version: 66.06
glider: 148
mission: 9
dive: 501
start: 1 12 111 5 23 30
data:
$ID,148
$MISSION,9
$DIVE,501
$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,-869068.19
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,051324,2250.026,-15801.139,22,0.9,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.5
$GPS2,052235,2249.995,-15801.171,10,1.7,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.116
$KALMAN_X,-96741.4,233.3,53.3,111408.9,-951.7
$KALMAN_Y,-130907.0,-167.5,-224.1,261125.7,-1285.6
$MHEAD_RNG_PITCHd_Wd,52.3,7120,-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,-74.78,0.000,2,0.000,0.000,412,1854,3419,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.8,-5.1,10,123,11.57,2.42,-5.47,0.000,4,0.155,0.037,2596,3372,3718,0,0,0,0,0,0
$GC,189,-1.09,-146.0,24.8,-12.9,23,199,0.08,2.58,0.00,0.000,6,0.083,0.024,2618,1784,3719,0,0,0,0,0,0
$GC,462,-1.02,-146.0,58.0,-12.2,51,466,0.00,2.53,0.00,0.000,4,0.000,0.029,2618,3365,3720,0,0,0,0,0,0
$GC,519,-1.02,-146.0,65.2,-10.8,55,528,0.00,2.53,0.00,0.000,6,0.000,0.023,2618,1797,3720,0,0,0,0,0,0
$GC,779,-1.02,-146.0,94.6,-10.2,80,783,0.00,2.50,0.00,0.000,4,0.000,0.028,2618,3370,3721,0,0,0,0,0,0
$GC,825,-1.02,-146.0,99.1,-9.8,84,830,0.00,2.47,0.00,0.000,6,0.000,0.021,2618,1812,3721,0,0,0,0,0,0
$GC,1089,-1.02,-146.0,125.3,-10.1,108,1093,0.00,2.47,0.00,0.000,4,0.000,0.028,2618,3368,3721,0,0,0,0,0,0
$GC,1139,-1.15,-146.0,130.3,-7.9,112,1148,0.00,2.47,0.00,0.000,6,0.000,0.022,2618,1824,3722,0,0,0,0,0,0
$GC,1404,-1.15,-146.0,151.9,-8.7,137,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1824,3722,0,0,0,0,0,0
$GC,1665,-1.15,-146.0,175.0,-8.4,162,1669,0.00,2.47,0.00,0.000,4,0.000,0.028,2618,3368,3722,0,0,0,0,0,0
$GC,1715,-1.30,-146.0,178.9,-8.3,166,1720,0.17,2.42,0.00,0.000,6,0.046,0.022,2529,1827,3722,0,0,0,0,0,0
$GC,2004,-1.08,-146.0,217.2,-14.0,184,2011,0.43,2.60,0.00,0.000,4,0.084,0.038,2622,215,3722,0,0,0,0,0,0
$GC,2032,-1.08,-146.0,220.5,-10.0,184,2036,0.00,2.53,0.00,0.000,6,0.000,0.020,2622,1832,3722,0,0,0,0,0,0
$GC,2291,-1.17,-146.0,238.8,-7.2,191,2296,0.00,2.42,0.00,0.000,4,0.000,0.029,2622,3369,3722,0,0,0,0,0,0
$GC,2320,-1.30,-146.0,241.3,-8.2,191,2325,0.20,2.42,0.00,0.000,6,0.041,0.023,2537,1830,3722,0,0,0,0,0,0
$GC,2577,-1.15,-146.0,272.4,-12.6,198,2579,0.32,0.00,0.00,0.000,6,0.081,0.000,2608,1830,3722,0,0,0,0,0,0
$GC,2819,-1.23,-146.0,294.5,-8.9,204,2824,0.00,2.45,0.00,0.000,4,0.000,0.031,2608,3363,3722,0,0,0,0,0,0
$GC,2843,-1.31,-146.0,296.9,-9.9,204,2848,0.15,2.45,0.00,0.000,6,0.053,0.025,2528,1832,3722,0,0,0,0,0,0
$GC,3104,-1.15,-146.0,330.6,-13.2,211,3112,0.32,2.67,0.00,0.000,4,0.081,0.047,2603,210,3721,0,0,0,0,0,0
$GC,3145,-1.30,-146.0,334.9,-9.6,211,3151,0.12,2.58,0.00,0.000,6,0.063,0.023,2532,1835,3721,0,0,0,0,0,0
$GC,3396,-1.17,-146.0,362.1,-11.1,218,3398,0.32,0.00,0.00,0.000,6,0.081,0.000,2604,1835,3720,0,0,0,0,0,0
$GC,3638,-1.25,-146.0,381.1,-7.6,224,3643,0.00,2.47,0.00,0.000,4,0.000,0.038,2604,3373,3719,0,0,0,0,0,0
$GC,3667,-1.35,-146.0,383.5,-8.0,224,3672,0.17,2.47,0.00,0.000,6,0.048,0.027,2519,1830,3719,0,0,0,0,0,0
$GC,3924,-1.19,-146.0,412.3,-11.5,231,3929,0.35,2.53,0.00,0.000,4,0.082,0.039,2599,3368,3718,0,0,0,0,0,0
$GC,3958,-1.29,-146.0,415.8,-8.0,231,3962,0.00,2.47,0.00,0.000,6,0.000,0.028,2599,1829,3718,0,0,0,0,0,0
$GC,4208,-1.38,-146.0,433.6,-7.2,237,4210,0.17,0.00,0.00,0.000,6,0.049,0.000,2514,1829,3716,0,0,0,0,0,0
$GC,4453,-1.22,-146.0,461.4,-11.6,243,4458,0.32,2.55,0.00,0.000,4,0.084,0.044,2589,3364,3715,0,0,0,0,0,0
$GC,4492,-1.33,-146.0,464.9,-7.3,243,4497,0.00,2.45,0.00,0.000,6,0.000,0.028,2590,1840,3715,0,0,0,0,0,0
$GC,4742,-1.40,-146.0,481.2,-6.3,250,4747,0.15,2.53,0.00,0.000,4,0.056,0.045,2526,3360,3713,0,0,0,0,0,0
$GC,4778,-1.32,-146.0,484.0,-8.8,250,4783,0.20,2.47,0.00,0.000,6,0.085,0.033,2572,1850,3713,0,0,0,0,0,0
$STATE,5025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5025,begin apogee
$GC,5031,-0.31,0.0,503.0,7.6,256,5154,0.95,0.00,119.47,0.867,6,0.071,0.000,2790,1670,3120,0,0,0,0,0,0
$STATE,5155,end apogee,CONTROL_FINISHED_OK
$STATE,5155,begin climb
$GC,5159,1.17,146.0,506.7,0.0,259,5287,1.33,0.00,122.18,0.850,6,0.026,0.000,3126,1670,2524,0,0,0,0,0,0
$GC,5526,0.85,146.0,487.2,9.6,268,5533,0.35,2.60,0.00,0.000,4,0.104,0.069,3049,184,2516,0,0,0,0,0,0
$GC,5705,0.64,150.9,470.3,8.8,271,5715,0.25,2.40,3.90,0.509,6,0.103,0.027,2997,1677,2504,0,0,0,0,0,0
$GC,6001,0.72,222.0,452.0,6.0,279,6069,0.00,2.78,62.28,0.827,4,0.000,0.053,2997,3253,2214,0,0,0,0,0,0
$GC,6090,0.86,263.1,445.9,7.3,281,6136,0.20,2.60,37.60,0.802,6,0.046,0.035,3071,1697,2046,0,0,0,0,0,0
$GC,6419,0.76,263.1,409.9,11.2,289,6426,0.20,2.67,0.00,0.000,4,0.096,0.067,3027,168,2037,0,0,0,0,0,0
$GC,6464,0.76,263.1,405.4,9.9,290,6469,0.00,2.45,0.00,0.000,6,0.000,0.026,3027,1683,2037,0,0,0,0,0,0
$GC,6753,0.82,310.5,384.1,7.0,297,6801,0.00,2.75,42.05,0.782,4,0.000,0.050,3027,3250,1853,0,0,0,0,0,0
$GC,6845,1.00,355.8,377.5,7.1,299,6895,0.20,2.65,41.65,0.770,6,0.045,0.035,3100,1672,1667,0,0,0,0,0,0
$GC,7173,0.86,355.8,336.0,13.2,307,7178,0.25,2.60,0.00,0.000,4,0.094,0.063,3043,170,1660,0,0,0,0,0,0
$GC,7208,0.86,355.8,331.7,10.9,307,7212,0.00,2.45,0.00,0.000,6,0.000,0.025,3043,1685,1660,0,0,0,0,0,0
$GC,7463,0.86,355.8,304.8,10.6,314,7468,0.00,2.60,0.00,0.000,4,0.000,0.044,3043,3253,1658,0,0,0,0,0,0
$GC,7482,0.86,355.8,302.6,10.9,314,7486,0.00,2.60,0.00,0.000,6,0.000,0.031,3043,1683,1656,0,0,0,0,0,0
$GC,7745,0.86,355.8,274.7,10.8,321,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1683,1656,0,0,0,0,0,0
$GC,7991,0.86,355.8,250.7,9.6,327,7995,0.00,2.60,0.00,0.000,4,0.000,0.036,3043,3257,1655,0,0,0,0,0,0
$GC,8028,0.98,355.8,246.8,9.3,327,8035,0.12,2.60,0.00,0.000,6,0.064,0.032,3101,1683,1653,0,0,0,0,0,0
$GC,8278,0.88,355.8,215.1,12.7,334,8280,0.22,0.00,0.00,0.000,6,0.094,0.000,3053,1683,1653,0,0,0,0,0,0
$GC,8531,0.88,355.8,188.4,10.6,346,8535,0.00,2.58,0.00,0.000,4,0.000,0.035,3053,3265,1653,0,0,0,0,0,0
$GC,8559,0.97,355.8,184.8,10.4,348,8568,0.00,2.62,0.00,0.000,6,0.000,0.028,3053,1678,1651,0,0,0,0,0,0
$GC,8827,0.97,356.4,160.0,9.0,373,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1678,1651,0,0,0,0,0,0
$GC,9088,1.05,365.6,137.5,8.6,398,9101,0.15,2.62,7.00,0.499,4,0.056,0.031,3120,3271,1630,0,0,0,0,0,0
$GC,9127,0.95,365.6,134.0,11.8,401,9136,0.25,2.58,0.00,0.000,6,0.093,0.027,3067,1688,1628,0,0,0,0,0,0
$GC,9391,1.02,365.6,109.3,9.1,426,9395,0.00,2.55,0.00,0.000,4,0.000,0.032,3067,3267,1628,0,0,0,0,0,0
$GC,9436,1.19,402.8,105.9,7.5,429,9477,0.20,2.55,34.47,0.564,6,0.045,0.027,3153,1693,1476,0,0,0,0,0,0
$GC,9741,1.03,402.8,63.8,14.9,458,9747,0.30,2.50,0.00,0.000,4,0.092,0.043,3084,174,1473,0,0,0,0,0,0
$GC,9774,1.03,402.8,59.6,13.4,460,9778,0.00,2.42,0.00,0.000,6,0.000,0.021,3084,1707,1473,0,0,0,0,0,0
$GC,10041,1.03,402.8,30.1,11.4,484,10045,0.00,2.50,0.00,0.000,4,0.000,0.032,3084,3258,1472,0,0,0,0,0,0
$GC,10067,1.03,402.8,26.8,11.5,487,10075,0.00,2.58,0.00,0.000,6,0.000,0.028,3084,1689,1470,0,0,0,0,0,0
$STATE,10266,end climb,SURFACE_DEPTH_REACHED
$STATE,10266,begin surface coast
$FINISH,0.8,1.024062
$STATE,10305,end surface coast,CONTROL_FINISHED_OK
$STATE,10305,begin surface
$SM_CCo,10386,0.00,0.000,0,0,1467,405.24
$SM_GC,1.70,10.80,0.00,0.00,0.023,0.000,0.000,416,1811,1467,-11.17,0.59,405.24
$IRIDIUM_FIX,2239.35,-15800.20,070400,020247
$TT8_MAMPS,0.026845
$HUMID,50.94
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,64.722
$10V_AH,10.0,57.445
$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,30.850,127.225,470.600,0.000,0.000,29.055,34.053,334.278,0.250,0.000,15.360,1067.275,6714.407,498.716,1940.753,710.613,33.393,1290.746,0.000,1942.819,0.000,0.535,0.000
$DEVICE_MAMPS,154.934,69.030,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.599,321.343,409.000,610.976,1078.074,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,41535,524
$CAP_FILE_SIZE,118610,0
$CFSIZE,260165632,143798272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120111,081756,2250.054,-15800.219,23,3.7,42,10.1