version: 66.06
glider: 148
mission: 9
dive: 457
start: 1 6 111 13 35 34
data:
$ID,148
$MISSION,9
$DIVE,457
$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,-867901.31
$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,46
$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
$GPS1,132805,2247.208,-15803.036,15,99.0,34,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.5
$GPS2,133437,2247.147,-15803.120,10,1.8,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.147,0.203
$KALMAN_X,-73074.3,-96.4,252.4,84511.2,-1543.4
$KALMAN_Y,-94283.8,-315.5,-377.2,219537.3,-168.9
$MHEAD_RNG_PITCHd_Wd,25.7,5288,-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,-145.9,0.0,0.0,0,88,0.00,0.00,-67.88,0.000,2,0.000,0.000,415,1849,3203,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.0,-3.3,9,125,11.38,2.75,-10.27,0.000,4,0.149,0.051,2597,210,3718,0,0,0,0,0,0
$GC,184,-1.17,-146.0,22.5,-16.2,22,192,0.00,2.50,0.00,0.000,6,0.000,0.020,2597,1788,3720,0,0,0,0,0,0
$GC,461,-0.99,-146.0,61.8,-15.6,50,466,0.20,2.53,0.00,0.000,4,0.102,0.028,2641,3367,3720,0,0,0,0,0,0
$GC,538,-1.07,-146.0,72.6,-11.1,56,542,0.00,2.50,0.00,0.000,6,0.000,0.023,2641,1789,3720,0,0,0,0,0,0
$GC,802,-1.07,-146.0,100.8,-12.0,80,806,0.00,2.53,0.00,0.000,4,0.000,0.030,2641,3371,3721,0,0,0,0,0,0
$GC,848,-1.19,-146.0,106.4,-10.9,84,853,0.17,2.45,0.00,0.000,6,0.045,0.022,2539,1811,3722,0,0,0,0,0,0
$GC,1110,-0.93,-146.0,149.6,-15.5,108,1123,0.60,2.47,0.00,0.000,4,0.085,0.028,2651,3368,3722,0,0,0,0,0,0
$GC,1148,-1.08,-146.0,154.3,-9.2,111,1158,0.08,2.47,0.00,0.000,6,0.035,0.023,2580,1823,3722,0,0,0,0,0,0
$GC,1414,-1.01,-146.0,183.0,-11.1,136,1419,0.25,2.60,0.00,0.000,4,0.083,0.038,2641,210,3723,0,0,0,0,0,0
$GC,1435,-1.01,-146.0,185.7,-10.5,137,1441,0.00,2.53,0.00,0.000,6,0.000,0.020,2641,1834,3723,0,0,0,0,0,0
$GC,1705,-1.14,-146.0,206.9,-7.9,157,1710,0.12,2.42,0.00,0.000,4,0.063,0.031,2559,3360,3724,0,0,0,0,0,0
$GC,1772,-1.14,-146.0,214.2,-11.6,158,1777,0.22,2.40,0.00,0.000,6,0.080,0.022,2610,1830,3724,0,0,0,0,0,0
$GC,2037,-1.14,-146.0,238.2,-8.9,165,2041,0.00,2.42,0.00,0.000,4,0.000,0.031,2610,3357,3724,0,0,0,0,0,0
$GC,2092,-1.28,-146.0,243.4,-9.2,166,2097,0.12,2.38,0.00,0.000,6,0.064,0.023,2543,1844,3724,0,0,0,0,0,0
$GC,2368,-1.13,-146.0,277.2,-12.3,173,2375,0.28,2.67,0.00,0.000,4,0.083,0.043,2609,207,3724,0,0,0,0,0,0
$GC,2394,-1.13,-146.0,280.2,-9.4,173,2398,0.00,2.55,0.00,0.000,6,0.000,0.021,2609,1831,3724,0,0,0,0,0,0
$GC,2655,-1.20,-146.0,301.1,-7.8,180,2659,0.00,2.45,0.00,0.000,4,0.000,0.034,2609,3370,3724,0,0,0,0,0,0
$GC,2711,-1.35,-146.0,305.7,-8.2,181,2716,0.17,2.42,0.00,0.000,6,0.046,0.025,2521,1841,3724,0,0,0,0,0,0
$GC,2989,-1.17,-146.0,339.0,-12.1,188,2991,0.38,0.00,0.00,0.000,6,0.081,0.000,2604,1841,3723,0,0,0,0,0,0
$GC,3235,-1.25,-146.0,358.4,-7.9,194,3239,0.00,2.47,0.00,0.000,4,0.000,0.037,2604,3369,3722,0,0,0,0,0,0
$GC,3287,-1.41,-146.0,362.8,-7.8,195,3292,0.20,2.42,0.00,0.000,6,0.041,0.028,2518,1851,3722,0,0,0,0,0,0
$GC,3567,-1.23,-146.0,395.0,-11.7,202,3572,0.30,2.47,0.00,0.000,4,0.085,0.041,2588,3361,3721,0,0,0,0,0,0
$GC,3600,-1.23,-146.0,398.7,-9.2,202,3604,0.00,2.40,0.00,0.000,6,0.000,0.028,2588,1861,3720,0,0,0,0,0,0
$GC,3849,-1.23,-146.0,421.0,-9.1,208,3853,0.00,2.45,0.00,0.000,4,0.000,0.043,2588,3356,3719,0,0,0,0,0,0
$GC,3893,-1.33,-146.0,424.8,-8.4,208,3899,0.00,2.38,0.00,0.000,6,0.000,0.028,2588,1871,3719,0,0,0,0,0,0
$GC,4143,-1.33,-146.0,446.9,-8.8,215,4147,0.00,2.47,0.00,0.000,4,0.000,0.046,2588,3358,3718,0,0,0,0,0,0
$GC,4176,-1.42,-146.0,449.7,-8.1,215,4181,0.15,2.38,0.00,0.000,6,0.053,0.028,2511,1874,3717,0,0,0,0,0,0
$GC,4428,-1.25,-146.0,479.4,-12.3,221,4435,0.32,2.83,0.00,0.000,4,0.087,0.062,2586,221,3715,0,0,0,0,0,0
$GC,4449,-1.25,-146.0,482.0,-10.6,221,4454,0.00,2.65,0.00,0.000,6,0.000,0.031,2586,1865,3715,0,0,0,0,0,0
$STATE,4711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4711,begin apogee
$GC,4718,-0.31,0.0,501.0,7.1,228,4841,0.90,0.00,118.97,0.868,6,0.074,0.000,2790,1674,3120,0,0,0,0,0,0
$STATE,4841,end apogee,CONTROL_FINISHED_OK
$STATE,4841,begin climb
$GC,4844,1.17,146.0,505.2,0.0,231,4974,1.33,2.67,120.68,0.853,4,0.031,0.066,3125,193,2524,0,0,0,0,0,0
$GC,5242,0.73,146.0,482.0,9.2,239,5248,0.50,2.40,0.00,0.000,6,0.102,0.028,3021,1661,2516,0,0,0,0,0,0
$GC,5494,0.83,223.9,467.2,5.8,246,5567,0.00,2.62,66.10,0.832,4,0.000,0.058,3021,193,2206,0,0,0,0,0,0
$GC,5677,0.76,223.9,452.7,9.4,250,5681,0.00,2.42,0.00,0.000,6,0.000,0.026,3021,1683,2203,0,0,0,0,0,0
$GC,5963,0.80,253.1,429.9,7.8,257,5996,0.00,2.65,25.88,0.792,4,0.000,0.056,3021,194,2088,0,0,0,0,0,0
$GC,6044,0.80,253.1,423.2,9.7,258,6048,0.00,2.40,0.00,0.000,6,0.000,0.026,3021,1680,2086,0,0,0,0,0,0
$GC,6298,0.84,282.8,403.1,7.8,265,6331,0.00,2.62,27.17,0.785,4,0.000,0.056,3021,183,1965,0,0,0,0,0,0
$GC,6354,0.84,282.8,398.4,9.2,266,6358,0.00,2.42,0.00,0.000,6,0.000,0.027,3021,1674,1964,0,0,0,0,0,0
$GC,6629,0.90,282.8,374.7,9.0,273,6634,0.15,2.67,0.00,0.000,4,0.058,0.050,3083,3255,1959,0,0,0,0,0,0
$GC,6658,0.80,282.8,371.2,11.6,273,6663,0.22,2.60,0.00,0.000,6,0.091,0.034,3034,1693,1957,0,0,0,0,0,0
$GC,6915,0.80,282.8,347.1,9.1,280,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1693,1956,0,0,0,0,0,0
$GC,7159,0.81,289.2,326.1,8.7,286,7171,0.00,2.70,5.57,0.584,4,0.000,0.065,3034,166,1939,0,0,0,0,0,0
$GC,7187,0.81,289.2,323.1,9.6,286,7191,0.00,2.42,0.00,0.000,6,0.000,0.025,3034,1675,1939,0,0,0,0,0,0
$GC,7446,0.82,299.8,300.3,8.6,293,7463,0.00,2.67,11.30,0.677,4,0.000,0.047,3034,3254,1896,0,0,0,0,0,0
$GC,7512,0.94,299.8,294.2,9.4,294,7517,0.12,2.62,0.00,0.000,6,0.065,0.032,3092,1666,1893,0,0,0,0,0,0
$GC,7776,0.86,299.8,264.5,11.1,301,7782,0.22,2.55,0.00,0.000,4,0.092,0.061,3043,171,1892,0,0,0,0,0,0
$GC,7853,0.86,299.8,256.6,10.1,302,7857,0.00,2.38,0.00,0.000,6,0.000,0.023,3043,1678,1892,0,0,0,0,0,0
$GC,8107,0.88,316.3,235.3,8.3,309,8128,0.00,2.65,15.68,0.655,4,0.000,0.042,3043,3248,1829,0,0,0,0,0,0
$GC,8168,1.00,327.4,230.0,8.5,310,8185,0.15,2.60,11.02,0.619,6,0.054,0.031,3102,1670,1785,0,0,0,0,0,0
$GC,8441,0.91,327.4,197.6,12.3,317,8446,0.20,2.55,0.00,0.000,4,0.094,0.054,3059,173,1781,0,0,0,0,0,0
$GC,8502,0.91,327.4,191.2,10.5,322,8506,0.00,2.35,0.00,0.000,6,0.000,0.023,3059,1666,1781,0,0,0,0,0,0
$GC,8767,0.91,327.4,165.9,9.3,346,8771,0.00,2.53,0.00,0.000,4,0.000,0.047,3059,164,1780,0,0,0,0,0,0
$GC,8795,0.91,327.4,162.6,9.7,348,8804,0.00,2.38,0.00,0.000,6,0.000,0.022,3059,1651,1780,0,0,0,0,0,0
$GC,9062,0.91,327.4,140.1,9.1,373,9066,0.00,2.58,0.00,0.000,4,0.000,0.034,3059,3253,1780,0,0,0,0,0,0
$GC,9112,1.04,350.0,135.1,8.1,377,9139,0.10,2.60,20.25,0.580,6,0.076,0.027,3108,1652,1692,0,0,0,0,0,0
$GC,9393,1.04,350.0,105.5,9.9,404,9398,0.10,2.65,0.00,0.000,4,0.118,0.033,3086,3258,1689,0,0,0,0,0,0
$GC,9453,1.15,350.0,99.7,10.9,409,9458,0.10,2.58,0.00,0.000,6,0.075,0.028,3137,1665,1686,0,0,0,0,0,0
$GC,9722,1.05,350.0,67.4,13.9,433,9727,0.22,2.47,0.00,0.000,4,0.094,0.043,3088,168,1686,0,0,0,0,0,0
$GC,9776,1.05,350.0,60.2,12.5,437,9780,0.00,2.33,0.00,0.000,6,0.000,0.021,3088,1668,1686,0,0,0,0,0,0
$GC,10045,1.05,350.0,29.8,10.9,461,10053,0.00,2.58,0.00,0.000,4,0.000,0.034,3088,3244,1686,0,0,0,0,0,0
$GC,10075,1.05,350.0,26.1,10.4,465,10083,0.00,2.58,0.00,0.000,6,0.000,0.026,3088,1665,1686,0,0,0,0,0,0
$STATE,10274,end climb,SURFACE_DEPTH_REACHED
$STATE,10274,begin surface coast
$FINISH,0.8,1.000123
$STATE,10325,end surface coast,CONTROL_FINISHED_OK
$STATE,10325,begin surface
$SM_CCo,10346,19.30,0.263,1,0,1569,380.21
$SM_GC,1.94,0.00,0.00,19.30,0.000,0.000,0.263,414,1835,1569,-11.25,1.27,380.21
$IRIDIUM_FIX,2239.35,-15800.20,010400,101044
$TT8_MAMPS,0.027612
$HUMID,49.25
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,59.513
$10V_AH,10.1,52.462
$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,30.050,146.700,422.625,19.300,0.000,29.802,46.296,179.319,0.000,0.000,12.105,1091.755,6599.297,481.352,2008.488,585.472,33.369,1329.767,0.000,2017.821,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,65.962,868.244,263.081,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.234,308.688,389.526,573.015,1013.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355268
$DATA_FILE_SIZE,38465,504
$CAP_FILE_SIZE,122191,0
$CFSIZE,260165632,146378752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060111,163002,2248.146,-15802.628,57,1.7,58,10.1