version: 66.06
glider: 148
mission: 9
dive: 438
start: 1 4 111 3 33 47
data:
$ID,148
$MISSION,9
$DIVE,438
$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,-867506.06
$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,29
$R_STBD_OVSHOOT,52
$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
$GPS1,032058,2249.471,-15758.139,12,2.4,31,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.8
$GPS2,033252,2249.467,-15758.296,14,2.9,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.237,0.080
$KALMAN_X,-51968.7,154.2,-165.5,71877.3,-1193.6
$KALMAN_Y,-87134.3,-352.8,-323.7,216666.9,-258.5
$MHEAD_RNG_PITCHd_Wd,61.2,2423,-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,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.95,0.000,2,0.000,0.000,411,1852,3278,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.4,-4.1,10,126,11.50,2.47,-8.32,0.000,4,0.152,0.041,2597,3363,3715,0,0,0,0,0,0
$GC,147,-0.39,-146.0,16.6,-24.7,16,157,0.77,2.53,0.00,0.000,6,0.081,0.021,2773,1785,3717,0,0,0,0,0,0
$GC,451,-1.15,-146.0,37.1,-9.1,58,464,0.65,2.53,0.00,0.000,4,0.044,0.027,2609,3364,3718,0,0,0,0,0,0
$GC,471,-1.70,-146.0,39.5,-10.1,59,480,0.47,2.53,0.00,0.000,6,0.018,0.022,2432,1785,3718,0,0,0,0,0,0
$GC,735,-1.14,-146.0,105.3,-24.3,84,744,0.82,0.00,0.00,0.000,6,0.097,0.000,2608,1785,3718,0,0,0,0,0,0
$GC,999,-1.14,-146.0,136.1,-11.0,109,1004,0.00,2.53,0.00,0.000,4,0.000,0.028,2608,3366,3719,0,0,0,0,0,0
$GC,1077,-1.20,-146.0,144.5,-9.1,116,1081,0.00,2.50,0.00,0.000,6,0.000,0.022,2608,1790,3719,0,0,0,0,0,0
$GC,1339,-1.20,-146.0,169.1,-8.8,140,1343,0.00,2.53,0.00,0.000,4,0.000,0.028,2608,3368,3719,0,0,0,0,0,0
$GC,1399,-1.26,-146.0,173.7,-8.1,145,1404,0.10,2.47,0.00,0.000,6,0.071,0.022,2529,1793,3720,0,0,0,0,0,0
$GC,1678,-1.02,-146.0,213.8,-15.4,165,1686,0.50,2.50,0.00,0.000,4,0.082,0.028,2634,3365,3720,0,0,0,0,0,0
$GC,1711,-1.12,-146.0,217.6,-9.5,165,1715,0.00,2.47,0.00,0.000,6,0.000,0.022,2634,1803,3720,0,0,0,0,0,0
$GC,1966,-1.24,-146.0,240.8,-9.2,172,1971,0.17,2.53,0.00,0.000,4,0.047,0.030,2540,3367,3720,0,0,0,0,0,0
$GC,2017,-1.16,-146.0,247.5,-13.6,173,2023,0.30,2.47,0.00,0.000,6,0.079,0.024,2608,1814,3720,0,0,0,0,0,0
$GC,2298,-1.23,-146.0,272.9,-8.7,180,2302,0.00,2.47,0.00,0.000,4,0.000,0.029,2608,3361,3720,0,0,0,0,0,0
$GC,2354,-1.36,-146.0,277.5,-8.1,181,2359,0.20,2.42,0.00,0.000,6,0.043,0.025,2508,1828,3720,0,0,0,0,0,0
$GC,2630,-1.11,-146.0,314.4,-14.2,188,2637,0.52,2.47,0.00,0.000,4,0.087,0.034,2612,3361,3720,0,0,0,0,0,0
$GC,2656,-1.11,-146.0,317.6,-9.6,188,2660,0.00,2.42,0.00,0.000,6,0.000,0.025,2612,1833,3720,0,0,0,0,0,0
$GC,2915,-1.22,-146.0,335.2,-6.9,195,2920,0.00,2.47,0.00,0.000,4,0.000,0.035,2612,3359,3719,0,0,0,0,0,0
$GC,2950,-1.36,-146.0,337.6,-6.7,195,2955,0.20,2.45,0.00,0.000,6,0.041,0.028,2524,1826,3719,0,0,0,0,0,0
$GC,3200,-1.21,-146.0,366.7,-12.1,201,3205,0.30,2.50,0.00,0.000,4,0.085,0.037,2593,3362,3718,0,0,0,0,0,0
$GC,3246,-1.29,-146.0,371.0,-8.6,202,3251,0.00,2.45,0.00,0.000,6,0.000,0.028,2593,1838,3718,0,0,0,0,0,0
$GC,3533,-1.29,-146.0,396.3,-8.7,209,3537,0.00,2.50,0.00,0.000,4,0.000,0.039,2593,3359,3715,0,0,0,0,0,0
$GC,3584,-1.39,-146.0,400.9,-8.5,210,3589,0.15,2.42,0.00,0.000,6,0.053,0.028,2507,1858,3716,0,0,0,0,0,0
$GC,3865,-1.19,-146.0,437.4,-13.4,217,3872,0.40,2.47,0.00,0.000,4,0.083,0.042,2596,3358,3714,0,0,0,0,0,0
$GC,3886,-1.19,-146.0,440.0,-10.0,217,3890,0.00,2.40,0.00,0.000,6,0.000,0.027,2596,1865,3714,0,0,0,0,0,0
$GC,4152,-1.27,-146.0,458.4,-6.9,224,4156,0.00,2.45,0.00,0.000,4,0.000,0.043,2596,3356,3712,0,0,0,0,0,0
$GC,4176,-1.35,-146.0,460.2,-7.6,224,4181,0.12,2.38,0.00,0.000,6,0.061,0.028,2520,1870,3712,0,0,0,0,0,0
$GC,4436,-1.20,-146.0,488.1,-11.1,231,4443,0.32,2.83,0.00,0.000,4,0.083,0.063,2593,212,3710,0,0,0,0,0,0
$GC,4459,-1.20,-146.0,490.3,-9.0,231,4463,0.00,2.65,0.00,0.000,6,0.000,0.031,2593,1854,3710,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4604,-0.31,0.0,500.9,7.3,235,4725,0.88,0.00,117.93,0.867,6,0.071,0.000,2793,1672,3120,0,0,0,0,0,0
$STATE,4726,end apogee,CONTROL_FINISHED_OK
$STATE,4726,begin climb
$GC,4728,1.17,146.0,505.6,0.0,238,4859,1.30,2.67,121.25,0.848,4,0.026,0.066,3118,190,2523,0,0,0,0,0,0
$GC,4918,0.73,146.0,502.8,9.9,242,4925,0.47,2.40,0.00,0.000,6,0.102,0.030,3020,1655,2519,0,0,0,0,0,0
$GC,5195,0.81,210.5,484.7,6.3,249,5252,0.00,0.00,55.38,0.830,6,0.000,0.000,3020,1654,2261,0,0,0,0,0,0
$GC,5477,0.83,221.2,461.2,8.6,256,5494,0.00,2.60,9.62,0.718,4,0.000,0.058,3020,188,2217,0,0,0,0,0,0
$GC,5556,0.83,221.2,453.7,9.6,257,5560,0.00,2.40,0.00,0.000,6,0.000,0.027,3020,1674,2216,0,0,0,0,0,0
$GC,5810,0.84,229.1,431.3,8.7,264,5824,0.10,2.58,7.75,0.685,4,0.077,0.058,3078,187,2186,0,0,0,0,0,0
$GC,5878,0.64,229.1,423.6,12.5,265,5884,0.38,2.38,0.00,0.000,6,0.094,0.026,2999,1663,2184,0,0,0,0,0,0
$GC,6143,0.78,278.1,403.6,7.0,272,6194,0.12,2.62,44.45,0.798,4,0.064,0.056,3065,188,1986,0,0,0,0,0,0
$GC,6209,0.66,278.1,397.3,10.4,273,6214,0.28,2.40,0.00,0.000,6,0.091,0.025,3005,1661,1985,0,0,0,0,0,0
$GC,6474,0.78,302.4,375.7,8.0,280,6503,0.10,2.78,22.38,0.756,4,0.075,0.050,3066,3250,1886,0,0,0,0,0,0
$GC,6513,0.70,302.4,371.3,10.6,280,6519,0.25,2.62,0.00,0.000,6,0.085,0.032,3012,1679,1884,0,0,0,0,0,0
$GC,6765,0.79,306.5,348.7,8.8,287,6776,0.00,2.65,4.47,0.527,4,0.000,0.038,3013,3260,1869,0,0,0,0,0,0
$GC,6797,0.91,317.3,345.5,8.6,287,6815,0.20,2.67,11.45,0.696,6,0.048,0.034,3096,1661,1826,0,0,0,0,0,0
$GC,7102,0.78,317.3,306.6,13.0,295,7107,0.28,2.55,0.00,0.000,4,0.091,0.061,3032,169,1822,0,0,0,0,0,0
$GC,7146,0.78,317.3,301.0,10.7,296,7150,0.00,2.40,0.00,0.000,6,0.000,0.025,3032,1674,1821,0,0,0,0,0,0
$GC,7434,0.84,317.3,274.4,9.4,303,7439,0.00,2.60,0.00,0.000,4,0.000,0.042,3032,3250,1820,0,0,0,0,0,0
$GC,7477,0.96,317.3,270.2,9.3,304,7483,0.15,2.62,0.00,0.000,6,0.055,0.032,3101,1665,1818,0,0,0,0,0,0
$GC,7765,0.85,317.3,235.1,12.2,311,7770,0.25,2.55,0.00,0.000,4,0.096,0.059,3045,171,1818,0,0,0,0,0,0
$GC,7819,0.85,317.3,229.0,11.1,312,7823,0.00,2.38,0.00,0.000,6,0.000,0.023,3045,1675,1818,0,0,0,0,0,0
$GC,8096,0.85,317.3,202.0,9.8,319,8100,0.00,2.55,0.00,0.000,4,0.000,0.037,3045,3245,1817,0,0,0,0,0,0
$GC,8133,0.98,333.6,198.5,8.3,319,8154,0.08,2.55,14.25,0.619,6,0.035,0.031,3100,1677,1760,0,0,0,0,0,0
$GC,8409,0.89,333.6,166.2,11.5,345,8411,0.20,0.00,0.00,0.000,6,0.104,0.000,3057,1677,1756,0,0,0,0,0,0
$GC,8670,0.91,347.0,142.6,8.4,369,8692,0.00,2.58,12.85,0.563,4,0.000,0.047,3057,166,1704,0,0,0,0,0,0
$GC,8726,0.91,347.0,136.9,10.4,374,8735,0.00,2.42,0.00,0.000,6,0.000,0.022,3057,1681,1704,0,0,0,0,0,0
$GC,8994,1.03,373.7,115.8,7.9,399,9027,0.12,2.65,25.12,0.568,4,0.064,0.034,3134,3254,1594,0,0,0,0,0,0
$GC,9097,1.03,373.7,104.7,11.8,409,9102,0.22,2.55,0.00,0.000,6,0.087,0.028,3083,1680,1590,0,0,0,0,0,0
$GC,9360,1.03,373.7,80.7,9.5,433,9365,0.00,2.53,0.00,0.000,4,0.000,0.046,3084,167,1590,0,0,0,0,0,0
$GC,9390,1.03,373.7,77.7,10.5,435,9394,0.00,2.38,0.00,0.000,6,0.000,0.021,3084,1693,1590,0,0,0,0,0,0
$GC,9658,1.03,373.7,52.0,9.7,459,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1693,1589,0,0,0,0,0,0
$GC,9933,1.03,373.7,20.8,10.2,490,9942,0.00,2.55,0.00,0.000,4,0.000,0.036,3083,3250,1590,0,0,0,0,0,0
$GC,9958,1.03,375.7,18.5,8.9,493,9966,0.00,2.53,0.00,0.000,6,0.000,0.024,3084,1687,1589,0,0,0,0,0,0
$STATE,10087,end climb,SURFACE_DEPTH_REACHED
$STATE,10088,begin surface coast
$FINISH,0.7,1.023978
$STATE,10136,end surface coast,CONTROL_FINISHED_OK
$STATE,10136,begin surface
$SM_CCo,10156,21.73,0.062,0,0,1407,420.20
$SM_GC,1.72,0.00,0.00,21.73,0.000,0.000,0.062,408,1853,1407,-11.28,1.78,420.20
$IRIDIUM_FIX,2239.35,-15800.20,300300,030356
$TT8_MAMPS,0.026845
$HUMID,48.97
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.5,57.346
$10V_AH,10.1,50.306
$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,33.750,141.400,446.900,21.725,0.000,56.620,65.445,364.768,0.500,0.000,35.890,1096.566,6425.204,529.451,2040.769,800.866,33.385,1352.032,0.000,2020.497,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,65.962,866.710,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.435,319.674,404.722,632.170,1115.350,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,41659,520
$CAP_FILE_SIZE,126706,0
$CFSIZE,260165632,147496960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,062451,2249.664,-15757.359,32,1.2,46,10.1