version: 66.06
glider: 148
mission: 9
dive: 450
start: 1 5 111 16 52 37
data:
$ID,148
$MISSION,9
$DIVE,450
$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,-867776.56
$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,31
$R_STBD_OVSHOOT,86
$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
$GPS1,164455,2249.202,-15759.489,37,1.5,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.7
$GPS2,165143,2249.241,-15759.553,11,1.4,28,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,0.029
$KALMAN_X,-65315.4,-599.6,-112.5,83766.6,-650.4
$KALMAN_Y,-92624.4,277.4,-356.1,221140.7,352.8
$MHEAD_RNG_PITCHd_Wd,73.3,4578,-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,17,-1.17,-146.0,0.0,0.0,0,88,0.00,0.00,-68.15,0.000,2,0.000,0.000,411,1838,3242,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.1,-3.4,9,125,11.50,2.72,-9.38,0.000,4,0.153,0.057,2595,209,3718,0,0,0,0,0,0
$GC,135,-0.09,-146.0,14.7,-25.6,14,144,1.05,2.42,0.00,0.000,6,0.071,0.018,2837,1751,3719,0,0,0,0,0,0
$GC,439,-0.80,-146.0,38.7,-10.3,56,451,0.62,2.55,0.00,0.000,4,0.049,0.026,2681,3362,3720,0,0,0,0,0,0
$GC,512,-1.34,-146.0,45.2,-8.8,62,525,0.47,2.53,0.00,0.000,6,0.037,0.021,2549,1768,3720,0,0,0,0,0,0
$GC,784,-1.09,-146.0,83.6,-15.0,87,789,0.30,0.00,0.00,0.000,6,0.091,0.000,2618,1768,3720,0,0,0,0,0,0
$GC,1044,-1.09,-146.0,113.6,-10.5,112,1049,0.00,2.55,0.00,0.000,4,0.000,0.028,2618,3364,3721,0,0,0,0,0,0
$GC,1072,-1.09,-146.0,116.2,-10.1,114,1076,0.00,2.47,0.00,0.000,6,0.000,0.021,2618,1793,3722,0,0,0,0,0,0
$GC,1334,-1.09,-146.0,143.1,-10.2,138,1338,0.00,2.53,0.00,0.000,4,0.000,0.038,2618,216,3722,0,0,0,0,0,0
$GC,1372,-1.26,-146.0,146.8,-10.1,141,1378,0.15,2.45,0.00,0.000,6,0.055,0.018,2544,1812,3722,0,0,0,0,0,0
$GC,1633,-1.11,-146.0,179.9,-11.7,165,1646,0.30,2.60,0.00,0.000,4,0.085,0.036,2614,207,3722,0,0,0,0,0,0
$GC,1681,-1.28,-146.0,184.1,-7.7,169,1687,0.15,2.42,0.00,0.000,6,0.054,0.018,2536,1777,3722,0,0,0,0,0,0
$GC,1961,-1.11,-146.0,215.0,-11.7,187,1968,0.32,2.55,0.00,0.000,4,0.083,0.037,2613,207,3723,0,0,0,0,0,0
$GC,1996,-1.24,-146.0,219.1,-8.8,187,2001,0.10,2.42,0.00,0.000,6,0.075,0.019,2550,1781,3723,0,0,0,0,0,0
$GC,2248,-1.13,-146.0,247.3,-11.7,193,2253,0.28,2.50,0.00,0.000,4,0.084,0.029,2613,3361,3723,0,0,0,0,0,0
$GC,2287,-1.25,-146.0,251.3,-8.8,193,2293,0.12,2.47,0.00,0.000,6,0.061,0.023,2528,1783,3723,0,0,0,0,0,0
$GC,2538,-1.10,-146.0,282.5,-12.6,200,2546,0.38,2.58,0.00,0.000,4,0.079,0.042,2615,203,3723,0,0,0,0,0,0
$GC,2589,-1.29,-146.0,287.2,-7.6,201,2594,0.15,2.42,0.00,0.000,6,0.054,0.020,2538,1774,3723,0,0,0,0,0,0
$GC,2873,-1.18,-146.0,318.0,-11.3,208,2875,0.30,0.00,0.00,0.000,6,0.081,0.000,2604,1776,3723,0,0,0,0,0,0
$GC,3116,-1.28,-146.0,337.8,-7.9,214,3117,0.10,0.00,0.00,0.000,6,0.077,0.000,2547,1776,3722,0,0,0,0,0,0
$GC,3359,-1.22,-146.0,365.1,-11.4,220,3364,0.20,2.62,0.00,0.000,4,0.087,0.048,2592,210,3722,0,0,0,0,0,0
$GC,3399,-1.35,-146.0,369.0,-9.9,220,3405,0.12,2.45,0.00,0.000,6,0.063,0.024,2525,1756,3722,0,0,0,0,0,0
$GC,3649,-1.24,-146.0,397.5,-11.4,227,3651,0.28,0.00,0.00,0.000,6,0.083,0.000,2588,1756,3720,0,0,0,0,0,0
$GC,3893,-1.31,-146.0,416.7,-7.7,233,3897,0.00,2.62,0.00,0.000,4,0.000,0.055,2588,210,3719,0,0,0,0,0,0
$GC,3914,-1.40,-146.0,418.3,-8.4,233,3919,0.15,2.50,0.00,0.000,6,0.054,0.026,2516,1776,3719,0,0,0,0,0,0
$GC,4178,-1.26,-146.0,447.5,-11.3,240,4185,0.28,2.67,0.00,0.000,4,0.085,0.058,2581,211,3717,0,0,0,0,0,0
$GC,4204,-1.26,-146.0,450.2,-9.8,240,4209,0.00,2.47,0.00,0.000,6,0.000,0.028,2581,1758,3718,0,0,0,0,0,0
$GC,4465,-1.32,-146.0,470.4,-7.7,247,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1758,3715,0,0,0,0,0,0
$GC,4707,-1.39,-146.0,489.2,-7.7,253,4712,0.00,2.65,0.00,0.000,4,0.000,0.061,2581,214,3714,0,0,0,0,0,0
$GC,4731,-1.46,-146.0,491.4,-8.7,253,4737,0.17,2.47,0.00,0.000,6,0.050,0.031,2504,1752,3714,0,0,0,0,0,0
$STATE,4826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4826,begin apogee
$GC,4834,-0.31,0.0,502.5,11.6,256,4957,1.27,0.00,118.90,0.865,6,0.074,0.000,2791,1664,3120,0,0,0,0,0,0
$STATE,4957,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4960,1.17,146.0,508.2,0.0,259,5092,1.33,2.83,121.38,0.851,4,0.025,0.054,3129,3272,2523,0,0,0,0,0,0
$GC,5167,0.86,150.1,505.8,8.8,263,5178,0.38,2.62,4.05,0.519,6,0.100,0.037,3050,1702,2508,0,0,0,0,0,0
$GC,5423,0.82,231.4,491.0,5.6,270,5501,0.00,2.80,70.22,0.840,4,0.000,0.076,3050,173,2175,0,0,0,0,0,0
$GC,5521,0.67,242.3,483.8,8.6,272,5538,0.20,2.47,10.95,0.734,6,0.104,0.028,3007,1678,2132,0,0,0,0,0,0
$GC,5798,0.72,286.9,463.8,7.2,279,5843,0.00,2.75,39.72,0.818,4,0.000,0.057,3007,3261,1949,0,0,0,0,0,0
$GC,5928,0.84,305.0,453.9,8.3,282,5953,0.15,2.62,17.45,0.773,6,0.056,0.037,3070,1688,1875,0,0,0,0,0,0
$GC,6220,0.75,305.0,422.1,11.4,289,6227,0.22,2.70,0.00,0.000,4,0.092,0.049,3021,3260,1869,0,0,0,0,0,0
$GC,6288,0.84,305.0,414.9,9.2,290,6294,0.10,2.60,0.00,0.000,6,0.079,0.037,3069,1699,1866,0,0,0,0,0,0
$GC,6555,0.77,305.0,386.1,11.0,297,6562,0.20,2.65,0.00,0.000,4,0.094,0.046,3026,3264,1866,0,0,0,0,0,0
$GC,6613,0.86,305.0,380.3,9.2,298,6618,0.00,2.60,0.00,0.000,6,0.000,0.035,3026,1705,1864,0,0,0,0,0,0
$GC,6888,0.86,306.3,356.1,9.0,305,6893,0.00,2.62,0.00,0.000,4,0.000,0.043,3026,3268,1864,0,0,0,0,0,0
$GC,6967,0.95,306.3,348.5,9.4,306,6972,0.17,2.55,0.00,0.000,6,0.051,0.034,3099,1721,1862,0,0,0,0,0,0
$GC,7219,0.82,306.3,317.5,12.5,312,7224,0.25,2.58,0.00,0.000,4,0.094,0.044,3041,3260,1862,0,0,0,0,0,0
$GC,7266,0.88,306.3,312.0,10.4,313,7271,0.00,2.53,0.00,0.000,6,0.000,0.032,3041,1734,1861,0,0,0,0,0,0
$GC,7548,0.88,306.3,283.9,9.9,320,7552,0.00,2.53,0.00,0.000,4,0.000,0.041,3041,3261,1861,0,0,0,0,0,0
$GC,7692,0.95,306.3,269.6,9.9,323,7697,0.10,2.50,0.00,0.000,6,0.079,0.031,3090,1738,1860,0,0,0,0,0,0
$GC,7970,0.86,306.3,240.7,10.3,330,7975,0.20,2.55,0.00,0.000,4,0.095,0.038,3046,3268,1860,0,0,0,0,0,0
$GC,8020,0.95,311.4,236.2,8.8,331,8029,0.00,2.47,4.12,0.462,6,0.000,0.029,3045,1750,1850,0,0,0,0,0,0
$GC,8302,0.96,322.3,212.2,8.6,338,8320,0.10,2.53,11.68,0.615,4,0.078,0.038,3100,3262,1806,0,0,0,0,0,0
$GC,8395,0.96,322.3,202.2,10.4,340,8400,0.15,2.45,0.00,0.000,6,0.101,0.029,3068,1755,1803,0,0,0,0,0,0
$GC,8668,0.96,322.3,175.0,10.1,363,8672,0.00,2.47,0.00,0.000,4,0.000,0.035,3068,3278,1802,0,0,0,0,0,0
$GC,8728,0.96,322.3,168.8,10.8,368,8734,0.00,2.47,0.00,0.000,6,0.000,0.028,3068,1754,1801,0,0,0,0,0,0
$GC,8992,0.96,322.3,141.2,10.8,393,8997,0.00,2.65,0.00,0.000,4,0.000,0.052,3068,161,1801,0,0,0,0,0,0
$GC,9021,0.96,322.3,138.1,12.2,395,9026,0.00,2.58,0.00,0.000,6,0.000,0.023,3068,1798,1800,0,0,0,0,0,0
$GC,9288,0.96,322.3,111.3,9.1,419,9293,0.00,2.38,0.00,0.000,4,0.000,0.035,3068,3270,1800,0,0,0,0,0,0
$GC,9360,1.03,322.3,104.3,9.3,425,9365,0.00,2.42,0.00,0.000,6,0.000,0.027,3068,1766,1800,0,0,0,0,0,0
$GC,9623,1.15,358.6,83.2,7.5,450,9665,0.17,2.50,32.45,0.546,4,0.049,0.033,3156,3271,1656,0,0,0,0,0,0
$GC,9695,1.00,358.6,76.2,13.1,456,9707,0.35,2.45,0.00,0.000,6,0.084,0.027,3078,1753,1654,0,0,0,0,0,0
$GC,9964,1.00,358.6,49.9,9.5,481,9968,0.00,2.45,0.00,0.000,4,0.000,0.031,3079,3274,1653,0,0,0,0,0,0
$GC,10008,1.09,358.6,45.4,10.9,484,10012,0.00,2.42,0.00,0.000,6,0.000,0.027,3078,1762,1651,0,0,0,0,0,0
$GC,10294,1.09,358.6,15.5,9.8,519,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1761,1651,0,0,0,0,0,0
$STATE,10407,end climb,SURFACE_DEPTH_REACHED
$STATE,10407,begin surface coast
$FINISH,0.8,1.023990
$STATE,10455,end surface coast,CONTROL_FINISHED_OK
$STATE,10455,begin surface
$SM_CCo,10475,15.45,0.205,1,0,1570,380.21
$SM_GC,1.73,0.00,0.00,15.45,0.000,0.000,0.205,414,1757,1570,-11.25,-0.93,380.21
$IRIDIUM_FIX,2241.69,-15801.49,310300,131339
$TT8_MAMPS,0.027612
$HUMID,48.70
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.5,58.777
$10V_AH,10.1,51.697
$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,33.625,137.550,430.925,15.450,0.000,30.460,33.151,180.497,0.500,0.000,29.986,1143.245,6502.646,510.907,2174.788,571.560,33.378,1363.323,0.000,2163.716,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,75.933,865.176,204.789,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.641,342.853,432.867,676.993,1197.272,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355272
$DATA_FILE_SIZE,41590,544
$CAP_FILE_SIZE,125329,0
$CFSIZE,260165632,146780160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050111,194854,2249.852,-15758.672,23,1.4,41,10.1