version: 66.06
glider: 148
mission: 9
dive: 414
start: 1 1 111 1 59 50
data:
$ID,148
$MISSION,9
$DIVE,414
$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,185
$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,420
$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,-866879.81
$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
$GPS1,015035,2246.930,-15758.893,40,1.7,50,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.8
$GPS2,015855,2246.983,-15758.859,14,1.2,31,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239,0.075
$KALMAN_X,-38700.1,300.5,-195.9,57521.1,-95.2
$KALMAN_Y,-75857.7,42.4,77.2,199987.3,-814.7
$MHEAD_RNG_PITCHd_Wd,277.2,7071,-15.9,-9.009
$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,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.88,0.000,2,0.000,0.000,407,1884,3257,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.2,-3.8,10,131,11.50,2.45,-8.85,0.000,4,0.153,0.042,2594,3383,3720,0,0,0,0,0,0
$GC,246,-1.17,-146.0,31.6,-12.7,32,251,0.00,2.55,0.00,0.000,6,0.000,0.023,2595,1783,3720,0,0,0,0,0,0
$GC,515,-1.02,-146.0,68.7,-14.5,56,523,0.20,0.00,0.00,0.000,6,0.097,0.000,2638,1783,3721,0,0,0,0,0,0
$GC,782,-1.02,-146.0,99.6,-10.8,81,786,0.00,2.53,0.00,0.000,4,0.000,0.029,2638,3370,3721,0,0,0,0,0,0
$GC,873,-1.17,-146.0,108.0,-8.3,89,878,0.15,2.47,0.00,0.000,6,0.051,0.022,2547,1793,3721,0,0,0,0,0,0
$GC,1139,-0.98,-146.0,144.2,-13.7,113,1148,0.43,2.55,0.00,0.000,4,0.082,0.035,2641,212,3722,0,0,0,0,0,0
$GC,1185,-1.19,-146.0,149.2,-8.9,117,1190,0.17,2.45,0.00,0.000,6,0.047,0.018,2550,1812,3722,0,0,0,0,0,0
$GC,1448,-1.02,-146.0,183.6,-13.3,141,1453,0.38,2.45,0.00,0.000,4,0.081,0.030,2632,3360,3723,0,0,0,0,0,0
$GC,1517,-1.18,-146.0,190.3,-7.4,147,1527,0.10,2.50,0.00,0.000,6,0.026,0.023,2550,1800,3723,0,0,0,0,0,0
$GC,1773,-1.04,-146.0,221.8,-13.2,160,1778,0.32,2.50,0.00,0.000,4,0.081,0.030,2627,3361,3723,0,0,0,0,0,0
$GC,1797,-1.04,-146.0,224.9,-10.4,160,1801,0.00,2.45,0.00,0.000,6,0.000,0.021,2628,1812,3724,0,0,0,0,0,0
$GC,2056,-1.16,-146.0,247.7,-8.7,167,2061,0.00,2.47,0.00,0.000,4,0.000,0.031,2627,3351,3724,0,0,0,0,0,0
$GC,2114,-1.33,-146.0,252.2,-6.9,168,2119,0.25,2.42,0.00,0.000,6,0.035,0.025,2536,1822,3724,0,0,0,0,0,0
$GC,2388,-1.19,-146.0,283.6,-11.5,175,2393,0.25,2.47,0.00,0.000,4,0.086,0.033,2597,3354,3724,0,0,0,0,0,0
$GC,2438,-1.27,-146.0,288.0,-7.9,176,2442,0.00,2.45,0.00,0.000,6,0.000,0.025,2596,1826,3723,0,0,0,0,0,0
$GC,2720,-1.27,-146.0,311.1,-8.4,183,2724,0.00,2.45,0.00,0.000,4,0.000,0.035,2597,3350,3723,0,0,0,0,0,0
$GC,2743,-1.27,-146.0,313.1,-9.1,183,2747,0.00,2.42,0.00,0.000,6,0.000,0.025,2597,1830,3723,0,0,0,0,0,0
$GC,3008,-1.27,-146.0,333.7,-7.6,190,3012,0.00,2.47,0.00,0.000,4,0.000,0.037,2597,3350,3722,0,0,0,0,0,0
$GC,3036,-1.34,-146.0,336.0,-7.3,190,3041,0.12,2.40,0.00,0.000,6,0.062,0.026,2519,1843,3722,0,0,0,0,0,0
$GC,3292,-1.17,-146.0,364.5,-11.6,197,3297,0.35,2.45,0.00,0.000,4,0.081,0.039,2599,3347,3720,0,0,0,0,0,0
$GC,3333,-1.29,-146.0,368.0,-7.7,197,3338,0.00,2.42,0.00,0.000,6,0.000,0.028,2600,1846,3719,0,0,0,0,0,0
$GC,3583,-1.37,-146.0,387.9,-7.9,204,3588,0.17,2.50,0.00,0.000,4,0.048,0.041,2516,3352,3719,0,0,0,0,0,0
$GC,3598,-1.37,-146.0,389.4,-8.1,204,3603,0.20,2.40,0.00,0.000,6,0.089,0.026,2561,1856,3719,0,0,0,0,0,0
$GC,3868,-1.37,-146.0,415.4,-9.5,211,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1856,3717,0,0,0,0,0,0
$GC,4110,-1.37,-146.0,438.8,-9.7,217,4114,0.00,2.50,0.00,0.000,4,0.000,0.048,2561,3349,3715,0,0,0,0,0,0
$GC,4174,-1.37,-146.0,445.1,-9.6,218,4179,0.00,2.38,0.00,0.000,6,0.000,0.028,2561,1867,3715,0,0,0,0,0,0
$GC,4439,-1.37,-146.0,470.0,-9.4,225,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,1867,3713,0,0,0,0,0,0
$GC,4681,-1.37,-146.0,492.3,-9.1,231,4686,0.00,2.47,0.00,0.000,4,0.000,0.051,2561,3343,3712,0,0,0,0,0,0
$GC,4700,-1.37,-146.0,494.1,-9.5,231,4704,0.00,2.38,0.00,0.000,6,0.000,0.028,2561,1875,3711,0,0,0,0,0,0
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4798,begin apogee
$GC,4805,-0.31,0.0,503.3,9.2,234,4927,1.02,0.00,118.38,0.871,6,0.073,0.000,2793,1675,3120,0,0,0,0,0,0
$STATE,4928,end apogee,CONTROL_FINISHED_OK
$STATE,4928,begin climb
$GC,4930,1.17,146.0,508.0,0.0,237,5065,1.35,2.70,121.43,0.851,4,0.026,0.051,3138,3227,2522,0,0,0,0,0,0
$GC,5228,0.85,146.0,493.5,11.2,244,5235,0.43,2.58,0.00,0.000,6,0.098,0.036,3048,1698,2516,0,0,0,0,0,0
$GC,5521,0.77,176.6,470.6,7.7,251,5553,0.00,2.78,25.40,0.806,4,0.000,0.074,3048,176,2398,0,0,0,0,0,0
$GC,5719,0.59,176.6,452.1,9.9,255,5724,0.28,2.40,0.00,0.000,6,0.105,0.026,2991,1656,2395,0,0,0,0,0,0
$GC,5993,0.78,274.7,437.3,4.9,262,6085,0.17,2.83,85.12,0.820,4,0.051,0.058,3059,3257,1999,0,0,0,0,0,0
$GC,6098,0.69,274.7,428.8,9.1,264,6105,0.22,2.65,0.00,0.000,6,0.092,0.034,3012,1675,1995,0,0,0,0,0,0
$GC,6359,0.73,305.9,408.8,7.7,271,6395,0.00,2.65,28.10,0.779,4,0.000,0.067,3012,167,1871,0,0,0,0,0,0
$GC,6424,0.73,305.9,403.0,10.5,272,6429,0.00,2.45,0.00,0.000,6,0.000,0.027,3012,1674,1870,0,0,0,0,0,0
$GC,6688,0.84,326.4,381.0,8.2,279,6710,0.12,0.00,18.98,0.749,6,0.065,0.000,3069,1675,1788,0,0,0,0,0,0
$GC,6932,0.77,326.4,354.6,11.0,285,6939,0.20,2.70,0.00,0.000,4,0.094,0.051,3026,3257,1784,0,0,0,0,0,0
$GC,6955,0.77,326.4,352.3,10.0,285,6959,0.00,2.62,0.00,0.000,6,0.000,0.033,3026,1672,1782,0,0,0,0,0,0
$GC,7219,0.86,339.2,329.6,8.5,292,7232,0.00,0.00,11.48,0.688,6,0.000,0.000,3026,1672,1737,0,0,0,0,0,0
$GC,7462,0.93,344.2,308.3,8.8,298,7471,0.15,0.00,5.88,0.581,6,0.056,0.000,3094,1672,1715,0,0,0,0,0,0
$GC,7751,0.84,344.2,269.4,13.8,305,7753,0.25,0.00,0.00,0.000,6,0.094,0.000,3040,1672,1713,0,0,0,0,0,0
$GC,7992,0.84,344.2,244.3,9.8,311,7996,0.00,2.62,0.00,0.000,4,0.000,0.038,3040,3255,1711,0,0,0,0,0,0
$GC,8011,0.92,360.0,242.7,8.4,311,8033,0.00,2.60,15.10,0.657,6,0.000,0.031,3040,1672,1652,0,0,0,0,0,0
$GC,8279,1.00,366.4,219.4,8.7,318,8289,0.15,0.00,7.07,0.563,6,0.057,0.000,3106,1672,1626,0,0,0,0,0,0
$GC,8525,0.90,366.4,186.4,13.4,330,8530,0.22,2.55,0.00,0.000,4,0.093,0.052,3057,162,1624,0,0,0,0,0,0
$GC,8556,0.90,366.4,182.5,11.9,332,8562,0.00,2.42,0.00,0.000,6,0.000,0.023,3057,1687,1624,0,0,0,0,0,0
$GC,8818,0.90,366.4,153.9,11.1,357,8822,0.00,2.55,0.00,0.000,4,0.000,0.035,3057,3256,1623,0,0,0,0,0,0
$GC,8890,1.00,366.4,146.3,11.3,363,8895,0.00,2.55,0.00,0.000,6,0.000,0.028,3057,1684,1620,0,0,0,0,0,0
$GC,9156,1.00,366.4,118.6,9.9,387,9160,0.00,2.50,0.00,0.000,4,0.000,0.046,3057,172,1621,0,0,0,0,0,0
$GC,9185,1.00,366.4,115.2,10.5,389,9191,0.00,2.40,0.00,0.000,6,0.000,0.021,3057,1698,1621,0,0,0,0,0,0
$GC,9449,1.13,384.5,91.9,8.3,414,9475,0.20,2.60,17.38,0.538,4,0.045,0.035,3152,3256,1551,0,0,0,0,0,0
$GC,9514,1.05,384.5,83.8,12.7,420,9526,0.28,2.55,0.00,0.000,6,0.087,0.027,3093,1687,1548,0,0,0,0,0,0
$GC,9783,1.05,384.5,56.7,10.7,445,9787,0.00,2.50,0.00,0.000,4,0.000,0.044,3093,170,1548,0,0,0,0,0,0
$GC,9836,1.05,384.5,50.6,11.1,449,9840,0.00,2.38,0.00,0.000,6,0.000,0.021,3093,1684,1547,0,0,0,0,0,0
$GC,10113,1.05,384.5,22.5,10.4,478,10122,0.00,2.55,0.00,0.000,4,0.000,0.035,3093,3250,1547,0,0,0,0,0,0
$GC,10175,1.12,384.5,16.0,10.3,487,10183,0.00,2.53,0.00,0.000,6,0.000,0.025,3093,1685,1547,0,0,0,0,0,0
$STATE,10295,end climb,SURFACE_DEPTH_REACHED
$STATE,10295,begin surface coast
$FINISH,0.7,1.012227
$STATE,10351,end surface coast,CONTROL_FINISHED_OK
$STATE,10352,begin surface
$SM_CCo,10372,17.05,0.062,0,0,1406,420.20
$SM_GC,1.91,0.00,0.00,17.05,0.000,0.000,0.062,416,1837,1406,-11.25,1.33,420.20
$IRIDIUM_FIX,2239.35,-15757.16,260300,232303
$TT8_MAMPS,0.026845
$HUMID,48.58
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.5,54.486
$10V_AH,10.2,47.558
$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,30.575,126.075,454.300,17.050,0.000,28.224,38.370,277.204,0.250,0.000,33.404,1077.842,6666.370,530.002,1968.586,647.631,33.396,1320.499,0.000,1957.661,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,74.399,870.545,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.363,314.640,392.645,603.342,1067.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41657,514
$CAP_FILE_SIZE,118473,0
$CFSIZE,260165632,148897792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010111,045406,2247.145,-15800.281,27,0.8,27,10.1