version: 66.06
glider: 148
mission: 9
dive: 462
start: 1 7 111 5 25 33
data:
$ID,148
$MISSION,9
$DIVE,462
$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,-868038
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,051501,2249.607,-15759.874,16,99.0,35,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.2
$GPS2,052436,2249.607,-15759.914,49,1.9,55,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,0.030
$KALMAN_X,-76487.5,58.5,-223.3,93769.6,-713.8
$KALMAN_Y,-98017.0,-245.2,-525.9,227901.3,-38.1
$MHEAD_RNG_PITCHd_Wd,73.0,5027,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,88,0.00,0.00,-67.65,0.000,2,0.000,0.000,407,1870,3264,0,0,0,0,0,0
$GC,91,-1.17,-146.0,3.6,-4.9,9,124,11.95,2.78,-8.70,0.000,4,0.168,0.048,2594,207,3719,0,0,0,0,0,0
$GC,202,-1.17,-146.0,25.1,-15.1,25,211,0.00,2.50,0.00,0.000,6,0.000,0.019,2594,1788,3719,0,0,0,0,0,0
$GC,476,-1.00,-146.0,61.0,-14.5,52,481,0.22,2.50,0.00,0.000,4,0.097,0.028,2643,3368,3720,0,0,0,0,0,0
$GC,544,-1.10,-146.0,71.6,-15.8,57,548,0.00,2.50,0.00,0.000,6,0.000,0.021,2643,1781,3720,0,0,0,0,0,0
$GC,811,-1.10,-146.0,101.6,-10.5,81,815,0.00,2.55,0.00,0.000,4,0.000,0.029,2643,3370,3720,0,0,0,0,0,0
$GC,850,-1.18,-146.0,106.3,-10.2,84,859,0.12,2.47,0.00,0.000,6,0.024,0.022,2536,1817,3721,0,0,0,0,0,0
$GC,1119,-0.97,-146.0,147.7,-15.3,109,1124,0.47,0.00,0.00,0.000,6,0.084,0.000,2645,1816,3721,0,0,0,0,0,0
$GC,1383,-1.10,-146.0,170.7,-7.5,134,1388,0.10,2.47,0.00,0.000,4,0.076,0.028,2573,3367,3722,0,0,0,0,0,0
$GC,1422,-1.10,-146.0,175.1,-9.8,137,1429,0.20,2.45,0.00,0.000,6,0.084,0.022,2619,1817,3722,0,0,0,0,0,0
$GC,1685,-1.17,-146.0,196.5,-7.6,162,1689,0.00,2.45,0.00,0.000,4,0.000,0.029,2619,3363,3722,0,0,0,0,0,0
$GC,1706,-1.24,-146.0,197.9,-8.1,163,1710,0.12,2.42,0.00,0.000,6,0.062,0.022,2536,1821,3723,0,0,0,0,0,0
$GC,1977,-1.05,-146.0,233.6,-13.5,171,1984,0.43,2.47,0.00,0.000,4,0.084,0.029,2628,3371,3723,0,0,0,0,0,0
$GC,2009,-1.16,-146.0,237.0,-9.6,171,2014,0.00,2.45,0.00,0.000,6,0.000,0.022,2627,1828,3722,0,0,0,0,0,0
$GC,2264,-1.28,-146.0,258.1,-8.3,178,2269,0.20,2.45,0.00,0.000,4,0.043,0.029,2526,3362,3722,0,0,0,0,0,0
$GC,2293,-1.14,-146.0,261.7,-13.1,178,2298,0.38,2.40,0.00,0.000,6,0.079,0.022,2609,1834,3723,0,0,0,0,0,0
$GC,2550,-1.22,-146.0,285.9,-9.4,185,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1834,3723,0,0,0,0,0,0
$GC,2793,-1.31,-146.0,304.2,-7.2,191,2798,0.15,2.47,0.00,0.000,4,0.054,0.033,2527,3360,3723,0,0,0,0,0,0
$GC,2817,-1.22,-146.0,306.6,-10.4,191,2822,0.30,2.42,0.00,0.000,6,0.083,0.023,2594,1836,3722,0,0,0,0,0,0
$GC,3078,-1.22,-146.0,328.3,-8.4,198,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1834,3721,0,0,0,0,0,0
$GC,3321,-1.22,-146.0,347.4,-7.9,204,3325,0.00,2.47,0.00,0.000,4,0.000,0.037,2594,3364,3720,0,0,0,0,0,0
$GC,3358,-1.32,-146.0,350.4,-7.3,204,3364,0.00,2.42,0.00,0.000,6,0.000,0.026,2594,1854,3720,0,0,0,0,0,0
$GC,3610,-1.32,-146.0,370.7,-8.3,211,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1854,3719,0,0,0,0,0,0
$GC,3852,-1.32,-146.0,391.1,-8.3,217,3856,0.00,2.47,0.00,0.000,4,0.000,0.040,2594,3359,3718,0,0,0,0,0,0
$GC,3895,-1.44,-146.0,394.5,-7.9,218,3900,0.20,2.42,0.00,0.000,6,0.044,0.028,2503,1859,3717,0,0,0,0,0,0
$GC,4184,-1.24,-146.0,430.0,-12.8,225,4187,0.38,0.00,0.00,0.000,6,0.083,0.000,2587,1858,3715,0,0,0,0,0,0
$GC,4426,-1.24,-146.0,449.3,-7.5,231,4430,0.00,2.47,0.00,0.000,4,0.000,0.046,2587,3351,3714,0,0,0,0,0,0
$GC,4466,-1.33,-146.0,451.9,-6.4,231,4471,0.00,2.42,0.00,0.000,6,0.000,0.029,2587,1855,3714,0,0,0,0,0,0
$GC,4716,-1.33,-146.0,470.3,-7.5,238,4720,0.00,2.80,0.00,0.000,4,0.000,0.064,2587,221,3712,0,0,0,0,0,0
$GC,4730,-1.33,-146.0,471.5,-7.5,238,4734,0.00,2.60,0.00,0.000,6,0.000,0.028,2587,1850,3712,0,0,0,0,0,0
$GC,5001,-1.40,-146.0,492.2,-7.8,245,5006,0.12,2.53,0.00,0.000,4,0.065,0.052,2529,3354,3711,0,0,0,0,0,0
$GC,5029,-1.33,-146.0,495.1,-9.2,245,5034,0.17,2.42,0.00,0.000,6,0.091,0.031,2568,1862,3711,0,0,0,0,0,0
$STATE,5119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5125,-0.31,0.0,503.2,8.8,248,5247,1.00,0.00,118.70,0.870,6,0.077,0.000,2794,1679,3120,0,0,0,0,0,0
$STATE,5248,end apogee,CONTROL_FINISHED_OK
$STATE,5248,begin climb
$GC,5252,1.17,146.0,508.6,0.0,251,5382,1.33,2.70,121.25,0.854,4,0.032,0.070,3129,189,2523,0,0,0,0,0,0
$GC,5394,0.88,246.5,512.2,4.8,254,5490,0.38,2.42,86.75,0.841,6,0.104,0.028,3052,1668,2113,0,0,0,0,0,0
$GC,5749,0.81,246.5,480.4,9.8,263,5754,0.00,2.55,0.00,0.000,4,0.000,0.058,3052,184,2103,0,0,0,0,0,0
$GC,5784,0.68,246.5,476.8,11.1,263,5789,0.20,2.45,0.00,0.000,6,0.098,0.030,3010,1677,2103,0,0,0,0,0,0
$GC,6033,0.71,269.4,456.4,8.1,269,6055,0.00,0.00,19.58,0.789,6,0.000,0.000,3010,1677,2020,0,0,0,0,0,0
$GC,6277,0.74,295.9,436.6,7.9,275,6309,0.00,2.75,25.10,0.795,4,0.000,0.054,3010,3265,1911,0,0,0,0,0,0
$GC,6322,0.79,335.4,433.3,7.4,276,6365,0.10,2.65,36.75,0.799,6,0.076,0.034,3061,1689,1751,0,0,0,0,0,0
$GC,6609,0.79,335.4,401.1,11.4,283,6614,0.12,2.67,0.00,0.000,4,0.108,0.048,3033,3260,1744,0,0,0,0,0,0
$GC,6635,0.79,335.4,398.2,10.8,283,6639,0.00,2.65,0.00,0.000,6,0.000,0.035,3033,1672,1742,0,0,0,0,0,0
$GC,6893,0.79,335.4,371.6,10.4,290,6898,0.00,2.70,0.00,0.000,4,0.000,0.046,3033,3267,1741,0,0,0,0,0,0
$GC,6933,0.89,335.4,367.4,10.7,290,6938,0.00,2.65,0.00,0.000,6,0.000,0.035,3033,1679,1738,0,0,0,0,0,0
$GC,7184,0.89,335.4,341.4,10.7,297,7188,0.00,2.67,0.00,0.000,4,0.000,0.044,3033,3266,1738,0,0,0,0,0,0
$GC,7207,0.95,335.4,338.4,11.1,297,7213,0.15,2.60,0.00,0.000,6,0.055,0.034,3097,1691,1737,0,0,0,0,0,0
$GC,7468,0.83,335.4,304.5,12.9,304,7475,0.25,2.62,0.00,0.000,4,0.093,0.063,3038,170,1738,0,0,0,0,0,0
$GC,7495,0.83,335.4,301.3,11.4,304,7499,0.00,2.45,0.00,0.000,6,0.000,0.025,3038,1702,1737,0,0,0,0,0,0
$GC,7754,0.83,335.4,275.4,10.1,311,7758,0.00,2.60,0.00,0.000,4,0.000,0.046,3038,3259,1737,0,0,0,0,0,0
$GC,7782,0.92,335.4,272.6,9.9,311,7787,0.10,2.58,0.00,0.000,6,0.077,0.031,3090,1693,1735,0,0,0,0,0,0
$GC,8039,0.84,335.4,243.4,11.6,318,8044,0.22,2.60,0.00,0.000,4,0.091,0.059,3041,173,1736,0,0,0,0,0,0
$GC,8072,0.84,335.4,239.2,11.1,318,8077,0.00,2.42,0.00,0.000,6,0.000,0.022,3042,1700,1735,0,0,0,0,0,0
$GC,8323,0.84,335.4,214.7,9.9,324,8328,0.00,2.53,0.00,0.000,4,0.000,0.039,3042,3248,1735,0,0,0,0,0,0
$GC,8379,0.97,335.4,208.9,10.7,325,8385,0.12,2.55,0.00,0.000,6,0.064,0.031,3113,1691,1734,0,0,0,0,0,0
$GC,8641,0.85,335.4,176.1,12.9,342,8646,0.30,2.55,0.00,0.000,4,0.089,0.050,3046,171,1733,0,0,0,0,0,0
$GC,8692,0.95,335.4,171.1,10.3,346,8696,0.00,2.40,0.00,0.000,6,0.000,0.023,3046,1700,1734,0,0,0,0,0,0
$GC,8954,1.02,335.4,147.9,9.9,370,8959,0.15,2.50,0.00,0.000,4,0.057,0.034,3109,3265,1734,0,0,0,0,0,0
$GC,9002,1.02,335.4,142.3,12.0,374,9008,0.12,2.55,0.00,0.000,6,0.107,0.028,3082,1693,1733,0,0,0,0,0,0
$GC,9263,1.02,335.4,115.2,9.3,398,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1693,1733,0,0,0,0,0,0
$GC,9520,1.03,339.6,92.9,8.8,422,9524,0.00,2.50,0.00,0.000,4,0.000,0.054,3081,168,1733,0,0,0,0,0,0
$GC,9558,1.03,339.6,89.5,9.9,425,9562,0.00,2.40,0.00,0.000,6,0.000,0.021,3082,1712,1733,0,0,0,0,0,0
$GC,9830,1.07,372.3,67.1,7.6,450,9868,0.00,0.00,30.92,0.529,6,0.000,0.000,3081,1715,1600,0,0,0,0,0,0
$GC,10127,1.07,372.3,39.0,10.7,478,10131,0.00,2.53,0.00,0.000,4,0.000,0.041,3082,173,1597,0,0,0,0,0,0
$GC,10149,1.09,389.9,36.7,8.3,479,10171,0.00,2.42,16.70,0.481,6,0.000,0.021,3082,1701,1529,0,0,0,0,0,0
$STATE,10451,end climb,SURFACE_DEPTH_REACHED
$STATE,10451,begin surface coast
$FINISH,0.9,1.024144
$STATE,10496,end surface coast,CONTROL_FINISHED_OK
$STATE,10497,begin surface
$SM_CCo,10579,0.00,0.000,0,0,1517,392.97
$SM_GC,1.67,10.90,0.00,0.00,0.027,0.000,0.000,413,1842,1517,-11.19,1.50,392.97
$IRIDIUM_FIX,2244.02,-15808.88,020400,020207
$TT8_MAMPS,0.026845
$HUMID,48.97
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.5,60.156
$10V_AH,10.1,53.041
$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,30.975,136.875,455.750,0.000,0.000,30.748,36.510,316.010,0.500,0.000,59.912,1084.948,6934.560,478.564,1957.407,698.220,33.383,1259.585,0.000,1918.495,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,75.933,869.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.035,332.932,410.822,623.843,1102.961,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,41420,530
$CAP_FILE_SIZE,120212,0
$CFSIZE,260165632,146071552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,082326,2249.638,-15758.897,37,2.2,56,10.1