$GC,3245,-1.32,-146.0,374.8,-6.8,198,3250,0.12,2.53,0.00,0.000,4,0.065,0.040,2540,3365,3721,0,0,0,0,0,0
$GC,3294,-1.32,-146.0,379.0,-8.0,199,3299,0.15,2.47,0.00,0.000,6,0.097,0.028,2574,1828,3721,0,0,0,0,0,0
$GC,3577,-1.39,-146.0,404.4,-9.6,206,3581,0.00,2.55,0.00,0.000,4,0.000,0.043,2574,3369,3719,0,0,0,0,0,0
$GC,3625,-1.48,-146.0,409.5,-10.6,207,3630,0.15,2.47,0.00,0.000,6,0.055,0.029,2490,1834,3719,0,0,0,0,0,0
$GC,3908,-1.32,-146.0,449.2,-14.0,214,3910,0.38,0.00,0.00,0.000,6,0.091,0.000,2570,1829,3717,0,0,0,0,0,0
$GC,4154,-1.39,-146.0,469.0,-7.4,220,4158,0.00,2.53,0.00,0.000,4,0.000,0.047,2570,3361,3715,0,0,0,0,0,0
$GC,4177,-1.39,-146.0,470.9,-7.6,220,4182,0.00,2.47,0.00,0.000,6,0.000,0.030,2570,1832,3715,0,0,0,0,0,0
$GC,4437,-1.46,-146.0,488.9,-7.1,227,4442,0.12,2.58,0.00,0.000,4,0.066,0.049,2518,3358,3713,0,0,0,0,0,0
$GC,4458,-1.46,-146.0,490.8,-9.2,227,4463,0.10,2.47,0.00,0.000,6,0.120,0.030,2539,1832,3713,0,0,0,0,0,0
$STATE,4557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4557,begin apogee
$GC,4563,-0.31,0.0,501.2,10.1,230,4684,1.12,0.00,117.55,0.868,6,0.084,0.000,2790,1664,3120,0,0,0,0,0,0
$STATE,4685,end apogee,CONTROL_FINISHED_OK
$STATE,4685,begin climb
$GC,4687,1.28,146.0,505.6,0.0,233,4813,1.45,0.00,121.82,0.854,6,0.024,0.000,3146,1663,2524,0,0,0,0,0,0
$GC,5045,0.95,146.0,482.8,11.7,242,5052,0.35,2.58,0.00,0.000,4,0.110,0.066,3070,179,2516,0,0,0,0,0,0
$GC,5124,0.73,146.0,473.8,11.2,243,5129,0.25,2.40,0.00,0.000,6,0.106,0.025,3019,1660,2513,0,0,0,0,0,0
$GC,5381,0.80,204.2,454.1,7.3,250,5431,0.00,0.00,48.40,0.825,6,0.000,0.000,3019,1660,2287,0,0,0,0,0,0
$GC,5666,0.86,255.8,432.5,7.6,257,5719,0.12,2.58,44.53,0.811,4,0.067,0.057,3074,184,2076,0,0,0,0,0,0
$GC,5748,0.73,255.8,424.2,12.4,258,5754,0.25,2.42,0.00,0.000,6,0.102,0.027,3021,1667,2074,0,0,0,0,0,0
$GC,5998,0.83,271.5,400.8,9.3,265,6018,0.00,2.78,13.85,0.743,4,0.000,0.051,3021,3259,2012,0,0,0,0,0,0
$GC,6034,0.95,289.4,397.5,9.2,265,6060,0.20,2.65,17.25,0.754,6,0.046,0.033,3081,1677,1940,0,0,0,0,0,0
$GC,6334,0.88,289.4,356.4,14.3,273,6336,0.15,0.00,0.00,0.000,6,0.110,0.000,3050,1678,1934,0,0,0,0,0,0
$GC,6578,0.88,289.4,329.2,10.7,279,6583,0.00,2.60,0.00,0.000,4,0.000,0.063,3050,166,1932,0,0,0,0,0,0
$GC,6609,0.88,289.4,326.0,11.3,279,6613,0.00,2.42,0.00,0.000,6,0.000,0.025,3050,1678,1931,0,0,0,0,0,0
$GC,6863,0.88,289.4,298.9,10.8,286,6868,0.00,2.60,0.00,0.000,4,0.000,0.044,3050,3254,1929,0,0,0,0,0,0
$GC,6914,0.99,289.4,293.3,10.6,287,6920,0.10,2.62,0.00,0.000,6,0.077,0.031,3088,1664,1927,0,0,0,0,0,0
$GC,7196,0.93,289.4,260.5,11.6,294,7198,0.12,0.00,0.00,0.000,6,0.117,0.000,3063,1664,1927,0,0,0,0,0,0
$GC,7438,0.93,289.4,233.7,11.2,300,7442,0.00,2.53,0.00,0.000,4,0.000,0.056,3063,166,1926,0,0,0,0,0,0
$GC,7482,0.93,289.4,228.1,13.9,301,7486,0.00,2.38,0.00,0.000,6,0.000,0.023,3063,1671,1926,0,0,0,0,0,0
$GC,7768,0.93,289.4,197.1,10.5,308,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1675,1925,0,0,0,0,0,0
$GC,8023,0.93,289.4,170.5,10.5,332,8028,0.00,2.55,0.00,0.000,4,0.000,0.035,3063,3260,1925,0,0,0,0,0,0
$GC,8052,0.93,289.4,168.0,10.5,334,8057,0.00,2.60,0.00,0.000,6,0.000,0.029,3063,1645,1924,0,0,0,0,0,0
$GC,8314,0.93,289.4,142.4,10.4,358,8318,0.00,2.62,0.00,0.000,4,0.000,0.034,3063,3256,1924,0,0,0,0,0,0
$GC,8345,1.02,289.4,138.9,11.6,360,8354,0.00,2.60,0.00,0.000,6,0.000,0.029,3063,1667,1924,0,0,0,0,0,0
$GC,8613,1.09,289.4,112.4,10.5,385,8618,0.15,0.00,0.00,0.000,6,0.058,0.000,3146,1667,1924,0,0,0,0,0,0
$GC,8876,0.99,289.4,83.3,10.2,410,8882,0.30,2.45,0.00,0.000,4,0.096,0.045,3076,167,1924,0,0,0,0,0,0
$GC,9016,1.01,303.6,70.5,9.4,422,9033,0.00,2.35,11.30,0.499,6,0.000,0.020,3077,1680,1882,0,0,0,0,0,0
$GC,9297,1.12,331.0,44.9,8.8,448,9327,0.12,0.00,24.45,0.507,6,0.065,0.000,3149,1681,1768,0,0,0,0,0,0
$STATE,9601,end climb,SURFACE_DEPTH_REACHED
$STATE,9601,begin surface coast
$FINISH,0.7,1.023544
$STATE,9634,end surface coast,CONTROL_FINISHED_OK
$STATE,9634,begin surface
$SM_CCo,9656,61.50,0.413,1,0,1284,450.13
$SM_GC,1.42,0.00,0.00,61.50,0.000,0.000,0.413,415,1875,1284,-11.25,2.40,450.13
$IRIDIUM_FIX,2237.01,-15758.03,290200,131323
$TT8_MAMPS,0.026845
$HUMID,43.30
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,29.095
$10V_AH,10.4,24.270
$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,31.425,111.500,399.150,61.500,0.000,31.385,35.589,262.695,0.250,0.000,15.141,1025.370,6213.123,542.391,1797.654,608.253,33.361,1251.547,0.000,1810.073,0.000,0.538,0.000
$DEVICE_MAMPS,158.769,65.962,868.244,412.646,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.918,305.557,387.980,578.844,1021.127,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38357,494
$CAP_FILE_SIZE,109410,0
$CFSIZE,260165632,161001472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051210,192606,2246.888,-15759.862,35,1.0,39,10.1