version: 66.06
glider: 148
mission: 9
dive: 485
start: 1 10 111 3 55 22
data:
$ID,148
$MISSION,9
$DIVE,485
$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,-868674.19
$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,44
$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
$GPS1,034422,2248.880,-15802.684,10,2.9,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-68.0
$GPS2,035428,2248.792,-15802.697,13,2.7,32,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.059,0.243
$KALMAN_X,-90884.9,281.0,190.2,102737.3,-961.7
$KALMAN_Y,-116357.2,-239.5,-178.6,244375.7,-1379.4
$MHEAD_RNG_PITCHd_Wd,3.5,2297,-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,-75.68,0.000,2,0.000,0.000,416,1850,3438,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.8,-4.5,10,123,11.40,2.72,-5.07,0.000,4,0.150,0.046,2594,208,3717,0,0,0,0,0,0
$GC,196,-1.17,-146.0,25.5,-12.1,24,204,0.00,2.50,0.00,0.000,6,0.000,0.019,2594,1795,3719,0,0,0,0,0,0
$GC,475,-1.01,-146.0,63.8,-14.3,52,481,0.20,2.53,0.00,0.000,4,0.097,0.029,2638,3370,3719,0,0,0,0,0,0
$GC,544,-1.09,-146.0,71.6,-9.8,57,548,0.00,2.50,0.00,0.000,6,0.000,0.022,2637,1787,3720,0,0,0,0,0,0
$GC,809,-1.09,-146.0,99.9,-11.4,81,814,0.00,2.55,0.00,0.000,4,0.000,0.031,2637,3367,3720,0,0,0,0,0,0
$GC,850,-1.17,-146.0,104.6,-9.9,84,859,0.12,2.50,0.00,0.000,6,0.025,0.022,2525,1807,3720,0,0,0,0,0,0
$GC,1117,-0.93,-146.0,143.9,-14.7,109,1126,0.55,2.58,0.00,0.000,4,0.083,0.038,2651,210,3721,0,0,0,0,0,0
$GC,1150,-1.07,-146.0,147.9,-8.9,112,1155,0.10,2.47,0.00,0.000,6,0.072,0.018,2579,1824,3721,0,0,0,0,0,0
$GC,1414,-0.97,-146.0,177.1,-11.6,136,1419,0.30,2.42,0.00,0.000,4,0.079,0.028,2645,3361,3722,0,0,0,0,0,0
$GC,1456,-1.14,-146.0,180.5,-7.4,139,1461,0.15,2.42,0.00,0.000,6,0.051,0.022,2562,1816,3722,0,0,0,0,0,0
$GC,1715,-1.03,-146.0,210.5,-11.9,157,1720,0.32,2.45,0.00,0.000,4,0.080,0.028,2634,3356,3722,0,0,0,0,0,0
$GC,1750,-1.19,-146.0,213.7,-7.7,157,1756,0.15,2.42,0.00,0.000,6,0.051,0.023,2560,1816,3722,0,0,0,0,0,0
$GC,2000,-1.10,-146.0,238.7,-10.0,163,2007,0.25,2.62,0.00,0.000,4,0.083,0.039,2621,212,3722,0,0,0,0,0,0
$GC,2036,-1.28,-146.0,241.8,-7.0,163,2042,0.17,2.53,0.00,0.000,6,0.048,0.020,2534,1830,3722,0,0,0,0,0,0
$GC,2288,-1.11,-146.0,270.5,-11.9,169,2293,0.38,2.45,0.00,0.000,4,0.080,0.030,2616,3358,3722,0,0,0,0,0,0
$GC,2332,-1.27,-146.0,274.8,-8.0,170,2338,0.12,2.42,0.00,0.000,6,0.060,0.025,2533,1827,3722,0,0,0,0,0,0
$GC,2622,-1.10,-146.0,310.4,-12.7,177,2629,0.40,2.47,0.00,0.000,4,0.084,0.035,2614,3356,3722,0,0,0,0,0,0
$GC,2639,-1.10,-146.0,312.7,-11.3,177,2643,0.00,2.42,0.00,0.000,6,0.000,0.025,2614,1829,3722,0,0,0,0,0,0
$GC,2907,-1.22,-146.0,331.5,-6.8,184,2912,0.00,2.47,0.00,0.000,4,0.000,0.036,2614,3359,3722,0,0,0,0,0,0
$GC,2942,-1.39,-146.0,333.8,-6.7,184,2947,0.22,2.42,0.00,0.000,6,0.038,0.029,2524,1841,3721,0,0,0,0,0,0
$GC,3192,-1.24,-146.0,362.3,-11.9,190,3194,0.30,0.00,0.00,0.000,6,0.087,0.000,2588,1841,3720,0,0,0,0,0,0
$GC,3436,-1.24,-146.0,382.8,-8.2,196,3440,0.00,2.47,0.00,0.000,4,0.000,0.040,2588,3356,3719,0,0,0,0,0,0
$GC,3472,-1.32,-146.0,385.6,-8.3,196,3476,0.00,2.42,0.00,0.000,6,0.000,0.028,2588,1841,3718,0,0,0,0,0,0
$GC,3722,-1.32,-146.0,407.1,-8.8,202,3726,0.00,2.50,0.00,0.000,4,0.000,0.043,2588,3351,3717,0,0,0,0,0,0
$GC,3754,-1.41,-146.0,410.3,-9.6,202,3759,0.15,2.40,0.00,0.000,6,0.052,0.028,2528,1852,3717,0,0,0,0,0,0
$GC,4006,-1.28,-146.0,440.7,-12.6,208,4008,0.25,0.00,0.00,0.000,6,0.089,0.000,2581,1853,3715,0,0,0,0,0,0
$GC,4247,-1.28,-146.0,463.9,-9.3,214,4252,0.00,2.53,0.00,0.000,4,0.000,0.048,2581,3356,3714,0,0,0,0,0,0
$GC,4299,-1.37,-146.0,468.7,-8.5,215,4303,0.00,2.40,0.00,0.000,6,0.000,0.029,2581,1861,3714,0,0,0,0,0,0
$GC,4578,-1.37,-146.0,492.9,-8.8,222,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1861,3712,0,0,0,0,0,0
$STATE,4696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4696,begin apogee
$GC,4702,-0.31,0.0,503.0,8.2,225,4824,0.93,0.00,119.05,0.865,6,0.075,0.000,2790,1678,3120,0,0,0,0,0,0
$STATE,4825,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4829,1.17,146.0,508.2,0.0,228,4959,1.33,2.72,121.43,0.848,4,0.031,0.051,3131,3237,2523,0,0,0,0,0,0
$GC,5001,0.89,183.8,508.3,7.4,232,5044,0.35,2.62,32.83,0.815,6,0.100,0.038,3058,1689,2369,0,0,0,0,0,0
$GC,5289,0.77,188.8,483.5,8.8,239,5302,0.15,2.72,4.85,0.578,4,0.108,0.074,3026,166,2349,0,0,0,0,0,0
$GC,5429,0.67,188.8,470.5,9.2,242,5433,0.00,2.40,0.00,0.000,6,0.000,0.028,3026,1654,2348,0,0,0,0,0,0
$GC,5715,0.71,224.2,448.0,7.5,249,5752,0.00,2.62,31.42,0.808,4,0.000,0.060,3026,160,2205,0,0,0,0,0,0
$GC,5769,0.76,260.2,444.0,7.5,249,5809,0.00,2.47,33.20,0.799,6,0.000,0.027,3026,1674,2059,0,0,0,0,0,0
$GC,6087,0.78,278.0,417.3,8.3,257,6105,0.00,0.00,16.40,0.758,6,0.000,0.000,3026,1674,1986,0,0,0,0,0,0
$GC,6332,0.78,281.4,396.2,8.9,263,6341,0.00,2.72,3.75,0.482,4,0.000,0.056,3026,3258,1971,0,0,0,0,0,0
$GC,6360,0.78,281.4,393.4,9.1,263,6365,0.00,2.67,0.00,0.000,6,0.000,0.035,3026,1659,1970,0,0,0,0,0,0
$GC,6614,0.78,282.0,370.6,9.0,270,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1659,1969,0,0,0,0,0,0
$GC,6860,0.78,282.0,347.5,9.7,276,6864,0.00,2.70,0.00,0.000,4,0.000,0.044,3026,3259,1969,0,0,0,0,0,0
$GC,6903,0.87,282.0,343.0,10.2,277,6908,0.10,2.65,0.00,0.000,6,0.075,0.035,3073,1664,1967,0,0,0,0,0,0
$GC,7192,0.80,282.0,308.6,12.0,284,7199,0.17,2.67,0.00,0.000,4,0.098,0.044,3035,3253,1967,0,0,0,0,0,0
$GC,7220,0.80,282.0,305.8,10.1,284,7224,0.00,2.62,0.00,0.000,6,0.000,0.034,3035,1669,1965,0,0,0,0,0,0
$GC,7479,0.80,286.5,282.6,8.8,291,7491,0.00,2.65,5.15,0.544,4,0.000,0.041,3035,3254,1951,0,0,0,0,0,0
$GC,7510,0.81,290.6,279.8,8.8,291,7524,0.00,2.58,5.35,0.548,6,0.000,0.031,3035,1683,1935,0,0,0,0,0,0
$GC,7770,0.82,298.1,257.2,8.7,298,7786,0.00,2.65,9.10,0.623,4,0.000,0.038,3035,3255,1902,0,0,0,0,0,0
$GC,7819,0.94,310.3,252.6,8.5,299,7839,0.12,2.60,12.27,0.644,6,0.064,0.031,3092,1686,1855,0,0,0,0,0,0
$GC,8106,0.85,310.3,222.0,10.6,306,8111,0.22,2.58,0.00,0.000,4,0.094,0.058,3044,170,1852,0,0,0,0,0,0
$GC,8153,0.85,310.3,216.9,9.0,307,8158,0.00,2.40,0.00,0.000,6,0.000,0.023,3044,1692,1852,0,0,0,0,0,0
$GC,8418,0.94,325.8,195.1,8.4,315,8440,0.00,2.60,14.98,0.616,4,0.000,0.038,3044,3250,1790,0,0,0,0,0,0
$GC,8494,1.08,332.5,188.5,8.7,322,8507,0.20,2.58,7.25,0.540,6,0.044,0.029,3136,1685,1763,0,0,0,0,0,0
$GC,8769,0.90,332.5,150.0,13.7,348,8774,0.32,2.53,0.00,0.000,4,0.089,0.048,3062,166,1761,0,0,0,0,0,0
$GC,8819,0.90,332.5,143.8,11.6,352,8828,0.00,2.45,0.00,0.000,6,0.000,0.023,3062,1693,1760,0,0,0,0,0,0
$GC,9086,0.90,332.5,119.2,9.0,377,9090,0.00,2.53,0.00,0.000,4,0.000,0.033,3062,3265,1759,0,0,0,0,0,0
$GC,9114,1.01,345.3,116.6,8.5,379,9136,0.00,2.58,12.20,0.539,6,0.000,0.028,3062,1680,1711,0,0,0,0,0,0
$GC,9390,1.13,376.6,94.3,7.7,405,9432,0.17,2.58,29.40,0.551,4,0.049,0.046,3143,176,1583,0,0,0,0,0,0
$GC,9478,0.99,376.6,83.8,12.8,413,9483,0.30,2.40,0.00,0.000,6,0.087,0.022,3078,1687,1583,0,0,0,0,0,0
$GC,9741,0.99,376.6,57.2,10.1,437,9745,0.00,2.55,0.00,0.000,4,0.000,0.033,3078,3268,1580,0,0,0,0,0,0
$GC,9783,1.09,376.6,53.0,10.6,440,9788,0.00,2.55,0.00,0.000,6,0.000,0.027,3078,1685,1576,0,0,0,0,0,0
$GC,10061,1.09,376.6,23.4,12.4,468,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1685,1577,0,0,0,0,0,0
$STATE,10224,end climb,SURFACE_DEPTH_REACHED
$STATE,10224,begin surface coast
$FINISH,0.6,1.015035
$STATE,10270,end surface coast,CONTROL_FINISHED_OK
$STATE,10270,begin surface
$SM_CCo,10292,0.00,0.000,0,0,1570,380.21
$SM_GC,2.47,0.00,0.00,0.00,0.000,0.000,0.000,409,1845,1570,-11.28,1.55,380.21
$IRIDIUM_FIX,2241.69,-15649.01,050400,030328
$TT8_MAMPS,0.026845
$HUMID,50.70
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,3
$24V_AH,23.4,62.775
$10V_AH,10.0,55.595
$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,30.775,137.450,458.625,0.000,0.000,53.113,75.578,234.498,0.750,0.000,34.399,1067.687,6682.666,493.860,1955.649,696.113,33.377,1308.978,0.000,1939.624,0.000,0.538,0.000
$DEVICE_MAMPS,149.565,74.399,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.993,314.345,386.495,593.622,1049.167,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,38436,501
$CAP_FILE_SIZE,124175,0
$CFSIZE,260165632,144732160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100111,064807,2249.635,-15802.729,33,1.2,33,10.1