version: 66.06
glider: 148
mission: 9
dive: 207
start: 12 6 110 20 33 46
data:
$ID,148
$MISSION,9
$DIVE,207
$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,-862332.38
$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,29
$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
$GPS1,202637,2249.196,-15757.299,33,1.4,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.5
$GPS2,203250,2249.208,-15757.262,14,1.7,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.091,-0.244
$KALMAN_X,-79280.1,509.8,28.8,100422.4,269.9
$KALMAN_Y,6920.1,483.3,479.0,120484.2,-383.3
$MHEAD_RNG_PITCHd_Wd,190.4,4192,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.32,0.000,2,0.000,0.000,408,1856,3357,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.7,-6.2,11,132,11.43,2.67,-6.43,0.000,4,0.154,0.048,2574,204,3716,0,0,0,0,0,0
$GC,228,-1.28,-146.0,31.8,-14.9,28,232,0.00,2.45,0.00,0.000,6,0.000,0.019,2574,1793,3718,0,0,0,0,0,0
$GC,496,-1.06,-146.0,76.3,-17.3,52,501,0.25,2.47,0.00,0.000,4,0.100,0.028,2631,3363,3718,0,0,0,0,0,0
$GC,545,-1.06,-146.0,84.6,-11.5,56,549,0.00,2.50,0.00,0.000,6,0.000,0.022,2631,1787,3719,0,0,0,0,0,0
$GC,809,-1.14,-146.0,111.8,-9.5,80,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1787,3720,0,0,0,0,0,0
$GC,1075,-1.26,-146.0,137.1,-9.6,105,1081,0.20,2.53,0.00,0.000,4,0.044,0.028,2545,3364,3720,0,0,0,0,0,0
$GC,1144,-1.18,-146.0,145.4,-12.5,111,1150,0.25,2.45,0.00,0.000,6,0.087,0.022,2601,1798,3721,0,0,0,0,0,0
$GC,1404,-1.18,-146.0,172.2,-10.3,135,1409,0.00,2.50,0.00,0.000,4,0.000,0.029,2601,3364,3722,0,0,0,0,0,0
$GC,1463,-1.29,-146.0,178.4,-10.2,140,1469,0.00,2.42,0.00,0.000,6,0.000,0.022,2601,1815,3722,0,0,0,0,0,0
$GC,1747,-1.35,-146.0,204.6,-8.9,164,1752,0.15,2.50,0.00,0.000,4,0.056,0.031,2540,3367,3722,0,0,0,0,0,0
$GC,1791,-1.29,-146.0,210.1,-11.9,165,1796,0.17,2.40,0.00,0.000,6,0.094,0.023,2579,1831,3722,0,0,0,0,0,0
$GC,2079,-1.29,-146.0,242.4,-11.2,172,2083,0.00,2.45,0.00,0.000,4,0.000,0.031,2578,3363,3722,0,0,0,0,0,0
$GC,2097,-1.29,-146.0,244.9,-12.0,172,2102,0.00,2.40,0.00,0.000,6,0.000,0.022,2578,1831,3722,0,0,0,0,0,0
$GC,2361,-1.29,-146.0,272.7,-10.4,179,2365,0.00,2.62,0.00,0.000,4,0.000,0.043,2578,217,3722,0,0,0,0,0,0
$GC,2381,-1.29,-146.0,274.9,-11.0,179,2385,0.00,2.53,0.00,0.000,6,0.000,0.021,2578,1846,3722,0,0,0,0,0,0
$GC,2644,-1.29,-146.0,299.8,-9.1,186,2648,0.00,2.40,0.00,0.000,4,0.000,0.034,2578,3361,3722,0,0,0,0,0,0
$GC,2706,-1.38,-146.0,305.4,-8.3,187,2711,0.00,2.40,0.00,0.000,6,0.000,0.026,2578,1846,3722,0,0,0,0,0,0
$GC,2975,-1.38,-146.0,328.3,-8.5,194,2979,0.00,2.45,0.00,0.000,4,0.000,0.035,2578,3368,3721,0,0,0,0,0,0
$GC,3003,-1.44,-146.0,331.0,-9.2,194,3008,0.15,2.40,0.00,0.000,6,0.055,0.027,2498,1859,3721,0,0,0,0,0,0
$GC,3260,-1.25,-146.0,365.9,-14.0,201,3267,0.43,2.72,0.00,0.000,4,0.087,0.048,2584,215,3720,0,0,0,0,0,0
$GC,3286,-1.31,-146.0,369.3,-10.8,201,3290,0.00,2.55,0.00,0.000,6,0.000,0.025,2584,1837,3720,0,0,0,0,0,0
$GC,3546,-1.40,-146.0,392.5,-9.2,208,3551,0.12,2.53,0.00,0.000,4,0.066,0.041,2527,3376,3719,0,0,0,0,0,0
$GC,3594,-1.40,-146.0,398.3,-12.1,209,3599,0.12,2.45,0.00,0.000,6,0.107,0.029,2554,1856,3718,0,0,0,0,0,0
$GC,3876,-1.40,-146.0,428.5,-10.3,216,3881,0.00,2.75,0.00,0.000,4,0.000,0.058,2554,216,3717,0,0,0,0,0,0
$GC,3915,-1.40,-146.0,432.6,-10.8,216,3921,0.00,2.60,0.00,0.000,6,0.000,0.029,2554,1844,3717,0,0,0,0,0,0
$GC,4165,-1.40,-146.0,455.3,-8.8,223,4169,0.00,2.50,0.00,0.000,4,0.000,0.045,2554,3364,3714,0,0,0,0,0,0
$GC,4183,-1.40,-146.0,456.9,-8.5,223,4188,0.00,2.42,0.00,0.000,6,0.000,0.030,2554,1851,3714,0,0,0,0,0,0
$GC,4448,-1.40,-146.0,480.1,-9.1,230,4453,0.00,2.78,0.00,0.000,4,0.000,0.064,2554,214,3712,0,0,0,0,0,0
$GC,4467,-1.40,-146.0,482.2,-10.0,230,4472,0.00,2.65,0.00,0.000,6,0.000,0.031,2554,1848,3712,0,0,0,0,0,0
$STATE,4688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4688,begin apogee
$GC,4694,-0.31,0.0,502.2,8.9,236,4814,1.05,0.00,117.22,0.875,6,0.075,0.000,2791,1670,3120,0,0,0,0,0,0
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4819,1.28,146.0,506.2,0.0,239,4949,1.42,2.67,120.43,0.858,4,0.028,0.066,3142,187,2524,0,0,0,0,0,0
$GC,5205,0.85,146.0,477.3,10.9,247,5213,0.47,2.40,0.00,0.000,6,0.114,0.028,3046,1673,2515,0,0,0,0,0,0
$GC,5465,0.90,240.1,461.6,5.7,254,5551,0.00,2.65,78.80,0.840,4,0.000,0.059,3046,191,2140,0,0,0,0,0,0
$GC,5608,0.90,240.1,450.4,10.1,257,5613,0.00,2.40,0.00,0.000,6,0.000,0.028,3046,1671,2137,0,0,0,0,0,0
$GC,5883,0.92,253.7,424.8,9.4,264,5900,0.00,2.60,11.82,0.744,4,0.000,0.059,3046,187,2085,0,0,0,0,0,0
$GC,5928,0.84,253.7,420.0,11.6,265,5932,0.00,2.40,0.00,0.000,6,0.000,0.026,3046,1677,2084,0,0,0,0,0,0
$GC,6211,0.84,253.7,391.7,10.1,272,6216,0.00,2.55,0.00,0.000,4,0.000,0.057,3046,190,2079,0,0,0,0,0,0
$GC,6254,0.84,253.7,386.7,11.6,273,6258,0.00,2.38,0.00,0.000,6,0.000,0.025,3046,1665,2078,0,0,0,0,0,0
$GC,6540,0.84,253.7,355.3,11.1,280,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1664,2077,0,0,0,0,0,0
$GC,6786,0.85,268.5,331.3,9.4,286,6800,0.00,0.00,12.93,0.719,6,0.000,0.000,3046,1665,2024,0,0,0,0,0,0
$GC,7028,0.90,301.6,310.3,8.5,292,7064,0.00,2.75,30.58,0.746,4,0.000,0.046,3046,3250,1889,0,0,0,0,0,0
$GC,7099,1.01,307.0,303.8,9.8,293,7112,0.15,2.60,5.85,0.579,6,0.055,0.033,3114,1686,1867,0,0,0,0,0,0
$GC,7366,0.88,307.0,269.4,13.1,300,7368,0.30,0.00,0.00,0.000,6,0.100,0.000,3051,1686,1863,0,0,0,0,0,0
$GC,7607,0.88,307.0,244.8,10.0,306,7612,0.00,2.58,0.00,0.000,4,0.000,0.058,3050,171,1861,0,0,0,0,0,0
$GC,7660,0.88,307.0,238.8,12.0,307,7664,0.00,2.38,0.00,0.000,6,0.000,0.023,3051,1670,1861,0,0,0,0,0,0
$GC,7941,0.88,307.0,209.1,10.2,314,7946,0.00,2.58,0.00,0.000,4,0.000,0.035,3050,3253,1859,0,0,0,0,0,0
$GC,8006,1.02,307.0,202.2,10.4,315,8012,0.12,2.60,0.00,0.000,6,0.065,0.030,3110,1649,1858,0,0,0,0,0,0
$GC,8272,0.92,307.0,167.2,12.7,339,8277,0.22,2.62,0.00,0.000,4,0.100,0.033,3063,3265,1858,0,0,0,0,0,0
$GC,8294,0.92,307.0,164.7,11.3,340,8299,0.00,2.60,0.00,0.000,6,0.000,0.028,3063,1667,1858,0,0,0,0,0,0
$GC,8561,0.92,307.0,137.7,10.4,365,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1666,1858,0,0,0,0,0,0
$GC,8822,0.94,320.7,111.6,9.4,390,8839,0.00,2.50,11.65,0.542,4,0.000,0.047,3063,174,1812,0,0,0,0,0,0
$GC,8854,0.94,320.7,108.4,10.5,392,8864,0.00,2.40,0.00,0.000,6,0.000,0.021,3063,1681,1811,0,0,0,0,0,0
$GC,9121,1.11,355.1,84.8,8.4,417,9162,0.15,2.60,30.70,0.553,4,0.056,0.045,3135,170,1671,0,0,0,0,0,0
$GC,9179,1.01,355.1,78.3,12.0,422,9187,0.22,2.38,0.00,0.000,6,0.084,0.021,3082,1659,1671,0,0,0,0,0,0
$GC,9443,1.09,355.1,51.8,10.3,447,9447,0.00,2.58,0.00,0.000,4,0.000,0.032,3082,3259,1669,0,0,0,0,0,0
$GC,9487,1.21,355.1,47.5,10.2,450,9492,0.17,2.58,0.00,0.000,6,0.046,0.028,3167,1666,1666,0,0,0,0,0,0
$STATE,9767,end climb,SURFACE_DEPTH_REACHED
$STATE,9767,begin surface coast
$FINISH,0.6,1.010260
$STATE,9794,end surface coast,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$SM_CCo,9816,51.75,0.405,1,0,1284,450.13
$SM_GC,1.50,0.00,0.00,51.75,0.000,0.000,0.405,410,1858,1284,-11.27,1.92,450.13
$IRIDIUM_FIX,2239.35,-15759.32,010300,171726
$TT8_MAMPS,0.026845
$HUMID,44.56
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.6,30.235
$10V_AH,10.4,25.297
$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,28.775,126.725,419.975,51.750,0.000,27.447,36.938,173.197,0.250,0.000,15.835,1033.544,6298.192,505.898,1896.478,514.973,33.364,1301.926,0.000,1894.447,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,65.962,875.147,404.976,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.268,290.302,376.966,542.294,958.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,38319,490
$CAP_FILE_SIZE,112293,0
$CFSIZE,260165632,160456704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061210,231937,2247.782,-15757.583,39,1.0,39,10.1