version: 66.06
glider: 148
mission: 9
dive: 425
start: 1 2 111 11 31 32
data:
$ID,148
$MISSION,9
$DIVE,425
$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,-867153.19
$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,34
$R_STBD_OVSHOOT,51
$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
$GPS1,112137,2248.119,-15758.114,30,1.3,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.3
$GPS2,113037,2248.109,-15758.110,15,1.2,32,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.106,-0.218
$KALMAN_X,-40311.5,-494.1,-49.2,61082.8,-655.2
$KALMAN_Y,-83716.1,-113.6,-508.9,210671.4,365.7
$MHEAD_RNG_PITCHd_Wd,143.8,2121,-16.6,-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,16,begin dive
$GC,18,-1.20,-135.3,0.0,0.0,0,95,0.00,0.00,-74.65,0.000,2,0.000,0.000,413,1845,3279,0,0,0,0,0,0
$GC,98,-1.21,-146.0,3.5,-4.3,10,123,11.48,0.00,-8.35,0.000,6,0.153,0.000,2588,1845,3716,0,0,0,0,0,0
$GC,396,-1.06,-146.0,56.2,-14.6,45,401,0.17,2.45,0.00,0.000,4,0.103,0.031,2626,3367,3718,0,0,0,0,0,0
$GC,493,-1.06,-146.0,67.3,-9.5,53,497,0.00,2.50,0.00,0.000,6,0.000,0.022,2626,1796,3719,0,0,0,0,0,0
$GC,762,-1.06,-146.0,97.5,-11.3,77,766,0.00,2.50,0.00,0.000,4,0.000,0.030,2626,3366,3719,0,0,0,0,0,0
$GC,797,-1.06,-146.0,102.6,-11.5,80,801,0.00,2.42,0.00,0.000,6,0.000,0.021,2626,1820,3719,0,0,0,0,0,0
$GC,1058,-1.06,-146.0,129.6,-10.4,104,1063,0.00,2.47,0.00,0.000,4,0.000,0.028,2626,3367,3720,0,0,0,0,0,0
$GC,1108,-1.22,-146.0,134.1,-8.4,108,1113,0.12,2.42,0.00,0.000,6,0.060,0.021,2536,1833,3720,0,0,0,0,0,0
$GC,1369,-1.00,-146.0,173.0,-14.8,132,1381,0.50,2.42,0.00,0.000,4,0.082,0.028,2637,3361,3722,0,0,0,0,0,0
$GC,1416,-1.15,-146.0,177.6,-9.3,136,1421,0.12,2.40,0.00,0.000,6,0.058,0.022,2554,1843,3721,0,0,0,0,0,0
$GC,1689,-1.02,-146.0,210.7,-11.9,155,1691,0.40,0.00,0.00,0.000,6,0.077,0.000,2636,1843,3721,0,0,0,0,0,0
$GC,1930,-1.18,-146.0,227.3,-6.5,161,1935,0.15,2.42,0.00,0.000,4,0.054,0.030,2549,3363,3721,0,0,0,0,0,0
$GC,1973,-1.11,-146.0,231.9,-10.9,162,1979,0.30,2.38,0.00,0.000,6,0.077,0.022,2617,1858,3721,0,0,0,0,0,0
$GC,2265,-1.21,-146.0,254.7,-7.4,169,2269,0.00,2.40,0.00,0.000,4,0.000,0.031,2617,3365,3721,0,0,0,0,0,0
$GC,2312,-1.39,-146.0,258.2,-6.4,170,2317,0.25,2.38,0.00,0.000,6,0.035,0.024,2506,1861,3721,0,0,0,0,0,0
$GC,2595,-1.18,-146.0,295.4,-13.6,177,2597,0.43,0.00,0.00,0.000,6,0.082,0.000,2600,1857,3721,0,0,0,0,0,0
$GC,2840,-1.28,-146.0,318.4,-9.2,183,2844,0.00,2.40,0.00,0.000,4,0.000,0.034,2600,3360,3721,0,0,0,0,0,0
$GC,2891,-1.43,-146.0,323.4,-8.7,184,2896,0.22,2.38,0.00,0.000,6,0.038,0.026,2494,1877,3721,0,0,0,0,0,0
$GC,3172,-1.20,-146.0,363.4,-14.7,191,3174,0.47,0.00,0.00,0.000,6,0.082,0.000,2596,1877,3719,0,0,0,0,0,0
$GC,3414,-1.30,-146.0,385.4,-8.6,197,3418,0.00,2.40,0.00,0.000,4,0.000,0.038,2595,3354,3718,0,0,0,0,0,0
$GC,3437,-1.39,-146.0,387.6,-9.4,197,3442,0.17,2.38,0.00,0.000,6,0.046,0.026,2502,1865,3718,0,0,0,0,0,0
$GC,3699,-1.20,-146.0,422.7,-13.8,204,3701,0.47,0.00,0.00,0.000,6,0.085,0.000,2596,1864,3717,0,0,0,0,0,0
$GC,3941,-1.30,-146.0,441.8,-7.5,210,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1864,3715,0,0,0,0,0,0
$GC,4185,-1.42,-146.0,460.6,-7.7,216,4190,0.20,2.47,0.00,0.000,4,0.045,0.046,2519,3350,3713,0,0,0,0,0,0
$GC,4220,-1.32,-146.0,464.4,-11.4,216,4225,0.25,2.38,0.00,0.000,6,0.085,0.028,2575,1867,3713,0,0,0,0,0,0
$GC,4470,-1.32,-146.0,486.5,-8.5,222,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1867,3711,0,0,0,0,0,0
$STATE,4670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4671,begin apogee
$GC,4676,-0.31,0.0,502.5,7.8,227,4798,0.95,0.00,118.22,0.871,6,0.072,0.000,2792,1681,3119,0,0,0,0,0,0
$STATE,4799,end apogee,CONTROL_FINISHED_OK
$STATE,4799,begin climb
$GC,4803,1.21,146.0,507.1,0.0,230,4933,1.35,2.70,121.03,0.854,4,0.026,0.070,3140,194,2523,0,0,0,0,0,0
$GC,5143,0.77,146.0,489.8,10.1,237,5151,0.55,2.40,0.00,0.000,6,0.105,0.027,3026,1668,2516,0,0,0,0,0,0
$GC,5403,0.87,226.4,475.2,5.4,244,5481,0.10,2.62,68.50,0.834,4,0.078,0.058,3076,183,2194,0,0,0,0,0,0
$GC,5608,0.69,226.4,453.1,11.9,248,5613,0.30,2.42,0.00,0.000,6,0.095,0.026,3013,1671,2189,0,0,0,0,0,0
$GC,5868,0.78,245.6,431.0,8.1,255,5893,0.00,2.60,16.90,0.771,4,0.000,0.056,3013,187,2117,0,0,0,0,0,0
$GC,5970,0.79,254.5,422.0,8.6,257,5986,0.00,2.40,9.10,0.703,6,0.000,0.026,3013,1669,2081,0,0,0,0,0,0
$GC,6252,0.92,288.5,400.1,7.5,264,6289,0.20,0.00,31.30,0.790,6,0.044,0.000,3093,1669,1942,0,0,0,0,0,0
$GC,6533,0.80,288.5,367.8,12.1,271,6538,0.25,2.55,0.00,0.000,4,0.098,0.054,3036,186,1937,0,0,0,0,0,0
$GC,6620,0.80,288.5,358.9,9.5,272,6626,0.00,2.35,0.00,0.000,6,0.000,0.025,3036,1652,1936,0,0,0,0,0,0
$GC,6872,0.80,288.5,335.8,9.2,279,6876,0.00,2.70,0.00,0.000,4,0.000,0.046,3036,3254,1934,0,0,0,0,0,0
$GC,6917,0.90,288.5,331.4,9.9,280,6921,0.00,2.62,0.00,0.000,6,0.000,0.033,3036,1662,1932,0,0,0,0,0,0
$GC,7204,0.90,288.5,303.1,9.7,287,7208,0.00,2.65,0.00,0.000,4,0.000,0.039,3036,3253,1931,0,0,0,0,0,0
$GC,7222,0.90,288.5,301.2,9.7,287,7226,0.00,2.65,0.00,0.000,6,0.000,0.032,3036,1653,1930,0,0,0,0,0,0
$GC,7488,0.98,301.4,278.1,8.4,294,7503,0.15,0.00,10.95,0.664,6,0.058,0.000,3097,1652,1891,0,0,0,0,0,0
$GC,7777,0.90,301.4,247.5,11.0,301,7782,0.20,2.55,0.00,0.000,4,0.099,0.059,3054,165,1887,0,0,0,0,0,0
$GC,7820,0.90,301.4,242.5,10.8,302,7824,0.00,2.38,0.00,0.000,6,0.000,0.022,3054,1666,1887,0,0,0,0,0,0
$GC,8110,0.90,301.4,213.6,9.8,309,8114,0.00,2.53,0.00,0.000,4,0.000,0.049,3054,164,1886,0,0,0,0,0,0
$GC,8133,0.90,301.4,211.2,9.8,309,8137,0.00,2.35,0.00,0.000,6,0.000,0.022,3054,1649,1886,0,0,0,0,0,0
$GC,8402,0.90,301.4,187.4,9.1,325,8407,0.00,2.50,0.00,0.000,4,0.000,0.048,3054,160,1885,0,0,0,0,0,0
$GC,8441,0.90,301.4,183.6,10.2,328,8445,0.00,2.33,0.00,0.000,6,0.000,0.022,3054,1640,1885,0,0,0,0,0,0
$GC,8706,0.90,302.1,157.8,9.0,352,8711,0.00,2.60,0.00,0.000,4,0.000,0.033,3054,3249,1885,0,0,0,0,0,0
$GC,8755,1.04,305.3,153.1,8.9,356,8765,0.12,2.62,4.03,0.409,6,0.064,0.029,3123,1638,1875,0,0,0,0,0,0
$GC,9026,0.93,305.3,121.6,12.0,381,9031,0.25,2.42,0.00,0.000,4,0.095,0.046,3064,164,1875,0,0,0,0,0,0
$GC,9045,0.93,305.3,118.8,10.7,382,9054,0.00,2.35,0.00,0.000,6,0.000,0.021,3064,1648,1875,0,0,0,0,0,0
$GC,9312,1.01,306.3,94.3,9.0,407,9316,0.00,2.45,0.00,0.000,4,0.000,0.045,3064,173,1874,0,0,0,0,0,0
$GC,9369,1.01,306.3,88.5,10.0,412,9373,0.00,2.30,0.00,0.000,6,0.000,0.021,3064,1648,1874,0,0,0,0,0,0
$GC,9636,1.12,329.5,67.4,8.0,436,9665,0.17,2.62,23.05,0.525,4,0.048,0.033,3139,3253,1775,0,0,0,0,0,0
$GC,9683,1.01,329.5,62.7,11.2,439,9695,0.28,2.65,0.00,0.000,6,0.087,0.028,3079,1629,1773,0,0,0,0,0,0
$GC,9953,1.03,343.4,38.3,8.4,464,9978,0.00,2.47,13.30,0.474,4,0.000,0.044,3079,173,1718,0,0,0,0,0,0
$GC,9995,1.03,343.4,34.5,9.5,467,9999,0.00,2.30,0.00,0.000,6,0.000,0.020,3079,1643,1718,0,0,0,0,0,0
$GC,10301,1.14,372.8,7.0,7.7,511,10326,0.12,0.00,22.42,0.466,2,0.063,0.000,3166,1646,1620,0,0,0,0,0,0
$STATE,10327,end climb,SURFACE_DEPTH_REACHED
$STATE,10327,begin surface coast
$FINISH,0.7,1.023653
$STATE,10372,end surface coast,CONTROL_FINISHED_OK
$STATE,10372,begin surface
$SM_CCo,10392,28.98,0.333,1,0,1406,420.20
$SM_GC,1.57,0.00,0.00,28.98,0.000,0.000,0.333,413,1828,1406,-11.26,1.07,420.20
$IRIDIUM_FIX,2244.02,-15757.16,280300,080850
$TT8_MAMPS,0.026845
$HUMID,47.51
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,55.768
$10V_AH,10.1,48.814
$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,32.000,114.150,438.800,28.975,0.000,30.938,38.130,299.944,0.000,0.000,33.594,1100.620,6637.056,492.774,2043.444,688.111,33.373,1309.986,0.000,2031.657,0.000,0.539,0.000
$DEVICE_MAMPS,153.400,69.797,870.545,332.878,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.009,328.864,406.221,623.594,1102.949,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,41553,521
$CAP_FILE_SIZE,118695,0
$CFSIZE,260165632,148258816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020111,142657,2247.081,-15758.172,39,99.0,58,10.1