version: 66.06
glider: 148
mission: 9
dive: 504
start: 1 12 111 14 57 57
data:
$ID,148
$MISSION,9
$DIVE,504
$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,-869109.69
$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,28
$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
$GPS1,144757,2250.005,-15757.872,37,99.0,56,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.6
$GPS2,145702,2249.944,-15757.889,10,1.6,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.175,0.108
$KALMAN_X,-98345.6,-380.5,-27.4,119360.5,-417.5
$KALMAN_Y,-133574.1,-94.2,283.8,263119.6,-1094.0
$MHEAD_RNG_PITCHd_Wd,48.2,1521,-20.2,-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,-1.38,-94.3,0.0,0.0,0,95,0.00,0.00,-74.68,0.000,2,0.000,0.000,413,1881,3347,0,0,0,0,0,0
$GC,98,-1.44,-146.0,3.5,-4.0,10,123,11.68,2.38,-7.07,0.000,4,0.170,0.038,2534,3369,3716,0,0,0,0,0,0
$GC,146,-0.66,-146.0,18.1,-29.9,16,156,0.77,2.58,0.00,0.000,6,0.081,0.021,2710,1773,3718,0,0,0,0,0,0
$GC,434,-1.07,-146.0,41.4,-6.7,50,439,0.30,2.55,0.00,0.000,4,0.031,0.028,2555,3360,3719,0,0,0,0,0,0
$GC,513,-1.07,-146.0,51.2,-15.1,56,525,0.32,2.50,0.00,0.000,6,0.086,0.022,2626,1792,3719,0,0,0,0,0,0
$GC,785,-1.20,-146.0,78.1,-9.7,81,790,0.12,2.53,0.00,0.000,4,0.065,0.030,2567,3361,3719,0,0,0,0,0,0
$GC,817,-1.20,-146.0,82.0,-11.8,83,822,0.15,2.45,0.00,0.000,6,0.103,0.022,2599,1808,3719,0,0,0,0,0,0
$GC,1083,-1.29,-146.0,113.2,-11.1,107,1087,0.00,2.58,0.00,0.000,4,0.000,0.045,2599,207,3719,0,0,0,0,0,0
$GC,1118,-1.43,-146.0,118.0,-11.1,110,1124,0.22,2.47,0.00,0.000,6,0.040,0.018,2503,1819,3720,0,0,0,0,0,0
$GC,1379,-1.31,-146.0,159.5,-15.1,134,1381,0.32,0.00,0.00,0.000,6,0.093,0.000,2570,1823,3720,0,0,0,0,0,0
$GC,1637,-1.41,-146.0,187.9,-10.5,158,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1823,3721,0,0,0,0,0,0
$GC,1912,-1.51,-146.0,217.1,-10.4,173,1917,0.17,2.45,0.00,0.000,4,0.051,0.030,2499,3361,3721,0,0,0,0,0,0
$GC,1960,-1.51,-146.0,223.2,-13.0,174,1965,0.15,2.45,0.00,0.000,6,0.101,0.023,2531,1809,3721,0,0,0,0,0,0
$GC,2245,-1.51,-146.0,257.8,-12.1,181,2249,0.00,2.50,0.00,0.000,4,0.000,0.031,2531,3360,3721,0,0,0,0,0,0
$GC,2282,-1.51,-146.0,262.7,-12.7,181,2287,0.00,2.47,0.00,0.000,6,0.000,0.023,2531,1807,3722,0,0,0,0,0,0
$GC,2531,-1.51,-146.0,290.9,-11.2,188,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1807,3721,0,0,0,0,0,0
$GC,2776,-1.51,-146.0,317.2,-10.9,194,2781,0.00,2.62,0.00,0.000,4,0.000,0.047,2531,207,3721,0,0,0,0,0,0
$GC,2799,-1.51,-146.0,320.4,-12.4,194,2804,0.00,2.53,0.00,0.000,6,0.000,0.022,2531,1807,3721,0,0,0,0,0,0
$GC,3058,-1.51,-146.0,350.7,-11.8,201,3063,0.00,2.53,0.00,0.000,4,0.000,0.038,2531,3364,3719,0,0,0,0,0,0
$GC,3130,-1.61,-146.0,358.8,-11.1,202,3134,0.00,2.47,0.00,0.000,6,0.000,0.027,2531,1826,3719,0,0,0,0,0,0
$GC,3389,-1.61,-146.0,388.8,-11.6,209,3393,0.00,2.55,0.00,0.000,4,0.000,0.041,2531,3367,3718,0,0,0,0,0,0
$GC,3407,-1.61,-146.0,391.2,-12.0,209,3412,0.00,2.47,0.00,0.000,6,0.000,0.025,2531,1829,3718,0,0,0,0,0,0
$GC,3672,-1.61,-146.0,420.4,-11.3,216,3677,0.00,2.53,0.00,0.000,4,0.000,0.044,2531,3357,3717,0,0,0,0,0,0
$GC,3691,-1.61,-146.0,422.8,-11.1,216,3695,0.00,2.45,0.00,0.000,6,0.000,0.025,2531,1833,3717,0,0,0,0,0,0
$GC,3954,-1.61,-146.0,449.3,-10.1,223,3958,0.00,2.55,0.00,0.000,4,0.000,0.044,2531,3367,3715,0,0,0,0,0,0
$GC,3984,-1.68,-146.0,452.0,-9.1,223,3989,0.15,2.45,0.00,0.000,6,0.056,0.031,2458,1845,3715,0,0,0,0,0,0
$GC,4240,-1.54,-146.0,487.4,-14.2,230,4247,0.28,2.78,0.00,0.000,4,0.101,0.061,2521,214,3713,0,0,0,0,0,0
$GC,4265,-1.54,-146.0,491.0,-13.5,230,4270,0.00,2.62,0.00,0.000,6,0.000,0.034,2520,1822,3713,0,0,0,0,0,0
$STATE,4360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4360,begin apogee
$GC,4367,-0.31,0.0,500.4,9.7,233,4491,1.23,0.00,119.57,0.857,6,0.087,0.000,2788,1674,3120,0,0,0,0,0,0
$STATE,4491,end apogee,CONTROL_FINISHED_OK
$STATE,4492,begin climb
$GC,4494,1.44,146.0,504.5,0.0,236,4624,1.58,2.65,121.78,0.841,4,0.025,0.066,3178,190,2524,0,0,0,0,0,0
$GC,4892,1.04,146.0,479.4,9.6,244,4898,0.45,2.42,0.00,0.000,6,0.114,0.031,3087,1678,2515,0,0,0,0,0,0
$GC,5142,1.09,190.1,463.1,6.2,251,5187,0.00,2.70,37.50,0.813,4,0.000,0.059,3087,180,2343,0,0,0,0,0,0
$GC,5281,0.99,190.1,450.2,10.1,254,5286,0.00,2.42,0.00,0.000,6,0.000,0.027,3087,1680,2340,0,0,0,0,0,0
$GC,5564,1.01,203.2,426.1,8.2,261,5580,0.00,2.60,11.68,0.736,4,0.000,0.057,3087,187,2291,0,0,0,0,0,0
$GC,5605,0.94,203.2,422.2,10.2,262,5610,0.12,2.42,0.00,0.000,6,0.128,0.026,3063,1678,2290,0,0,0,0,0,0
$GC,5895,1.02,221.6,399.6,7.8,269,5919,0.00,2.62,17.25,0.759,4,0.000,0.056,3063,181,2214,0,0,0,0,0,0
$GC,5933,1.02,221.6,396.0,9.8,269,5939,0.00,2.45,0.00,0.000,6,0.000,0.026,3063,1682,2213,0,0,0,0,0,0
$GC,6185,1.12,230.4,374.6,8.4,276,6196,0.17,0.00,8.38,0.673,6,0.052,0.000,3130,1683,2180,0,0,0,0,0,0
$GC,6427,1.04,230.4,346.8,11.6,282,6429,0.20,0.00,0.00,0.000,6,0.104,0.000,3088,1683,2177,0,0,0,0,0,0
$GC,6670,1.04,230.4,323.7,9.0,288,6675,0.00,2.67,0.00,0.000,4,0.000,0.053,3089,3253,2175,0,0,0,0,0,0
$GC,6733,1.12,230.4,318.1,9.8,289,6737,0.00,2.58,0.00,0.000,6,0.000,0.033,3088,1694,2174,0,0,0,0,0,0
$GC,7001,1.12,230.4,292.8,9.5,296,7005,0.00,2.65,0.00,0.000,4,0.000,0.066,3088,161,2174,0,0,0,0,0,0
$GC,7187,1.12,230.4,272.0,11.5,300,7192,0.00,2.42,0.00,0.000,6,0.000,0.025,3088,1676,2173,0,0,0,0,0,0
$GC,7471,1.12,232.9,246.0,8.9,307,7476,0.00,2.58,0.00,0.000,4,0.000,0.054,3088,161,2173,0,0,0,0,0,0
$GC,7496,1.12,236.3,243.8,8.8,307,7509,0.00,2.40,5.60,0.542,6,0.000,0.024,3088,1670,2156,0,0,0,0,0,0
$GC,7759,1.22,259.4,222.9,7.5,314,7784,0.15,0.00,22.10,0.662,6,0.058,0.000,3153,1674,2062,0,0,0,0,0,0
$GC,8004,1.14,259.4,194.9,11.5,323,8009,0.22,2.58,0.00,0.000,4,0.104,0.051,3106,160,2057,0,0,0,0,0,0
$GC,8072,1.14,259.4,187.3,11.8,329,8076,0.00,2.38,0.00,0.000,6,0.000,0.023,3107,1668,2057,0,0,0,0,0,0
$GC,8334,1.14,259.4,159.6,10.4,353,8338,0.00,2.53,0.00,0.000,4,0.000,0.048,3106,158,2057,0,0,0,0,0,0
$GC,8406,1.14,259.4,151.9,10.5,359,8411,0.00,2.38,0.00,0.000,6,0.000,0.023,3106,1653,2057,0,0,0,0,0,0
$GC,8668,1.25,291.6,130.8,6.9,384,8707,0.10,2.55,28.67,0.590,4,0.079,0.048,3154,160,1931,0,0,0,0,0,0
$GC,8744,1.14,291.6,124.0,11.5,391,8749,0.22,2.38,0.00,0.000,6,0.107,0.021,3108,1652,1930,0,0,0,0,0,0
$GC,9010,1.29,312.4,102.8,7.7,415,9035,0.15,2.55,19.83,0.548,4,0.058,0.047,3173,164,1845,0,0,0,0,0,0
$GC,9112,1.19,312.4,88.7,15.6,424,9121,0.22,2.38,0.00,0.000,6,0.095,0.021,3122,1642,1844,0,0,0,0,0,0
$GC,9380,1.25,312.4,59.7,10.3,449,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1646,1841,0,0,0,0,0,0
$GC,9645,1.32,321.1,35.3,8.4,474,9656,0.10,0.00,8.62,0.443,6,0.077,0.000,3180,1646,1812,0,0,0,0,0,0
$STATE,9854,end climb,SURFACE_DEPTH_REACHED
$STATE,9854,begin surface coast
$FINISH,0.6,1.023695
$STATE,9901,end surface coast,CONTROL_FINISHED_OK
$STATE,9901,begin surface
$SM_CCo,9921,32.67,0.353,1,0,1569,380.21
$SM_GC,1.62,0.00,0.00,32.67,0.000,0.000,0.353,413,1797,1569,-11.26,0.20,380.21
$IRIDIUM_FIX,2241.69,-15756.28,070400,111123
$TT8_MAMPS,0.026845
$HUMID,50.35
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.60
$XPDR_PINGS,2
$24V_AH,23.4,65.094
$10V_AH,10.0,57.794
$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,30.850,116.200,400.975,32.675,0.000,28.394,36.124,337.587,0.500,0.000,12.474,1062.161,6242.599,477.688,2003.832,715.925,33.378,1273.727,0.000,2018.451,0.000,0.536,0.000
$DEVICE_MAMPS,170.274,65.962,856.739,352.820,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.673,328.382,408.389,628.853,1111.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41509,512
$CAP_FILE_SIZE,113870,0
$CFSIZE,260165632,143626240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120111,174525,2250.083,-15756.826,49,2.0,49,10.1