version: 66.06
glider: 148
mission: 9
dive: 421
start: 1 1 111 23 0 23
data:
$ID,148
$MISSION,9
$DIVE,421
$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,420
$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,-867025.69
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,225127,2249.865,-15800.255,36,99.0,55,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.7
$GPS2,225926,2249.898,-15800.348,12,1.6,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.232,0.095
$KALMAN_X,-37575.9,152.4,-136.7,53929.5,-208.4
$KALMAN_Y,-80968.8,286.3,-534.3,210865.1,-973.4
$MHEAD_RNG_PITCHd_Wd,57.7,5718,-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,-75.30,0.000,2,0.000,0.000,410,1850,3263,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-3.7,10,131,11.98,2.47,-8.62,0.000,4,0.168,0.043,2601,3361,3719,0,0,0,0,0,0
$GC,171,-0.96,-146.0,21.1,-16.1,20,181,0.17,2.53,0.00,0.000,6,0.075,0.021,2645,1791,3720,0,0,0,0,0,0
$GC,453,-0.96,-146.0,51.5,-10.3,51,458,0.00,2.53,0.00,0.000,4,0.000,0.029,2645,3366,3721,0,0,0,0,0,0
$GC,530,-1.09,-146.0,58.8,-9.5,57,534,0.00,2.47,0.00,0.000,6,0.000,0.022,2645,1797,3721,0,0,0,0,0,0
$GC,799,-1.09,-146.0,86.2,-10.5,81,803,0.00,2.50,0.00,0.000,4,0.000,0.028,2645,3370,3721,0,0,0,0,0,0
$GC,846,-1.19,-146.0,91.5,-9.9,85,852,0.20,2.45,0.00,0.000,6,0.042,0.022,2555,1814,3721,0,0,0,0,0,0
$GC,1114,-1.03,-146.0,127.5,-13.9,109,1119,0.32,2.47,0.00,0.000,4,0.081,0.028,2632,3369,3722,0,0,0,0,0,0
$GC,1163,-1.15,-146.0,132.8,-8.5,113,1168,0.00,2.42,0.00,0.000,6,0.000,0.021,2631,1820,3722,0,0,0,0,0,0
$GC,1428,-1.24,-146.0,155.5,-8.3,137,1433,0.17,2.47,0.00,0.000,4,0.049,0.029,2540,3372,3722,0,0,0,0,0,0
$GC,1486,-1.14,-146.0,162.1,-11.9,142,1491,0.32,2.42,0.00,0.000,6,0.080,0.022,2613,1837,3723,0,0,0,0,0,0
$GC,1753,-1.14,-146.0,189.4,-10.7,166,1757,0.00,2.42,0.00,0.000,4,0.000,0.029,2613,3366,3723,0,0,0,0,0,0
$GC,1781,-1.14,-146.0,193.1,-10.3,168,1790,0.00,2.42,0.00,0.000,6,0.000,0.022,2613,1849,3723,0,0,0,0,0,0
$GC,2053,-1.14,-146.0,219.0,-9.2,180,2057,0.00,2.40,0.00,0.000,4,0.000,0.029,2613,3365,3723,0,0,0,0,0,0
$GC,2078,-1.21,-146.0,221.0,-8.7,180,2083,0.00,2.40,0.00,0.000,6,0.000,0.023,2613,1839,3723,0,0,0,0,0,0
$GC,2338,-1.28,-146.0,241.2,-7.7,187,2343,0.12,2.47,0.00,0.000,4,0.063,0.031,2524,3367,3723,0,0,0,0,0,0
$GC,2401,-1.14,-146.0,248.3,-11.6,188,2406,0.40,2.38,0.00,0.000,6,0.084,0.024,2612,1858,3723,0,0,0,0,0,0
$GC,2670,-1.23,-146.0,271.1,-8.4,195,2675,0.00,2.42,0.00,0.000,4,0.000,0.031,2612,3367,3723,0,0,0,0,0,0
$GC,2694,-1.32,-146.0,273.3,-9.1,195,2699,0.17,2.38,0.00,0.000,6,0.046,0.023,2534,1861,3723,0,0,0,0,0,0
$GC,2955,-1.18,-146.0,305.4,-12.8,202,2957,0.30,0.00,0.00,0.000,6,0.082,0.000,2601,1858,3722,0,0,0,0,0,0
$GC,3198,-1.25,-146.0,326.9,-8.4,208,3202,0.00,2.45,0.00,0.000,4,0.000,0.035,2601,3369,3722,0,0,0,0,0,0
$GC,3244,-1.36,-146.0,331.3,-9.2,209,3249,0.15,2.40,0.00,0.000,6,0.052,0.026,2519,1870,3722,0,0,0,0,0,0
$GC,3529,-1.19,-146.0,367.6,-13.2,216,3531,0.38,0.00,0.00,0.000,6,0.081,0.000,2600,1870,3720,0,0,0,0,0,0
$GC,3771,-1.27,-146.0,387.0,-7.3,222,3775,0.00,2.42,0.00,0.000,4,0.000,0.038,2601,3360,3719,0,0,0,0,0,0
$GC,3816,-1.40,-146.0,390.0,-7.7,223,3821,0.20,2.40,0.00,0.000,6,0.042,0.028,2507,1871,3719,0,0,0,0,0,0
$GC,4104,-1.22,-146.0,424.4,-12.4,230,4111,0.35,2.78,0.00,0.000,4,0.086,0.056,2587,221,3717,0,0,0,0,0,0
$GC,4150,-1.34,-146.0,428.9,-8.9,231,4154,0.00,2.62,0.00,0.000,6,0.000,0.028,2587,1866,3717,0,0,0,0,0,0
$GC,4437,-1.34,-146.0,453.1,-8.5,238,4441,0.00,2.45,0.00,0.000,4,0.000,0.045,2588,3362,3715,0,0,0,0,0,0
$GC,4480,-1.45,-146.0,456.7,-8.1,239,4485,0.17,2.40,0.00,0.000,6,0.048,0.029,2506,1877,3714,0,0,0,0,0,0
$GC,4769,-1.27,-146.0,492.0,-12.2,246,4777,0.30,2.83,0.00,0.000,4,0.090,0.062,2576,218,3712,0,0,0,0,0,0
$GC,4787,-1.20,-146.0,494.3,-11.4,246,4792,0.10,2.67,0.00,0.000,6,0.115,0.032,2597,1858,3712,0,0,0,0,0,0
$STATE,4891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4891,begin apogee
$GC,4898,-0.31,0.0,501.9,7.0,249,5020,0.85,0.00,118.53,0.867,6,0.075,0.000,2790,1677,3120,0,0,0,0,0,0
$STATE,5021,end apogee,CONTROL_FINISHED_OK
$STATE,5021,begin climb
$GC,5023,1.17,146.0,506.2,0.0,252,5153,1.35,2.70,120.93,0.849,4,0.037,0.067,3116,187,2523,0,0,0,0,0,0
$GC,5421,0.76,146.0,481.3,10.2,260,5427,0.43,2.38,0.00,0.000,6,0.105,0.028,3027,1662,2516,0,0,0,0,0,0
$GC,5672,0.88,245.1,467.8,4.9,267,5767,0.10,2.58,84.20,0.830,4,0.077,0.058,3075,189,2118,0,0,0,0,0,0
$GC,5920,0.68,245.1,442.9,12.3,272,5925,0.30,2.40,0.00,0.000,6,0.094,0.026,3010,1670,2114,0,0,0,0,0,0
$GC,6180,0.74,294.2,424.4,7.0,279,6229,0.00,2.65,42.78,0.801,4,0.000,0.058,3010,183,1919,0,0,0,0,0,0
$GC,6272,0.76,305.0,417.3,8.6,281,6288,0.00,2.40,11.35,0.718,6,0.000,0.027,3010,1668,1876,0,0,0,0,0,0
$GC,6559,0.88,340.2,395.7,7.5,288,6597,0.17,2.78,31.67,0.779,4,0.050,0.053,3093,3257,1731,0,0,0,0,0,0
$GC,6633,0.80,340.2,387.1,13.2,288,6640,0.28,2.62,0.00,0.000,6,0.085,0.035,3033,1683,1726,0,0,0,0,0,0
$GC,6890,0.80,340.2,361.3,9.8,295,6894,0.00,2.60,0.00,0.000,4,0.000,0.065,3033,168,1724,0,0,0,0,0,0
$GC,6924,0.80,340.2,357.7,11.1,295,6928,0.00,2.42,0.00,0.000,6,0.000,0.026,3033,1671,1724,0,0,0,0,0,0
$GC,7174,0.80,340.2,332.1,10.2,301,7178,0.00,2.62,0.00,0.000,4,0.000,0.047,3032,3250,1722,0,0,0,0,0,0
$GC,7226,0.91,340.2,326.6,9.8,302,7232,0.10,2.62,0.00,0.000,6,0.078,0.033,3080,1668,1720,0,0,0,0,0,0
$GC,7507,0.83,340.2,292.4,12.4,309,7512,0.17,2.58,0.00,0.000,4,0.099,0.064,3043,162,1720,0,0,0,0,0,0
$GC,7545,0.83,340.2,287.4,11.8,309,7550,0.00,2.42,0.00,0.000,6,0.000,0.025,3043,1676,1719,0,0,0,0,0,0
$GC,7796,0.83,340.2,262.4,9.7,316,7800,0.00,2.58,0.00,0.000,4,0.000,0.057,3043,170,1719,0,0,0,0,0,0
$GC,7824,0.83,340.2,259.4,9.7,316,7828,0.00,2.38,0.00,0.000,6,0.000,0.024,3043,1663,1719,0,0,0,0,0,0
$GC,8078,0.85,352.3,237.4,8.5,323,8094,0.00,2.67,9.57,0.615,4,0.000,0.039,3043,3241,1682,0,0,0,0,0,0
$GC,8110,0.88,379.6,234.8,7.9,323,8143,0.00,2.62,26.35,0.672,6,0.000,0.030,3043,1653,1572,0,0,0,0,0,0
$GC,8413,0.95,379.6,205.9,9.8,331,8415,0.10,0.00,0.00,0.000,6,0.077,0.000,3095,1653,1567,0,0,0,0,0,0
$GC,8668,0.88,379.6,173.6,12.8,349,8673,0.20,2.50,0.00,0.000,4,0.095,0.050,3052,168,1566,0,0,0,0,0,0
$GC,8693,0.88,379.6,169.8,12.5,351,8698,0.00,2.38,0.00,0.000,6,0.000,0.022,3052,1669,1566,0,0,0,0,0,0
$GC,8961,0.88,380.2,144.3,9.0,375,8965,0.00,2.55,0.00,0.000,4,0.000,0.033,3053,3255,1565,0,0,0,0,0,0
$GC,9013,1.02,392.0,139.1,8.5,379,9031,0.12,2.60,11.30,0.550,6,0.063,0.029,3122,1662,1520,0,0,0,0,0,0
$GC,9288,0.90,392.0,103.8,13.1,405,9293,0.28,2.45,0.00,0.000,4,0.089,0.047,3058,172,1518,0,0,0,0,0,0
$GC,9324,1.00,392.0,99.2,9.9,408,9328,0.00,2.33,0.00,0.000,6,0.000,0.021,3058,1664,1518,0,0,0,0,0,0
$GC,9592,1.12,393.3,77.5,9.0,432,9600,0.17,0.00,0.00,0.000,6,0.048,0.000,3139,1668,1518,0,0,0,0,0,0
$GC,9859,1.00,393.3,41.9,13.8,457,9864,0.25,2.58,0.00,0.000,4,0.091,0.032,3079,3254,1518,0,0,0,0,0,0
$GC,9889,1.00,393.3,37.5,11.6,459,9894,0.00,2.60,0.00,0.000,6,0.000,0.025,3079,1640,1517,0,0,0,0,0,0
$GC,10187,1.07,393.3,8.0,9.3,500,10196,0.00,2.62,0.00,0.000,4,0.000,0.030,3079,3251,1517,0,0,0,0,0,0
$STATE,10228,end climb,SURFACE_DEPTH_REACHED
$STATE,10228,begin surface coast
$FINISH,1.9,1.023587
$STATE,10252,end surface coast,CONTROL_FINISHED_OK
$STATE,10252,begin surface
$SM_CCo,10276,19.38,0.265,1,0,1406,420.20
$SM_GC,1.49,0.00,0.00,19.38,0.000,0.000,0.265,410,1773,1406,-11.27,-0.48,420.20
$IRIDIUM_FIX,2241.69,-15759.32,270300,191958
$TT8_MAMPS,0.026845
$HUMID,49.60
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.70
$XPDR_PINGS,3
$24V_AH,23.5,55.276
$10V_AH,10.2,48.341
$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,31.350,140.750,456.675,19.375,0.000,23.738,33.993,282.663,0.750,0.000,14.430,1099.396,6439.752,505.768,2082.082,655.335,33.373,1361.891,0.000,2083.110,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,66.729,867.477,265.382,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.283,315.243,396.247,610.948,1080.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,41444,509
$CAP_FILE_SIZE,124522,0
$CFSIZE,260165632,148492288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020111,015310,2249.780,-15759.371,6,2.4,25,10.1