version: 66.06
glider: 148
mission: 9
dive: 423
start: 1 2 111 5 6 10
data:
$ID,148
$MISSION,9
$DIVE,423
$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,-867076.38
$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,30
$R_STBD_OVSHOOT,92
$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
$GPS1,045651,2250.156,-15758.312,38,99.0,57,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.4
$GPS2,050513,2250.247,-15758.281,9,1.3,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.208,0.064
$KALMAN_X,-38812.9,-337.8,-83.5,59167.0,-114.8
$KALMAN_Y,-82471.2,-577.1,619.3,212720.3,-1158.7
$MHEAD_RNG_PITCHd_Wd,62.9,2235,-18.9,-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,-1.31,-107.0,0.0,0.0,0,95,0.00,0.00,-75.18,0.000,2,0.000,0.000,409,1842,3282,0,0,0,0,0,0
$GC,98,-1.36,-146.0,3.5,-4.6,10,124,11.30,2.35,-8.25,0.000,4,0.153,0.038,2556,3327,3718,0,0,0,0,0,0
$GC,152,-0.85,-146.0,19.3,-26.1,17,161,0.50,2.47,0.00,0.000,6,0.079,0.021,2671,1785,3720,0,0,0,0,0,0
$GC,434,-1.04,-146.0,48.9,-9.0,48,439,0.15,2.47,0.00,0.000,4,0.055,0.029,2595,3325,3721,0,0,0,0,0,0
$GC,534,-1.04,-146.0,61.0,-13.0,56,539,0.17,2.40,0.00,0.000,6,0.094,0.021,2633,1798,3721,0,0,0,0,0,0
$GC,796,-1.14,-146.0,92.2,-11.8,80,800,0.00,2.42,0.00,0.000,4,0.000,0.028,2633,3329,3721,0,0,0,0,0,0
$GC,848,-1.34,-146.0,98.2,-10.3,84,858,0.25,2.42,0.00,0.000,6,0.018,0.023,2509,1815,3721,0,0,0,0,0,0
$GC,1115,-1.19,-146.0,141.8,-15.8,109,1120,0.38,2.40,0.00,0.000,4,0.084,0.028,2596,3327,3722,0,0,0,0,0,0
$GC,1144,-1.19,-146.0,146.1,-12.3,111,1148,0.00,2.35,0.00,0.000,6,0.000,0.021,2596,1828,3722,0,0,0,0,0,0
$GC,1416,-1.30,-146.0,173.1,-10.1,136,1420,0.00,2.40,0.00,0.000,4,0.000,0.029,2596,3328,3722,0,0,0,0,0,0
$GC,1460,-1.44,-146.0,178.1,-9.8,140,1464,0.20,2.33,0.00,0.000,6,0.042,0.022,2494,1840,3723,0,0,0,0,0,0
$GC,1729,-1.23,-146.0,220.6,-16.7,156,1731,0.50,0.00,0.00,0.000,6,0.084,0.000,2591,1840,3723,0,0,0,0,0,0
$GC,1969,-1.36,-146.0,244.5,-9.0,162,1974,0.12,2.40,0.00,0.000,4,0.064,0.030,2529,3328,3723,0,0,0,0,0,0
$GC,2008,-1.36,-146.0,248.8,-12.1,162,2015,0.15,2.38,0.00,0.000,6,0.099,0.023,2562,1830,3723,0,0,0,0,0,0
$GC,2258,-1.36,-146.0,274.1,-9.8,169,2262,0.00,2.38,0.00,0.000,4,0.000,0.031,2563,3320,3723,0,0,0,0,0,0
$GC,2290,-1.43,-146.0,277.4,-9.8,169,2294,0.00,2.38,0.00,0.000,6,0.000,0.024,2563,1829,3723,0,0,0,0,0,0
$GC,2546,-1.50,-146.0,303.9,-10.6,176,2551,0.12,2.42,0.00,0.000,4,0.065,0.036,2504,3323,3722,0,0,0,0,0,0
$GC,2584,-1.43,-146.0,309.1,-13.0,176,2591,0.20,2.38,0.00,0.000,6,0.094,0.025,2548,1835,3722,0,0,0,0,0,0
$GC,2834,-1.43,-146.0,338.3,-11.5,183,2838,0.00,2.42,0.00,0.000,4,0.000,0.038,2548,3322,3722,0,0,0,0,0,0
$GC,2919,-1.50,-146.0,348.1,-10.6,184,2924,0.00,2.35,0.00,0.000,6,0.000,0.026,2548,1858,3721,0,0,0,0,0,0
$GC,3168,-1.50,-146.0,375.3,-10.7,191,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1857,3720,0,0,0,0,0,0
$GC,3412,-1.50,-146.0,401.5,-10.6,197,3416,0.00,2.38,0.00,0.000,4,0.000,0.040,2548,3315,3718,0,0,0,0,0,0
$GC,3441,-1.50,-146.0,404.8,-11.7,197,3446,0.00,2.35,0.00,0.000,6,0.000,0.028,2548,1857,3718,0,0,0,0,0,0
$GC,3695,-1.50,-146.0,431.8,-10.6,204,3700,0.00,2.40,0.00,0.000,4,0.000,0.044,2548,3311,3717,0,0,0,0,0,0
$GC,3746,-1.60,-146.0,437.6,-11.2,205,3751,0.15,2.33,0.00,0.000,6,0.057,0.028,2480,1869,3716,0,0,0,0,0,0
$GC,4026,-1.47,-146.0,476.1,-14.2,212,4033,0.25,2.83,0.00,0.000,4,0.092,0.060,2538,215,3714,0,0,0,0,0,0
$GC,4057,-1.47,-146.0,480.5,-11.8,212,4061,0.00,2.60,0.00,0.000,6,0.000,0.031,2538,1815,3714,0,0,0,0,0,0
$STATE,4268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4268,begin apogee
$GC,4274,-0.31,0.0,502.7,10.3,218,4397,1.12,0.00,118.78,0.861,6,0.073,0.000,2794,1667,3120,0,0,0,0,0,0
$STATE,4397,end apogee,CONTROL_FINISHED_OK
$STATE,4397,begin climb
$GC,4401,1.36,146.0,507.2,0.0,221,4532,1.48,2.65,120.88,0.844,4,0.023,0.066,3165,197,2523,0,0,0,0,0,0
$GC,4799,0.94,146.0,478.9,11.9,229,4805,0.47,2.42,0.00,0.000,6,0.110,0.028,3067,1682,2515,0,0,0,0,0,0
$GC,5051,0.97,174.9,459.5,7.4,236,5080,0.00,2.60,24.02,0.796,4,0.000,0.058,3067,191,2406,0,0,0,0,0,0
$GC,5329,0.86,174.9,433.8,10.0,242,5333,0.00,2.40,0.00,0.000,6,0.000,0.025,3067,1677,2400,0,0,0,0,0,0
$GC,5611,0.89,202.8,411.9,7.4,249,5642,0.00,2.60,24.27,0.779,4,0.000,0.056,3066,183,2292,0,0,0,0,0,0
$GC,5697,0.81,202.8,404.4,9.6,250,5703,0.15,2.40,0.00,0.000,6,0.115,0.025,3036,1667,2290,0,0,0,0,0,0
$GC,5947,0.92,222.2,384.5,7.9,257,5972,0.10,2.62,17.42,0.749,4,0.077,0.056,3086,190,2213,0,0,0,0,0,0
$GC,6047,0.81,222.2,373.0,12.5,259,6052,0.22,2.38,0.00,0.000,6,0.105,0.025,3039,1661,2211,0,0,0,0,0,0
$GC,6326,0.92,229.3,348.7,8.6,266,6338,0.00,2.55,6.95,0.634,4,0.000,0.055,3039,176,2185,0,0,0,0,0,0
$GC,6409,0.92,229.3,340.9,10.0,267,6414,0.00,2.38,0.00,0.000,6,0.000,0.025,3039,1656,2184,0,0,0,0,0,0
$GC,6660,1.05,251.2,320.9,7.8,273,6683,0.20,0.00,20.85,0.728,6,0.046,0.000,3124,1657,2095,0,0,0,0,0,0
$GC,6903,0.95,251.2,293.8,11.4,279,6905,0.28,0.00,0.00,0.000,6,0.098,0.000,3065,1657,2091,0,0,0,0,0,0
$GC,7149,1.01,254.0,271.8,8.9,285,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1657,2089,0,0,0,0,0,0
$GC,7390,1.01,254.0,249.1,9.4,291,7394,0.00,2.50,0.00,0.000,4,0.000,0.054,3065,183,2088,0,0,0,0,0,0
$GC,7432,1.01,254.0,244.9,9.8,292,7436,0.00,2.33,0.00,0.000,6,0.000,0.023,3065,1654,2087,0,0,0,0,0,0
$GC,7727,1.10,262.3,219.7,8.5,299,7744,0.15,2.55,9.68,0.607,4,0.059,0.051,3137,189,2049,0,0,0,0,0,0
$GC,7782,0.92,262.3,213.1,13.1,300,7787,0.38,2.30,0.00,0.000,6,0.107,0.023,3061,1635,2049,0,0,0,0,0,0
$GC,8048,1.03,268.0,190.4,8.7,314,8061,0.10,2.50,6.28,0.528,4,0.074,0.049,3128,188,2027,0,0,0,0,0,0
$GC,8206,0.89,268.0,170.0,13.2,330,8211,0.35,2.28,0.00,0.000,6,0.106,0.022,3056,1634,2026,0,0,0,0,0,0
$GC,8469,1.04,279.6,146.9,8.4,354,8486,0.12,2.45,11.70,0.567,4,0.063,0.046,3114,186,1979,0,0,0,0,0,0
$GC,8552,1.04,279.6,137.6,12.7,361,8557,0.15,2.30,0.00,0.000,6,0.122,0.022,3086,1638,1978,0,0,0,0,0,0
$GC,8818,1.14,291.2,113.3,8.3,385,8841,0.10,2.67,11.52,0.536,4,0.073,0.035,3127,3242,1930,0,0,0,0,0,0
$GC,8848,1.14,291.2,110.3,9.8,387,8854,0.00,2.62,0.00,0.000,6,0.000,0.028,3127,1641,1929,0,0,0,0,0,0
$GC,9110,1.14,291.2,83.4,9.8,412,9114,0.00,2.42,0.00,0.000,4,0.000,0.046,3127,175,1929,0,0,0,0,0,0
$GC,9171,1.14,291.2,77.0,11.7,417,9175,0.00,2.28,0.00,0.000,6,0.000,0.021,3127,1629,1929,0,0,0,0,0,0
$GC,9440,1.14,291.2,49.4,10.1,441,9444,0.00,2.42,0.00,0.000,4,0.000,0.044,3126,168,1928,0,0,0,0,0,0
$GC,9481,1.14,291.2,44.3,11.8,444,9486,0.00,2.28,0.00,0.000,6,0.000,0.020,3127,1642,1928,0,0,0,0,0,0
$GC,9769,1.15,294.7,15.7,8.8,479,9779,0.00,2.42,4.55,0.359,4,0.000,0.043,3127,168,1917,0,0,0,0,0,0
$GC,9794,1.15,294.7,13.2,9.5,482,9803,0.00,2.30,0.00,0.000,6,0.000,0.020,3127,1628,1917,0,0,0,0,0,0
$STATE,9884,end climb,SURFACE_DEPTH_REACHED
$STATE,9884,begin surface coast
$FINISH,0.8,1.022903
$STATE,9932,end surface coast,CONTROL_FINISHED_OK
$STATE,9932,begin surface
$SM_CCo,9952,63.90,0.415,1,0,1406,420.20
$SM_GC,1.65,0.00,0.00,63.90,0.000,0.000,0.415,412,1831,1406,-11.26,1.16,420.20
$IRIDIUM_FIX,2241.69,-15757.16,280300,020210
$TT8_MAMPS,0.026845
$HUMID,48.54
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,55.511
$10V_AH,10.2,48.569
$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,30.775,122.075,376.900,63.900,0.000,29.809,32.976,298.409,0.250,0.000,16.006,1077.367,6237.192,492.902,2050.632,666.230,33.367,1300.819,0.000,2050.464,0.000,0.538,0.000
$DEVICE_MAMPS,152.633,65.962,860.574,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.153,307.497,392.190,608.159,1076.032,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,38223,503
$CAP_FILE_SIZE,117851,0
$CFSIZE,260165632,148389888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020111,075422,2249.967,-15757.104,11,2.6,30,10.1