version: 66.06
glider: 148
mission: 9
dive: 503
start: 1 12 111 11 46 51
data:
$ID,148
$MISSION,9
$DIVE,503
$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,-869096.56
$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,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
$GPS1,113331,2249.920,-15758.975,37,1.5,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.4
$GPS2,114556,2249.923,-15758.922,10,1.6,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.244,0.056
$KALMAN_X,-97510.1,-308.3,-11.9,116652.9,-328.2
$KALMAN_Y,-132683.7,-382.4,263.8,262499.7,-518.3
$MHEAD_RNG_PITCHd_Wd,67.0,3283,-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,-75.20,0.000,2,0.000,0.000,411,1874,3458,0,0,0,0,0,0
$GC,100,-1.17,-146.0,4.1,-5.6,10,125,11.57,2.42,-4.47,0.000,4,0.155,0.039,2594,3367,3717,0,0,0,0,0,0
$GC,147,-0.29,-146.0,21.7,-34.4,16,156,0.85,2.55,0.00,0.000,6,0.071,0.022,2790,1783,3719,0,0,0,0,0,0
$GC,432,-1.03,-146.0,44.0,-9.5,50,444,0.62,2.55,0.00,0.000,4,0.049,0.028,2632,3370,3720,0,0,0,0,0,0
$GC,494,-1.25,-146.0,50.0,-9.1,55,499,0.17,2.50,0.00,0.000,6,0.045,0.021,2547,1782,3720,0,0,0,0,0,0
$GC,763,-0.94,-146.0,92.9,-17.3,79,771,0.47,0.00,0.00,0.000,6,0.093,0.000,2650,1781,3720,0,0,0,0,0,0
$GC,1024,-0.94,-146.0,119.6,-9.1,104,1028,0.00,2.53,0.00,0.000,4,0.000,0.029,2650,3367,3720,0,0,0,0,0,0
$GC,1092,-1.13,-146.0,125.0,-6.8,110,1097,0.17,2.50,0.00,0.000,6,0.044,0.022,2556,1793,3720,0,0,0,0,0,0
$GC,1355,-0.97,-146.0,160.5,-13.5,134,1364,0.38,2.55,0.00,0.000,4,0.084,0.038,2641,208,3721,0,0,0,0,0,0
$GC,1411,-1.19,-146.0,166.3,-8.1,139,1418,0.17,2.47,0.00,0.000,6,0.047,0.018,2542,1813,3721,0,0,0,0,0,0
$GC,1674,-1.01,-146.0,198.1,-13.2,164,1679,0.40,2.42,0.00,0.000,4,0.084,0.028,2635,3350,3721,0,0,0,0,0,0
$GC,1695,-1.01,-146.0,200.6,-11.5,165,1699,0.00,2.45,0.00,0.000,6,0.000,0.021,2635,1789,3721,0,0,0,0,0,0
$GC,1959,-1.14,-146.0,221.1,-7.7,172,1964,0.10,2.50,0.00,0.000,4,0.075,0.029,2574,3349,3721,0,0,0,0,0,0
$GC,2003,-1.14,-146.0,225.3,-9.6,173,2008,0.17,2.42,0.00,0.000,6,0.085,0.024,2614,1811,3722,0,0,0,0,0,0
$GC,2294,-1.21,-146.0,249.0,-8.1,180,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1812,3722,0,0,0,0,0,0
$GC,2534,-1.30,-146.0,266.9,-7.4,186,2539,0.15,2.50,0.00,0.000,4,0.055,0.031,2528,3357,3722,0,0,0,0,0,0
$GC,2588,-1.19,-146.0,272.6,-11.3,187,2593,0.32,2.47,0.00,0.000,6,0.076,0.023,2602,1808,3722,0,0,0,0,0,0
$GC,2867,-1.26,-146.0,295.5,-8.1,194,2871,0.00,2.47,0.00,0.000,4,0.000,0.032,2602,3353,3722,0,0,0,0,0,0
$GC,2886,-1.32,-146.0,297.3,-9.3,194,2891,0.12,2.47,0.00,0.000,6,0.063,0.025,2524,1809,3721,0,0,0,0,0,0
$GC,3152,-1.12,-146.0,332.3,-13.7,201,3159,0.43,2.62,0.00,0.000,4,0.083,0.046,2611,214,3721,0,0,0,0,0,0
$GC,3193,-1.32,-146.0,336.7,-8.7,201,3199,0.17,2.47,0.00,0.000,6,0.048,0.023,2524,1793,3721,0,0,0,0,0,0
$GC,3443,-1.17,-146.0,364.3,-11.3,208,3450,0.32,2.55,0.00,0.000,4,0.084,0.038,2601,3367,3719,0,0,0,0,0,0
$GC,3480,-1.28,-146.0,367.6,-7.3,208,3485,0.00,2.50,0.00,0.000,6,0.000,0.028,2601,1818,3719,0,0,0,0,0,0
$GC,3730,-1.37,-146.0,385.6,-7.3,214,3732,0.17,0.00,0.00,0.000,6,0.048,0.000,2516,1819,3718,0,0,0,0,0,0
$GC,3975,-1.20,-146.0,413.6,-11.8,220,3982,0.32,2.55,0.00,0.000,4,0.084,0.041,2592,3368,3717,0,0,0,0,0,0
$GC,3988,-1.10,-146.0,415.3,-11.1,220,3993,0.12,2.47,0.00,0.000,6,0.099,0.025,2621,1816,3717,0,0,0,0,0,0
$GC,4262,-1.26,-146.0,433.4,-6.6,227,4267,0.15,2.58,0.00,0.000,4,0.054,0.042,2549,3368,3715,0,0,0,0,0,0
$GC,4279,-1.33,-146.0,434.7,-6.9,227,4285,0.10,2.50,0.00,0.000,6,0.110,0.027,2572,1821,3715,0,0,0,0,0,0
$GC,4548,-1.33,-146.0,461.0,-10.0,234,4553,0.00,2.55,0.00,0.000,4,0.000,0.047,2572,3358,3713,0,0,0,0,0,0
$GC,4576,-1.33,-146.0,464.1,-10.1,234,4580,0.00,2.47,0.00,0.000,6,0.000,0.028,2572,1831,3713,0,0,0,0,0,0
$GC,4830,-1.33,-146.0,489.5,-10.0,241,4835,0.00,2.55,0.00,0.000,4,0.000,0.048,2572,3359,3711,0,0,0,0,0,0
$GC,4853,-1.33,-146.0,491.9,-10.4,241,4858,0.00,2.47,0.00,0.000,6,0.000,0.029,2572,1834,3710,0,0,0,0,0,0
$STATE,4947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4947,begin apogee
$GC,4953,-0.31,0.0,500.9,9.6,244,5076,0.98,0.00,119.15,0.865,6,0.074,0.000,2792,1672,3120,0,0,0,0,0,0
$STATE,5076,end apogee,CONTROL_FINISHED_OK
$STATE,5077,begin climb
$GC,5081,1.17,146.0,506.4,0.0,247,5214,1.35,2.72,122.65,0.849,4,0.025,0.048,3130,3247,2522,0,0,0,0,0,0
$GC,5245,0.90,190.1,508.1,7.2,251,5290,0.35,2.62,38.20,0.820,6,0.100,0.038,3058,1698,2344,0,0,0,0,0,0
$GC,5568,0.80,217.0,482.4,7.9,259,5597,0.10,2.78,23.25,0.802,4,0.134,0.076,3037,164,2234,0,0,0,0,0,0
$GC,5677,0.72,242.2,473.3,8.0,261,5706,0.00,2.45,23.62,0.799,6,0.000,0.028,3037,1666,2132,0,0,0,0,0,0
$GC,5987,0.74,261.7,448.7,8.2,269,6011,0.00,2.83,17.77,0.776,4,0.000,0.058,3037,3254,2052,0,0,0,0,0,0
$GC,6039,0.74,261.7,443.5,10.2,270,6044,0.00,2.67,0.00,0.000,6,0.000,0.037,3037,1669,2049,0,0,0,0,0,0
$GC,6317,0.74,261.7,417.1,9.6,277,6321,0.00,2.72,0.00,0.000,4,0.000,0.049,3037,3265,2047,0,0,0,0,0,0
$GC,6351,0.74,261.7,413.9,10.0,277,6356,0.00,2.62,0.00,0.000,6,0.000,0.038,3037,1686,2044,0,0,0,0,0,0
$GC,6601,0.74,261.7,389.7,9.5,283,6605,0.00,2.65,0.00,0.000,4,0.000,0.048,3037,3258,2044,0,0,0,0,0,0
$GC,6624,0.75,261.8,387.2,9.0,283,6628,0.00,2.62,0.00,0.000,6,0.000,0.036,3037,1688,2043,0,0,0,0,0,0
$GC,6886,0.75,261.8,362.4,9.5,290,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1689,2042,0,0,0,0,0,0
$GC,7129,0.76,271.9,341.4,8.6,296,7145,0.00,2.67,9.02,0.676,4,0.000,0.044,3037,3265,2010,0,0,0,0,0,0
$GC,7207,0.84,284.7,335.2,8.5,297,7227,0.00,2.60,12.85,0.709,6,0.000,0.034,3037,1705,1958,0,0,0,0,0,0
$GC,7513,0.87,308.8,310.5,8.0,305,7538,0.00,0.00,23.40,0.727,6,0.000,0.000,3037,1704,1861,0,0,0,0,0,0
$GC,7753,0.87,308.8,288.3,9.3,311,7757,0.00,2.65,0.00,0.000,4,0.000,0.064,3037,171,1857,0,0,0,0,0,0
$GC,7808,0.87,308.8,282.2,11.0,312,7813,0.00,2.47,0.00,0.000,6,0.000,0.025,3037,1708,1856,0,0,0,0,0,0
$GC,8083,0.87,308.8,256.0,9.6,319,8088,0.00,2.55,0.00,0.000,4,0.000,0.044,3037,3253,1855,0,0,0,0,0,0
$GC,8139,0.99,313.1,250.6,8.8,320,8151,0.15,2.58,4.28,0.476,6,0.056,0.031,3101,1693,1843,0,0,0,0,0,0
$GC,8417,0.88,313.1,219.9,11.0,327,8419,0.22,0.00,0.00,0.000,6,0.094,0.000,3053,1693,1843,0,0,0,0,0,0
$GC,8659,0.88,313.1,198.2,9.1,333,8663,0.00,2.58,0.00,0.000,4,0.000,0.035,3053,3259,1842,0,0,0,0,0,0
$GC,8677,0.88,313.1,196.7,9.7,334,8682,0.00,2.55,0.00,0.000,6,0.000,0.029,3052,1699,1840,0,0,0,0,0,0
$GC,8945,0.88,313.1,171.2,9.5,358,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1699,1840,0,0,0,0,0,0
$GC,9210,0.96,324.8,147.6,8.5,383,9231,0.00,2.62,11.90,0.564,4,0.000,0.055,3052,168,1795,0,0,0,0,0,0
$GC,9244,0.96,325.9,144.4,9.0,386,9248,0.00,2.45,0.00,0.000,6,0.000,0.022,3052,1723,1795,0,0,0,0,0,0
$GC,9507,1.07,354.6,122.7,7.8,410,9541,0.17,2.65,27.48,0.576,4,0.051,0.046,3129,166,1673,0,0,0,0,0,0
$GC,9567,0.91,354.6,116.6,12.9,415,9572,0.32,2.45,0.00,0.000,6,0.087,0.022,3059,1713,1672,0,0,0,0,0,0
$GC,9831,1.05,385.5,94.0,7.7,439,9873,0.12,2.62,28.52,0.546,4,0.063,0.044,3125,168,1546,0,0,0,0,0,0
$GC,9886,0.92,385.5,86.6,15.2,444,9891,0.30,2.42,0.00,0.000,6,0.084,0.021,3059,1711,1546,0,0,0,0,0,0
$GC,10152,1.02,390.5,59.5,8.8,468,10164,0.10,0.00,5.25,0.400,6,0.077,0.000,3113,1712,1528,0,0,0,0,0,0
$GC,10422,1.02,390.5,26.7,11.3,495,10431,0.15,2.62,0.00,0.000,4,0.099,0.045,3080,166,1527,0,0,0,0,0,0
$GC,10447,1.02,390.5,23.7,12.0,498,10456,0.00,2.42,0.00,0.000,6,0.000,0.019,3080,1704,1527,0,0,0,0,0,0
$STATE,10646,end climb,SURFACE_DEPTH_REACHED
$STATE,10646,begin surface coast
$FINISH,0.8,1.011044
$STATE,10691,end surface coast,CONTROL_FINISHED_OK
$STATE,10692,begin surface
$SM_CCo,10772,0.00,0.000,0,0,1519,391.99
$SM_GC,1.52,10.75,0.00,0.00,0.020,0.000,0.000,413,1881,1519,-11.18,2.57,391.99
$IRIDIUM_FIX,2239.35,-15824.51,070400,111149
$TT8_MAMPS,0.026845
$HUMID,49.48
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,23.4,64.979
$10V_AH,10.0,57.680
$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,32.575,138.075,467.350,0.000,0.000,59.478,80.713,370.961,0.500,0.000,11.618,1108.551,7025.267,522.809,1996.738,861.002,33.383,1341.711,0.000,2003.257,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,79.001,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.202,326.302,413.208,631.593,1116.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,41546,536
$CAP_FILE_SIZE,126807,0
$CFSIZE,260165632,143671296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120111,144757,2250.005,-15757.872,37,99.0,56,10.1