version: 66.06
glider: 148
mission: 9
dive: 433
start: 1 3 111 11 51 51
data:
$ID,148
$MISSION,9
$DIVE,433
$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,-867355.19
$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,39
$R_STBD_OVSHOOT,69
$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
$GPS1,113554,2249.716,-15802.768,33,0.9,49,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.6
$GPS2,115056,2249.816,-15802.872,14,1.4,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.247,-0.043
$KALMAN_X,-46335.7,-439.7,278.5,58519.9,-1241.7
$KALMAN_Y,-84849.3,-326.2,-420.1,215096.0,523.2
$MHEAD_RNG_PITCHd_Wd,89.7,10029,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.68,0.000,2,0.000,0.000,413,1826,3344,0,0,0,0,0,0
$GC,101,-1.17,-146.0,4.1,-5.6,10,126,11.62,2.62,-6.53,0.000,4,0.157,0.051,2597,205,3717,0,0,0,0,0,0
$GC,142,0.09,-146.0,19.3,-33.9,15,151,1.23,2.47,0.00,0.000,6,0.071,0.021,2878,1757,3719,0,0,0,0,0,0
$GC,431,-0.67,-146.0,43.8,-8.0,50,439,0.70,0.00,0.00,0.000,6,0.064,0.000,2715,1763,3720,0,0,0,0,0,0
$GC,697,-1.18,-146.0,62.6,-6.5,75,709,0.43,2.55,0.00,0.000,4,0.041,0.041,2588,210,3720,0,0,0,0,0,0
$GC,782,-1.18,-146.0,71.9,-12.1,82,791,0.00,2.35,0.00,0.000,6,0.000,0.018,2588,1711,3720,0,0,0,0,0,0
$GC,1049,-1.05,-146.0,108.4,-14.1,107,1055,0.20,2.65,0.00,0.000,4,0.095,0.028,2631,3371,3720,0,0,0,0,0,0
$GC,1142,-1.21,-146.0,117.8,-8.2,115,1147,0.15,2.60,0.00,0.000,6,0.052,0.022,2540,1721,3721,0,0,0,0,0,0
$GC,1408,-0.99,-146.0,153.9,-13.7,139,1417,0.50,2.62,0.00,0.000,4,0.083,0.028,2642,3370,3721,0,0,0,0,0,0
$GC,1472,-1.16,-146.0,159.9,-8.0,145,1478,0.15,2.60,0.00,0.000,6,0.050,0.022,2564,1730,3722,0,0,0,0,0,0
$GC,1738,-1.05,-146.0,192.4,-13.7,169,1744,0.28,0.00,0.00,0.000,6,0.086,0.000,2628,1730,3722,0,0,0,0,0,0
$GC,2024,-1.15,-146.0,214.8,-7.0,182,2028,0.00,2.62,0.00,0.000,4,0.000,0.028,2627,3370,3722,0,0,0,0,0,0
$GC,2100,-1.31,-146.0,219.6,-5.6,183,2107,0.22,2.60,0.00,0.000,6,0.037,0.024,2530,1728,3722,0,0,0,0,0,0
$GC,2359,-1.13,-146.0,248.5,-11.8,190,2361,0.38,0.00,0.00,0.000,6,0.081,0.000,2613,1728,3722,0,0,0,0,0,0
$GC,2602,-1.22,-146.0,268.0,-7.9,196,2606,0.00,2.65,0.00,0.000,4,0.000,0.031,2613,3372,3722,0,0,0,0,0,0
$GC,2678,-1.36,-146.0,274.4,-8.7,197,2683,0.20,2.60,0.00,0.000,6,0.041,0.025,2524,1752,3721,0,0,0,0,0,0
$GC,2934,-1.19,-146.0,306.4,-12.9,204,2941,0.32,2.62,0.00,0.000,4,0.085,0.034,2599,3374,3721,0,0,0,0,0,0
$GC,2988,-1.28,-146.0,311.4,-7.3,205,2992,0.00,2.58,0.00,0.000,6,0.000,0.027,2598,1762,3721,0,0,0,0,0,0
$GC,3268,-1.35,-146.0,333.7,-8.2,212,3273,0.15,2.65,0.00,0.000,4,0.055,0.037,2521,3376,3719,0,0,0,0,0,0
$GC,3331,-1.21,-146.0,341.1,-12.5,213,3338,0.32,2.58,0.00,0.000,6,0.077,0.025,2595,1771,3719,0,0,0,0,0,0
$GC,3603,-1.21,-146.0,365.5,-8.7,220,3608,0.00,2.60,0.00,0.000,4,0.000,0.037,2596,3366,3718,0,0,0,0,0,0
$GC,3655,-1.33,-146.0,370.0,-8.0,221,3660,0.12,2.53,0.00,0.000,6,0.064,0.028,2524,1789,3718,0,0,0,0,0,0
$GC,3935,-1.18,-146.0,402.7,-12.0,228,3937,0.38,0.00,0.00,0.000,6,0.082,0.000,2603,1789,3716,0,0,0,0,0,0
$GC,4178,-1.28,-146.0,420.7,-7.0,234,4183,0.10,2.62,0.00,0.000,4,0.077,0.043,2543,3370,3714,0,0,0,0,0,0
$GC,4226,-1.28,-146.0,425.1,-9.4,235,4231,0.15,2.55,0.00,0.000,6,0.094,0.028,2580,1795,3714,0,0,0,0,0,0
$GC,4511,-1.28,-146.0,448.4,-8.2,242,4515,0.00,2.60,0.00,0.000,4,0.000,0.046,2580,3366,3712,0,0,0,0,0,0
$GC,4534,-1.28,-146.0,450.7,-8.8,242,4539,0.00,2.55,0.00,0.000,6,0.000,0.028,2580,1791,3712,0,0,0,0,0,0
$GC,4793,-1.28,-146.0,473.9,-9.2,249,4798,0.00,2.62,0.00,0.000,4,0.000,0.047,2580,3363,3710,0,0,0,0,0,0
$GC,4838,-1.35,-146.0,477.9,-9.4,250,4842,0.00,2.50,0.00,0.000,6,0.000,0.029,2580,1808,3710,0,0,0,0,0,0
$STATE,5082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5082,begin apogee
$GC,5087,-0.31,0.0,500.1,8.9,256,5209,0.93,0.00,117.68,0.869,6,0.072,0.000,2791,1670,3119,0,0,0,0,0,0
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5213,1.17,146.0,505.3,0.0,259,5343,1.33,2.80,120.68,0.853,4,0.026,0.051,3133,3247,2523,0,0,0,0,0,0
$GC,5394,0.86,162.9,504.7,8.3,263,5415,0.40,2.60,14.98,0.772,6,0.099,0.037,3050,1700,2455,0,0,0,0,0,0
$GC,5672,0.78,193.5,483.1,7.7,270,5704,0.00,2.80,26.75,0.813,4,0.000,0.077,3049,160,2330,0,0,0,0,0,0
$GC,5783,0.61,193.5,472.7,10.2,272,5789,0.28,2.45,0.00,0.000,6,0.095,0.028,2991,1666,2327,0,0,0,0,0,0
$GC,6048,0.78,274.1,456.8,5.7,279,6129,0.15,2.67,70.18,0.830,4,0.057,0.058,3056,168,2001,0,0,0,0,0,0
$GC,6171,0.67,274.1,444.8,12.0,281,6176,0.22,2.42,0.00,0.000,6,0.094,0.026,3006,1665,1998,0,0,0,0,0,0
$GC,6421,0.75,289.4,423.7,8.4,287,6442,0.00,2.65,13.60,0.748,4,0.000,0.057,3006,167,1940,0,0,0,0,0,0
$GC,6462,0.75,289.4,420.0,9.8,287,6468,0.00,2.42,0.00,0.000,6,0.000,0.026,3005,1664,1939,0,0,0,0,0,0
$GC,6712,0.84,291.2,397.4,8.9,294,6714,0.15,0.00,0.00,0.000,6,0.055,0.000,3081,1664,1935,0,0,0,0,0,0
$GC,6957,0.73,291.2,368.7,11.9,300,6962,0.25,2.55,0.00,0.000,4,0.091,0.054,3022,166,1933,0,0,0,0,0,0
$GC,7018,0.73,296.2,362.5,8.8,301,7031,0.00,2.38,6.78,0.635,6,0.000,0.025,3023,1660,1911,0,0,0,0,0,0
$GC,7290,0.76,320.8,341.2,8.0,308,7316,0.00,0.00,23.62,0.746,6,0.000,0.000,3022,1660,1812,0,0,0,0,0,0
$GC,7536,0.84,320.8,319.0,9.4,314,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1660,1806,0,0,0,0,0,0
$GC,7778,0.92,320.8,294.5,10.1,320,7783,0.15,2.67,0.00,0.000,4,0.057,0.044,3085,3249,1805,0,0,0,0,0,0
$GC,7807,0.85,320.8,291.1,12.5,320,7814,0.17,2.65,0.00,0.000,6,0.098,0.033,3047,1651,1803,0,0,0,0,0,0
$GC,8065,0.85,320.8,264.7,9.9,327,8070,0.00,2.55,0.00,0.000,4,0.000,0.063,3046,164,1803,0,0,0,0,0,0
$GC,8084,0.85,320.8,262.6,10.1,327,8088,0.00,2.38,0.00,0.000,6,0.000,0.023,3046,1662,1803,0,0,0,0,0,0
$GC,8347,0.85,320.8,237.9,9.1,334,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1664,1802,0,0,0,0,0,0
$GC,8593,0.85,321.8,216.1,9.0,340,8597,0.00,2.60,0.00,0.000,4,0.000,0.038,3046,3244,1801,0,0,0,0,0,0
$GC,8607,0.86,326.0,214.6,8.8,340,8616,0.00,2.60,3.88,0.430,6,0.000,0.028,3047,1654,1791,0,0,0,0,0,0
$GC,8872,0.86,326.0,190.3,9.8,352,8876,0.00,2.47,0.00,0.000,4,0.000,0.052,3046,174,1790,0,0,0,0,0,0
$GC,8901,0.86,326.0,186.9,10.8,354,8910,0.00,2.35,0.00,0.000,6,0.000,0.022,3046,1656,1791,0,0,0,0,0,0
$GC,9167,0.86,326.0,161.0,9.4,379,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1659,1790,0,0,0,0,0,0
$GC,9430,0.93,326.0,137.4,9.4,404,9434,0.00,2.58,0.00,0.000,4,0.000,0.033,3047,3251,1791,0,0,0,0,0,0
$GC,9468,1.05,326.0,133.9,9.4,407,9473,0.17,2.58,0.00,0.000,6,0.048,0.028,3133,1658,1789,0,0,0,0,0,0
$GC,9735,0.91,326.0,101.4,11.2,431,9740,0.32,2.47,0.00,0.000,4,0.087,0.051,3060,164,1789,0,0,0,0,0,0
$GC,9795,1.01,336.4,95.3,8.6,436,9813,0.00,2.35,11.00,0.515,6,0.000,0.021,3059,1650,1747,0,0,0,0,0,0
$GC,10073,1.12,360.8,74.4,8.0,462,10102,0.20,2.65,22.58,0.528,4,0.044,0.035,3153,3254,1648,0,0,0,0,0,0
$GC,10118,0.96,360.8,69.1,13.7,465,10131,0.40,2.62,0.00,0.000,6,0.102,0.026,3066,1644,1645,0,0,0,0,0,0
$GC,10384,1.03,360.8,42.6,9.4,490,10388,0.00,2.60,0.00,0.000,4,0.000,0.032,3066,3254,1645,0,0,0,0,0,0
$GC,10403,1.10,360.8,40.7,9.3,491,10408,0.15,2.58,0.00,0.000,6,0.054,0.025,3137,1647,1644,0,0,0,0,0,0
$GC,10699,1.00,360.8,5.3,12.8,531,10708,0.25,0.00,0.00,0.000,6,0.091,0.000,3078,1646,1644,0,0,0,0,0,0
$STATE,10715,end climb,SURFACE_DEPTH_REACHED
$STATE,10715,begin surface coast
$FINISH,0.9,1.010326
$STATE,10748,end surface coast,CONTROL_FINISHED_OK
$STATE,10748,begin surface
$SM_CCo,10768,34.72,0.360,1,0,1407,420.20
$SM_GC,1.74,0.00,0.00,34.72,0.000,0.000,0.360,408,1846,1407,-11.28,1.58,420.20
$IRIDIUM_FIX,2241.69,-15801.49,290300,111149
$TT8_MAMPS,0.026845
$HUMID,48.50
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.5,56.712
$10V_AH,10.1,49.734
$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,33.850,128.825,431.700,34.725,0.000,88.722,113.232,420.665,0.750,0.000,15.542,1125.141,7056.405,515.827,2061.216,955.378,33.373,1348.605,0.000,2062.125,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,76.700,869.011,360.490,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.171,332.454,414.289,648.860,1147.785,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,41412,538
$CAP_FILE_SIZE,131608,0
$CFSIZE,260165632,147783680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030111,145306,2249.675,-15802.184,26,1.2,26,10.1