version: 66.06
glider: 148
mission: 9
dive: 449
start: 1 5 111 13 45 56
data:
$ID,148
$MISSION,9
$DIVE,449
$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,380
$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,-867745.94
$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,44
$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
$GPS1,133543,2249.349,-15800.346,23,1.7,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.5
$GPS2,134501,2249.323,-15800.457,14,1.7,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.006
$KALMAN_X,-64288.4,-535.5,22.9,80986.5,-1145.5
$KALMAN_Y,-91692.3,-391.8,-395.1,221070.1,272.8
$MHEAD_RNG_PITCHd_Wd,78.5,6032,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,88,0.00,0.00,-67.85,0.000,2,0.000,0.000,413,1854,3257,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.5,-4.6,9,117,11.50,0.00,-8.75,0.000,6,0.153,0.000,2597,1854,3718,0,0,0,0,0,0
$GC,397,-1.02,-146.0,52.5,-13.3,46,402,0.17,2.42,0.00,0.000,4,0.097,0.031,2636,3367,3720,0,0,0,0,0,0
$GC,452,-1.02,-146.0,59.6,-10.5,50,461,0.00,2.53,0.00,0.000,6,0.000,0.023,2636,1792,3720,0,0,0,0,0,0
$GC,718,-1.02,-146.0,87.0,-10.7,75,722,0.00,2.53,0.00,0.000,4,0.000,0.031,2636,3371,3721,0,0,0,0,0,0
$GC,789,-1.09,-146.0,93.6,-8.6,81,793,0.00,2.47,0.00,0.000,6,0.000,0.022,2635,1802,3721,0,0,0,0,0,0
$GC,1055,-1.16,-146.0,119.2,-8.7,105,1060,0.12,2.50,0.00,0.000,4,0.064,0.029,2559,3368,3721,0,0,0,0,0,0
$GC,1105,-1.03,-146.0,124.6,-11.3,109,1114,0.35,2.45,0.00,0.000,6,0.075,0.023,2638,1808,3721,0,0,0,0,0,0
$GC,1371,-1.12,-146.0,147.2,-8.1,134,1375,0.00,2.50,0.00,0.000,4,0.000,0.029,2638,3368,3722,0,0,0,0,0,0
$GC,1399,-1.22,-146.0,149.6,-8.6,136,1404,0.17,2.45,0.00,0.000,6,0.047,0.022,2546,1818,3723,0,0,0,0,0,0
$GC,1664,-1.03,-146.0,185.2,-12.8,160,1673,0.45,2.58,0.00,0.000,4,0.084,0.037,2634,215,3723,0,0,0,0,0,0
$GC,1685,-1.03,-146.0,187.8,-11.4,162,1690,0.00,2.50,0.00,0.000,6,0.000,0.019,2634,1841,3723,0,0,0,0,0,0
$GC,1955,-1.16,-146.0,206.0,-6.7,181,1960,0.12,2.42,0.00,0.000,4,0.062,0.031,2556,3368,3724,0,0,0,0,0,0
$GC,2013,-1.16,-146.0,212.0,-10.6,182,2018,0.22,2.40,0.00,0.000,6,0.082,0.022,2606,1840,3723,0,0,0,0,0,0
$GC,2286,-1.16,-146.0,236.4,-8.9,189,2291,0.00,2.45,0.00,0.000,4,0.000,0.031,2607,3366,3724,0,0,0,0,0,0
$GC,2337,-1.28,-146.0,241.3,-9.3,190,2342,0.12,2.42,0.00,0.000,6,0.061,0.024,2530,1841,3723,0,0,0,0,0,0
$GC,2618,-1.10,-146.0,279.5,-13.8,197,2625,0.43,2.65,0.00,0.000,4,0.083,0.041,2619,208,3723,0,0,0,0,0,0
$GC,2649,-1.22,-146.0,283.1,-9.1,197,2654,0.12,2.55,0.00,0.000,6,0.061,0.021,2544,1849,3724,0,0,0,0,0,0
$GC,2906,-1.11,-146.0,312.1,-11.5,204,2911,0.32,2.42,0.00,0.000,4,0.082,0.035,2616,3364,3723,0,0,0,0,0,0
$GC,2967,-1.28,-146.0,317.1,-6.4,205,2972,0.15,2.42,0.00,0.000,6,0.050,0.027,2537,1857,3723,0,0,0,0,0,0
$GC,3236,-1.17,-146.0,344.6,-10.7,212,3238,0.30,0.00,0.00,0.000,6,0.082,0.000,2604,1857,3722,0,0,0,0,0,0
$GC,3482,-1.26,-146.0,363.9,-7.7,218,3487,0.00,2.45,0.00,0.000,4,0.000,0.039,2604,3361,3721,0,0,0,0,0,0
$GC,3515,-1.37,-146.0,366.6,-7.1,218,3520,0.17,2.42,0.00,0.000,6,0.046,0.027,2530,1855,3721,0,0,0,0,0,0
$GC,3767,-1.25,-146.0,395.3,-11.8,224,3772,0.25,2.50,0.00,0.000,4,0.088,0.041,2588,3361,3720,0,0,0,0,0,0
$GC,3786,-1.25,-146.0,397.6,-10.3,224,3790,0.00,2.38,0.00,0.000,6,0.000,0.025,2588,1866,3719,0,0,0,0,0,0
$GC,4050,-1.25,-146.0,420.0,-8.5,231,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1867,3718,0,0,0,0,0,0
$GC,4293,-1.25,-146.0,439.0,-7.8,237,4298,0.00,2.50,0.00,0.000,4,0.000,0.047,2589,3364,3716,0,0,0,0,0,0
$GC,4323,-1.33,-146.0,441.3,-7.6,237,4328,0.00,2.42,0.00,0.000,6,0.000,0.028,2588,1862,3716,0,0,0,0,0,0
$GC,4578,-1.33,-146.0,460.5,-7.4,244,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1863,3715,0,0,0,0,0,0
$GC,4822,-1.39,-146.0,479.2,-7.8,250,4824,0.15,0.00,0.00,0.000,6,0.056,0.000,2523,1862,3713,0,0,0,0,0,0
$STATE,5022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5022,begin apogee
$GC,5030,-0.31,0.0,501.9,11.5,255,5152,1.20,0.00,118.55,0.873,6,0.081,0.000,2788,1680,3120,0,0,0,0,0,0
$STATE,5153,end apogee,CONTROL_FINISHED_OK
$STATE,5153,begin climb
$GC,5155,1.17,146.0,507.5,0.0,258,5286,1.33,2.67,120.80,0.854,4,0.028,0.073,3128,185,2523,0,0,0,0,0,0
$GC,5529,0.72,146.0,487.3,9.0,266,5536,0.52,2.40,0.00,0.000,6,0.100,0.028,3018,1667,2515,0,0,0,0,0,0
$GC,5800,0.80,214.1,469.7,6.2,273,5865,0.00,2.62,57.40,0.832,4,0.000,0.058,3018,181,2245,0,0,0,0,0,0
$GC,5926,0.81,223.3,460.2,8.6,275,5942,0.00,2.45,9.18,0.710,6,0.000,0.028,3018,1676,2209,0,0,0,0,0,0
$GC,6220,0.88,281.7,439.8,6.6,283,6278,0.15,2.60,51.83,0.820,4,0.058,0.057,3085,184,1970,0,0,0,0,0,0
$GC,6314,0.71,281.7,430.7,11.4,285,6319,0.32,2.42,0.00,0.000,6,0.092,0.028,3016,1677,1968,0,0,0,0,0,0
$GC,6593,0.76,318.8,409.5,7.5,292,6632,0.00,0.00,34.03,0.792,6,0.000,0.000,3016,1678,1819,0,0,0,0,0,0
$GC,6878,0.84,318.8,384.3,9.2,299,6883,0.12,2.70,0.00,0.000,4,0.062,0.054,3078,3261,1814,0,0,0,0,0,0
$GC,6930,0.84,318.8,377.9,12.3,300,6935,0.17,2.65,0.00,0.000,6,0.095,0.035,3041,1678,1811,0,0,0,0,0,0
$GC,7210,0.84,318.8,348.9,10.2,307,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1678,1810,0,0,0,0,0,0
$GC,7452,0.84,318.8,324.6,9.9,313,7456,0.00,2.65,0.00,0.000,4,0.000,0.042,3041,3258,1808,0,0,0,0,0,0
$GC,7470,0.84,318.8,322.6,9.9,313,7475,0.00,2.65,0.00,0.000,6,0.000,0.032,3041,1661,1807,0,0,0,0,0,0
$GC,7736,0.84,323.3,299.1,8.8,320,7740,0.00,2.67,0.00,0.000,4,0.000,0.042,3041,3267,1807,0,0,0,0,0,0
$GC,7775,0.93,323.3,295.6,9.3,320,7781,0.10,2.62,0.00,0.000,6,0.080,0.033,3091,1678,1806,0,0,0,0,0,0
$GC,8025,0.85,323.3,268.0,10.9,327,8030,0.20,2.60,0.00,0.000,4,0.099,0.066,3047,161,1806,0,0,0,0,0,0
$GC,8073,0.85,323.3,262.8,10.5,328,8078,0.00,2.42,0.00,0.000,6,0.000,0.024,3047,1683,1806,0,0,0,0,0,0
$GC,8356,0.86,332.3,238.0,8.6,335,8372,0.00,2.65,10.82,0.627,4,0.000,0.041,3047,3241,1764,0,0,0,0,0,0
$GC,8419,0.97,338.3,232.1,8.8,336,8432,0.10,2.58,6.75,0.561,6,0.077,0.029,3097,1669,1740,0,0,0,0,0,0
$GC,8694,0.90,338.3,201.1,11.4,343,8699,0.20,2.62,0.00,0.000,4,0.097,0.036,3055,3258,1738,0,0,0,0,0,0
$GC,8763,1.01,338.3,194.3,9.2,346,8769,0.10,2.60,0.00,0.000,6,0.077,0.029,3106,1672,1735,0,0,0,0,0,0
$GC,9027,0.92,338.3,163.9,11.2,371,9032,0.20,2.50,0.00,0.000,4,0.097,0.047,3061,174,1735,0,0,0,0,0,0
$GC,9075,0.92,338.3,158.6,9.5,375,9084,0.00,2.40,0.00,0.000,6,0.000,0.022,3061,1676,1735,0,0,0,0,0,0
$GC,9339,0.93,349.5,136.6,8.5,400,9355,0.00,2.58,10.77,0.545,4,0.000,0.035,3061,3252,1695,0,0,0,0,0,0
$GC,9415,1.07,376.0,130.3,7.9,407,9448,0.12,2.58,25.33,0.581,6,0.063,0.028,3124,1676,1586,0,0,0,0,0,0
$GC,9713,1.00,376.0,93.5,12.2,435,9719,0.20,0.00,0.00,0.000,6,0.095,0.000,3081,1675,1583,0,0,0,0,0,0
$GC,9979,1.00,376.0,64.7,10.1,460,9983,0.00,2.58,0.00,0.000,4,0.000,0.032,3080,3264,1582,0,0,0,0,0,0
$GC,10021,1.11,376.0,60.2,11.9,463,10026,0.00,2.55,0.00,0.000,6,0.000,0.026,3081,1672,1580,0,0,0,0,0,0
$GC,10290,1.11,378.0,31.6,8.9,487,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1672,1580,0,0,0,0,0,0
$STATE,10587,end climb,SURFACE_DEPTH_REACHED
$STATE,10588,begin surface coast
$FINISH,0.8,1.024103
$STATE,10639,end surface coast,CONTROL_FINISHED_OK
$STATE,10639,begin surface
$SM_CCo,10661,1.62,0.075,0,0,1570,380.21
$SM_GC,2.26,0.00,0.00,1.62,0.000,0.000,0.075,412,1838,1570,-11.26,1.36,380.21
$IRIDIUM_FIX,2241.69,-15806.70,310300,101021
$TT8_MAMPS,0.026845
$HUMID,49.37
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.5,58.664
$10V_AH,10.1,51.577
$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,30.925,121.575,445.450,1.625,0.000,55.831,112.812,178.230,0.500,0.000,15.987,1124.660,6852.120,478.160,2113.111,650.351,33.378,1304.450,0.000,2106.620,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,72.865,872.846,75.166,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.313,331.424,420.250,649.102,1147.960,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355280
$DATA_FILE_SIZE,41413,542
$CAP_FILE_SIZE,120343,0
$CFSIZE,260165632,146845696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,164455,2249.202,-15759.489,37,1.5,37,10.1