version: 66.06
glider: 148
mission: 9
dive: 472
start: 1 8 111 12 18 9
data:
$ID,148
$MISSION,9
$DIVE,472
$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,-868351.31
$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,93
$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
$GPS1,120606,2250.020,-15803.054,40,1.3,51,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.8
$GPS2,121714,2250.031,-15803.031,12,1.1,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.235,0.086
$KALMAN_X,-83714.0,-273.7,214.6,95524.2,-730.9
$KALMAN_Y,-104741.5,-270.0,419.5,234486.0,-965.4
$MHEAD_RNG_PITCHd_Wd,59.8,10295,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-73.97,0.000,2,0.000,0.000,415,1836,3236,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.1,-3.6,10,131,11.50,2.70,-9.40,0.000,4,0.153,0.054,2595,209,3718,0,0,0,0,0,0
$GC,202,-1.17,-146.0,24.1,-15.0,25,211,0.00,2.42,0.00,0.000,6,0.000,0.019,2595,1748,3719,0,0,0,0,0,0
$GC,477,-1.02,-146.0,69.0,-14.6,52,482,0.20,2.58,0.00,0.000,4,0.099,0.030,2638,3364,3720,0,0,0,0,0,0
$GC,555,-1.09,-146.0,77.7,-8.7,58,564,0.00,2.53,0.00,0.000,6,0.000,0.021,2639,1789,3720,0,0,0,0,0,0
$GC,823,-1.09,-146.0,104.9,-10.6,83,827,0.00,2.50,0.00,0.000,4,0.000,0.028,2638,3364,3720,0,0,0,0,0,0
$GC,873,-1.24,-146.0,109.6,-7.5,87,879,0.20,2.45,0.00,0.000,6,0.041,0.022,2540,1815,3721,0,0,0,0,0,0
$GC,1137,-1.05,-146.0,145.2,-14.3,112,1147,0.40,0.00,0.00,0.000,6,0.081,0.000,2629,1814,3721,0,0,0,0,0,0
$GC,1400,-1.14,-146.0,167.5,-7.9,137,1405,0.00,2.47,0.00,0.000,4,0.000,0.028,2629,3361,3722,0,0,0,0,0,0
$GC,1450,-1.28,-146.0,171.6,-8.0,141,1460,0.17,2.47,0.00,0.000,6,0.021,0.022,2523,1817,3722,0,0,0,0,0,0
$GC,1711,-1.07,-146.0,205.6,-13.5,163,1713,0.45,0.00,0.00,0.000,6,0.081,0.000,2624,1816,3722,0,0,0,0,0,0
$GC,1956,-1.17,-146.0,224.6,-7.2,169,1960,0.00,2.45,0.00,0.000,4,0.000,0.030,2623,3360,3722,0,0,0,0,0,0
$GC,1990,-1.31,-146.0,227.3,-7.8,169,1995,0.20,2.42,0.00,0.000,6,0.039,0.024,2533,1822,3723,0,0,0,0,0,0
$GC,2240,-1.16,-146.0,256.3,-12.0,175,2247,0.30,2.62,0.00,0.000,4,0.085,0.041,2603,206,3722,0,0,0,0,0,0
$GC,2292,-1.29,-146.0,261.3,-8.6,176,2297,0.10,2.50,0.00,0.000,6,0.076,0.021,2536,1818,3722,0,0,0,0,0,0
$GC,2575,-1.17,-146.0,293.9,-11.4,183,2580,0.30,2.47,0.00,0.000,4,0.082,0.032,2603,3360,3722,0,0,0,0,0,0
$GC,2601,-1.17,-146.0,296.4,-9.0,183,2605,0.00,2.45,0.00,0.000,6,0.000,0.032,2603,1817,3722,0,0,0,0,0,0
$GC,2860,-1.25,-146.0,316.3,-7.7,190,2865,0.00,2.47,0.00,0.000,4,0.000,0.035,2603,3357,3722,0,0,0,0,0,0
$GC,2893,-1.36,-146.0,319.1,-8.3,190,2898,0.17,2.47,0.00,0.000,6,0.044,0.027,2510,1821,3722,0,0,0,0,0,0
$GC,3145,-1.17,-146.0,349.6,-12.5,196,3153,0.40,2.67,0.00,0.000,4,0.081,0.049,2600,207,3720,0,0,0,0,0,0
$GC,3192,-1.34,-146.0,354.4,-8.5,197,3197,0.12,2.53,0.00,0.000,6,0.064,0.024,2531,1806,3720,0,0,0,0,0,0
$GC,3482,-1.21,-146.0,385.8,-11.0,204,3487,0.25,2.55,0.00,0.000,4,0.087,0.041,2590,3368,3719,0,0,0,0,0,0
$GC,3543,-1.33,-146.0,391.5,-7.9,205,3548,0.00,2.47,0.00,0.000,6,0.000,0.029,2590,1826,3719,0,0,0,0,0,0
$GC,3814,-1.33,-146.0,412.9,-8.1,212,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1826,3717,0,0,0,0,0,0
$GC,4055,-1.33,-146.0,432.8,-8.2,218,4060,0.00,2.55,0.00,0.000,4,0.000,0.044,2590,3365,3715,0,0,0,0,0,0
$GC,4104,-1.43,-146.0,436.7,-8.0,219,4109,0.17,2.50,0.00,0.000,6,0.045,0.029,2510,1827,3715,0,0,0,0,0,0
$GC,4389,-1.26,-146.0,470.2,-12.2,226,4396,0.30,2.58,0.00,0.000,4,0.086,0.048,2580,3368,3713,0,0,0,0,0,0
$GC,4415,-1.26,-146.0,473.3,-10.2,226,4420,0.00,2.47,0.00,0.000,6,0.000,0.028,2580,1832,3712,0,0,0,0,0,0
$GC,4674,-1.26,-146.0,495.1,-8.2,233,4679,0.00,2.58,0.00,0.000,4,0.000,0.048,2580,3368,3711,0,0,0,0,0,0
$GC,4705,-1.33,-146.0,497.5,-7.6,233,4709,0.00,2.47,0.00,0.000,6,0.000,0.030,2580,1833,3711,0,0,0,0,0,0
$STATE,4753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4754,begin apogee
$GC,4759,-0.31,0.0,501.5,7.7,235,4881,0.93,0.00,118.32,0.866,6,0.073,0.000,2790,1668,3120,0,0,0,0,0,0
$STATE,4882,end apogee,CONTROL_FINISHED_OK
$STATE,4882,begin climb
$GC,4884,1.17,146.0,505.7,0.0,238,5017,1.35,2.75,121.38,0.849,4,0.032,0.051,3126,3250,2523,0,0,0,0,0,0
$GC,5141,0.89,146.0,496.5,10.8,243,5150,0.35,2.60,0.00,0.000,6,0.107,0.037,3054,1694,2517,0,0,0,0,0,0
$GC,5395,0.78,170.1,475.9,8.0,250,5423,0.12,2.72,20.27,0.795,4,0.130,0.074,3031,168,2425,0,0,0,0,0,0
$GC,5490,0.66,193.8,468.6,8.0,252,5519,0.12,2.42,21.58,0.792,6,0.120,0.027,3005,1669,2330,0,0,0,0,0,0
$GC,5775,0.73,248.9,449.4,6.7,259,5831,0.00,2.78,48.55,0.816,4,0.000,0.056,3006,3262,2102,0,0,0,0,0,0
$GC,5874,0.89,280.3,441.8,7.7,261,5910,0.20,2.67,28.55,0.791,6,0.045,0.036,3086,1666,1976,0,0,0,0,0,0
$GC,6193,0.75,280.3,405.8,10.9,269,6195,0.30,0.00,0.00,0.000,6,0.092,0.000,3021,1666,1968,0,0,0,0,0,0
$GC,6438,0.79,319.3,387.3,7.4,275,6479,0.00,0.00,35.08,0.779,6,0.000,0.000,3021,1666,1818,0,0,0,0,0,0
$GC,6724,0.88,338.6,364.5,8.2,282,6749,0.12,2.80,17.70,0.736,4,0.065,0.049,3079,3252,1738,0,0,0,0,0,0
$GC,6803,0.88,338.6,355.8,11.0,283,6809,0.12,2.62,0.00,0.000,6,0.107,0.041,3052,1673,1734,0,0,0,0,0,0
$GC,7059,0.88,338.6,327.4,11.1,290,7063,0.00,2.60,0.00,0.000,4,0.000,0.065,3052,170,1733,0,0,0,0,0,0
$GC,7109,0.88,338.6,320.9,12.5,291,7114,0.00,2.42,0.00,0.000,6,0.000,0.026,3052,1676,1732,0,0,0,0,0,0
$GC,7390,0.88,338.6,289.7,11.1,298,7395,0.00,2.65,0.00,0.000,4,0.000,0.049,3053,3250,1731,0,0,0,0,0,0
$GC,7428,0.95,338.6,285.6,9.6,298,7433,0.00,2.62,0.00,0.000,6,0.000,0.032,3052,1668,1729,0,0,0,0,0,0
$GC,7677,0.95,338.6,261.0,10.1,305,7681,0.00,2.58,0.00,0.000,4,0.000,0.063,3053,160,1729,0,0,0,0,0,0
$GC,7722,0.95,338.6,256.2,11.6,306,7726,0.00,2.40,0.00,0.000,6,0.000,0.024,3052,1673,1728,0,0,0,0,0,0
$GC,8008,0.96,347.5,229.8,8.6,313,8018,0.00,0.00,7.60,0.582,6,0.000,0.000,3052,1676,1703,0,0,0,0,0,0
$GC,8254,0.96,347.5,207.8,9.0,319,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1676,1701,0,0,0,0,0,0
$GC,8505,0.96,347.5,183.5,9.9,334,8509,0.00,2.58,0.00,0.000,4,0.000,0.037,3052,3255,1700,0,0,0,0,0,0
$GC,8523,0.96,347.5,181.1,9.8,335,8529,0.00,2.62,0.00,0.000,6,0.000,0.028,3052,1647,1699,0,0,0,0,0,0
$GC,8787,0.97,357.6,156.6,8.6,360,8803,0.00,2.70,10.25,0.561,4,0.000,0.035,3052,3249,1662,0,0,0,0,0,0
$GC,8839,1.09,357.6,151.6,9.1,365,8844,0.20,2.60,0.00,0.000,6,0.043,0.029,3144,1664,1659,0,0,0,0,0,0
$GC,9103,0.92,357.6,116.1,13.4,389,9109,0.38,2.50,0.00,0.000,4,0.086,0.045,3059,163,1659,0,0,0,0,0,0
$GC,9140,0.92,357.6,111.6,10.6,392,9144,0.00,2.35,0.00,0.000,6,0.000,0.021,3059,1667,1659,0,0,0,0,0,0
$GC,9413,1.02,357.6,89.2,10.3,417,9418,0.10,2.53,0.00,0.000,4,0.076,0.051,3117,168,1658,0,0,0,0,0,0
$GC,9429,1.02,357.6,86.5,10.8,418,9434,0.17,2.35,0.00,0.000,6,0.097,0.022,3079,1661,1659,0,0,0,0,0,0
$GC,9693,1.02,357.6,62.1,11.1,442,9697,0.00,2.58,0.00,0.000,4,0.000,0.035,3079,3251,1659,0,0,0,0,0,0
$GC,9715,1.02,357.6,59.8,9.3,443,9724,0.00,2.62,0.00,0.000,6,0.000,0.028,3079,1651,1658,0,0,0,0,0,0
$GC,9984,1.02,357.6,33.1,11.3,468,9988,0.00,2.42,0.00,0.000,4,0.000,0.046,3079,167,1658,0,0,0,0,0,0
$GC,10002,1.02,357.6,30.6,10.8,469,10006,0.00,2.33,0.00,0.000,6,0.000,0.020,3079,1667,1658,0,0,0,0,0,0
$STATE,10290,end climb,SURFACE_DEPTH_REACHED
$STATE,10290,begin surface coast
$FINISH,0.7,1.021379
$STATE,10348,end surface coast,CONTROL_FINISHED_OK
$STATE,10348,begin surface
$SM_CCo,10370,16.17,0.219,1,0,1570,380.21
$SM_GC,1.88,0.00,0.00,16.17,0.000,0.000,0.219,410,1830,1570,-11.27,1.13,380.21
$IRIDIUM_FIX,2239.35,-15802.37,030400,090935
$TT8_MAMPS,0.026845
$HUMID,49.29
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,4
$24V_AH,23.5,61.309
$10V_AH,10.1,54.146
$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,30.500,132.600,429.275,16.175,0.000,91.796,142.793,173.884,1.000,0.000,13.864,1100.706,6723.981,500.416,2011.443,724.009,33.385,1314.206,0.000,2017.414,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,73.632,865.943,219.362,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.526,331.641,406.125,626.274,1107.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,41497,523
$CAP_FILE_SIZE,120485,0
$CFSIZE,260165632,145485824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080111,151232,2249.749,-15801.980,14,1.8,33,10.1