version: 66.06
glider: 148
mission: 9
dive: 502
start: 1 12 111 8 27 57
data:
$ID,148
$MISSION,9
$DIVE,502
$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,-869084.31
$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,29
$R_STBD_OVSHOOT,59
$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
$GPS1,081756,2250.054,-15800.219,23,3.7,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.1
$GPS2,082702,2250.071,-15800.223,14,1.3,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.008
$KALMAN_X,-97171.1,-87.7,-30.9,113873.8,-737.1
$KALMAN_Y,-131678.9,-403.7,-361.6,262413.9,-133.3
$MHEAD_RNG_PITCHd_Wd,78.1,5502,-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,16,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.62,0.000,2,0.000,0.000,416,1811,3291,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.2,-3.8,10,124,11.43,2.50,-8.38,0.000,4,0.150,0.038,2595,3363,3716,0,0,0,0,0,0
$GC,170,-1.04,-146.0,19.0,-14.3,20,180,0.12,2.55,0.00,0.000,6,0.076,0.022,2630,1785,3718,0,0,0,0,0,0
$GC,455,-1.04,-146.0,50.9,-11.3,53,459,0.00,2.53,0.00,0.000,4,0.000,0.028,2630,3358,3719,0,0,0,0,0,0
$GC,499,-1.04,-146.0,55.7,-10.6,56,503,0.00,2.50,0.00,0.000,6,0.000,0.022,2630,1794,3719,0,0,0,0,0,0
$GC,763,-1.04,-146.0,86.9,-12.0,80,767,0.00,2.50,0.00,0.000,4,0.000,0.028,2630,3354,3719,0,0,0,0,0,0
$GC,803,-1.04,-146.0,91.6,-11.6,83,807,0.00,2.45,0.00,0.000,6,0.000,0.022,2630,1809,3719,0,0,0,0,0,0
$GC,1070,-1.04,-146.0,121.9,-10.6,107,1074,0.00,2.45,0.00,0.000,4,0.000,0.028,2630,3356,3719,0,0,0,0,0,0
$GC,1120,-1.15,-146.0,127.4,-9.0,111,1125,0.00,2.42,0.00,0.000,6,0.000,0.022,2629,1827,3720,0,0,0,0,0,0
$GC,1385,-1.22,-146.0,149.2,-7.4,136,1390,0.15,2.45,0.00,0.000,4,0.054,0.028,2551,3365,3720,0,0,0,0,0,0
$GC,1444,-1.22,-146.0,156.3,-11.2,141,1453,0.15,2.45,0.00,0.000,6,0.068,0.023,2591,1837,3720,0,0,0,0,0,0
$GC,1711,-1.22,-146.0,186.3,-11.9,166,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1837,3721,0,0,0,0,0,0
$GC,1996,-1.22,-146.0,215.3,-8.9,182,2000,0.00,2.42,0.00,0.000,4,0.000,0.028,2591,3357,3722,0,0,0,0,0,0
$GC,2014,-1.22,-146.0,217.0,-8.9,182,2019,0.00,2.38,0.00,0.000,6,0.000,0.021,2591,1840,3721,0,0,0,0,0,0
$GC,2280,-1.22,-146.0,239.7,-8.8,189,2284,0.00,2.42,0.00,0.000,4,0.000,0.028,2591,3358,3721,0,0,0,0,0,0
$GC,2299,-1.22,-146.0,241.6,-8.5,189,2303,0.00,2.38,0.00,0.000,6,0.000,0.022,2592,1861,3721,0,0,0,0,0,0
$GC,2562,-1.22,-146.0,264.9,-9.2,196,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1861,3721,0,0,0,0,0,0
$GC,2805,-1.22,-146.0,288.6,-9.7,202,2810,0.00,2.70,0.00,0.000,4,0.000,0.045,2591,220,3722,0,0,0,0,0,0
$GC,2826,-1.22,-146.0,290.5,-9.4,202,2830,0.00,2.55,0.00,0.000,6,0.000,0.021,2591,1854,3721,0,0,0,0,0,0
$GC,3090,-1.22,-146.0,313.0,-8.2,209,3094,0.00,2.38,0.00,0.000,4,0.000,0.032,2591,3353,3721,0,0,0,0,0,0
$GC,3138,-1.34,-146.0,316.7,-7.8,210,3142,0.00,2.38,0.00,0.000,6,0.000,0.026,2591,1875,3721,0,0,0,0,0,0
$GC,3420,-1.34,-146.0,338.2,-7.7,217,3425,0.00,2.78,0.00,0.000,4,0.000,0.051,2591,212,3719,0,0,0,0,0,0
$GC,3441,-1.34,-146.0,339.9,-8.7,217,3445,0.00,2.58,0.00,0.000,6,0.000,0.022,2591,1855,3719,0,0,0,0,0,0
$GC,3707,-1.34,-146.0,360.2,-7.8,224,3711,0.00,2.40,0.00,0.000,4,0.000,0.035,2591,3357,3718,0,0,0,0,0,0
$GC,3725,-1.34,-146.0,362.1,-8.6,224,3729,0.00,2.38,0.00,0.000,6,0.000,0.025,2591,1867,3718,0,0,0,0,0,0
$GC,3989,-1.34,-146.0,384.7,-8.8,231,3993,0.00,2.42,0.00,0.000,4,0.000,0.038,2591,3346,3717,0,0,0,0,0,0
$GC,4007,-1.34,-146.0,386.5,-9.3,231,4011,0.00,2.33,0.00,0.000,6,0.000,0.026,2591,1887,3717,0,0,0,0,0,0
$GC,4271,-1.34,-146.0,409.0,-8.7,238,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1886,3715,0,0,0,0,0,0
$GC,4514,-1.34,-146.0,430.9,-9.1,244,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1887,3714,0,0,0,0,0,0
$GC,4758,-1.40,-146.0,452.1,-8.6,250,4763,0.15,2.45,0.00,0.000,4,0.056,0.045,2525,3348,3712,0,0,0,0,0,0
$GC,4789,-1.29,-146.0,455.2,-11.0,250,4794,0.25,2.35,0.00,0.000,6,0.085,0.027,2581,1883,3712,0,0,0,0,0,0
$GC,5044,-1.29,-146.0,476.4,-7.8,257,5048,0.00,2.42,0.00,0.000,4,0.000,0.044,2581,3346,3710,0,0,0,0,0,0
$GC,5083,-1.37,-146.0,479.2,-7.2,257,5089,0.00,2.35,0.00,0.000,6,0.000,0.028,2581,1897,3710,0,0,0,0,0,0
$GC,5333,-1.37,-146.0,496.1,-6.7,264,5340,0.00,2.90,0.00,0.000,4,0.000,0.066,2581,216,3709,0,0,0,0,0,0
$GC,5354,-1.37,-146.0,497.8,-8.0,264,5359,0.00,2.67,0.00,0.000,6,0.000,0.031,2581,1866,3709,0,0,0,0,0,0
$STATE,5412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5412,begin apogee
$GC,5420,-0.31,0.0,501.8,6.9,266,5542,0.93,0.00,118.70,0.869,6,0.067,0.000,2794,1674,3120,0,0,0,0,0,0
$STATE,5543,end apogee,CONTROL_FINISHED_OK
$STATE,5543,begin climb
$GC,5545,1.17,146.0,505.9,0.0,269,5677,1.30,2.70,122.38,0.851,4,0.024,0.051,3133,3230,2523,0,0,0,0,0,0
$GC,5689,0.92,222.5,507.0,5.8,272,5765,0.35,2.60,65.80,0.834,6,0.100,0.037,3061,1695,2212,0,0,0,0,0,0
$GC,6043,0.81,222.5,472.6,10.1,281,6048,0.12,2.67,0.00,0.000,4,0.115,0.074,3034,167,2203,0,0,0,0,0,0
$GC,6183,0.75,238.9,459.8,8.3,284,6204,0.00,2.40,14.45,0.763,6,0.000,0.028,3035,1644,2145,0,0,0,0,0,0
$GC,6469,0.79,271.4,438.2,7.7,291,6506,0.00,2.85,29.83,0.802,4,0.000,0.054,3035,3257,2012,0,0,0,0,0,0
$GC,6561,0.80,279.6,430.6,8.7,293,6577,0.00,2.65,8.35,0.689,6,0.000,0.036,3035,1669,1979,0,0,0,0,0,0
$GC,6852,0.80,280.2,405.0,9.0,300,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1669,1975,0,0,0,0,0,0
$GC,7093,0.80,280.2,381.7,9.7,306,7097,0.00,2.67,0.00,0.000,4,0.000,0.044,3035,3255,1973,0,0,0,0,0,0
$GC,7136,0.86,280.2,377.4,10.5,307,7141,0.00,2.65,0.00,0.000,6,0.000,0.035,3035,1670,1971,0,0,0,0,0,0
$GC,7424,0.86,280.2,350.1,9.5,314,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1670,1971,0,0,0,0,0,0
$GC,7669,0.87,288.7,328.6,8.7,320,7684,0.00,2.60,8.32,0.659,4,0.000,0.064,3035,166,1943,0,0,0,0,0,0
$GC,7698,0.88,290.4,325.7,8.9,320,7703,0.00,2.45,0.00,0.000,6,0.000,0.025,3035,1684,1942,0,0,0,0,0,0
$GC,7954,0.89,299.0,303.5,8.6,327,7971,0.00,2.67,11.12,0.678,4,0.000,0.045,3035,3253,1901,0,0,0,0,0,0
$GC,7990,0.92,325.5,300.3,7.9,327,8023,0.10,2.65,25.65,0.723,6,0.076,0.033,3082,1666,1791,0,0,0,0,0,0
$GC,8289,0.84,325.5,269.4,10.3,335,8294,0.17,2.60,0.00,0.000,4,0.098,0.063,3044,171,1787,0,0,0,0,0,0
$GC,8326,0.84,325.5,265.5,10.0,335,8332,0.00,2.42,0.00,0.000,6,0.000,0.025,3044,1682,1786,0,0,0,0,0,0
$GC,8576,0.86,341.2,244.8,8.4,342,8596,0.00,2.67,14.23,0.653,4,0.000,0.041,3044,3244,1727,0,0,0,0,0,0
$GC,8660,0.98,341.2,237.4,9.7,343,8666,0.12,2.60,0.00,0.000,6,0.063,0.031,3103,1678,1724,0,0,0,0,0,0
$GC,8910,0.89,341.2,205.2,13.4,349,8912,0.22,0.00,0.00,0.000,6,0.094,0.000,3055,1678,1723,0,0,0,0,0,0
$GC,9166,0.90,347.9,180.9,8.7,367,9179,0.00,2.65,6.55,0.525,4,0.000,0.034,3055,3255,1700,0,0,0,0,0,0
$GC,9198,0.91,357.6,178.0,8.6,370,9216,0.00,2.58,10.30,0.574,6,0.000,0.028,3055,1685,1661,0,0,0,0,0,0
$GC,9473,0.97,357.6,152.8,10.0,396,9477,0.00,2.53,0.00,0.000,4,0.000,0.048,3054,172,1659,0,0,0,0,0,0
$GC,9493,0.97,357.6,151.1,9.4,397,9497,0.00,2.42,0.00,0.000,6,0.000,0.021,3054,1707,1659,0,0,0,0,0,0
$GC,9759,1.08,369.9,127.1,8.5,421,9781,0.17,2.58,12.27,0.545,4,0.051,0.033,3137,3252,1611,0,0,0,0,0,0
$GC,9806,0.99,369.9,122.0,11.7,425,9812,0.28,2.55,0.00,0.000,6,0.084,0.027,3077,1687,1610,0,0,0,0,0,0
$GC,10070,0.99,369.9,96.1,10.0,449,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1687,1609,0,0,0,0,0,0
$GC,10336,0.99,369.9,69.5,9.8,474,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1687,1610,0,0,0,0,0,0
$GC,10600,0.99,369.9,43.2,10.1,499,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1687,1609,0,0,0,0,0,0
$GC,10877,0.99,369.9,14.7,11.6,533,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1687,1609,0,0,0,0,0,0
$STATE,10972,end climb,SURFACE_DEPTH_REACHED
$STATE,10972,begin surface coast
$FINISH,0.6,1.023662
$STATE,11018,end surface coast,CONTROL_FINISHED_OK
$STATE,11020,begin surface
$SM_CCo,11042,10.07,0.070,1,0,1570,380.21
$SM_GC,1.72,0.00,0.00,10.07,0.000,0.000,0.070,411,1874,1570,-11.27,2.37,380.21
$IRIDIUM_FIX,2241.69,-15802.37,070400,050535
$TT8_MAMPS,0.027612
$HUMID,49.76
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,64.847
$10V_AH,10.0,57.564
$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,26.775,132.050,447.950,10.075,0.000,25.096,41.190,333.142,0.000,0.000,15.528,1127.763,7188.433,507.472,2061.397,716.948,33.388,1321.189,0.000,2067.152,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,74.399,869.011,69.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.649,341.335,428.679,659.322,1165.720,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,44691,555
$CAP_FILE_SIZE,120299,0
$CFSIZE,260165632,143736832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120111,113331,2249.920,-15758.975,37,1.5,37,10.1