version: 66.06
glider: 148
mission: 9
dive: 460
start: 1 6 111 23 6 28
data:
$ID,148
$MISSION,9
$DIVE,460
$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,-867965.81
$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,45
$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
$GPS1,224630,2249.743,-15801.279,36,1.3,42,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.2
$GPS2,230531,2249.670,-15801.434,16,1.5,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.190,0.164
$KALMAN_X,-75023.0,178.5,193.9,89153.3,-875.2
$KALMAN_Y,-96487.3,318.4,508.8,224891.2,-1721.2
$MHEAD_RNG_PITCHd_Wd,39.0,7593,-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,-67.95,0.000,2,0.000,0.000,410,1872,3245,0,0,0,0,0,0
$GC,91,-1.17,-146.0,3.1,-3.6,9,123,11.43,2.78,-9.52,0.000,4,0.149,0.050,2596,209,3718,0,0,0,0,0,0
$GC,147,-0.76,-146.0,15.6,-18.8,16,156,0.40,2.50,0.00,0.000,6,0.070,0.021,2691,1783,3719,0,0,0,0,0,0
$GC,442,-0.89,-146.0,40.5,-7.5,54,447,0.12,2.55,0.00,0.000,4,0.061,0.030,2597,3373,3720,0,0,0,0,0,0
$GC,531,-0.89,-146.0,50.7,-12.3,61,537,0.30,2.50,0.00,0.000,6,0.080,0.024,2664,1793,3720,0,0,0,0,0,0
$GC,798,-0.89,-146.0,76.6,-9.5,85,802,0.00,2.53,0.00,0.000,4,0.000,0.030,2664,3366,3720,0,0,0,0,0,0
$GC,843,-1.05,-146.0,81.0,-8.4,88,853,0.12,2.47,0.00,0.000,6,0.024,0.021,2557,1819,3720,0,0,0,0,0,0
$GC,1109,-0.87,-146.0,119.8,-13.6,113,1117,0.47,2.47,0.00,0.000,4,0.081,0.029,2666,3369,3720,0,0,0,0,0,0
$GC,1174,-1.13,-146.0,125.2,-6.2,119,1179,0.22,2.40,0.00,0.000,6,0.040,0.021,2573,1834,3721,0,0,0,0,0,0
$GC,1435,-1.03,-146.0,156.5,-11.4,143,1437,0.28,0.00,0.00,0.000,6,0.084,0.000,2635,1835,3721,0,0,0,0,0,0
$GC,1694,-1.14,-146.0,174.6,-7.4,167,1699,0.10,2.45,0.00,0.000,4,0.075,0.030,2566,3369,3721,0,0,0,0,0,0
$GC,1739,-1.14,-146.0,179.4,-10.6,171,1744,0.20,2.40,0.00,0.000,6,0.081,0.022,2613,1838,3721,0,0,0,0,0,0
$GC,2012,-1.14,-146.0,204.0,-8.9,193,2016,0.00,2.42,0.00,0.000,4,0.000,0.030,2613,3368,3721,0,0,0,0,0,0
$GC,2055,-1.25,-146.0,208.0,-8.4,194,2060,0.12,2.40,0.00,0.000,6,0.063,0.022,2535,1852,3721,0,0,0,0,0,0
$GC,2344,-1.08,-146.0,243.8,-12.5,201,2352,0.38,2.65,0.00,0.000,4,0.080,0.040,2621,220,3721,0,0,0,0,0,0
$GC,2371,-1.15,-146.0,246.8,-9.8,201,2375,0.00,2.55,0.00,0.000,6,0.000,0.020,2621,1852,3721,0,0,0,0,0,0
$GC,2630,-1.26,-146.0,263.5,-6.2,208,2635,0.15,2.45,0.00,0.000,4,0.055,0.033,2546,3370,3721,0,0,0,0,0,0
$GC,2693,-1.26,-146.0,269.6,-9.8,209,2698,0.17,2.38,0.00,0.000,6,0.086,0.023,2586,1864,3721,0,0,0,0,0,0
$GC,2962,-1.26,-146.0,293.4,-8.8,216,2966,0.00,2.40,0.00,0.000,4,0.000,0.034,2586,3363,3720,0,0,0,0,0,0
$GC,3010,-1.35,-146.0,297.5,-8.3,217,3015,0.00,2.38,0.00,0.000,6,0.000,0.025,2586,1875,3720,0,0,0,0,0,0
$GC,3292,-1.35,-146.0,323.6,-9.8,224,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1873,3719,0,0,0,0,0,0
$GC,3536,-1.35,-146.0,347.3,-9.8,230,3540,0.00,2.40,0.00,0.000,4,0.000,0.038,2586,3362,3718,0,0,0,0,0,0
$GC,3587,-1.43,-146.0,352.0,-9.0,231,3592,0.17,2.38,0.00,0.000,6,0.047,0.028,2510,1884,3718,0,0,0,0,0,0
$GC,3874,-1.25,-146.0,385.6,-11.4,238,3876,0.35,0.00,0.00,0.000,6,0.084,0.000,2587,1883,3715,0,0,0,0,0,0
$GC,4118,-1.25,-146.0,403.7,-7.2,244,4122,0.00,2.42,0.00,0.000,4,0.000,0.041,2587,3367,3714,0,0,0,0,0,0
$GC,4148,-1.32,-146.0,405.9,-7.1,244,4152,0.00,2.38,0.00,0.000,6,0.000,0.027,2587,1881,3714,0,0,0,0,0,0
$GC,4403,-1.32,-146.0,424.9,-7.5,251,4407,0.00,2.42,0.00,0.000,4,0.000,0.044,2588,3356,3712,0,0,0,0,0,0
$GC,4431,-1.38,-146.0,427.3,-8.3,251,4436,0.12,2.35,0.00,0.000,6,0.063,0.027,2537,1887,3712,0,0,0,0,0,0
$GC,4692,-1.20,-146.0,459.6,-12.8,258,4700,0.40,2.83,0.00,0.000,4,0.085,0.061,2596,224,3710,0,0,0,0,0,0
$GC,4714,-1.20,-146.0,462.3,-10.7,258,4718,0.00,2.67,0.00,0.000,6,0.000,0.030,2596,1872,3710,0,0,0,0,0,0
$GC,4978,-1.28,-146.0,482.5,-7.5,265,4982,0.00,2.47,0.00,0.000,4,0.000,0.051,2596,3361,3709,0,0,0,0,0,0
$GC,5031,-1.41,-146.0,486.3,-6.8,266,5036,0.17,2.35,0.00,0.000,6,0.047,0.029,2513,1903,3708,0,0,0,0,0,0
$STATE,5189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5190,begin apogee
$GC,5195,-0.31,0.0,503.8,11.3,270,5317,1.25,0.00,118.05,0.872,6,0.081,0.000,2789,1678,3120,0,0,0,0,0,0
$STATE,5318,end apogee,CONTROL_FINISHED_OK
$STATE,5318,begin climb
$GC,5322,1.17,146.0,509.3,0.0,273,5452,1.33,2.75,120.85,0.854,4,0.032,0.049,3122,3235,2523,0,0,0,0,0,0
$GC,5531,0.89,159.2,508.2,8.5,277,5549,0.32,2.60,11.85,0.755,6,0.100,0.038,3054,1696,2470,0,0,0,0,0,0
$GC,5828,0.81,201.6,486.5,7.2,285,5871,0.00,2.78,36.85,0.829,4,0.000,0.076,3054,163,2298,0,0,0,0,0,0
$GC,6072,0.64,201.6,462.7,10.0,290,6077,0.25,2.42,0.00,0.000,6,0.097,0.028,3000,1653,2293,0,0,0,0,0,0
$GC,6348,0.73,278.5,445.5,5.8,297,6421,0.00,2.60,67.32,0.827,4,0.000,0.058,3000,165,1984,0,0,0,0,0,0
$GC,6446,0.73,279.9,439.0,9.0,299,6450,0.00,2.45,0.00,0.000,6,0.000,0.026,3000,1665,1982,0,0,0,0,0,0
$GC,6717,0.90,339.6,421.5,6.5,306,6778,0.22,2.80,54.90,0.809,4,0.042,0.059,3089,3253,1734,0,0,0,0,0,0
$GC,6794,0.79,339.6,413.1,11.9,307,6801,0.28,2.67,0.00,0.000,6,0.087,0.035,3030,1655,1730,0,0,0,0,0,0
$GC,7046,0.79,339.6,389.8,9.2,314,7050,0.00,2.70,0.00,0.000,4,0.000,0.045,3030,3256,1726,0,0,0,0,0,0
$GC,7074,0.86,339.9,387.0,9.0,314,7079,0.00,2.67,0.00,0.000,6,0.000,0.035,3030,1659,1724,0,0,0,0,0,0
$GC,7333,0.92,339.9,363.0,9.5,321,7338,0.12,2.67,0.00,0.000,4,0.065,0.047,3083,3254,1723,0,0,0,0,0,0
$GC,7389,0.92,339.9,356.7,10.8,322,7394,0.10,2.62,0.00,0.000,6,0.120,0.036,3061,1679,1721,0,0,0,0,0,0
$GC,7663,0.92,339.9,325.9,11.9,329,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1679,1721,0,0,0,0,0,0
$GC,7908,0.92,339.9,295.2,12.7,335,7913,0.00,2.65,0.00,0.000,4,0.000,0.043,3061,3265,1720,0,0,0,0,0,0
$GC,7936,0.92,339.9,291.2,13.9,335,7940,0.00,2.62,0.00,0.000,6,0.000,0.033,3062,1680,1719,0,0,0,0,0,0
$GC,8190,0.92,339.9,261.2,11.5,342,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1680,1718,0,0,0,0,0,0
$GC,8434,0.92,339.9,235.0,10.6,348,8438,0.00,2.62,0.00,0.000,4,0.000,0.038,3061,3261,1718,0,0,0,0,0,0
$GC,8454,0.92,339.9,233.0,10.2,348,8459,0.00,2.60,0.00,0.000,6,0.000,0.030,3061,1674,1717,0,0,0,0,0,0
$GC,8718,0.92,339.9,207.6,9.6,355,8722,0.00,2.55,0.00,0.000,4,0.000,0.056,3061,166,1717,0,0,0,0,0,0
$GC,8745,0.92,339.9,204.6,11.6,355,8750,0.00,2.42,0.00,0.000,6,0.000,0.023,3061,1705,1717,0,0,0,0,0,0
$GC,9012,0.92,339.9,179.9,9.2,377,9016,0.00,2.53,0.00,0.000,4,0.000,0.038,3062,3252,1717,0,0,0,0,0,0
$GC,9060,1.02,339.9,174.8,9.7,381,9069,0.00,2.58,0.00,0.000,6,0.000,0.031,3061,1695,1715,0,0,0,0,0,0
$GC,9327,1.02,339.9,149.5,10.3,406,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1695,1715,0,0,0,0,0,0
$GC,9592,1.06,372.0,123.8,7.7,431,9625,0.12,2.62,27.10,0.586,4,0.064,0.035,3142,3262,1601,0,0,0,0,0,0
$GC,9649,0.94,372.0,117.7,12.3,436,9661,0.35,2.55,0.00,0.000,6,0.092,0.028,3068,1691,1598,0,0,0,0,0,0
$GC,9916,1.06,399.9,96.2,7.8,461,9949,0.10,2.67,25.25,0.554,4,0.074,0.035,3127,3265,1487,0,0,0,0,0,0
$GC,9993,1.06,399.9,88.0,10.8,468,10005,0.12,2.58,0.00,0.000,6,0.079,0.028,3096,1709,1484,0,0,0,0,0,0
$GC,10259,1.06,399.9,60.5,11.0,493,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1709,1483,0,0,0,0,0,0
$GC,10524,1.06,399.9,30.6,11.6,518,10529,0.00,2.53,0.00,0.000,4,0.000,0.034,3096,3267,1483,0,0,0,0,0,0
$GC,10546,1.06,399.9,27.9,11.7,520,10555,0.00,2.55,0.00,0.000,6,0.000,0.028,3096,1706,1481,0,0,0,0,0,0
$STATE,10750,end climb,SURFACE_DEPTH_REACHED
$STATE,10750,begin surface coast
$FINISH,0.6,1.010386
$STATE,10789,end surface coast,CONTROL_FINISHED_OK
$STATE,10789,begin surface
$SM_CCo,10870,0.00,0.000,0,0,1477,403.03
$SM_GC,1.52,10.82,0.00,0.00,0.021,0.000,0.000,416,1857,1477,-11.17,1.89,403.03
$IRIDIUM_FIX,2239.35,-15800.20,010400,222244
$TT8_MAMPS,0.026845
$HUMID,49.56
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.5,59.913
$10V_AH,10.0,52.812
$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,31.100,137.650,462.175,0.000,0.000,60.786,75.671,759.659,0.250,0.000,38.131,1146.429,6930.517,481.071,2190.777,1259.123,33.382,1364.694,0.000,2180.224,0.000,0.535,0.000
$DEVICE_MAMPS,148.798,75.933,872.079,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.813,352.158,444.013,671.451,1188.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,44796,558
$CAP_FILE_SIZE,133711,0
$CFSIZE,260165632,146186240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,020855,2249.738,-15800.629,40,1.1,40,10.1