version: 66.06
glider: 148
mission: 9
dive: 467
start: 1 7 111 20 48 28
data:
$ID,148
$MISSION,9
$DIVE,467
$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,-868203.25
$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,32
$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
$GPS1,203725,2246.896,-15757.761,41,1.3,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.2
$GPS2,204732,2246.849,-15757.768,12,1.4,30,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.242,0.067
$KALMAN_X,-80341.6,178.0,-132.9,101105.7,-366.0
$KALMAN_Y,-101769.6,490.8,255.0,225029.7,-644.8
$MHEAD_RNG_PITCHd_Wd,275.3,8938,-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,-68.40,0.000,2,0.000,0.000,415,1849,3270,0,0,0,0,0,0
$GC,91,-1.17,-146.0,3.4,-4.0,9,116,11.35,2.50,-8.70,0.000,4,0.146,0.041,2598,3370,3717,0,0,0,0,0,0
$GC,177,-1.10,-146.0,20.6,-12.4,21,186,0.05,2.55,0.00,0.000,6,0.101,0.023,2614,1792,3719,0,0,0,0,0,0
$GC,461,-1.02,-146.0,55.0,-12.6,52,466,0.10,2.55,0.00,0.000,4,0.125,0.031,2635,3364,3719,0,0,0,0,0,0
$GC,506,-1.02,-146.0,61.0,-11.0,55,514,0.00,2.53,0.00,0.000,6,0.000,0.023,2636,1797,3719,0,0,0,0,0,0
$GC,766,-1.02,-146.0,90.4,-11.1,80,771,0.00,2.53,0.00,0.000,4,0.000,0.030,2636,3367,3720,0,0,0,0,0,0
$GC,811,-1.02,-146.0,94.7,-9.7,83,816,0.00,2.47,0.00,0.000,6,0.000,0.022,2636,1803,3720,0,0,0,0,0,0
$GC,1073,-1.02,-146.0,120.4,-9.7,108,1077,0.00,2.50,0.00,0.000,4,0.000,0.029,2636,3364,3720,0,0,0,0,0,0
$GC,1125,-1.13,-146.0,125.2,-8.4,112,1134,0.08,2.45,0.00,0.000,6,0.034,0.021,2568,1830,3721,0,0,0,0,0,0
$GC,1386,-1.01,-146.0,157.2,-12.2,137,1392,0.28,2.45,0.00,0.000,4,0.085,0.028,2634,3368,3721,0,0,0,0,0,0
$GC,1418,-1.01,-146.0,160.1,-9.7,139,1422,0.00,2.42,0.00,0.000,6,0.000,0.022,2634,1822,3721,0,0,0,0,0,0
$GC,1684,-1.10,-146.0,179.6,-6.5,163,1689,0.00,2.47,0.00,0.000,4,0.000,0.029,2634,3369,3722,0,0,0,0,0,0
$GC,1715,-1.22,-146.0,181.8,-5.7,165,1725,0.12,2.45,0.00,0.000,6,0.021,0.022,2559,1837,3722,0,0,0,0,0,0
$GC,1984,-1.11,-146.0,210.7,-11.8,185,1989,0.25,2.45,0.00,0.000,4,0.085,0.028,2619,3370,3722,0,0,0,0,0,0
$GC,2018,-1.20,-146.0,214.2,-8.4,185,2022,0.00,2.42,0.00,0.000,6,0.000,0.022,2619,1838,3722,0,0,0,0,0,0
$GC,2270,-1.28,-146.0,232.8,-7.3,191,2275,0.17,2.45,0.00,0.000,4,0.049,0.029,2530,3372,3722,0,0,0,0,0,0
$GC,2294,-1.19,-146.0,235.3,-11.0,191,2299,0.32,2.40,0.00,0.000,6,0.075,0.022,2604,1845,3722,0,0,0,0,0,0
$GC,2555,-1.19,-146.0,256.0,-7.7,198,2560,0.00,2.45,0.00,0.000,4,0.000,0.030,2604,3371,3722,0,0,0,0,0,0
$GC,2599,-1.32,-146.0,259.5,-6.9,199,2604,0.12,2.40,0.00,0.000,6,0.063,0.024,2532,1862,3722,0,0,0,0,0,0
$GC,2886,-1.16,-146.0,295.0,-12.7,206,2893,0.30,2.67,0.00,0.000,4,0.082,0.041,2602,217,3722,0,0,0,0,0,0
$GC,2924,-1.30,-146.0,299.1,-9.6,206,2929,0.10,2.60,0.00,0.000,6,0.077,0.022,2534,1867,3722,0,0,0,0,0,0
$GC,3173,-1.15,-146.0,329.9,-12.8,212,3179,0.32,2.40,0.00,0.000,4,0.082,0.035,2607,3366,3721,0,0,0,0,0,0
$GC,3214,-1.29,-146.0,333.5,-7.9,212,3220,0.12,2.40,0.00,0.000,6,0.060,0.027,2536,1872,3721,0,0,0,0,0,0
$GC,3464,-1.16,-146.0,359.9,-10.8,219,3471,0.28,2.75,0.00,0.000,4,0.082,0.051,2602,218,3720,0,0,0,0,0,0
$GC,3486,-1.16,-146.0,362.2,-11.0,219,3490,0.00,2.60,0.00,0.000,6,0.000,0.025,2602,1867,3720,0,0,0,0,0,0
$GC,3752,-1.25,-146.0,381.7,-7.5,226,3756,0.00,2.42,0.00,0.000,4,0.000,0.038,2602,3361,3718,0,0,0,0,0,0
$GC,3789,-1.39,-146.0,384.9,-7.7,226,3795,0.20,2.38,0.00,0.000,6,0.044,0.027,2524,1888,3718,0,0,0,0,0,0
$GC,4039,-1.24,-146.0,412.0,-11.0,233,4046,0.25,2.83,0.00,0.000,4,0.087,0.054,2583,214,3716,0,0,0,0,0,0
$GC,4062,-1.24,-146.0,414.5,-11.1,233,4067,0.00,2.67,0.00,0.000,6,0.000,0.027,2583,1881,3716,0,0,0,0,0,0
$GC,4326,-1.24,-146.0,435.8,-7.9,240,4330,0.00,2.40,0.00,0.000,4,0.000,0.044,2583,3356,3714,0,0,0,0,0,0
$GC,4371,-1.34,-146.0,439.3,-8.1,241,4375,0.00,2.35,0.00,0.000,6,0.000,0.028,2583,1885,3714,0,0,0,0,0,0
$GC,4657,-1.34,-146.0,461.5,-7.4,248,4664,0.00,2.85,0.00,0.000,4,0.000,0.063,2583,216,3712,0,0,0,0,0,0
$GC,4679,-1.34,-146.0,463.2,-7.8,248,4683,0.00,2.65,0.00,0.000,6,0.000,0.028,2584,1872,3712,0,0,0,0,0,0
$GC,4944,-1.34,-146.0,482.9,-7.7,255,4948,0.00,2.45,0.00,0.000,4,0.000,0.049,2583,3360,3710,0,0,0,0,0,0
$GC,4988,-1.44,-146.0,486.6,-8.7,256,4992,0.15,2.38,0.00,0.000,6,0.055,0.029,2508,1894,3710,0,0,0,0,0,0
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5110,begin apogee
$GC,5118,-0.31,0.0,501.9,12.8,259,5240,1.27,0.00,117.97,0.869,6,0.077,0.000,2792,1684,3120,0,0,0,0,0,0
$STATE,5240,end apogee,CONTROL_FINISHED_OK
$STATE,5240,begin climb
$GC,5243,1.17,146.0,508.4,0.0,262,5373,1.30,2.75,120.95,0.854,4,0.025,0.050,3119,3238,2523,0,0,0,0,0,0
$GC,5532,0.91,157.4,499.8,8.5,268,5550,0.28,2.60,10.07,0.736,6,0.103,0.037,3061,1690,2477,0,0,0,0,0,0
$GC,5797,0.82,198.1,480.4,7.3,275,5840,0.12,2.75,35.55,0.825,4,0.118,0.075,3035,169,2311,0,0,0,0,0,0
$GC,5873,0.69,198.1,474.5,9.3,276,5878,0.12,2.42,0.00,0.000,6,0.113,0.028,3010,1666,2309,0,0,0,0,0,0
$GC,6130,0.77,263.1,458.2,6.3,283,6194,0.00,2.62,56.85,0.827,4,0.000,0.058,3009,167,2046,0,0,0,0,0,0
$GC,6222,0.77,263.1,450.5,9.8,285,6226,0.00,2.47,0.00,0.000,6,0.000,0.027,3009,1681,2045,0,0,0,0,0,0
$GC,6501,0.77,263.1,424.7,9.6,292,6505,0.00,2.70,0.00,0.000,4,0.000,0.053,3009,3264,2038,0,0,0,0,0,0
$GC,6536,0.89,263.1,421.1,9.5,292,6544,0.17,2.65,0.00,0.000,6,0.051,0.035,3083,1680,2036,0,0,0,0,0,0
$GC,6788,0.76,263.1,391.2,11.7,299,6790,0.28,0.00,0.00,0.000,6,0.094,0.000,3024,1680,2035,0,0,0,0,0,0
$GC,7033,0.76,263.1,368.8,9.0,305,7038,0.00,2.67,0.00,0.000,4,0.000,0.046,3024,3260,2034,0,0,0,0,0,0
$GC,7057,0.77,273.4,366.5,8.6,305,7074,0.00,2.60,8.32,0.673,6,0.000,0.035,3024,1682,2005,0,0,0,0,0,0
$GC,7318,0.78,281.6,343.5,8.7,312,7328,0.00,0.00,8.88,0.673,6,0.000,0.000,3024,1682,1971,0,0,0,0,0,0
$GC,7563,0.78,283.5,322.1,8.9,318,7567,0.00,2.65,0.00,0.000,4,0.000,0.043,3024,3257,1968,0,0,0,0,0,0
$GC,7577,0.79,291.4,320.7,8.7,318,7593,0.00,2.62,10.15,0.677,6,0.000,0.032,3024,1676,1931,0,0,0,0,0,0
$GC,7848,0.81,310.5,298.3,8.2,325,7872,0.00,2.67,18.67,0.711,4,0.000,0.064,3024,173,1853,0,0,0,0,0,0
$GC,7894,0.81,310.5,294.2,9.5,326,7898,0.00,2.45,0.00,0.000,6,0.000,0.024,3024,1696,1853,0,0,0,0,0,0
$GC,8181,0.89,312.3,268.5,8.9,333,8186,0.12,2.62,0.00,0.000,4,0.065,0.044,3084,3254,1850,0,0,0,0,0,0
$GC,8230,0.89,312.3,263.1,11.6,334,8235,0.15,2.60,0.00,0.000,6,0.103,0.033,3052,1687,1848,0,0,0,0,0,0
$GC,8512,0.89,312.3,235.7,9.4,341,8517,0.00,2.60,0.00,0.000,4,0.000,0.061,3052,169,1848,0,0,0,0,0,0
$GC,8545,0.89,312.3,232.4,10.5,341,8549,0.00,2.45,0.00,0.000,6,0.000,0.023,3052,1704,1848,0,0,0,0,0,0
$GC,8796,0.89,312.3,208.9,9.6,347,8800,0.00,2.53,0.00,0.000,4,0.000,0.038,3052,3251,1847,0,0,0,0,0,0
$GC,8819,0.89,312.3,206.3,9.5,347,8823,0.00,2.55,0.00,0.000,6,0.000,0.030,3052,1697,1846,0,0,0,0,0,0
$GC,9087,0.93,345.5,183.8,7.6,366,9127,0.00,2.65,30.88,0.641,4,0.000,0.035,3053,3255,1709,0,0,0,0,0,0
$GC,9139,0.93,345.5,179.4,9.0,371,9144,0.00,2.58,0.00,0.000,6,0.000,0.028,3052,1694,1707,0,0,0,0,0,0
$GC,9402,0.99,345.5,154.0,10.1,395,9407,0.10,2.55,0.00,0.000,4,0.077,0.054,3118,165,1705,0,0,0,0,0,0
$GC,9434,0.87,345.5,150.7,13.3,397,9439,0.32,2.45,0.00,0.000,6,0.095,0.023,3049,1708,1704,0,0,0,0,0,0
$GC,9699,0.97,361.7,127.2,8.3,421,9721,0.10,2.55,15.10,0.562,4,0.076,0.034,3107,3265,1644,0,0,0,0,0,0
$GC,9746,0.97,361.7,122.5,11.1,425,9751,0.17,2.53,0.00,0.000,6,0.094,0.028,3068,1706,1640,0,0,0,0,0,0
$GC,10010,1.05,361.7,95.4,9.9,449,10015,0.00,2.53,0.00,0.000,4,0.000,0.032,3068,3258,1640,0,0,0,0,0,0
$GC,10048,1.19,361.7,91.8,9.6,452,10053,0.20,2.50,0.00,0.000,6,0.044,0.028,3166,1719,1638,0,0,0,0,0,0
$GC,10312,0.97,361.7,58.1,12.9,476,10324,0.43,2.55,0.00,0.000,4,0.090,0.043,3076,172,1638,0,0,0,0,0,0
$GC,10374,1.04,361.7,51.7,9.2,481,10379,0.00,2.42,0.00,0.000,6,0.000,0.021,3076,1718,1638,0,0,0,0,0,0
$GC,10648,1.04,361.7,24.6,10.2,509,10657,0.00,2.50,0.00,0.000,4,0.000,0.033,3076,3257,1638,0,0,0,0,0,0
$GC,10687,1.12,361.7,20.9,10.3,514,10696,0.08,2.50,0.00,0.000,6,0.035,0.026,3140,1718,1638,0,0,0,0,0,0
$STATE,10814,end climb,SURFACE_DEPTH_REACHED
$STATE,10814,begin surface coast
$FINISH,0.8,1.023988
$STATE,10848,end surface coast,CONTROL_FINISHED_OK
$STATE,10848,begin surface
$SM_CCo,10868,7.97,0.064,0,0,1570,380.21
$SM_GC,1.39,0.00,0.00,7.97,0.000,0.000,0.064,409,1855,1570,-11.28,1.84,380.21
$IRIDIUM_FIX,2237.01,-15758.03,020400,202021
$TT8_MAMPS,0.026845
$HUMID,50.15
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.5,60.723
$10V_AH,10.1,53.596
$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,30.900,167.975,433.400,7.975,0.000,56.339,67.511,256.902,0.250,0.000,32.328,1149.066,7041.479,499.166,2079.755,717.899,33.387,1367.382,0.000,2058.577,0.000,0.536,0.000
$DEVICE_MAMPS,146.497,79.001,869.011,63.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.496,322.843,415.223,620.892,1098.595,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355296
$DATA_FILE_SIZE,41548,539
$CAP_FILE_SIZE,136079,0
$CFSIZE,260165632,145760256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,235057,2246.984,-15759.325,9,99.0,28,10.1