version: 66.06
glider: 148
mission: 9
dive: 496
start: 1 11 111 13 57 27
data:
$ID,148
$MISSION,9
$DIVE,496
$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,-868968.5
$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,19
$R_STBD_OVSHOOT,57
$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
$GPS1,133706,2247.221,-15803.060,34,1.2,39,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.0
$GPS2,135632,2247.034,-15803.097,10,1.5,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.002,0.250
$KALMAN_X,-94255.8,-366.4,54.5,106206.4,12.1
$KALMAN_Y,-126625.2,-183.5,532.5,250622.9,-1519.2
$MHEAD_RNG_PITCHd_Wd,350.4,5495,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-145.8,0.0,0.0,0,88,0.00,0.00,-67.57,0.000,2,0.000,0.000,413,1806,3248,0,0,0,0,0,0
$GC,91,-1.17,-146.0,3.5,-4.6,9,124,11.43,2.70,-8.98,0.000,4,0.149,0.056,2597,194,3718,0,0,0,0,0,0
$GC,160,-1.06,-146.0,20.0,-17.8,18,169,0.10,2.53,0.00,0.000,6,0.084,0.020,2623,1784,3719,0,0,0,0,0,0
$GC,447,-1.06,-146.0,47.7,-9.6,51,451,0.00,2.50,0.00,0.000,4,0.000,0.028,2624,3367,3719,0,0,0,0,0,0
$GC,519,-1.06,-146.0,55.8,-8.6,57,528,0.00,2.55,0.00,0.000,6,0.000,0.024,2623,1782,3720,0,0,0,0,0,0
$GC,780,-1.06,-146.0,86.8,-10.7,82,784,0.00,2.53,0.00,0.000,4,0.000,0.029,2623,3369,3720,0,0,0,0,0,0
$GC,831,-1.06,-146.0,92.6,-11.4,86,841,0.00,2.50,0.00,0.000,6,0.000,0.022,2623,1808,3720,0,0,0,0,0,0
$GC,1097,-1.06,-146.0,117.5,-8.3,111,1102,0.00,2.47,0.00,0.000,4,0.000,0.028,2624,3370,3720,0,0,0,0,0,0
$GC,1138,-1.13,-146.0,121.1,-7.8,114,1147,0.00,2.47,0.00,0.000,6,0.000,0.021,2624,1819,3720,0,0,0,0,0,0
$GC,1406,-1.13,-146.0,140.5,-7.5,139,1410,0.00,2.45,0.00,0.000,4,0.000,0.028,2623,3369,3720,0,0,0,0,0,0
$GC,1425,-1.19,-146.0,142.4,-7.4,140,1434,0.08,2.45,0.00,0.000,6,0.031,0.021,2526,1831,3720,0,0,0,0,0,0
$GC,1689,-0.96,-146.0,175.8,-13.2,165,1701,0.52,2.60,0.00,0.000,4,0.081,0.038,2647,208,3721,0,0,0,0,0,0
$GC,1725,-1.18,-146.0,180.0,-7.3,168,1735,0.15,2.55,0.00,0.000,6,0.022,0.019,2540,1835,3721,0,0,0,0,0,0
$GC,1985,-1.01,-146.0,212.3,-13.6,187,1990,0.40,2.40,0.00,0.000,4,0.081,0.028,2634,3360,3721,0,0,0,0,0,0
$GC,2029,-1.19,-146.0,216.8,-8.1,188,2034,0.15,2.42,0.00,0.000,6,0.051,0.023,2549,1815,3721,0,0,0,0,0,0
$GC,2319,-1.05,-146.0,250.9,-12.2,195,2321,0.40,0.00,0.00,0.000,6,0.076,0.000,2629,1815,3722,0,0,0,0,0,0
$GC,2561,-1.21,-146.0,268.4,-6.7,201,2566,0.15,2.47,0.00,0.000,4,0.054,0.031,2545,3361,3721,0,0,0,0,0,0
$GC,2601,-1.14,-146.0,272.1,-10.2,201,2608,0.28,2.42,0.00,0.000,6,0.074,0.024,2608,1823,3721,0,0,0,0,0,0
$GC,2852,-1.22,-146.0,292.9,-8.0,208,2856,0.00,2.45,0.00,0.000,4,0.000,0.032,2609,3358,3721,0,0,0,0,0,0
$GC,2875,-1.32,-146.0,294.9,-8.1,208,2880,0.15,2.42,0.00,0.000,6,0.054,0.025,2523,1828,3721,0,0,0,0,0,0
$GC,3137,-1.11,-146.0,329.3,-13.5,215,3144,0.45,2.50,0.00,0.000,4,0.084,0.035,2613,3364,3719,0,0,0,0,0,0
$GC,3158,-1.11,-146.0,332.0,-10.4,215,3163,0.00,2.47,0.00,0.000,6,0.000,0.027,2612,1825,3719,0,0,0,0,0,0
$GC,3423,-1.22,-146.0,350.5,-7.1,222,3427,0.00,2.47,0.00,0.000,4,0.000,0.036,2612,3357,3718,0,0,0,0,0,0
$GC,3476,-1.40,-146.0,354.1,-7.1,223,3481,0.25,2.45,0.00,0.000,6,0.035,0.028,2504,1840,3718,0,0,0,0,0,0
$GC,3755,-1.20,-146.0,388.4,-13.0,230,3762,0.40,2.72,0.00,0.000,4,0.086,0.052,2594,214,3716,0,0,0,0,0,0
$GC,3806,-1.35,-146.0,393.6,-8.1,231,3812,0.12,2.55,0.00,0.000,6,0.063,0.025,2529,1827,3716,0,0,0,0,0,0
$GC,4090,-1.24,-146.0,428.2,-12.6,238,4095,0.25,2.53,0.00,0.000,4,0.086,0.042,2587,3371,3714,0,0,0,0,0,0
$GC,4130,-1.34,-146.0,432.4,-9.7,238,4135,0.00,2.47,0.00,0.000,6,0.000,0.028,2587,1839,3714,0,0,0,0,0,0
$GC,4380,-1.41,-146.0,455.0,-8.8,245,4382,0.15,0.00,0.00,0.000,6,0.058,0.000,2522,1839,3713,0,0,0,0,0,0
$GC,4623,-1.27,-146.0,482.7,-11.4,251,4625,0.28,0.00,0.00,0.000,6,0.085,0.000,2583,1839,3710,0,0,0,0,0,0
$STATE,4864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4864,begin apogee
$GC,4872,-0.31,0.0,502.2,7.8,257,4994,0.93,0.00,118.75,0.871,6,0.073,0.000,2794,1678,3120,0,0,0,0,0,0
$STATE,4995,end apogee,CONTROL_FINISHED_OK
$STATE,4995,begin climb
$GC,4997,1.17,146.0,508.1,0.0,260,5129,1.30,2.75,121.85,0.850,4,0.028,0.075,3122,180,2523,0,0,0,0,0,0
$GC,5135,0.97,272.0,512.7,3.7,263,5253,0.25,2.45,108.72,0.837,6,0.116,0.028,3073,1678,2010,0,0,0,0,0,0
$GC,5541,0.85,272.0,472.4,11.1,273,5549,0.12,2.72,0.00,0.000,4,0.120,0.059,3047,3265,2001,0,0,0,0,0,0
$GC,5572,0.85,272.0,468.8,9.6,273,5576,0.00,2.62,0.00,0.000,6,0.000,0.037,3047,1690,1999,0,0,0,0,0,0
$GC,5828,0.85,272.0,443.4,10.0,280,5833,0.00,2.65,0.00,0.000,4,0.000,0.071,3047,167,1999,0,0,0,0,0,0
$GC,5866,0.77,272.0,439.0,11.4,280,5871,0.00,2.42,0.00,0.000,6,0.000,0.027,3047,1678,1999,0,0,0,0,0,0
$GC,6115,0.77,272.0,414.1,9.8,287,6119,0.00,2.67,0.00,0.000,4,0.000,0.053,3047,3264,1997,0,0,0,0,0,0
$GC,6131,0.77,272.0,412.7,9.7,287,6135,0.00,2.62,0.00,0.000,6,0.000,0.035,3047,1677,1996,0,0,0,0,0,0
$GC,6399,0.77,272.0,388.0,9.0,294,6403,0.00,2.67,0.00,0.000,4,0.000,0.044,3047,3264,1995,0,0,0,0,0,0
$GC,6424,0.78,280.3,385.8,8.7,294,6436,0.00,2.62,6.10,0.625,6,0.000,0.035,3047,1679,1976,0,0,0,0,0,0
$GC,6688,0.78,280.3,362.1,9.1,301,6692,0.00,2.62,0.00,0.000,4,0.000,0.066,3047,162,1974,0,0,0,0,0,0
$GC,6730,0.78,280.3,357.6,10.2,302,6735,0.00,2.45,0.00,0.000,6,0.000,0.025,3047,1687,1974,0,0,0,0,0,0
$GC,7019,0.78,280.3,330.5,9.2,309,7023,0.00,2.62,0.00,0.000,4,0.000,0.047,3047,3251,1972,0,0,0,0,0,0
$GC,7048,0.78,280.3,327.8,9.2,309,7052,0.00,2.62,0.00,0.000,6,0.000,0.034,3047,1672,1970,0,0,0,0,0,0
$GC,7304,0.79,287.3,305.4,8.7,316,7317,0.00,2.67,7.38,0.628,4,0.000,0.041,3047,3251,1948,0,0,0,0,0,0
$GC,7336,0.80,296.1,302.3,8.6,316,7353,0.00,2.62,10.18,0.664,6,0.000,0.033,3047,1674,1911,0,0,0,0,0,0
$GC,7636,0.80,296.1,272.3,10.0,324,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1674,1908,0,0,0,0,0,0
$GC,7879,0.80,296.1,248.2,10.2,330,7883,0.00,2.62,0.00,0.000,4,0.000,0.037,3047,3258,1907,0,0,0,0,0,0
$GC,7897,0.80,296.1,246.2,9.8,330,7901,0.00,2.60,0.00,0.000,6,0.000,0.030,3047,1679,1906,0,0,0,0,0,0
$GC,8163,0.84,323.9,223.8,7.8,337,8191,0.00,0.00,26.20,0.667,6,0.000,0.000,3047,1679,1798,0,0,0,0,0,0
$GC,8404,0.88,355.8,204.8,7.7,343,8441,0.00,2.65,29.25,0.649,4,0.000,0.033,3047,3257,1667,0,0,0,0,0,0
$GC,8462,0.98,359.9,200.1,8.8,344,8474,0.10,2.58,4.82,0.470,6,0.075,0.029,3110,1685,1652,0,0,0,0,0,0
$GC,8739,0.88,359.9,163.1,14.1,368,8741,0.28,0.00,0.00,0.000,6,0.087,0.000,3049,1685,1649,0,0,0,0,0,0
$GC,8997,0.96,359.9,136.9,9.9,392,9001,0.00,2.60,0.00,0.000,4,0.000,0.032,3049,3272,1647,0,0,0,0,0,0
$GC,9036,1.09,359.9,133.2,9.7,395,9041,0.20,2.58,0.00,0.000,6,0.044,0.027,3129,1680,1645,0,0,0,0,0,0
$GC,9300,1.00,359.9,100.1,11.5,419,9305,0.25,2.47,0.00,0.000,4,0.088,0.044,3070,174,1646,0,0,0,0,0,0
$GC,9351,1.11,366.6,94.7,8.7,423,9372,0.12,2.38,6.82,0.469,6,0.063,0.021,3148,1701,1625,0,0,0,0,0,0
$GC,9626,0.96,366.6,64.2,14.3,449,9638,0.32,2.55,0.00,0.000,4,0.087,0.044,3072,167,1623,0,0,0,0,0,0
$GC,9654,0.96,366.6,60.5,13.9,451,9658,0.00,2.38,0.00,0.000,6,0.000,0.021,3072,1693,1623,0,0,0,0,0,0
$GC,9921,0.96,366.6,34.3,10.5,475,9925,0.00,2.50,0.00,0.000,4,0.000,0.031,3072,3259,1623,0,0,0,0,0,0
$GC,9951,1.05,370.9,31.1,8.8,477,9964,0.00,2.53,5.53,0.394,6,0.000,0.027,3072,1683,1606,0,0,0,0,0,0
$STATE,10216,end climb,SURFACE_DEPTH_REACHED
$STATE,10217,begin surface coast
$FINISH,0.6,1.011169
$STATE,10255,end surface coast,CONTROL_FINISHED_OK
$STATE,10256,begin surface
$SM_CCo,10276,8.32,0.070,0,0,1570,380.21
$SM_GC,1.33,0.00,0.00,8.32,0.000,0.000,0.070,414,1884,1570,-11.25,2.66,380.21
$IRIDIUM_FIX,2237.01,-15758.03,060400,131318
$TT8_MAMPS,0.026845
$HUMID,50.63
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.60
$XPDR_PINGS,2
$24V_AH,23.4,64.112
$10V_AH,10.0,56.875
$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,30.400,137.750,445.600,8.325,0.000,80.423,119.757,687.399,0.500,0.000,12.377,1081.303,6678.162,495.892,1978.808,1214.282,33.387,1310.694,0.000,1985.129,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,75.166,870.545,69.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.280,328.175,407.588,639.275,1129.837,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,41407,524
$CAP_FILE_SIZE,130399,0
$CFSIZE,260165632,144084992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110111,165007,2248.046,-15803.298,36,0.9,36,10.1