version: 66.06
glider: 148
mission: 9
dive: 484
start: 1 10 111 0 52 56
data:
$ID,148
$MISSION,9
$DIVE,484
$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,-868639.19
$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,31
$R_STBD_OVSHOOT,37
$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
$GPS1,004525,2248.387,-15802.815,39,2.0,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.5
$GPS2,005201,2248.326,-15802.799,10,1.2,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.050,0.246
$KALMAN_X,-90493.6,338.7,117.3,102184.8,-645.3
$KALMAN_Y,-115638.2,174.7,550.4,241651.0,-1910.5
$MHEAD_RNG_PITCHd_Wd,1.4,3118,-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,-75.35,0.000,2,0.000,0.000,412,1896,3448,0,0,0,0,0,0
$GC,100,-1.17,-146.0,4.1,-5.7,10,125,11.43,2.78,-4.65,0.000,4,0.150,0.044,2595,210,3717,0,0,0,0,0,0
$GC,234,-1.17,-146.0,32.3,-12.2,29,239,0.00,2.47,0.00,0.000,6,0.000,0.019,2596,1804,3719,0,0,0,0,0,0
$GC,501,-1.02,-146.0,69.8,-14.2,53,506,0.17,2.50,0.00,0.000,4,0.105,0.030,2634,3361,3719,0,0,0,0,0,0
$GC,579,-1.11,-146.0,78.7,-9.8,59,583,0.00,2.50,0.00,0.000,6,0.000,0.022,2634,1793,3720,0,0,0,0,0,0
$GC,846,-1.11,-146.0,107.1,-10.8,83,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1793,3720,0,0,0,0,0,0
$GC,1107,-1.17,-146.0,130.1,-7.8,108,1112,0.12,2.53,0.00,0.000,4,0.063,0.028,2562,3363,3721,0,0,0,0,0,0
$GC,1128,-1.17,-146.0,131.4,-8.0,109,1134,0.20,2.45,0.00,0.000,6,0.086,0.021,2608,1799,3721,0,0,0,0,0,0
$GC,1393,-1.17,-146.0,154.2,-9.2,133,1397,0.00,2.47,0.00,0.000,4,0.000,0.028,2608,3361,3721,0,0,0,0,0,0
$GC,1422,-1.17,-146.0,157.2,-9.4,135,1431,0.00,2.47,0.00,0.000,6,0.000,0.022,2608,1816,3722,0,0,0,0,0,0
$GC,1689,-1.17,-146.0,182.6,-9.9,160,1694,0.00,2.45,0.00,0.000,4,0.000,0.029,2608,3361,3722,0,0,0,0,0,0
$GC,1708,-1.17,-146.0,185.2,-9.7,161,1713,0.00,2.42,0.00,0.000,6,0.000,0.021,2608,1814,3722,0,0,0,0,0,0
$GC,1998,-1.17,-146.0,210.9,-8.8,180,2003,0.00,2.47,0.00,0.000,4,0.000,0.029,2608,3360,3722,0,0,0,0,0,0
$GC,2042,-1.28,-146.0,214.7,-7.5,181,2047,0.12,2.42,0.00,0.000,6,0.061,0.023,2530,1822,3722,0,0,0,0,0,0
$GC,2331,-1.10,-146.0,253.0,-13.7,188,2333,0.40,0.00,0.00,0.000,6,0.078,0.000,2618,1822,3722,0,0,0,0,0,0
$GC,2574,-1.20,-146.0,273.9,-8.2,194,2578,0.00,2.45,0.00,0.000,4,0.000,0.031,2618,3360,3722,0,0,0,0,0,0
$GC,2630,-1.38,-146.0,278.4,-7.9,195,2635,0.25,2.45,0.00,0.000,6,0.035,0.025,2515,1833,3722,0,0,0,0,0,0
$GC,2906,-1.19,-146.0,313.0,-13.0,202,2908,0.40,0.00,0.00,0.000,6,0.081,0.000,2603,1833,3722,0,0,0,0,0,0
$GC,3148,-1.26,-146.0,333.2,-7.9,208,3152,0.00,2.45,0.00,0.000,4,0.000,0.034,2603,3357,3722,0,0,0,0,0,0
$GC,3176,-1.37,-146.0,335.4,-7.8,208,3181,0.17,2.42,0.00,0.000,6,0.047,0.027,2511,1841,3721,0,0,0,0,0,0
$GC,3433,-1.18,-146.0,367.5,-13.1,215,3438,0.38,2.47,0.00,0.000,4,0.081,0.036,2598,3356,3719,0,0,0,0,0,0
$GC,3453,-1.18,-146.0,370.2,-11.3,215,3457,0.00,2.42,0.00,0.000,6,0.000,0.027,2598,1838,3720,0,0,0,0,0,0
$GC,3719,-1.25,-146.0,389.6,-7.2,222,3723,0.00,2.47,0.00,0.000,4,0.000,0.038,2598,3361,3719,0,0,0,0,0,0
$GC,3739,-1.33,-146.0,391.3,-8.1,222,3744,0.12,2.42,0.00,0.000,6,0.060,0.032,2516,1845,3719,0,0,0,0,0,0
$GC,4004,-1.13,-146.0,423.4,-12.5,229,4011,0.45,2.75,0.00,0.000,4,0.084,0.057,2608,215,3717,0,0,0,0,0,0
$GC,4027,-1.13,-146.0,425.8,-10.2,229,4032,0.00,2.60,0.00,0.000,6,0.000,0.026,2608,1837,3717,0,0,0,0,0,0
$GC,4294,-1.25,-146.0,445.7,-7.6,236,4298,0.00,2.50,0.00,0.000,4,0.000,0.044,2608,3368,3715,0,0,0,0,0,0
$GC,4364,-1.40,-146.0,451.4,-8.3,237,4369,0.22,2.45,0.00,0.000,6,0.037,0.028,2510,1855,3714,0,0,0,0,0,0
$GC,4625,-1.23,-146.0,484.5,-13.1,244,4633,0.35,2.80,0.00,0.000,4,0.083,0.063,2591,217,3713,0,0,0,0,0,0
$GC,4672,-1.36,-146.0,489.4,-9.0,245,4677,0.12,2.65,0.00,0.000,6,0.064,0.031,2528,1846,3713,0,0,0,0,0,0
$STATE,4794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4795,begin apogee
$GC,4802,-0.31,0.0,503.2,11.3,248,4925,1.17,0.00,119.10,0.866,6,0.077,0.000,2792,1668,3120,0,0,0,0,0,0
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4928,1.17,146.0,508.8,0.0,251,5055,1.33,0.00,121.68,0.853,6,0.026,0.000,3139,1668,2524,0,0,0,0,0,0
$GC,5297,0.81,149.8,492.3,8.8,260,5299,0.47,0.00,0.00,0.000,6,0.094,0.000,3038,1668,2516,0,0,0,0,0,0
$GC,5541,0.80,212.1,476.4,6.4,266,5605,0.00,2.60,56.33,0.834,4,0.000,0.064,3037,192,2253,0,0,0,0,0,0
$GC,5672,0.67,212.1,464.8,10.2,269,5677,0.15,2.42,0.00,0.000,6,0.104,0.028,3006,1673,2251,0,0,0,0,0,0
$GC,5961,0.71,240.1,441.9,7.8,276,5993,0.00,2.75,24.73,0.795,4,0.000,0.051,3006,3268,2140,0,0,0,0,0,0
$GC,6008,0.79,258.7,437.9,8.2,277,6033,0.10,2.65,18.05,0.768,6,0.075,0.035,3058,1696,2064,0,0,0,0,0,0
$GC,6296,0.72,258.7,408.8,10.3,284,6301,0.20,2.67,0.00,0.000,4,0.091,0.067,3015,169,2058,0,0,0,0,0,0
$GC,6329,0.72,258.7,405.2,9.5,284,6333,0.00,2.42,0.00,0.000,6,0.000,0.025,3015,1673,2058,0,0,0,0,0,0
$GC,6579,0.77,300.7,386.7,7.3,290,6624,0.00,2.75,37.83,0.785,4,0.000,0.049,3015,3246,1893,0,0,0,0,0,0
$GC,6637,0.87,328.3,382.4,7.9,291,6670,0.15,2.65,26.10,0.761,6,0.055,0.034,3084,1658,1782,0,0,0,0,0,0
$GC,6957,0.77,328.3,343.3,12.6,299,6964,0.25,2.70,0.00,0.000,4,0.091,0.044,3026,3251,1774,0,0,0,0,0,0
$GC,7027,0.91,328.3,336.1,9.7,300,7032,0.12,2.65,0.00,0.000,6,0.063,0.035,3077,1668,1771,0,0,0,0,0,0
$GC,7293,0.84,328.3,303.0,12.5,307,7295,0.17,0.00,0.00,0.000,6,0.097,0.000,3040,1668,1770,0,0,0,0,0,0
$GC,7538,0.84,328.3,279.2,9.5,313,7543,0.00,2.65,0.00,0.000,4,0.000,0.041,3040,3259,1769,0,0,0,0,0,0
$GC,7587,0.95,328.3,274.5,9.3,314,7592,0.12,2.60,0.00,0.000,6,0.064,0.031,3086,1675,1767,0,0,0,0,0,0
$GC,7870,0.88,328.3,240.6,12.2,321,7875,0.17,2.62,0.00,0.000,4,0.098,0.038,3049,3254,1767,0,0,0,0,0,0
$GC,7924,0.97,328.3,235.2,9.7,322,7929,0.10,2.58,0.00,0.000,6,0.077,0.031,3100,1683,1766,0,0,0,0,0,0
$GC,8202,0.88,328.3,202.6,11.5,329,8207,0.22,2.55,0.00,0.000,4,0.094,0.054,3052,166,1766,0,0,0,0,0,0
$GC,8251,0.88,328.3,197.7,9.6,330,8260,0.00,2.45,0.00,0.000,6,0.000,0.023,3052,1696,1766,0,0,0,0,0,0
$GC,8519,0.91,354.5,176.7,7.9,355,8548,0.00,2.60,22.12,0.621,4,0.000,0.034,3051,3248,1672,0,0,0,0,0,0
$GC,8591,1.07,366.3,170.4,8.5,362,8613,0.17,2.58,12.00,0.578,6,0.048,0.029,3114,1671,1625,0,0,0,0,0,0
$GC,8864,0.97,366.3,137.8,12.2,388,8869,0.20,2.53,0.00,0.000,4,0.097,0.047,3071,164,1622,0,0,0,0,0,0
$GC,8925,0.97,366.3,131.7,10.2,393,8930,0.00,2.42,0.00,0.000,6,0.000,0.022,3071,1692,1622,0,0,0,0,0,0
$GC,9191,1.03,366.3,106.6,9.8,417,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1696,1621,0,0,0,0,0,0
$GC,9454,1.10,366.3,83.2,9.2,442,9456,0.12,0.00,0.00,0.000,6,0.064,0.000,3146,1696,1621,0,0,0,0,0,0
$GC,9711,0.95,366.3,49.3,13.4,466,9722,0.35,0.00,0.00,0.000,6,0.084,0.000,3067,1697,1621,0,0,0,0,0,0
$GC,9989,1.01,366.3,22.7,9.3,497,9998,0.00,2.53,0.00,0.000,4,0.000,0.033,3067,3248,1621,0,0,0,0,0,0
$GC,10014,1.10,371.3,20.7,8.8,500,10031,0.10,2.58,5.30,0.380,6,0.028,0.025,3143,1665,1605,0,0,0,0,0,0
$STATE,10148,end climb,SURFACE_DEPTH_REACHED
$STATE,10148,begin surface coast
$FINISH,0.7,1.019516
$STATE,10187,end surface coast,CONTROL_FINISHED_OK
$STATE,10187,begin surface
$SM_CCo,10207,8.70,0.070,0,0,1569,380.21
$SM_GC,1.47,0.00,0.00,8.70,0.000,0.000,0.070,417,1849,1569,-11.24,1.70,380.21
$IRIDIUM_FIX,2237.01,-15803.24,040400,212129
$TT8_MAMPS,0.026845
$HUMID,49.96
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,23.4,62.655
$10V_AH,10.0,55.486
$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,31.725,122.675,443.225,8.700,0.000,25.252,37.820,178.076,0.500,0.000,17.395,1089.874,6503.644,475.604,1987.083,555.893,33.380,1288.463,0.000,1984.587,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,66.729,865.943,69.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.519,325.747,413.729,613.405,1085.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355284
$DATA_FILE_SIZE,41600,526
$CAP_FILE_SIZE,118606,0
$CFSIZE,260165632,144793600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100111,034422,2248.880,-15802.684,10,2.9,29,10.1