version: 66.06
glider: 148
mission: 9
dive: 439
start: 1 4 111 6 38 23
data:
$ID,148
$MISSION,9
$DIVE,439
$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,-867521.38
$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,35
$R_STBD_OVSHOOT,48
$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
$GPS1,062451,2249.664,-15757.359,32,1.2,46,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.3
$GPS2,063726,2249.717,-15757.468,10,1.9,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.030,-0.249
$KALMAN_X,-52970.2,34.7,-249.0,74511.2,-708.8
$KALMAN_Y,-87809.3,-728.8,297.0,217557.0,-574.9
$MHEAD_RNG_PITCHd_Wd,163.1,5063,-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,-74.85,0.000,2,0.000,0.000,407,1853,3286,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.4,-4.4,10,124,11.43,2.70,-8.23,0.000,4,0.149,0.049,2595,205,3716,0,0,0,0,0,0
$GC,208,-1.17,-146.0,25.8,-13.0,26,217,0.00,2.50,0.00,0.000,6,0.000,0.019,2595,1790,3717,0,0,0,0,0,0
$GC,480,-1.00,-146.0,63.1,-14.1,53,485,0.20,2.50,0.00,0.000,4,0.103,0.028,2638,3364,3718,0,0,0,0,0,0
$GC,570,-1.07,-146.0,72.8,-9.7,60,574,0.00,2.47,0.00,0.000,6,0.000,0.022,2638,1792,3718,0,0,0,0,0,0
$GC,832,-1.07,-146.0,101.8,-10.5,84,836,0.00,2.50,0.00,0.000,4,0.000,0.028,2638,3368,3717,0,0,0,0,0,0
$GC,861,-1.07,-146.0,104.8,-9.3,86,870,0.00,2.50,0.00,0.000,6,0.000,0.021,2638,1803,3718,0,0,0,0,0,0
$GC,1128,-1.15,-146.0,128.0,-8.9,111,1134,0.12,0.00,0.00,0.000,6,0.063,0.000,2563,1803,3719,0,0,0,0,0,0
$GC,1396,-1.02,-146.0,159.3,-10.8,136,1401,0.30,2.47,0.00,0.000,4,0.087,0.028,2634,3364,3719,0,0,0,0,0,0
$GC,1482,-1.22,-146.0,166.8,-7.0,144,1487,0.17,2.45,0.00,0.000,6,0.045,0.022,2539,1805,3720,0,0,0,0,0,0
$GC,1773,-0.96,-146.0,206.7,-14.6,168,1780,0.57,2.47,0.00,0.000,4,0.085,0.028,2647,3364,3720,0,0,0,0,0,0
$GC,1809,-1.12,-146.0,210.6,-8.7,168,1814,0.12,2.45,0.00,0.000,6,0.060,0.022,2579,1805,3720,0,0,0,0,0,0
$GC,2058,-1.12,-146.0,236.2,-10.5,174,2064,0.17,2.50,0.00,0.000,4,0.092,0.031,2618,3362,3720,0,0,0,0,0,0
$GC,2094,-1.20,-146.0,239.5,-9.3,174,2098,0.00,2.45,0.00,0.000,6,0.000,0.022,2618,1818,3720,0,0,0,0,0,0
$GC,2344,-1.29,-146.0,260.4,-8.3,180,2349,0.17,2.50,0.00,0.000,4,0.048,0.030,2517,3366,3720,0,0,0,0,0,0
$GC,2416,-1.13,-146.0,269.3,-12.4,181,2424,0.43,2.42,0.00,0.000,6,0.080,0.022,2611,1835,3720,0,0,0,0,0,0
$GC,2679,-1.21,-146.0,292.7,-8.6,188,2683,0.00,2.45,0.00,0.000,4,0.000,0.031,2611,3361,3720,0,0,0,0,0,0
$GC,2702,-1.30,-146.0,295.1,-9.7,188,2707,0.15,2.38,0.00,0.000,6,0.054,0.024,2528,1857,3720,0,0,0,0,0,0
$GC,2964,-1.13,-146.0,328.1,-13.1,195,2969,0.35,2.45,0.00,0.000,4,0.084,0.034,2606,3367,3719,0,0,0,0,0,0
$GC,2988,-1.13,-146.0,331.2,-10.5,195,2992,0.00,2.38,0.00,0.000,6,0.000,0.025,2606,1866,3719,0,0,0,0,0,0
$GC,3249,-1.22,-146.0,352.6,-8.2,202,3253,0.00,2.42,0.00,0.000,4,0.000,0.035,2606,3360,3718,0,0,0,0,0,0
$GC,3282,-1.33,-146.0,355.4,-7.6,202,3287,0.15,2.40,0.00,0.000,6,0.051,0.027,2540,1866,3718,0,0,0,0,0,0
$GC,3532,-1.22,-146.0,381.3,-10.4,208,3537,0.25,2.42,0.00,0.000,4,0.089,0.038,2598,3357,3716,0,0,0,0,0,0
$GC,3553,-1.22,-146.0,383.3,-9.4,208,3557,0.00,2.38,0.00,0.000,6,0.000,0.026,2598,1874,3717,0,0,0,0,0,0
$GC,3817,-1.29,-146.0,403.3,-7.5,215,3821,0.00,2.45,0.00,0.000,4,0.000,0.040,2598,3363,3714,0,0,0,0,0,0
$GC,3850,-1.38,-146.0,405.8,-7.4,215,3855,0.17,2.40,0.00,0.000,6,0.047,0.028,2538,1873,3714,0,0,0,0,0,0
$GC,4102,-1.28,-146.0,431.4,-10.5,221,4107,0.20,2.47,0.00,0.000,4,0.092,0.043,2580,3360,3713,0,0,0,0,0,0
$GC,4130,-1.28,-146.0,434.7,-9.5,221,4134,0.00,2.35,0.00,0.000,6,0.000,0.028,2581,1887,3713,0,0,0,0,0,0
$GC,4384,-1.28,-146.0,457.5,-9.2,228,4388,0.00,2.42,0.00,0.000,4,0.000,0.045,2581,3357,3711,0,0,0,0,0,0
$GC,4409,-1.28,-146.0,459.8,-10.2,228,4413,0.00,2.38,0.00,0.000,6,0.000,0.028,2581,1885,3711,0,0,0,0,0,0
$GC,4667,-1.28,-146.0,483.6,-9.0,235,4671,0.00,2.42,0.00,0.000,4,0.000,0.047,2581,3353,3709,0,0,0,0,0,0
$GC,4690,-1.28,-146.0,485.7,-9.3,235,4694,0.00,2.33,0.00,0.000,6,0.000,0.028,2581,1902,3709,0,0,0,0,0,0
$STATE,4906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4906,begin apogee
$GC,4913,-0.31,0.0,501.8,7.3,241,5034,0.93,0.00,117.50,0.867,6,0.076,0.000,2789,1676,3120,0,0,0,0,0,0
$STATE,5035,end apogee,CONTROL_FINISHED_OK
$STATE,5035,begin climb
$GC,5037,1.17,146.0,505.0,0.0,244,5167,1.33,2.67,120.45,0.849,4,0.031,0.071,3136,177,2524,0,0,0,0,0,0
$GC,5173,0.88,224.7,505.5,5.7,247,5248,0.40,2.42,66.97,0.832,6,0.107,0.028,3054,1669,2203,0,0,0,0,0,0
$GC,5532,0.79,224.7,469.2,10.6,256,5537,0.10,2.55,0.00,0.000,4,0.127,0.058,3033,181,2194,0,0,0,0,0,0
$GC,5547,0.69,224.7,467.4,10.1,256,5552,0.10,2.42,0.00,0.000,6,0.123,0.027,3011,1683,2194,0,0,0,0,0,0
$GC,5818,0.72,246.6,445.0,8.1,263,5842,0.00,2.65,18.83,0.782,4,0.000,0.058,3011,182,2114,0,0,0,0,0,0
$GC,5865,0.72,246.6,440.8,9.7,264,5870,0.00,2.45,0.00,0.000,6,0.000,0.025,3011,1684,2113,0,0,0,0,0,0
$GC,6148,0.77,290.7,419.8,7.2,271,6193,0.00,2.65,39.65,0.804,4,0.000,0.057,3011,181,1934,0,0,0,0,0,0
$GC,6209,0.78,301.7,415.1,8.6,272,6225,0.00,2.45,11.45,0.719,6,0.000,0.025,3011,1683,1890,0,0,0,0,0,0
$GC,6478,0.89,322.8,392.9,8.1,279,6504,0.17,2.70,19.77,0.760,4,0.050,0.052,3083,3251,1802,0,0,0,0,0,0
$GC,6521,0.78,322.8,388.1,11.9,280,6528,0.25,2.60,0.00,0.000,6,0.088,0.034,3029,1689,1799,0,0,0,0,0,0
$GC,6812,0.78,322.8,358.1,10.4,287,6817,0.00,2.65,0.00,0.000,4,0.000,0.066,3029,160,1796,0,0,0,0,0,0
$GC,6842,0.78,322.8,354.8,12.1,287,6846,0.00,2.45,0.00,0.000,6,0.000,0.026,3028,1680,1795,0,0,0,0,0,0
$GC,7096,0.78,322.8,327.7,10.5,294,7100,0.00,2.62,0.00,0.000,4,0.000,0.047,3029,3255,1794,0,0,0,0,0,0
$GC,7128,0.87,322.8,324.4,9.8,294,7133,0.00,2.62,0.00,0.000,6,0.000,0.033,3028,1674,1792,0,0,0,0,0,0
$GC,7379,0.87,322.8,300.9,9.3,300,7384,0.10,2.58,0.00,0.000,4,0.078,0.064,3079,169,1792,0,0,0,0,0,0
$GC,7408,0.76,322.8,297.3,12.5,300,7413,0.25,2.40,0.00,0.000,6,0.094,0.025,3026,1680,1791,0,0,0,0,0,0
$GC,7664,0.85,336.2,274.9,8.5,307,7680,0.00,2.67,11.12,0.650,4,0.000,0.046,3026,3254,1748,0,0,0,0,0,0
$GC,7701,0.96,348.5,271.6,8.5,307,7722,0.17,2.62,12.43,0.660,6,0.048,0.032,3088,1677,1699,0,0,0,0,0,0
$GC,8001,0.89,348.5,236.6,12.0,315,8006,0.15,2.60,0.00,0.000,4,0.104,0.059,3055,164,1695,0,0,0,0,0,0
$GC,8046,0.89,348.5,231.5,11.5,316,8051,0.00,2.40,0.00,0.000,6,0.000,0.023,3055,1686,1695,0,0,0,0,0,0
$GC,8333,0.89,348.5,202.1,10.2,323,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1689,1693,0,0,0,0,0,0
$GC,8588,0.89,348.5,176.9,9.8,344,8592,0.00,2.55,0.00,0.000,4,0.000,0.049,3055,158,1692,0,0,0,0,0,0
$GC,8622,0.89,348.5,172.8,11.6,347,8627,0.00,2.40,0.00,0.000,6,0.000,0.024,3055,1670,1692,0,0,0,0,0,0
$GC,8888,0.89,348.5,146.8,9.6,371,8892,0.00,2.55,0.00,0.000,4,0.000,0.035,3055,3254,1692,0,0,0,0,0,0
$GC,8917,0.89,348.5,144.0,10.3,373,8922,0.00,2.60,0.00,0.000,6,0.000,0.028,3055,1655,1689,0,0,0,0,0,0
$GC,9183,0.95,348.5,119.9,9.0,397,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1655,1689,0,0,0,0,0,0
$GC,9448,1.09,369.9,97.4,8.1,422,9480,0.17,2.50,19.80,0.548,4,0.051,0.045,3119,170,1610,0,0,0,0,0,0
$GC,9547,1.02,369.9,85.3,13.7,431,9552,0.17,2.38,0.00,0.000,6,0.101,0.021,3082,1673,1610,0,0,0,0,0,0
$GC,9810,1.02,369.9,57.8,10.1,455,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1676,1608,0,0,0,0,0,0
$GC,10074,1.02,369.9,29.2,10.2,480,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1676,1608,0,0,0,0,0,0
$STATE,10309,end climb,SURFACE_DEPTH_REACHED
$STATE,10309,begin surface coast
$FINISH,0.8,1.011252
$STATE,10354,end surface coast,CONTROL_FINISHED_OK
$STATE,10354,begin surface
$SM_CCo,10374,23.88,0.063,0,0,1407,420.20
$SM_GC,1.70,0.00,0.00,23.88,0.000,0.000,0.063,411,1858,1407,-11.27,1.92,420.20
$IRIDIUM_FIX,2241.69,-15734.14,300300,060650
$TT8_MAMPS,0.026845
$HUMID,48.66
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.5,57.478
$10V_AH,10.1,50.422
$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,29.900,140.075,437.975,23.875,0.000,58.381,73.880,418.079,0.250,0.000,14.671,1086.315,6709.511,487.811,1991.018,879.238,33.381,1302.210,0.000,2004.130,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,70.564,867.477,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.243,330.012,413.399,631.232,1116.472,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,41594,524
$CAP_FILE_SIZE,126940,0
$CFSIZE,260165632,147439616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,093252,2248.123,-15758.044,11,99.0,30,10.1