version: 66.06
glider: 148
mission: 9
dive: 464
start: 1 7 111 11 40 49
data:
$ID,148
$MISSION,9
$DIVE,464
$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,-868099.25
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,113303,2249.997,-15757.679,18,2.0,18,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.6
$GPS2,113955,2249.947,-15757.674,42,1.7,42,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.176,0.118
$KALMAN_X,-78112.8,-249.4,184.4,99148.7,-798.2
$KALMAN_Y,-99555.7,-389.7,513.5,229170.1,-1213.2
$MHEAD_RNG_PITCHd_Wd,46.1,1154,-19.4,-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,-1.34,-101.3,0.0,0.0,0,95,0.00,0.00,-75.18,0.000,2,0.000,0.000,411,1856,3452,0,0,0,0,0,0
$GC,100,-1.39,-146.0,4.1,-5.5,10,125,11.38,2.72,-4.60,0.000,4,0.156,0.044,2549,209,3718,0,0,0,0,0,0
$GC,171,-1.39,-146.0,27.7,-22.4,20,180,0.00,2.50,0.00,0.000,6,0.000,0.023,2549,1769,3719,0,0,0,0,0,0
$GC,447,-1.29,-146.0,76.6,-16.9,46,452,0.15,2.60,0.00,0.000,4,0.112,0.031,2581,3380,3720,0,0,0,0,0,0
$GC,489,-1.29,-146.0,83.5,-15.3,49,493,0.00,2.55,0.00,0.000,6,0.000,0.022,2581,1779,3719,0,0,0,0,0,0
$GC,754,-1.29,-146.0,118.7,-12.1,73,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1778,3720,0,0,0,0,0,0
$GC,1017,-1.37,-146.0,148.4,-10.4,98,1021,0.00,2.55,0.00,0.000,4,0.000,0.028,2581,3373,3721,0,0,0,0,0,0
$GC,1054,-1.50,-146.0,152.3,-9.7,101,1059,0.20,2.50,0.00,0.000,6,0.041,0.022,2473,1783,3721,0,0,0,0,0,0
$GC,1315,-1.25,-146.0,197.2,-17.3,125,1317,0.62,0.00,0.00,0.000,6,0.087,0.000,2587,1783,3722,0,0,0,0,0,0
$GC,1580,-1.38,-146.0,224.1,-9.7,133,1585,0.12,2.55,0.00,0.000,4,0.065,0.031,2532,3372,3723,0,0,0,0,0,0
$GC,1633,-1.38,-146.0,230.6,-11.9,134,1638,0.12,2.53,0.00,0.000,6,0.104,0.023,2559,1787,3723,0,0,0,0,0,0
$GC,1912,-1.45,-146.0,260.3,-10.5,141,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,1787,3723,0,0,0,0,0,0
$GC,2155,-1.53,-146.0,285.5,-10.3,147,2160,0.15,2.58,0.00,0.000,4,0.057,0.033,2494,3373,3722,0,0,0,0,0,0
$GC,2181,-1.53,-146.0,288.5,-12.6,147,2186,0.15,2.50,0.00,0.000,6,0.102,0.024,2527,1797,3722,0,0,0,0,0,0
$GC,2440,-1.53,-146.0,317.0,-10.8,154,2445,0.00,2.58,0.00,0.000,4,0.000,0.035,2527,3380,3722,0,0,0,0,0,0
$GC,2456,-1.53,-146.0,318.6,-10.4,154,2460,0.00,2.53,0.00,0.000,6,0.000,0.025,2527,1802,3722,0,0,0,0,0,0
$GC,2726,-1.53,-146.0,347.7,-11.0,161,2730,0.00,2.62,0.00,0.000,4,0.000,0.050,2527,215,3721,0,0,0,0,0,0
$GC,2768,-1.53,-146.0,353.2,-12.1,162,2773,0.00,2.53,0.00,0.000,6,0.000,0.025,2527,1804,3721,0,0,0,0,0,0
$GC,3055,-1.53,-146.0,386.0,-11.8,169,3059,0.00,2.58,0.00,0.000,4,0.000,0.041,2527,3376,3719,0,0,0,0,0,0
$GC,3112,-1.60,-146.0,392.8,-12.0,170,3117,0.00,2.53,0.00,0.000,6,0.000,0.027,2527,1810,3720,0,0,0,0,0,0
$GC,3385,-1.60,-146.0,426.5,-12.4,177,3390,0.00,2.60,0.00,0.000,4,0.000,0.045,2527,3369,3718,0,0,0,0,0,0
$GC,3413,-1.60,-146.0,430.1,-12.8,177,3417,0.00,2.53,0.00,0.000,6,0.000,0.027,2527,1802,3718,0,0,0,0,0,0
$GC,3669,-1.60,-146.0,457.9,-10.8,184,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1802,3716,0,0,0,0,0,0
$GC,3911,-1.60,-146.0,483.3,-10.5,190,3915,0.00,2.60,0.00,0.000,4,0.000,0.049,2527,3363,3714,0,0,0,0,0,0
$GC,3954,-1.70,-146.0,487.5,-9.7,191,3959,0.17,2.50,0.00,0.000,6,0.051,0.030,2452,1812,3714,0,0,0,0,0,0
$STATE,4076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4077,begin apogee
$GC,4084,-0.31,0.0,503.6,13.4,194,4207,1.52,0.00,118.95,0.865,6,0.084,0.000,2789,1669,3120,0,0,0,0,0,0
$STATE,4208,end apogee,CONTROL_FINISHED_OK
$STATE,4208,begin climb
$GC,4210,1.39,146.0,507.6,0.0,197,4342,1.52,2.75,120.97,0.849,4,0.023,0.051,3169,3252,2522,0,0,0,0,0,0
$GC,4409,1.13,146.0,501.6,11.5,201,4416,0.30,2.60,0.00,0.000,6,0.107,0.035,3108,1697,2518,0,0,0,0,0,0
$GC,4673,0.99,146.0,477.2,9.1,208,4680,0.15,2.70,0.00,0.000,4,0.117,0.074,3076,167,2514,0,0,0,0,0,0
$GC,4689,0.84,146.0,475.3,9.1,208,4695,0.15,2.45,0.00,0.000,6,0.119,0.028,3045,1674,2513,0,0,0,0,0,0
$GC,4959,0.90,198.6,458.8,5.9,215,5005,0.00,0.00,44.53,0.825,6,0.000,0.000,3045,1674,2310,0,0,0,0,0,0
$GC,5244,0.99,209.4,436.1,8.4,222,5261,0.12,2.78,9.98,0.719,4,0.067,0.054,3097,3253,2265,0,0,0,0,0,0
$GC,5266,0.99,209.4,433.7,9.7,222,5272,0.10,2.62,0.00,0.000,6,0.125,0.035,3076,1682,2263,0,0,0,0,0,0
$GC,5532,0.99,209.4,407.8,9.8,229,5537,0.00,2.62,0.00,0.000,4,0.000,0.067,3077,166,2261,0,0,0,0,0,0
$GC,5588,0.90,209.4,401.2,12.3,230,5593,0.00,2.45,0.00,0.000,6,0.000,0.025,3076,1686,2260,0,0,0,0,0,0
$GC,5861,0.90,209.4,374.4,10.0,237,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1686,2258,0,0,0,0,0,0
$GC,6106,0.90,209.4,350.3,10.1,243,6110,0.00,2.62,0.00,0.000,4,0.000,0.051,3076,3250,2257,0,0,0,0,0,0
$GC,6124,0.90,209.4,348.0,10.2,243,6129,0.00,2.62,0.00,0.000,6,0.000,0.033,3076,1671,2256,0,0,0,0,0,0
$GC,6388,0.91,210.5,322.9,8.9,250,6393,0.00,2.58,0.00,0.000,4,0.000,0.065,3076,168,2255,0,0,0,0,0,0
$GC,6469,0.91,210.5,315.5,10.4,251,6473,0.00,2.40,0.00,0.000,6,0.000,0.025,3076,1683,2255,0,0,0,0,0,0
$GC,6718,0.93,227.4,295.3,8.0,257,6739,0.00,2.65,15.30,0.701,4,0.000,0.058,3076,170,2192,0,0,0,0,0,0
$GC,6771,0.93,227.4,290.5,9.8,258,6776,0.00,2.42,0.00,0.000,6,0.000,0.024,3076,1679,2191,0,0,0,0,0,0
$GC,7046,0.93,227.8,266.4,9.0,265,7050,0.00,2.60,0.00,0.000,4,0.000,0.056,3076,162,2188,0,0,0,0,0,0
$GC,7103,0.93,227.8,260.1,10.2,266,7107,0.00,2.40,0.00,0.000,6,0.000,0.024,3076,1680,2188,0,0,0,0,0,0
$GC,7376,0.99,227.8,234.7,9.1,273,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1683,2187,0,0,0,0,0,0
$GC,7620,1.02,255.0,215.9,7.4,279,7652,0.00,2.65,24.88,0.663,4,0.000,0.041,3076,3242,2078,0,0,0,0,0,0
$GC,7663,1.14,276.6,212.5,7.7,280,7689,0.12,2.60,19.95,0.644,6,0.067,0.031,3130,1664,1991,0,0,0,0,0,0
$GC,7948,1.14,276.6,182.7,10.6,298,7953,0.10,2.55,0.00,0.000,4,0.124,0.054,3109,167,1986,0,0,0,0,0,0
$GC,7987,1.07,276.6,178.3,12.3,301,7992,0.00,2.38,0.00,0.000,6,0.000,0.023,3109,1666,1985,0,0,0,0,0,0
$GC,8255,1.07,276.6,148.9,10.8,325,8259,0.00,2.58,0.00,0.000,4,0.000,0.035,3109,3255,1985,0,0,0,0,0,0
$GC,8310,1.16,276.6,142.5,10.7,330,8315,0.00,2.60,0.00,0.000,6,0.000,0.030,3109,1665,1983,0,0,0,0,0,0
$GC,8574,1.23,276.6,117.1,10.1,354,8579,0.00,2.47,0.00,0.000,4,0.000,0.047,3109,166,1983,0,0,0,0,0,0
$GC,8644,1.23,276.6,109.9,9.5,360,8653,0.00,2.40,0.00,0.000,6,0.000,0.021,3109,1677,1983,0,0,0,0,0,0
$GC,8912,1.32,287.1,89.5,8.4,385,8931,0.15,0.00,9.32,0.499,6,0.057,0.000,3183,1680,1949,0,0,0,0,0,0
$GC,9189,1.20,287.1,53.7,14.1,411,9194,0.28,2.50,0.00,0.000,4,0.099,0.048,3121,163,1947,0,0,0,0,0,0
$GC,9255,1.22,309.8,46.3,7.6,416,9283,0.00,2.35,21.70,0.508,6,0.000,0.021,3122,1661,1856,0,0,0,0,0,0
$GC,9562,1.22,309.8,17.2,13.4,451,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1665,1853,0,0,0,0,0,0
$STATE,9695,end climb,SURFACE_DEPTH_REACHED
$STATE,9695,begin surface coast
$FINISH,0.8,1.023986
$STATE,9739,end surface coast,CONTROL_FINISHED_OK
$STATE,9739,begin surface
$SM_CCo,9759,32.88,0.062,0,0,1570,380.21
$SM_GC,1.39,0.00,0.00,32.88,0.000,0.000,0.062,414,1874,1570,-11.25,2.37,380.21
$IRIDIUM_FIX,2239.35,-15757.16,020400,080821
$TT8_MAMPS,0.026845
$HUMID,49.33
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,3
$24V_AH,23.5,60.366
$10V_AH,10.1,53.253
$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,28.625,117.875,385.575,32.875,0.000,30.407,32.983,169.592,0.750,0.000,44.153,995.550,6403.598,465.588,1817.923,519.385,33.376,1194.502,0.000,1788.169,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,73.632,865.176,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.742,282.440,362.175,545.293,963.962,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,38439,478
$CAP_FILE_SIZE,105899,0
$CFSIZE,260165632,145973248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070111,142507,2250.014,-15756.902,26,1.6,26,10.1