version: 66.06
glider: 148
mission: 9
dive: 506
start: 1 12 111 21 27 27
data:
$ID,148
$MISSION,9
$DIVE,506
$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,-869149.31
$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,35
$R_STBD_OVSHOOT,88
$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
$GPS1,210406,2248.617,-15757.722,43,1.2,54,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.9
$GPS2,212632,2248.790,-15757.957,14,1.1,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.059,-0.243
$KALMAN_X,-99943.1,-5.1,-110.0,120549.4,-451.0
$KALMAN_Y,-134437.0,505.0,-123.8,261644.1,90.2
$MHEAD_RNG_PITCHd_Wd,156.2,3326,-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,-145.8,0.0,0.0,0,95,0.00,0.00,-75.15,0.000,2,0.000,0.000,407,1835,3424,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.6,-4.6,10,123,11.57,2.42,-5.30,0.000,4,0.153,0.038,2598,3330,3714,0,0,0,0,0,0
$GC,165,-0.99,-146.0,20.9,-14.5,19,175,0.17,2.47,0.00,0.000,6,0.076,0.022,2641,1792,3715,0,0,0,0,0,0
$GC,446,-0.99,-146.0,55.1,-7.9,49,450,0.00,2.47,0.00,0.000,4,0.000,0.031,2641,3326,3715,0,0,0,0,0,0
$GC,492,-0.99,-146.0,59.7,-9.2,52,501,0.00,2.47,0.00,0.000,6,0.000,0.024,2641,1792,3715,0,0,0,0,0,0
$GC,757,-0.99,-146.0,84.8,-9.9,77,761,0.00,2.47,0.00,0.000,4,0.000,0.029,2641,3330,3715,0,0,0,0,0,0
$GC,807,-1.05,-146.0,89.4,-9.1,81,811,0.00,2.42,0.00,0.000,6,0.000,0.022,2641,1802,3715,0,0,0,0,0,0
$GC,1073,-1.12,-146.0,112.9,-8.2,105,1078,0.12,2.60,0.00,0.000,4,0.064,0.041,2571,214,3715,0,0,0,0,0,0
$GC,1089,-1.12,-146.0,114.9,-9.0,106,1094,0.20,2.40,0.00,0.000,6,0.089,0.018,2616,1793,3715,0,0,0,0,0,0
$GC,1349,-1.12,-146.0,142.5,-9.3,130,1353,0.00,2.47,0.00,0.000,4,0.000,0.028,2616,3353,3716,0,0,0,0,0,0
$GC,1416,-1.24,-146.0,148.1,-8.1,136,1421,0.12,2.40,0.00,0.000,6,0.060,0.022,2529,1821,3716,0,0,0,0,0,0
$GC,1680,-0.99,-146.0,184.3,-14.6,160,1690,0.55,2.60,0.00,0.000,4,0.083,0.037,2639,207,3716,0,0,0,0,0,0
$GC,1704,-0.99,-146.0,187.8,-11.2,162,1713,0.00,2.53,0.00,0.000,6,0.000,0.019,2639,1820,3717,0,0,0,0,0,0
$GC,1965,-1.13,-146.0,205.7,-6.7,181,1970,0.10,2.45,0.00,0.000,4,0.076,0.030,2573,3366,3716,0,0,0,0,0,0
$GC,2027,-1.13,-146.0,211.7,-9.6,182,2032,0.17,2.40,0.00,0.000,6,0.086,0.026,2614,1841,3716,0,0,0,0,0,0
$GC,2298,-1.20,-146.0,233.0,-7.5,189,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1841,3716,0,0,0,0,0,0
$GC,2540,-1.28,-146.0,250.1,-7.0,195,2545,0.15,2.45,0.00,0.000,4,0.056,0.031,2536,3354,3716,0,0,0,0,0,0
$GC,2594,-1.19,-146.0,255.5,-10.4,196,2599,0.28,2.40,0.00,0.000,6,0.079,0.024,2599,1849,3716,0,0,0,0,0,0
$GC,2872,-1.19,-146.0,280.9,-9.3,203,2876,0.00,2.40,0.00,0.000,4,0.000,0.031,2599,3353,3716,0,0,0,0,0,0
$GC,2900,-1.27,-146.0,283.6,-9.3,203,2904,0.00,2.35,0.00,0.000,6,0.000,0.025,2600,1868,3716,0,0,0,0,0,0
$GC,3156,-1.27,-146.0,304.6,-8.1,210,3161,0.00,2.72,0.00,0.000,4,0.000,0.048,2599,211,3715,0,0,0,0,0,0
$GC,3194,-1.39,-146.0,308.0,-8.6,210,3200,0.17,2.58,0.00,0.000,6,0.048,0.023,2510,1850,3715,0,0,0,0,0,0
$GC,3444,-1.18,-146.0,338.4,-12.3,217,3449,0.35,2.42,0.00,0.000,4,0.083,0.035,2592,3359,3713,0,0,0,0,0,0
$GC,3470,-1.18,-146.0,340.9,-9.2,217,3474,0.00,2.38,0.00,0.000,6,0.000,0.027,2592,1869,3713,0,0,0,0,0,0
$GC,3729,-1.18,-146.0,363.1,-8.8,224,3733,0.00,2.40,0.00,0.000,4,0.000,0.038,2592,3349,3712,0,0,0,0,0,0
$GC,3757,-1.24,-146.0,365.7,-9.0,224,3761,0.00,2.38,0.00,0.000,6,0.000,0.028,2592,1875,3712,0,0,0,0,0,0
$GC,4013,-1.24,-146.0,386.0,-7.8,231,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1875,3710,0,0,0,0,0,0
$GC,4255,-1.24,-146.0,403.2,-6.9,237,4259,0.00,2.45,0.00,0.000,4,0.000,0.042,2593,3354,3709,0,0,0,0,0,0
$GC,4302,-1.36,-146.0,406.4,-6.4,238,4307,0.12,2.38,0.00,0.000,6,0.064,0.028,2519,1883,3709,0,0,0,0,0,0
$GC,4586,-1.18,-146.0,436.8,-11.0,245,4588,0.40,0.00,0.00,0.000,6,0.081,0.000,2602,1883,3707,0,0,0,0,0,0
$GC,4829,-1.29,-146.0,453.5,-6.4,251,4834,0.10,2.45,0.00,0.000,4,0.078,0.049,2553,3349,3706,0,0,0,0,0,0
$GC,4857,-1.29,-146.0,456.1,-9.5,251,4862,0.12,2.35,0.00,0.000,6,0.098,0.028,2582,1886,3706,0,0,0,0,0,0
$GC,5114,-1.29,-146.0,476.5,-8.1,258,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1886,3704,0,0,0,0,0,0
$GC,5356,-1.29,-146.0,496.9,-8.4,264,5360,0.00,2.42,0.00,0.000,4,0.000,0.050,2582,3345,3702,0,0,0,0,0,0
$GC,5374,-1.29,-146.0,498.6,-9.1,264,5378,0.00,2.33,0.00,0.000,6,0.000,0.028,2582,1905,3702,0,0,0,0,0,0
$STATE,5391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5391,begin apogee
$GC,5399,-0.31,0.0,500.1,8.6,265,5520,0.93,0.00,117.38,0.868,6,0.074,0.000,2792,1681,3120,0,0,0,0,0,0
$STATE,5520,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5523,1.17,146.0,506.0,0.0,268,5654,1.30,2.70,121.53,0.851,4,0.025,0.049,3133,3239,2522,0,0,0,0,0,0
$GC,5775,0.88,153.7,500.5,8.7,273,5789,0.38,2.60,6.90,0.668,6,0.097,0.037,3053,1686,2494,0,0,0,0,0,0
$GC,6081,0.81,198.1,478.7,7.2,281,6126,0.00,2.72,39.12,0.826,4,0.000,0.075,3053,166,2312,0,0,0,0,0,0
$GC,6160,0.63,198.1,471.8,11.0,282,6165,0.25,2.42,0.00,0.000,6,0.096,0.028,2999,1654,2309,0,0,0,0,0,0
$GC,6412,0.71,264.2,455.4,6.2,288,6476,0.00,2.85,58.25,0.825,4,0.000,0.059,2999,3251,2041,0,0,0,0,0,0
$GC,6501,0.88,310.4,448.9,7.1,290,6551,0.22,2.62,42.88,0.808,6,0.042,0.035,3087,1680,1853,0,0,0,0,0,0
$GC,6829,0.76,310.4,406.7,13.2,298,6836,0.25,2.70,0.00,0.000,4,0.094,0.051,3029,3255,1845,0,0,0,0,0,0
$GC,6858,0.76,310.4,403.5,10.4,298,6863,0.00,2.65,0.00,0.000,6,0.000,0.035,3028,1677,1842,0,0,0,0,0,0
$GC,7117,0.76,310.4,378.4,9.4,305,7122,0.00,2.70,0.00,0.000,4,0.000,0.049,3028,3260,1841,0,0,0,0,0,0
$GC,7152,0.85,310.4,375.2,9.5,305,7156,0.00,2.60,0.00,0.000,6,0.000,0.035,3028,1694,1839,0,0,0,0,0,0
$GC,7403,0.85,310.4,352.2,9.0,311,7407,0.00,2.65,0.00,0.000,4,0.000,0.047,3028,3256,1839,0,0,0,0,0,0
$GC,7449,0.97,310.4,347.9,9.1,312,7455,0.17,2.58,0.00,0.000,6,0.051,0.035,3096,1698,1838,0,0,0,0,0,0
$GC,7733,0.85,310.4,315.0,12.0,319,7740,0.22,2.65,0.00,0.000,4,0.097,0.047,3047,3256,1837,0,0,0,0,0,0
$GC,7770,0.92,310.4,311.1,10.2,319,7775,0.00,2.58,0.00,0.000,6,0.000,0.033,3047,1703,1836,0,0,0,0,0,0
$GC,8020,0.92,310.4,286.8,9.7,325,8024,0.00,2.62,0.00,0.000,4,0.000,0.064,3047,163,1836,0,0,0,0,0,0
$GC,8075,0.92,310.4,280.9,10.7,326,8079,0.00,2.47,0.00,0.000,6,0.000,0.025,3046,1706,1836,0,0,0,0,0,0
$GC,8349,0.92,310.4,255.3,9.6,333,8354,0.00,2.58,0.00,0.000,4,0.000,0.044,3046,3256,1836,0,0,0,0,0,0
$GC,8401,1.01,310.4,249.6,10.6,334,8406,0.12,2.53,0.00,0.000,6,0.065,0.031,3116,1704,1833,0,0,0,0,0,0
$GC,8681,0.86,310.4,209.4,14.6,341,8688,0.30,2.62,0.00,0.000,4,0.091,0.057,3047,164,1833,0,0,0,0,0,0
$GC,8758,0.86,310.4,200.3,10.4,342,8762,0.00,2.45,0.00,0.000,6,0.000,0.023,3047,1705,1833,0,0,0,0,0,0
$GC,9030,0.89,335.1,178.3,8.0,367,9060,0.00,2.60,19.58,0.619,4,0.000,0.036,3047,3255,1751,0,0,0,0,0,0
$GC,9080,1.02,359.4,173.7,8.0,372,9111,0.15,2.55,22.98,0.616,6,0.056,0.028,3116,1687,1654,0,0,0,0,0,0
$GC,9368,0.91,359.4,137.0,12.9,399,9374,0.25,2.55,0.00,0.000,4,0.093,0.048,3058,164,1649,0,0,0,0,0,0
$GC,9417,0.91,359.4,131.6,11.1,403,9421,0.00,2.42,0.00,0.000,6,0.000,0.023,3058,1696,1649,0,0,0,0,0,0
$GC,9684,0.98,359.4,104.9,9.9,428,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1698,1648,0,0,0,0,0,0
$GC,9937,1.12,382.7,82.2,8.0,452,9971,0.17,2.62,21.58,0.536,4,0.049,0.045,3149,172,1558,0,0,0,0,0,0
$GC,10000,0.95,382.7,74.9,13.6,457,10010,0.35,2.42,0.00,0.000,6,0.084,0.023,3069,1679,1558,0,0,0,0,0,0
$GC,10264,1.04,382.7,49.6,9.7,482,10268,0.00,2.55,0.00,0.000,4,0.000,0.032,3069,3269,1556,0,0,0,0,0,0
$GC,10308,1.18,382.7,45.5,10.2,485,10314,0.20,2.55,0.00,0.000,6,0.041,0.027,3166,1683,1553,0,0,0,0,0,0
$STATE,10562,end climb,SURFACE_DEPTH_REACHED
$STATE,10562,begin surface coast
$FINISH,1.2,1.024061
$STATE,10589,end surface coast,CONTROL_FINISHED_OK
$STATE,10589,begin surface
$SM_CCo,10671,0.00,0.000,0,0,1550,385.12
$SM_GC,1.39,11.20,0.00,0.00,0.025,0.000,0.000,407,1862,1550,-11.19,2.04,385.12
$IRIDIUM_FIX,2241.69,-15759.32,070400,212113
$TT8_MAMPS,0.026845
$HUMID,51.49
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.00
$XPDR_PINGS,2
$24V_AH,23.4,65.395
$10V_AH,10.0,58.033
$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,31.200,146.525,450.175,0.000,0.000,106.469,151.440,722.463,0.500,0.000,15.606,1108.582,7068.258,474.940,2028.573,1333.297,33.387,1327.050,0.000,2020.312,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,75.166,868.244,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.832,311.375,400.527,593.895,1049.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,41493,522
$CAP_FILE_SIZE,140831,0
$CFSIZE,260165632,143478784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130111,002722,2247.406,-15757.935,72,1.4,87,10.1