version: 66.06
glider: 148
mission: 9
dive: 220
start: 12 8 110 8 0 21
data:
$ID,148
$MISSION,9
$DIVE,220
$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,-862580.38
$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,31
$R_STBD_OVSHOOT,48
$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
$GPS1,075336,2248.822,-15757.558,23,1.4,23,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.6
$GPS2,075926,2248.853,-15757.515,11,1.4,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.062,-0.252
$KALMAN_X,-75354.8,-370.7,-128.0,97099.9,342.3
$KALMAN_Y,7233.8,-500.0,70.3,120907.7,602.0
$MHEAD_RNG_PITCHd_Wd,183.7,3466,-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,-145.9,0.0,0.0,0,105,0.00,0.00,-83.03,0.000,2,0.000,0.000,413,1872,3354,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.6,-5.3,11,131,11.40,2.72,-6.68,0.000,4,0.155,0.045,2571,200,3717,0,0,0,0,0,0
$GC,173,-1.12,-146.0,22.8,-20.3,20,183,0.15,2.53,0.00,0.000,6,0.077,0.021,2609,1789,3719,0,0,0,0,0,0
$GC,447,-1.02,-146.0,63.7,-15.1,48,452,0.12,2.53,0.00,0.000,4,0.116,0.031,2636,3369,3719,0,0,0,0,0,0
$GC,502,-1.02,-146.0,71.2,-12.1,52,507,0.00,2.50,0.00,0.000,6,0.000,0.023,2636,1783,3719,0,0,0,0,0,0
$GC,765,-1.09,-146.0,100.5,-9.0,76,769,0.00,2.55,0.00,0.000,4,0.000,0.029,2636,3373,3720,0,0,0,0,0,0
$GC,797,-1.19,-146.0,103.4,-9.0,78,806,0.12,2.50,0.00,0.000,6,0.021,0.023,2532,1810,3720,0,0,0,0,0,0
$GC,1062,-1.02,-146.0,143.7,-14.4,103,1071,0.43,2.58,0.00,0.000,4,0.084,0.044,2630,202,3721,0,0,0,0,0,0
$GC,1088,-1.02,-146.0,147.7,-11.3,105,1094,0.00,2.50,0.00,0.000,6,0.000,0.019,2631,1830,3721,0,0,0,0,0,0
$GC,1354,-1.16,-146.0,171.7,-9.5,130,1358,0.00,2.40,0.00,0.000,4,0.000,0.029,2631,3360,3722,0,0,0,0,0,0
$GC,1381,-1.31,-146.0,174.4,-9.2,132,1386,0.22,2.45,0.00,0.000,6,0.038,0.022,2520,1799,3722,0,0,0,0,0,0
$GC,1671,-1.09,-146.0,221.3,-16.8,150,1673,0.52,0.00,0.00,0.000,6,0.086,0.000,2623,1799,3722,0,0,0,0,0,0
$GC,1914,-1.24,-146.0,242.8,-7.7,156,1919,0.15,2.53,0.00,0.000,4,0.055,0.031,2546,3359,3722,0,0,0,0,0,0
$GC,1951,-1.24,-146.0,246.8,-10.4,156,1959,0.15,2.42,0.00,0.000,6,0.068,0.024,2586,1815,3722,0,0,0,0,0,0
$GC,2201,-1.24,-146.0,270.2,-9.5,163,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1814,3722,0,0,0,0,0,0
$GC,2447,-1.31,-146.0,293.1,-9.3,169,2451,0.00,2.50,0.00,0.000,4,0.000,0.034,2586,3360,3723,0,0,0,0,0,0
$GC,2490,-1.43,-146.0,296.9,-7.9,170,2495,0.15,2.45,0.00,0.000,6,0.055,0.025,2493,1813,3722,0,0,0,0,0,0
$GC,2778,-1.20,-146.0,339.8,-15.8,177,2780,0.55,0.00,0.00,0.000,6,0.085,0.000,2596,1813,3722,0,0,0,0,0,0
$GC,3023,-1.32,-146.0,362.8,-9.1,183,3028,0.10,2.53,0.00,0.000,4,0.077,0.041,2538,3353,3722,0,0,0,0,0,0
$GC,3047,-1.32,-146.0,365.8,-10.6,183,3052,0.15,2.47,0.00,0.000,6,0.096,0.028,2572,1817,3722,0,0,0,0,0,0
$GC,3307,-1.32,-146.0,390.3,-9.3,190,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1817,3720,0,0,0,0,0,0
$GC,3553,-1.39,-146.0,412.8,-9.5,196,3557,0.00,2.55,0.00,0.000,4,0.000,0.046,2572,3350,3719,0,0,0,0,0,0
$GC,3571,-1.39,-146.0,415.0,-9.7,196,3576,0.00,2.45,0.00,0.000,6,0.000,0.030,2572,1823,3718,0,0,0,0,0,0
$GC,3836,-1.45,-146.0,438.5,-8.8,203,3837,0.12,0.00,0.00,0.000,6,0.067,0.000,2513,1824,3717,0,0,0,0,0,0
$GC,4080,-1.35,-146.0,465.7,-11.4,209,4085,0.25,2.58,0.00,0.000,4,0.093,0.050,2571,3352,3715,0,0,0,0,0,0
$GC,4111,-1.42,-146.0,469.0,-9.6,209,4116,0.00,2.47,0.00,0.000,6,0.000,0.032,2571,1819,3714,0,0,0,0,0,0
$GC,4368,-1.49,-146.0,490.2,-8.3,216,4373,0.15,2.60,0.00,0.000,4,0.057,0.053,2506,3353,3712,0,0,0,0,0,0
$GC,4392,-1.41,-146.0,493.1,-11.6,216,4397,0.20,2.45,0.00,0.000,6,0.094,0.032,2550,1832,3712,0,0,0,0,0,0
$STATE,4487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4487,begin apogee
$GC,4493,-0.31,0.0,502.2,9.5,219,4614,1.08,0.00,117.65,0.874,6,0.081,0.000,2790,1664,3120,0,0,0,0,0,0
$STATE,4615,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4619,1.28,146.0,506.7,0.0,222,4750,1.45,2.67,121.97,0.856,4,0.026,0.071,3158,187,2523,0,0,0,0,0,0
$GC,4802,0.79,146.0,503.4,11.7,226,4809,0.62,2.42,0.00,0.000,6,0.109,0.029,3031,1665,2518,0,0,0,0,0,0
$GC,5066,0.86,210.1,484.3,7.1,233,5126,0.00,2.65,53.97,0.838,4,0.000,0.060,3031,187,2262,0,0,0,0,0,0
$GC,5174,0.86,210.1,474.0,10.7,235,5179,0.00,2.42,0.00,0.000,6,0.000,0.029,3031,1674,2258,0,0,0,0,0,0
$GC,5437,0.86,210.1,447.1,10.1,242,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1674,2253,0,0,0,0,0,0
$GC,5682,0.89,227.9,424.4,9.2,248,5699,0.10,0.00,15.10,0.769,6,0.079,0.000,3083,1675,2190,0,0,0,0,0,0
$GC,5925,0.77,227.9,396.9,11.3,254,5930,0.25,2.58,0.00,0.000,4,0.100,0.057,3027,182,2186,0,0,0,0,0,0
$GC,5988,0.77,227.9,390.3,10.1,255,5992,0.00,2.38,0.00,0.000,6,0.000,0.025,3027,1668,2186,0,0,0,0,0,0
$GC,6256,0.82,267.7,367.0,8.2,262,6298,0.00,2.62,34.95,0.785,4,0.000,0.058,3027,180,2027,0,0,0,0,0,0
$GC,6351,0.82,267.7,358.0,10.9,264,6355,0.00,2.40,0.00,0.000,6,0.000,0.025,3026,1661,2026,0,0,0,0,0,0
$GC,6633,0.91,292.2,332.4,8.9,271,6658,0.12,0.00,22.58,0.747,6,0.067,0.000,3082,1663,1928,0,0,0,0,0,0
$GC,6878,0.85,292.2,303.7,11.8,277,6885,0.17,2.67,0.00,0.000,4,0.104,0.049,3045,3254,1922,0,0,0,0,0,0
$GC,6899,0.85,293.5,300.9,10.0,277,6904,0.00,2.60,0.00,0.000,6,0.000,0.033,3045,1671,1921,0,0,0,0,0,0
$GC,7163,0.86,299.6,275.0,9.8,284,7175,0.00,2.67,6.85,0.605,4,0.000,0.042,3045,3258,1897,0,0,0,0,0,0
$GC,7193,0.88,317.1,272.2,9.2,284,7217,0.00,2.65,17.02,0.695,6,0.000,0.032,3045,1665,1827,0,0,0,0,0,0
$GC,7501,0.96,331.3,243.4,9.4,292,7522,0.10,2.60,13.15,0.657,4,0.079,0.058,3104,166,1767,0,0,0,0,0,0
$GC,7567,0.85,331.3,234.9,14.7,293,7572,0.28,2.40,0.00,0.000,6,0.097,0.025,3047,1674,1767,0,0,0,0,0,0
$GC,7836,0.93,331.3,206.4,10.2,300,7840,0.00,2.58,0.00,0.000,4,0.000,0.038,3047,3254,1764,0,0,0,0,0,0
$GC,7875,1.07,338.3,202.3,9.7,300,7889,0.20,2.60,6.70,0.553,6,0.048,0.031,3113,1659,1740,0,0,0,0,0,0
$GC,8151,0.97,338.3,164.5,14.4,323,8153,0.20,0.00,0.00,0.000,6,0.101,0.000,3072,1659,1738,0,0,0,0,0,0
$GC,8410,0.97,338.3,133.5,13.0,347,8415,0.00,2.60,0.00,0.000,4,0.000,0.034,3072,3265,1737,0,0,0,0,0,0
$GC,8440,0.97,338.3,129.3,11.9,349,8445,0.00,2.58,0.00,0.000,6,0.000,0.028,3071,1664,1735,0,0,0,0,0,0
$GC,8704,1.04,338.3,101.6,10.5,374,8708,0.00,2.45,0.00,0.000,4,0.000,0.046,3071,174,1736,0,0,0,0,0,0
$GC,8729,1.05,342.9,98.8,9.8,376,8743,0.00,2.35,5.15,0.439,6,0.000,0.021,3071,1679,1721,0,0,0,0,0,0
$GC,8999,1.18,360.0,74.0,9.2,401,9024,0.17,2.58,16.58,0.528,4,0.048,0.032,3147,3254,1652,0,0,0,0,0,0
$GC,9095,1.18,360.0,61.0,13.7,409,9104,0.10,2.62,0.00,0.000,6,0.082,0.028,3121,1657,1649,0,0,0,0,0,0
$GC,9362,1.18,360.0,27.3,12.6,435,9371,0.00,2.45,0.00,0.000,4,0.000,0.043,3120,175,1649,0,0,0,0,0,0
$GC,9380,1.18,360.0,24.9,13.5,437,9389,0.00,2.33,0.00,0.000,6,0.000,0.020,3120,1660,1649,0,0,0,0,0,0
$STATE,9543,end climb,SURFACE_DEPTH_REACHED
$STATE,9545,begin surface coast
$FINISH,0.9,1.013779
$STATE,9584,end surface coast,CONTROL_FINISHED_OK
$STATE,9584,begin surface
$SM_CCo,9605,49.15,0.402,1,0,1284,450.13
$SM_GC,1.57,0.00,0.00,49.15,0.000,0.000,0.402,412,1881,1284,-11.26,2.57,450.13
$IRIDIUM_FIX,2239.35,-15754.99,030300,050540
$TT8_MAMPS,0.026845
$HUMID,44.84
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.6,31.643
$10V_AH,10.4,26.606
$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,30.725,116.550,431.675,49.150,0.000,30.907,33.812,154.939,0.250,0.000,13.112,981.775,6283.015,547.186,1700.163,500.521,33.376,1256.768,0.000,1708.977,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,70.564,873.613,401.908,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.938,282.968,354.420,533.603,943.386,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,35290,469
$CAP_FILE_SIZE,108665,0
$CFSIZE,260165632,159768576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081210,104237,2247.738,-15757.558,37,1.3,37,10.1