version: 66.06
glider: 148
mission: 9
dive: 430
start: 1 3 111 2 19 23
data:
$ID,148
$MISSION,9
$DIVE,430
$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,-867270.44
$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,20
$R_STBD_OVSHOOT,66
$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
$GPS1,020637,2246.404,-15802.685,33,0.9,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.3
$GPS2,021828,2246.509,-15802.854,13,3.0,32,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.075,0.239
$KALMAN_X,-44074.6,309.2,-433.2,56259.0,-942.0
$KALMAN_Y,-83949.9,-202.8,-210.8,207737.1,232.0
$MHEAD_RNG_PITCHd_Wd,7.2,6470,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.00,0.000,2,0.000,0.000,417,1815,3290,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.4,-4.6,10,125,11.40,2.47,-7.78,0.000,4,0.149,0.044,2598,3343,3715,0,0,0,0,0,0
$GC,203,-1.03,-146.0,26.6,-13.4,25,212,0.12,2.53,0.00,0.000,6,0.077,0.023,2631,1776,3716,0,0,0,0,0,0
$GC,483,-1.03,-146.0,59.8,-11.4,52,487,0.00,2.53,0.00,0.000,4,0.000,0.030,2631,3346,3716,0,0,0,0,0,0
$GC,570,-1.11,-146.0,69.3,-9.1,59,574,0.00,2.42,0.00,0.000,6,0.000,0.022,2631,1803,3716,0,0,0,0,0,0
$GC,838,-1.11,-146.0,97.7,-10.6,83,842,0.00,2.45,0.00,0.000,4,0.000,0.029,2631,3347,3716,0,0,0,0,0,0
$GC,873,-1.11,-146.0,101.6,-9.2,86,877,0.00,2.40,0.00,0.000,6,0.000,0.021,2631,1815,3717,0,0,0,0,0,0
$GC,1135,-1.11,-146.0,123.9,-8.3,110,1140,0.00,2.42,0.00,0.000,4,0.000,0.029,2631,3347,3718,0,0,0,0,0,0
$GC,1177,-1.20,-146.0,126.8,-8.5,113,1181,0.15,2.40,0.00,0.000,6,0.053,0.021,2542,1813,3717,0,0,0,0,0,0
$GC,1439,-0.99,-146.0,161.9,-13.9,137,1448,0.45,2.45,0.00,0.000,4,0.081,0.029,2639,3350,3718,0,0,0,0,0,0
$GC,1475,-1.09,-146.0,165.7,-8.6,140,1481,0.00,2.38,0.00,0.000,6,0.000,0.021,2639,1830,3719,0,0,0,0,0,0
$GC,1738,-1.21,-146.0,186.8,-8.4,165,1743,0.17,2.45,0.00,0.000,4,0.047,0.030,2539,3347,3719,0,0,0,0,0,0
$GC,1789,-1.08,-146.0,192.5,-13.0,169,1794,0.38,2.38,0.00,0.000,6,0.078,0.022,2624,1830,3719,0,0,0,0,0,0
$GC,2062,-1.16,-146.0,218.5,-8.8,180,2066,0.00,2.42,0.00,0.000,4,0.000,0.030,2624,3345,3719,0,0,0,0,0,0
$GC,2120,-1.33,-146.0,223.0,-7.5,181,2125,0.22,2.35,0.00,0.000,6,0.038,0.024,2517,1853,3719,0,0,0,0,0,0
$GC,2393,-1.10,-146.0,261.5,-14.8,188,2396,0.47,0.00,0.00,0.000,6,0.081,0.000,2619,1850,3718,0,0,0,0,0,0
$GC,2638,-1.20,-146.0,282.0,-8.3,194,2642,0.00,2.40,0.00,0.000,4,0.000,0.033,2619,3353,3718,0,0,0,0,0,0
$GC,2683,-1.36,-146.0,285.6,-8.3,195,2688,0.22,2.35,0.00,0.000,6,0.038,0.025,2532,1867,3718,0,0,0,0,0,0
$GC,2970,-1.21,-146.0,320.3,-12.1,202,2975,0.25,2.40,0.00,0.000,4,0.087,0.036,2591,3342,3718,0,0,0,0,0,0
$GC,2992,-1.13,-146.0,322.6,-10.8,202,2996,0.10,2.35,0.00,0.000,6,0.110,0.025,2614,1870,3718,0,0,0,0,0,0
$GC,3256,-1.25,-146.0,342.6,-7.3,209,3261,0.12,2.40,0.00,0.000,4,0.064,0.037,2547,3347,3717,0,0,0,0,0,0
$GC,3299,-1.25,-146.0,346.5,-9.4,210,3304,0.17,2.35,0.00,0.000,6,0.086,0.027,2588,1884,3716,0,0,0,0,0,0
$GC,3588,-1.25,-146.0,373.9,-9.8,217,3593,0.00,2.78,0.00,0.000,4,0.000,0.053,2587,212,3715,0,0,0,0,0,0
$GC,3607,-1.25,-146.0,376.3,-10.8,217,3611,0.00,2.60,0.00,0.000,6,0.000,0.024,2588,1861,3715,0,0,0,0,0,0
$GC,3870,-1.25,-146.0,401.0,-9.3,224,3875,0.00,2.42,0.00,0.000,4,0.000,0.041,2588,3346,3713,0,0,0,0,0,0
$GC,3928,-1.34,-146.0,405.6,-8.1,225,3932,0.00,2.33,0.00,0.000,6,0.000,0.028,2588,1891,3713,0,0,0,0,0,0
$GC,4201,-1.34,-146.0,427.3,-7.9,232,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1891,3711,0,0,0,0,0,0
$GC,4446,-1.34,-146.0,445.7,-7.5,238,4451,0.00,2.42,0.00,0.000,4,0.000,0.048,2588,3343,3709,0,0,0,0,0,0
$GC,4470,-1.34,-146.0,447.8,-8.6,238,4474,0.00,2.33,0.00,0.000,6,0.000,0.027,2588,1900,3709,0,0,0,0,0,0
$GC,4728,-1.34,-146.0,467.3,-7.6,245,4735,0.00,2.85,0.00,0.000,4,0.000,0.062,2588,218,3708,0,0,0,0,0,0
$GC,4761,-1.45,-146.0,470.1,-9.8,245,4768,0.20,2.65,0.00,0.000,6,0.043,0.031,2495,1861,3708,0,0,0,0,0,0
$STATE,5015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5016,begin apogee
$GC,5021,-0.31,0.0,504.6,13.9,252,5143,1.33,0.00,117.38,0.869,6,0.081,0.000,2790,1676,3120,0,0,0,0,0,0
$STATE,5143,end apogee,CONTROL_FINISHED_OK
$STATE,5143,begin climb
$GC,5146,1.17,146.0,511.7,0.0,255,5277,1.33,2.62,121.00,0.854,4,0.024,0.066,3133,193,2523,0,0,0,0,0,0
$GC,5546,0.70,146.0,495.1,9.5,263,5552,0.57,2.33,0.00,0.000,6,0.101,0.028,3013,1642,2515,0,0,0,0,0,0
$GC,5796,0.81,233.6,481.2,5.4,270,5882,0.10,2.60,74.07,0.838,4,0.077,0.059,3061,191,2166,0,0,0,0,0,0
$GC,6070,0.64,233.6,453.0,11.8,276,6075,0.28,2.42,0.00,0.000,6,0.095,0.027,3003,1683,2161,0,0,0,0,0,0
$GC,6359,0.70,275.2,431.0,7.3,283,6402,0.00,2.60,36.20,0.805,4,0.000,0.056,3003,190,1997,0,0,0,0,0,0
$GC,6473,0.70,275.2,421.5,9.2,285,6477,0.00,2.38,0.00,0.000,6,0.000,0.027,3003,1672,1995,0,0,0,0,0,0
$GC,6737,0.84,318.5,401.8,7.2,292,6783,0.17,2.75,39.50,0.792,4,0.048,0.057,3068,3248,1820,0,0,0,0,0,0
$GC,6817,0.84,318.5,393.5,11.6,293,6824,0.12,2.62,0.00,0.000,6,0.104,0.035,3042,1688,1816,0,0,0,0,0,0
$GC,7067,0.84,318.5,368.3,10.1,300,7071,0.00,2.62,0.00,0.000,4,0.000,0.066,3042,169,1812,0,0,0,0,0,0
$GC,7113,0.84,318.5,363.1,11.1,301,7117,0.00,2.42,0.00,0.000,6,0.000,0.025,3042,1673,1812,0,0,0,0,0,0
$GC,7397,0.84,318.5,332.1,11.2,308,7401,0.00,2.65,0.00,0.000,4,0.000,0.051,3042,3254,1810,0,0,0,0,0,0
$GC,7417,0.84,318.5,329.5,10.8,308,7422,0.00,2.60,0.00,0.000,6,0.000,0.032,3042,1672,1809,0,0,0,0,0,0
$GC,7681,0.84,318.5,300.5,11.2,315,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1672,1808,0,0,0,0,0,0
$GC,7925,0.84,318.5,273.7,10.9,321,7929,0.00,2.55,0.00,0.000,4,0.000,0.064,3042,171,1807,0,0,0,0,0,0
$GC,7949,0.84,318.5,271.1,10.6,321,7953,0.00,2.38,0.00,0.000,6,0.000,0.024,3042,1677,1807,0,0,0,0,0,0
$GC,8212,0.84,318.5,245.1,9.3,328,8217,0.00,2.58,0.00,0.000,4,0.000,0.043,3042,3244,1806,0,0,0,0,0,0
$GC,8231,0.84,323.4,243.4,8.8,328,8236,0.00,2.58,0.00,0.000,6,0.000,0.031,3042,1667,1805,0,0,0,0,0,0
$GC,8497,0.85,328.6,220.1,8.8,335,8506,0.00,0.00,7.55,0.574,6,0.000,0.000,3042,1667,1780,0,0,0,0,0,0
$GC,8739,0.85,329.7,198.6,9.0,341,8743,0.00,2.53,0.00,0.000,4,0.000,0.054,3041,168,1778,0,0,0,0,0,0
$GC,8777,0.91,329.7,194.7,10.0,344,8783,0.00,2.40,0.00,0.000,6,0.000,0.023,3042,1679,1778,0,0,0,0,0,0
$GC,9042,0.98,335.1,172.2,8.8,369,9055,0.12,0.00,7.45,0.537,6,0.064,0.000,3105,1682,1751,0,0,0,0,0,0
$GC,9308,0.89,335.1,141.1,11.9,394,9310,0.25,0.00,0.00,0.000,6,0.092,0.000,3051,1682,1750,0,0,0,0,0,0
$GC,9562,0.96,344.6,118.2,8.6,418,9577,0.00,2.55,9.40,0.522,4,0.000,0.051,3051,161,1715,0,0,0,0,0,0
$GC,9597,0.96,344.6,114.6,10.3,421,9603,0.00,2.40,0.00,0.000,6,0.000,0.022,3051,1677,1714,0,0,0,0,0,0
$GC,9862,1.08,349.1,92.8,8.8,446,9875,0.17,2.58,5.45,0.433,4,0.050,0.045,3115,164,1696,0,0,0,0,0,0
$GC,9890,1.01,349.1,89.1,11.5,448,9899,0.12,2.40,0.00,0.000,6,0.079,0.021,3083,1669,1696,0,0,0,0,0,0
$GC,10158,1.01,349.1,63.4,9.5,473,10162,0.00,2.47,0.00,0.000,4,0.000,0.044,3082,166,1695,0,0,0,0,0,0
$GC,10176,1.01,349.1,61.2,9.7,474,10180,0.00,2.35,0.00,0.000,6,0.000,0.020,3083,1683,1695,0,0,0,0,0,0
$GC,10445,1.01,349.1,37.0,9.4,498,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1684,1695,0,0,0,0,0,0
$GC,10742,1.01,349.1,9.4,9.1,541,10751,0.00,2.55,0.00,0.000,4,0.000,0.035,3083,3250,1695,0,0,0,0,0,0
$GC,10800,1.11,349.1,4.0,10.6,549,10808,0.00,2.58,0.00,0.000,6,0.000,0.033,3083,1679,1694,0,0,0,0,0,0
$STATE,10815,end climb,SURFACE_DEPTH_REACHED
$STATE,10815,begin surface coast
$FINISH,0.7,1.011002
$STATE,10866,end surface coast,CONTROL_FINISHED_OK
$STATE,10866,begin surface
$SM_CCo,10887,40.58,0.377,1,0,1406,420.20
$SM_GC,1.47,0.00,0.00,40.58,0.000,0.000,0.377,411,1874,1406,-11.27,2.37,420.20
$IRIDIUM_FIX,2237.01,-15800.20,290300,020241
$TT8_MAMPS,0.026845
$HUMID,47.87
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.5,56.325
$10V_AH,10.1,49.384
$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,29.725,134.600,418.000,40.575,0.000,60.592,98.983,333.522,0.500,0.000,34.657,1158.392,6954.366,504.488,2215.013,813.181,33.371,1369.393,0.000,2197.612,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,65.962,869.011,376.597,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.001,353.245,438.949,679.426,1201.746,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,44701,559
$CAP_FILE_SIZE,127208,0
$CFSIZE,260165632,147968000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030111,052243,2247.689,-15802.656,9,2.0,26,10.1