version: 66.06
glider: 148
mission: 9
dive: 499
start: 1 11 111 22 58 52
data:
$ID,148
$MISSION,9
$DIVE,499
$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,-869037.44
$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,32
$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
$GPS1,224846,2249.962,-15802.982,23,1.5,32,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.2
$GPS2,225758,2249.984,-15803.055,14,2.8,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.238,0.079
$KALMAN_X,-95442.5,237.9,-147.3,107062.3,-28.9
$KALMAN_Y,-128908.5,419.3,254.1,258044.0,-874.7
$MHEAD_RNG_PITCHd_Wd,61.4,10336,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-67.35,0.000,2,0.000,0.000,412,1859,3191,0,0,0,0,0,0
$GC,91,-1.17,-146.0,3.1,-3.6,9,123,11.52,2.78,-10.85,0.000,4,0.152,0.050,2598,204,3718,0,0,0,0,0,0
$GC,208,-1.17,-146.0,22.5,-12.0,26,217,0.00,2.50,0.00,0.000,6,0.000,0.019,2598,1787,3720,0,0,0,0,0,0
$GC,485,-1.04,-146.0,58.0,-12.8,55,490,0.15,2.53,0.00,0.000,4,0.106,0.030,2631,3368,3720,0,0,0,0,0,0
$GC,564,-1.11,-146.0,66.6,-9.6,61,569,0.00,2.50,0.00,0.000,6,0.000,0.023,2632,1791,3720,0,0,0,0,0,0
$GC,831,-1.11,-146.0,94.5,-10.4,85,835,0.00,2.55,0.00,0.000,4,0.000,0.029,2631,3364,3720,0,0,0,0,0,0
$GC,880,-1.11,-146.0,100.3,-9.5,89,886,0.00,2.45,0.00,0.000,6,0.000,0.022,2631,1812,3721,0,0,0,0,0,0
$GC,1145,-1.18,-146.0,121.0,-8.1,114,1150,0.12,2.47,0.00,0.000,4,0.064,0.028,2553,3366,3722,0,0,0,0,0,0
$GC,1194,-1.07,-146.0,126.7,-12.0,118,1199,0.32,2.42,0.00,0.000,6,0.077,0.023,2627,1818,3722,0,0,0,0,0,0
$GC,1458,-1.16,-146.0,151.4,-9.0,142,1462,0.00,2.45,0.00,0.000,4,0.000,0.028,2627,3370,3723,0,0,0,0,0,0
$GC,1488,-1.26,-146.0,154.2,-8.9,144,1497,0.15,2.47,0.00,0.000,6,0.021,0.022,2524,1823,3723,0,0,0,0,0,0
$GC,1755,-1.04,-146.0,190.6,-14.0,169,1761,0.45,0.00,0.00,0.000,6,0.083,0.000,2626,1823,3723,0,0,0,0,0,0
$GC,2020,-1.14,-146.0,211.7,-7.1,183,2024,0.00,2.47,0.00,0.000,4,0.000,0.028,2626,3368,3723,0,0,0,0,0,0
$GC,2078,-1.32,-146.0,215.6,-7.0,184,2083,0.22,2.42,0.00,0.000,6,0.038,0.024,2528,1826,3723,0,0,0,0,0,0
$GC,2352,-1.14,-146.0,249.8,-12.9,191,2354,0.38,0.00,0.00,0.000,6,0.083,0.000,2609,1826,3723,0,0,0,0,0,0
$GC,2597,-1.21,-146.0,270.4,-7.8,197,2602,0.00,2.47,0.00,0.000,4,0.000,0.030,2609,3367,3723,0,0,0,0,0,0
$GC,2644,-1.36,-146.0,274.5,-7.3,198,2649,0.20,2.45,0.00,0.000,6,0.041,0.025,2509,1832,3723,0,0,0,0,0,0
$GC,2927,-1.15,-146.0,314.0,-14.6,205,2930,0.45,0.00,0.00,0.000,6,0.082,0.000,2606,1831,3723,0,0,0,0,0,0
$GC,3173,-1.24,-146.0,334.7,-8.1,211,3178,0.00,2.45,0.00,0.000,4,0.000,0.034,2606,3359,3722,0,0,0,0,0,0
$GC,3234,-1.38,-146.0,339.5,-7.5,212,3239,0.20,2.45,0.00,0.000,6,0.041,0.028,2514,1826,3722,0,0,0,0,0,0
$GC,3505,-1.20,-146.0,372.7,-12.5,219,3510,0.35,2.50,0.00,0.000,4,0.084,0.037,2595,3362,3721,0,0,0,0,0,0
$GC,3520,-1.10,-146.0,374.6,-11.7,219,3525,0.12,2.42,0.00,0.000,6,0.102,0.025,2624,1835,3720,0,0,0,0,0,0
$GC,3790,-1.25,-146.0,391.5,-6.3,226,3795,0.15,2.50,0.00,0.000,4,0.054,0.038,2541,3354,3719,0,0,0,0,0,0
$GC,3825,-1.18,-146.0,394.9,-11.1,226,3830,0.28,2.42,0.00,0.000,6,0.081,0.028,2602,1846,3719,0,0,0,0,0,0
$GC,4076,-1.27,-146.0,415.9,-8.4,232,4080,0.00,2.47,0.00,0.000,4,0.000,0.041,2602,3358,3717,0,0,0,0,0,0
$GC,4110,-1.41,-146.0,419.0,-8.7,232,4115,0.20,2.42,0.00,0.000,6,0.042,0.028,2530,1856,3717,0,0,0,0,0,0
$GC,4360,-1.29,-146.0,448.2,-11.9,238,4368,0.22,2.80,0.00,0.000,4,0.091,0.059,2578,215,3715,0,0,0,0,0,0
$GC,4396,-1.37,-146.0,451.9,-9.1,238,4401,0.00,2.60,0.00,0.000,6,0.000,0.028,2578,1829,3715,0,0,0,0,0,0
$GC,4648,-1.37,-146.0,473.2,-8.5,244,4652,0.00,2.55,0.00,0.000,4,0.000,0.048,2578,3368,3714,0,0,0,0,0,0
$GC,4709,-1.46,-146.0,478.6,-7.8,245,4714,0.15,2.45,0.00,0.000,6,0.052,0.029,2514,1857,3713,0,0,0,0,0,0
$STATE,4934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4935,begin apogee
$GC,4942,-0.31,0.0,504.2,11.7,251,5066,1.25,0.00,119.78,0.866,6,0.081,0.000,2790,1677,3120,0,0,0,0,0,0
$STATE,5066,end apogee,CONTROL_FINISHED_OK
$STATE,5067,begin climb
$GC,5069,1.17,146.0,509.9,0.0,254,5200,1.35,2.78,123.20,0.850,4,0.026,0.048,3131,3254,2523,0,0,0,0,0,0
$GC,5227,0.94,240.1,512.7,5.1,258,5319,0.30,2.65,81.15,0.838,6,0.107,0.038,3069,1690,2140,0,0,0,0,0,0
$GC,5597,0.82,240.1,478.3,10.1,267,5602,0.15,2.70,0.00,0.000,4,0.119,0.074,3039,161,2131,0,0,0,0,0,0
$GC,5703,0.74,240.1,468.0,10.2,269,5707,0.00,2.45,0.00,0.000,6,0.000,0.028,3039,1680,2131,0,0,0,0,0,0
$GC,5976,0.74,240.1,443.2,9.1,276,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1680,2129,0,0,0,0,0,0
$GC,6221,0.74,240.1,421.3,9.1,282,6225,0.00,2.62,0.00,0.000,4,0.000,0.059,3039,161,2127,0,0,0,0,0,0
$GC,6343,0.66,240.1,409.0,10.1,284,6348,0.17,2.45,0.00,0.000,6,0.104,0.027,3002,1677,2127,0,0,0,0,0,0
$GC,6600,0.80,292.0,391.0,6.8,291,6653,0.12,2.78,45.33,0.793,4,0.064,0.052,3060,3253,1928,0,0,0,0,0,0
$GC,6664,0.80,292.0,384.9,10.8,292,6669,0.12,2.67,0.00,0.000,6,0.104,0.034,3033,1668,1925,0,0,0,0,0,0
$GC,6928,0.80,292.0,360.7,9.1,299,6933,0.00,2.60,0.00,0.000,4,0.000,0.066,3033,163,1922,0,0,0,0,0,0
$GC,6958,0.80,292.0,357.8,10.8,299,6962,0.00,2.45,0.00,0.000,6,0.000,0.026,3033,1677,1922,0,0,0,0,0,0
$GC,7212,0.80,292.0,334.1,9.2,306,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1678,1921,0,0,0,0,0,0
$GC,7455,0.80,292.0,311.8,9.2,312,7460,0.00,2.65,0.00,0.000,4,0.000,0.045,3033,3258,1919,0,0,0,0,0,0
$GC,7486,0.87,299.9,309.1,8.7,312,7500,0.00,2.65,6.95,0.613,6,0.000,0.034,3033,1665,1897,0,0,0,0,0,0
$GC,7743,0.87,299.9,285.2,9.1,319,7748,0.00,2.58,0.00,0.000,4,0.000,0.063,3032,167,1895,0,0,0,0,0,0
$GC,7766,0.87,299.9,282.9,9.6,319,7771,0.00,2.40,0.00,0.000,6,0.000,0.025,3033,1680,1895,0,0,0,0,0,0
$GC,8027,0.90,322.5,261.5,8.1,326,8056,0.10,2.70,21.92,0.688,4,0.077,0.044,3087,3247,1804,0,0,0,0,0,0
$GC,8072,0.83,322.5,257.1,10.4,327,8079,0.22,2.62,0.00,0.000,6,0.088,0.032,3039,1673,1802,0,0,0,0,0,0
$GC,8363,0.86,344.2,233.5,8.1,334,8385,0.00,0.00,20.35,0.661,6,0.000,0.000,3039,1673,1715,0,0,0,0,0,0
$GC,8605,0.93,348.4,212.1,8.8,340,8618,0.10,2.65,4.85,0.484,4,0.076,0.034,3095,3257,1697,0,0,0,0,0,0
$GC,8641,0.93,348.4,208.2,11.5,340,8647,0.15,2.60,0.00,0.000,6,0.100,0.030,3064,1670,1695,0,0,0,0,0,0
$GC,8904,0.93,348.4,183.3,9.7,358,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1670,1695,0,0,0,0,0,0
$GC,9164,0.93,348.4,158.4,10.0,383,9169,0.00,2.58,0.00,0.000,4,0.000,0.033,3063,3258,1695,0,0,0,0,0,0
$GC,9193,0.93,348.4,156.0,9.1,385,9198,0.00,2.58,0.00,0.000,6,0.000,0.028,3063,1680,1693,0,0,0,0,0,0
$GC,9459,0.93,348.4,128.6,10.5,409,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1681,1693,0,0,0,0,0,0
$GC,9722,1.00,353.2,102.4,8.8,434,9735,0.00,2.60,5.35,0.438,4,0.000,0.031,3063,3254,1677,0,0,0,0,0,0
$GC,9807,1.17,367.6,94.8,8.4,442,9830,0.20,2.55,14.55,0.531,6,0.044,0.028,3134,1673,1620,0,0,0,0,0,0
$GC,10087,1.07,367.6,62.1,12.5,468,10092,0.20,2.47,0.00,0.000,4,0.092,0.044,3091,173,1618,0,0,0,0,0,0
$GC,10107,0.99,367.6,59.8,11.6,469,10111,0.00,2.38,0.00,0.000,6,0.000,0.020,3090,1689,1617,0,0,0,0,0,0
$GC,10375,0.99,367.6,32.8,10.6,493,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1690,1618,0,0,0,0,0,0
$STATE,10635,end climb,SURFACE_DEPTH_REACHED
$STATE,10635,begin surface coast
$FINISH,0.7,1.011609
$STATE,10680,end surface coast,CONTROL_FINISHED_OK
$STATE,10680,begin surface
$SM_CCo,10702,11.45,0.104,1,0,1569,380.21
$SM_GC,1.81,0.00,0.00,11.45,0.000,0.000,0.104,417,1886,1569,-11.24,2.71,380.21
$IRIDIUM_FIX,2239.35,-15814.95,060400,202033
$TT8_MAMPS,0.026845
$HUMID,51.22
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.4,64.466
$10V_AH,10.1,57.215
$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,31.050,127.550,443.425,11.450,0.000,22.755,34.784,332.821,0.000,0.000,35.667,1116.979,6876.147,530.397,2035.494,713.026,33.384,1306.026,0.000,2029.439,0.000,0.535,0.000
$DEVICE_MAMPS,151.866,73.632,865.943,103.545,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.670,336.975,425.041,642.793,1137.725,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,41527,540
$CAP_FILE_SIZE,120426,0
$CFSIZE,260165632,143917056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120111,015836,2249.762,-15801.713,26,1.4,26,10.1