version: 66.06
glider: 148
mission: 9
dive: 440
start: 1 4 111 9 49 45
data:
$ID,148
$MISSION,9
$DIVE,440
$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,-867547.44
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,093252,2248.123,-15758.044,11,99.0,30,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-67.5
$GPS2,094850,2248.089,-15758.222,11,1.7,23,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.180,-0.128
$KALMAN_X,-54668.5,-167.3,33.7,74838.2,-1284.7
$KALMAN_Y,-88172.6,-661.4,334.2,214796.5,-592.4
$MHEAD_RNG_PITCHd_Wd,115.3,2142,-18.5,-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,-1.29,-110.6,0.0,0.0,0,96,0.00,0.00,-75.68,0.000,2,0.000,0.000,410,1858,3353,0,0,0,0,0,0
$GC,101,-1.34,-146.0,3.9,-5.2,10,126,11.30,2.70,-6.55,0.000,4,0.151,0.052,2561,201,3718,0,0,0,0,0,0
$GC,166,-1.20,-146.0,23.4,-20.7,19,176,0.12,2.53,0.00,0.000,6,0.073,0.022,2596,1780,3719,0,0,0,0,0,0
$GC,439,-1.20,-146.0,62.4,-14.2,47,443,0.00,2.55,0.00,0.000,4,0.000,0.031,2596,3381,3719,0,0,0,0,0,0
$GC,526,-1.20,-146.0,75.1,-12.3,54,534,0.00,2.53,0.00,0.000,6,0.000,0.023,2596,1806,3720,0,0,0,0,0,0
$GC,795,-1.20,-146.0,110.6,-13.1,79,799,0.00,2.53,0.00,0.000,4,0.000,0.029,2596,3378,3720,0,0,0,0,0,0
$GC,843,-1.32,-146.0,116.7,-11.4,83,848,0.10,2.47,0.00,0.000,6,0.074,0.022,2532,1809,3720,0,0,0,0,0,0
$GC,1107,-1.22,-146.0,157.1,-14.6,107,1112,0.25,2.55,0.00,0.000,4,0.089,0.036,2589,213,3720,0,0,0,0,0,0
$GC,1123,-1.22,-146.0,159.8,-14.2,108,1128,0.00,2.50,0.00,0.000,6,0.000,0.018,2589,1843,3720,0,0,0,0,0,0
$GC,1386,-1.29,-146.0,186.7,-9.9,132,1390,0.00,2.40,0.00,0.000,4,0.000,0.029,2589,3372,3721,0,0,0,0,0,0
$GC,1446,-1.44,-146.0,192.5,-9.3,137,1453,0.17,2.47,0.00,0.000,6,0.048,0.022,2494,1812,3721,0,0,0,0,0,0
$GC,1719,-1.25,-146.0,233.7,-16.0,149,1727,0.38,2.58,0.00,0.000,4,0.088,0.037,2581,210,3721,0,0,0,0,0,0
$GC,1752,-1.36,-146.0,237.7,-11.0,149,1757,0.00,2.53,0.00,0.000,6,0.000,0.019,2581,1830,3721,0,0,0,0,0,0
$GC,2007,-1.47,-146.0,260.8,-8.9,156,2012,0.17,2.45,0.00,0.000,4,0.049,0.031,2502,3368,3721,0,0,0,0,0,0
$GC,2056,-1.39,-146.0,266.3,-11.6,157,2061,0.22,2.42,0.00,0.000,6,0.089,0.023,2554,1826,3721,0,0,0,0,0,0
$GC,2339,-1.39,-146.0,297.5,-11.0,164,2343,0.00,2.47,0.00,0.000,4,0.000,0.035,2554,3364,3721,0,0,0,0,0,0
$GC,2395,-1.46,-146.0,303.9,-10.9,165,2399,0.00,2.42,0.00,0.000,6,0.000,0.025,2554,1833,3721,0,0,0,0,0,0
$GC,2669,-1.46,-146.0,334.7,-11.5,172,2673,0.00,2.50,0.00,0.000,4,0.000,0.038,2553,3360,3720,0,0,0,0,0,0
$GC,2716,-1.53,-146.0,340.0,-10.1,173,2721,0.12,2.42,0.00,0.000,6,0.064,0.025,2478,1848,3720,0,0,0,0,0,0
$GC,3000,-1.33,-146.0,382.8,-15.3,180,3003,0.47,0.00,0.00,0.000,6,0.087,0.000,2572,1848,3718,0,0,0,0,0,0
$GC,3242,-1.44,-146.0,407.0,-9.6,186,3247,0.10,2.50,0.00,0.000,4,0.077,0.042,2518,3350,3717,0,0,0,0,0,0
$GC,3317,-1.44,-146.0,416.1,-11.5,187,3322,0.12,2.38,0.00,0.000,6,0.104,0.028,2545,1866,3716,0,0,0,0,0,0
$GC,3573,-1.44,-146.0,442.3,-10.3,194,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1865,3714,0,0,0,0,0,0
$GC,3815,-1.44,-146.0,465.7,-9.5,200,3820,0.00,2.83,0.00,0.000,4,0.000,0.063,2546,215,3713,0,0,0,0,0,0
$GC,3858,-1.51,-146.0,469.9,-9.7,201,3863,0.00,2.65,0.00,0.000,6,0.000,0.032,2545,1843,3712,0,0,0,0,0,0
$GC,4147,-1.51,-146.0,497.6,-9.9,208,4151,0.00,2.50,0.00,0.000,4,0.000,0.051,2545,3349,3710,0,0,0,0,0,0
$STATE,4168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4168,begin apogee
$GC,4176,-0.31,0.0,500.5,12.0,208,4297,1.05,0.00,117.85,0.865,6,0.072,0.000,2788,1688,3120,0,0,0,0,0,0
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4298,begin climb
$GC,4300,1.34,146.0,504.7,0.0,211,4432,1.48,2.72,120.78,0.848,4,0.028,0.070,3159,171,2522,0,0,0,0,0,0
$GC,4701,0.92,146.0,478.2,13.2,219,4707,0.47,2.42,0.00,0.000,6,0.109,0.028,3062,1653,2515,0,0,0,0,0,0
$GC,4950,0.96,182.8,459.3,7.0,226,4987,0.00,2.62,30.67,0.810,4,0.000,0.058,3062,180,2373,0,0,0,0,0,0
$GC,5155,0.85,182.8,439.5,10.2,230,5159,0.00,2.42,0.00,0.000,6,0.000,0.025,3062,1677,2369,0,0,0,0,0,0
$GC,5420,0.85,182.8,415.2,9.1,237,5424,0.00,2.58,0.00,0.000,4,0.000,0.057,3062,174,2366,0,0,0,0,0,0
$GC,5551,0.75,182.8,401.6,11.1,239,5557,0.17,2.42,0.00,0.000,6,0.109,0.025,3026,1677,2365,0,0,0,0,0,0
$GC,5803,0.89,222.8,383.8,6.8,246,5841,0.12,0.00,34.25,0.785,6,0.065,0.000,3082,1678,2210,0,0,0,0,0,0
$GC,6084,0.89,222.8,356.6,9.9,253,6089,0.12,2.60,0.00,0.000,4,0.113,0.056,3056,174,2205,0,0,0,0,0,0
$GC,6159,0.89,222.8,348.7,10.1,254,6163,0.00,2.42,0.00,0.000,6,0.000,0.024,3056,1679,2204,0,0,0,0,0,0
$GC,6415,0.90,233.4,327.0,8.4,261,6426,0.00,0.00,9.30,0.671,6,0.000,0.000,3056,1679,2168,0,0,0,0,0,0
$GC,6657,0.92,244.7,306.5,8.4,267,6674,0.00,2.62,11.27,0.680,4,0.000,0.057,3056,173,2122,0,0,0,0,0,0
$GC,6701,0.92,244.7,302.2,11.0,268,6706,0.00,2.38,0.00,0.000,6,0.000,0.025,3056,1663,2121,0,0,0,0,0,0
$GC,6986,1.01,271.0,279.7,7.6,275,7018,0.10,2.62,24.05,0.709,4,0.081,0.056,3111,164,2013,0,0,0,0,0,0
$GC,7029,0.91,271.0,275.5,10.6,276,7034,0.25,2.40,0.00,0.000,6,0.102,0.023,3060,1656,2013,0,0,0,0,0,0
$GC,7318,0.99,272.4,249.6,8.9,283,7323,0.00,2.67,0.00,0.000,4,0.000,0.044,3061,3254,2008,0,0,0,0,0,0
$GC,7342,1.09,272.4,247.3,9.1,283,7347,0.15,2.65,0.00,0.000,6,0.058,0.032,3133,1651,2007,0,0,0,0,0,0
$GC,7605,0.98,272.4,216.4,12.1,290,7611,0.25,2.50,0.00,0.000,4,0.099,0.057,3076,173,2006,0,0,0,0,0,0
$GC,7695,0.98,272.4,206.1,10.5,292,7699,0.00,2.33,0.00,0.000,6,0.000,0.022,3076,1644,2006,0,0,0,0,0,0
$GC,7962,0.99,280.2,182.3,8.6,311,7976,0.00,2.67,8.12,0.562,4,0.000,0.038,3076,3254,1976,0,0,0,0,0,0
$GC,8001,1.10,287.7,178.7,8.6,314,8021,0.00,2.62,8.32,0.556,6,0.000,0.029,3076,1642,1946,0,0,0,0,0,0
$GC,8275,1.17,287.7,154.5,9.1,340,8280,0.15,2.47,0.00,0.000,4,0.057,0.048,3155,168,1943,0,0,0,0,0,0
$GC,8361,0.94,287.7,142.3,14.6,348,8366,0.43,2.33,0.00,0.000,6,0.100,0.022,3065,1651,1943,0,0,0,0,0,0
$GC,8626,1.10,304.5,118.7,8.1,372,8648,0.15,2.62,15.90,0.558,4,0.055,0.034,3139,3251,1877,0,0,0,0,0,0
$GC,8682,1.10,304.5,113.0,11.5,377,8691,0.17,2.65,0.00,0.000,6,0.099,0.033,3101,1634,1875,0,0,0,0,0,0
$GC,8946,1.17,304.5,87.2,9.8,402,8951,0.00,2.42,0.00,0.000,4,0.000,0.052,3101,169,1874,0,0,0,0,0,0
$GC,9005,1.17,304.5,81.2,11.3,407,9010,0.00,2.33,0.00,0.000,6,0.000,0.021,3101,1654,1874,0,0,0,0,0,0
$GC,9274,1.24,304.5,55.9,9.7,431,9283,0.12,0.00,0.00,0.000,6,0.064,0.000,3168,1655,1874,0,0,0,0,0,0
$GC,9548,1.11,304.5,22.5,14.3,460,9557,0.28,2.50,0.00,0.000,4,0.096,0.045,3105,172,1874,0,0,0,0,0,0
$GC,9609,1.11,304.5,14.6,13.2,468,9618,0.00,2.30,0.00,0.000,6,0.000,0.020,3105,1636,1874,0,0,0,0,0,0
$STATE,9711,end climb,SURFACE_DEPTH_REACHED
$STATE,9711,begin surface coast
$FINISH,1.1,1.023951
$STATE,9765,end surface coast,CONTROL_FINISHED_OK
$STATE,9765,begin surface
$SM_CCo,9785,60.20,0.411,1,0,1407,420.20
$SM_GC,1.63,0.00,0.00,60.20,0.000,0.000,0.411,411,1876,1407,-11.27,2.40,420.20
$IRIDIUM_FIX,2239.35,-15759.32,300300,090912
$TT8_MAMPS,0.026845
$HUMID,47.87
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.10
$XPDR_PINGS,5
$24V_AH,23.5,57.608
$10V_AH,10.1,50.534
$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,29.950,126.150,380.525,60.200,0.000,85.433,112.410,456.310,1.250,0.000,25.411,1059.523,6262.588,499.879,2012.225,974.850,33.415,1311.476,0.000,1996.086,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,69.797,865.176,411.112,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.737,297.490,381.099,575.357,1017.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38319,492
$CAP_FILE_SIZE,123927,0
$CFSIZE,260165632,147386368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040111,123507,2246.715,-15758.125,30,1.5,30,10.1