version: 66.06
glider: 148
mission: 9
dive: 461
start: 1 7 111 2 16 39
data:
$ID,148
$MISSION,9
$DIVE,461
$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,-867977.44
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,020855,2249.738,-15800.629,40,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.2
$GPS2,021544,2249.702,-15800.671,9,1.1,9,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.226,0.107
$KALMAN_X,-75697.7,203.5,50.5,91256.0,-1073.7
$KALMAN_Y,-97161.3,104.0,-366.2,226710.7,-1064.5
$MHEAD_RNG_PITCHd_Wd,54.6,6291,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-75.18,0.000,2,0.000,0.000,415,1856,3367,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.9,-5.7,10,125,11.43,2.70,-6.28,0.000,4,0.150,0.048,2597,204,3718,0,0,0,0,0,0
$GC,165,-1.03,-146.0,22.0,-16.8,19,174,0.12,2.53,0.00,0.000,6,0.073,0.020,2632,1797,3720,0,0,0,0,0,0
$GC,445,-1.03,-146.0,54.8,-11.6,49,449,0.00,2.50,0.00,0.000,4,0.000,0.030,2632,3369,3720,0,0,0,0,0,0
$GC,510,-1.09,-146.0,62.2,-10.3,54,515,0.00,2.53,0.00,0.000,6,0.000,0.022,2632,1789,3720,0,0,0,0,0,0
$GC,774,-1.09,-146.0,93.1,-11.2,78,778,0.00,2.53,0.00,0.000,4,0.000,0.030,2631,3371,3721,0,0,0,0,0,0
$GC,794,-1.09,-146.0,95.6,-10.3,79,799,0.00,2.50,0.00,0.000,6,0.000,0.021,2632,1793,3721,0,0,0,0,0,0
$GC,1056,-1.09,-146.0,121.8,-8.9,104,1060,0.00,2.50,0.00,0.000,4,0.000,0.029,2632,3367,3721,0,0,0,0,0,0
$GC,1098,-1.21,-146.0,124.9,-8.0,107,1102,0.15,2.42,0.00,0.000,6,0.051,0.022,2538,1818,3721,0,0,0,0,0,0
$GC,1360,-0.98,-146.0,160.7,-13.5,131,1369,0.55,2.58,0.00,0.000,4,0.082,0.036,2643,212,3722,0,0,0,0,0,0
$GC,1396,-1.19,-146.0,163.9,-6.8,134,1403,0.17,2.47,0.00,0.000,6,0.045,0.018,2541,1831,3722,0,0,0,0,0,0
$GC,1659,-1.05,-146.0,192.5,-11.3,159,1664,0.38,2.40,0.00,0.000,4,0.080,0.029,2629,3351,3723,0,0,0,0,0,0
$GC,1697,-1.19,-146.0,196.2,-8.1,162,1702,0.12,2.40,0.00,0.000,6,0.060,0.022,2553,1820,3723,0,0,0,0,0,0
$GC,1979,-1.06,-146.0,231.3,-12.7,171,1986,0.32,2.60,0.00,0.000,4,0.081,0.040,2625,217,3723,0,0,0,0,0,0
$GC,2000,-1.06,-146.0,233.8,-10.4,171,2005,0.00,2.50,0.00,0.000,6,0.000,0.019,2625,1824,3723,0,0,0,0,0,0
$GC,2266,-1.20,-146.0,252.6,-6.9,178,2271,0.12,2.47,0.00,0.000,4,0.063,0.031,2551,3362,3723,0,0,0,0,0,0
$GC,2318,-1.20,-146.0,257.8,-9.3,179,2323,0.20,2.42,0.00,0.000,6,0.083,0.024,2598,1827,3723,0,0,0,0,0,0
$GC,2598,-1.20,-146.0,280.0,-8.2,186,2602,0.00,2.47,0.00,0.000,4,0.000,0.033,2598,3357,3723,0,0,0,0,0,0
$GC,2631,-1.29,-146.0,282.8,-8.7,186,2635,0.00,2.40,0.00,0.000,6,0.000,0.025,2597,1838,3723,0,0,0,0,0,0
$GC,2881,-1.29,-146.0,303.3,-8.4,192,2885,0.00,2.47,0.00,0.000,4,0.000,0.035,2598,3363,3722,0,0,0,0,0,0
$GC,2911,-1.37,-146.0,305.6,-7.6,192,2916,0.15,2.40,0.00,0.000,6,0.054,0.025,2513,1848,3722,0,0,0,0,0,0
$GC,3166,-1.18,-146.0,339.1,-13.6,199,3173,0.40,2.72,0.00,0.000,4,0.081,0.048,2601,213,3720,0,0,0,0,0,0
$GC,3185,-1.12,-146.0,341.3,-11.4,199,3190,0.00,2.58,0.00,0.000,6,0.000,0.024,2601,1838,3720,0,0,0,0,0,0
$GC,3456,-1.20,-146.0,364.2,-8.4,206,3460,0.00,2.47,0.00,0.000,4,0.000,0.038,2601,3373,3719,0,0,0,0,0,0
$GC,3508,-1.34,-146.0,368.4,-7.9,207,3513,0.15,2.45,0.00,0.000,6,0.053,0.028,2521,1855,3719,0,0,0,0,0,0
$GC,3788,-1.20,-146.0,401.3,-12.5,214,3790,0.35,0.00,0.00,0.000,6,0.083,0.000,2597,1854,3718,0,0,0,0,0,0
$GC,4030,-1.29,-146.0,422.1,-8.2,220,4034,0.00,2.50,0.00,0.000,4,0.000,0.044,2597,3360,3716,0,0,0,0,0,0
$GC,4081,-1.42,-146.0,426.4,-7.5,221,4086,0.20,2.42,0.00,0.000,6,0.042,0.028,2514,1861,3716,0,0,0,0,0,0
$GC,4362,-1.26,-146.0,458.8,-11.8,228,4364,0.32,0.00,0.00,0.000,6,0.086,0.000,2584,1861,3714,0,0,0,0,0,0
$GC,4604,-1.26,-146.0,477.7,-7.3,234,4608,0.00,2.53,0.00,0.000,4,0.000,0.049,2584,3365,3712,0,0,0,0,0,0
$GC,4634,-1.33,-146.0,479.8,-7.7,234,4638,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,1867,3712,0,0,0,0,0,0
$GC,4893,-1.39,-146.0,498.3,-7.1,241,4898,0.12,2.50,0.00,0.000,4,0.066,0.048,2523,3361,3711,0,0,0,0,0,0
$STATE,4910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4919,-0.31,0.0,500.3,9.1,241,5041,1.17,0.00,118.25,0.871,6,0.082,0.000,2786,1688,3119,0,0,0,0,0,0
$STATE,5042,end apogee,CONTROL_FINISHED_OK
$STATE,5042,begin climb
$GC,5046,1.17,146.0,503.9,0.0,244,5176,1.38,2.67,120.22,0.852,4,0.031,0.067,3131,175,2525,0,0,0,0,0,0
$GC,5443,0.71,146.0,483.0,9.2,253,5450,0.55,2.45,0.00,0.000,6,0.099,0.028,3016,1674,2519,0,0,0,0,0,0
$GC,5706,0.83,235.8,468.4,5.3,260,5791,0.10,2.62,77.10,0.834,4,0.078,0.058,3065,175,2157,0,0,0,0,0,0
$GC,5982,0.66,235.8,438.5,13.0,266,5987,0.28,2.42,0.00,0.000,6,0.092,0.026,3006,1677,2152,0,0,0,0,0,0
$GC,6265,0.77,274.8,416.4,7.4,273,6305,0.10,0.00,34.58,0.797,6,0.076,0.000,3052,1678,1997,0,0,0,0,0,0
$GC,6551,0.77,274.8,390.5,9.1,280,6556,0.12,2.60,0.00,0.000,4,0.107,0.056,3026,174,1991,0,0,0,0,0,0
$GC,6584,0.78,283.0,387.4,8.7,280,6597,0.00,2.40,7.53,0.660,6,0.000,0.025,3026,1671,1966,0,0,0,0,0,0
$GC,6887,0.84,328.8,365.8,7.1,288,6932,0.00,0.00,42.35,0.775,6,0.000,0.000,3026,1671,1779,0,0,0,0,0,0
$GC,7173,0.86,348.1,342.8,8.2,295,7193,0.10,0.00,17.75,0.723,6,0.077,0.000,3077,1671,1700,0,0,0,0,0,0
$GC,7416,0.86,348.1,313.2,12.5,301,7421,0.15,2.60,0.00,0.000,4,0.102,0.056,3045,167,1695,0,0,0,0,0,0
$GC,7453,0.86,348.1,308.7,12.3,301,7457,0.00,2.42,0.00,0.000,6,0.000,0.025,3046,1673,1695,0,0,0,0,0,0
$GC,7702,0.86,348.1,281.3,11.0,307,7707,0.00,2.65,0.00,0.000,4,0.000,0.045,3046,3251,1693,0,0,0,0,0,0
$GC,7721,0.86,348.1,279.2,10.7,307,7725,0.00,2.62,0.00,0.000,6,0.000,0.031,3046,1667,1691,0,0,0,0,0,0
$GC,7986,0.86,348.1,250.9,10.5,314,7990,0.00,2.55,0.00,0.000,4,0.000,0.061,3045,170,1691,0,0,0,0,0,0
$GC,8009,0.86,348.1,248.0,11.0,314,8013,0.00,2.38,0.00,0.000,6,0.000,0.022,3046,1680,1691,0,0,0,0,0,0
$GC,8270,0.86,348.1,222.0,10.0,321,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1682,1690,0,0,0,0,0,0
$GC,8514,0.94,348.1,198.8,9.5,327,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1683,1690,0,0,0,0,0,0
$GC,8766,1.01,348.1,174.5,9.9,351,8771,0.15,2.55,0.00,0.000,4,0.058,0.037,3116,3259,1689,0,0,0,0,0,0
$GC,8793,0.95,348.1,171.2,12.4,353,8802,0.22,2.60,0.00,0.000,6,0.091,0.029,3066,1665,1688,0,0,0,0,0,0
$GC,9056,0.95,348.1,144.8,9.4,378,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1666,1688,0,0,0,0,0,0
$GC,9311,0.95,348.1,119.6,9.4,402,9316,0.00,2.58,0.00,0.000,4,0.000,0.034,3066,3257,1688,0,0,0,0,0,0
$GC,9352,1.04,348.1,116.4,9.8,405,9356,0.00,2.58,0.00,0.000,6,0.000,0.029,3065,1669,1686,0,0,0,0,0,0
$GC,9620,1.12,350.4,92.8,8.9,429,9625,0.15,2.47,0.00,0.000,4,0.055,0.053,3135,167,1686,0,0,0,0,0,0
$GC,9671,1.01,350.4,86.8,12.9,433,9676,0.25,2.35,0.00,0.000,6,0.091,0.021,3080,1680,1687,0,0,0,0,0,0
$GC,9935,1.01,350.9,63.0,9.0,457,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1680,1686,0,0,0,0,0,0
$GC,10201,1.03,370.1,41.0,8.2,482,10229,0.00,0.00,19.25,0.493,6,0.000,0.000,3080,1683,1609,0,0,0,0,0,0
$GC,10516,1.03,370.1,9.3,12.0,525,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1682,1608,0,0,0,0,0,0
$STATE,10562,end climb,SURFACE_DEPTH_REACHED
$STATE,10562,begin surface coast
$FINISH,0.7,1.025296
$STATE,10601,end surface coast,CONTROL_FINISHED_OK
$STATE,10601,begin surface
$SM_CCo,10621,4.95,0.066,0,0,1570,380.21
$SM_GC,1.77,0.00,0.00,4.95,0.000,0.000,0.066,407,1869,1570,-11.28,2.23,380.21
$IRIDIUM_FIX,2239.35,-15800.20,010400,232311
$TT8_MAMPS,0.026845
$HUMID,49.13
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.5,60.029
$10V_AH,10.1,52.928
$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,30.775,120.825,437.025,4.950,0.000,24.585,38.749,195.817,0.500,0.000,11.013,1110.195,6794.226,485.971,2066.601,575.671,33.377,1295.181,0.000,2076.167,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,66.729,870.545,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.905,339.644,421.292,651.644,1152.341,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355364
$DATA_FILE_SIZE,41598,538
$CAP_FILE_SIZE,118053,0
$CFSIZE,260165632,146141184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,051501,2249.607,-15759.874,16,99.0,35,10.1