version: 66.06
glider: 148
mission: 9
dive: 508
start: 1 13 111 3 31 52
data:
$ID,148
$MISSION,9
$DIVE,508
$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,-869182.69
$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,27
$R_STBD_OVSHOOT,50
$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
$GPS1,031936,2247.095,-15757.243,7,1.8,23,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.0
$GPS2,033056,2247.133,-15757.256,14,1.8,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.224,0.113
$KALMAN_X,-101467.5,164.4,60.5,122931.5,-785.3
$KALMAN_Y,-134977.1,248.5,139.3,259117.5,-1335.1
$MHEAD_RNG_PITCHd_Wd,286.7,9811,-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,17,-1.17,-146.0,0.0,0.0,0,132,0.00,0.00,-111.95,0.000,2,0.000,0.000,413,1874,3276,0,0,0,0,0,0
$GC,137,-1.17,-146.0,3.0,-3.2,15,169,11.50,2.83,-8.45,0.000,4,0.152,0.055,2597,197,3720,0,0,0,0,0,0
$GC,203,-1.10,-146.0,19.5,-16.7,24,213,0.08,2.53,0.00,0.000,6,0.087,0.019,2618,1790,3720,0,0,0,0,0,0
$GC,481,-1.02,-146.0,53.4,-10.1,55,486,0.00,2.50,0.00,0.000,4,0.000,0.029,2618,3367,3721,0,0,0,0,0,0
$GC,536,-1.02,-146.0,59.3,-9.6,59,545,0.00,2.53,0.00,0.000,6,0.000,0.022,2618,1794,3721,0,0,0,0,0,0
$GC,801,-0.94,-146.0,88.1,-11.2,84,806,0.17,2.53,0.00,0.000,4,0.104,0.028,2655,3371,3721,0,0,0,0,0,0
$GC,861,-1.09,-146.0,93.8,-8.4,89,866,0.12,2.47,0.00,0.000,6,0.061,0.022,2570,1802,3721,0,0,0,0,0,0
$GC,1128,-0.91,-146.0,132.3,-14.7,113,1137,0.45,2.58,0.00,0.000,4,0.084,0.037,2656,214,3721,0,0,0,0,0,0
$GC,1185,-1.22,-146.0,139.0,-8.7,118,1195,0.22,2.50,0.00,0.000,6,0.018,0.018,2532,1822,3722,0,0,0,0,0,0
$GC,1449,-1.01,-146.0,173.0,-13.0,143,1454,0.45,2.42,0.00,0.000,4,0.084,0.027,2635,3349,3722,0,0,0,0,0,0
$GC,1479,-1.01,-146.0,175.8,-8.5,145,1484,0.00,2.42,0.00,0.000,6,0.000,0.021,2635,1805,3722,0,0,0,0,0,0
$GC,1747,-1.15,-146.0,193.0,-6.4,169,1752,0.10,2.47,0.00,0.000,4,0.075,0.029,2563,3353,3722,0,0,0,0,0,0
$GC,1793,-1.15,-146.0,197.5,-9.3,173,1798,0.20,2.40,0.00,0.000,6,0.084,0.022,2608,1824,3722,0,0,0,0,0,0
$GC,2076,-1.15,-146.0,222.5,-8.9,182,2081,0.00,2.62,0.00,0.000,4,0.000,0.042,2609,208,3722,0,0,0,0,0,0
$GC,2095,-1.21,-146.0,224.5,-9.2,182,2099,0.00,2.53,0.00,0.000,6,0.000,0.019,2609,1827,3722,0,0,0,0,0,0
$GC,2359,-1.29,-146.0,243.9,-7.2,189,2364,0.12,2.47,0.00,0.000,4,0.064,0.031,2528,3367,3722,0,0,0,0,0,0
$GC,2405,-1.18,-146.0,248.5,-11.3,190,2410,0.32,2.45,0.00,0.000,6,0.077,0.025,2602,1830,3722,0,0,0,0,0,0
$GC,2693,-1.18,-146.0,272.2,-8.0,197,2697,0.00,2.47,0.00,0.000,4,0.000,0.031,2602,3365,3722,0,0,0,0,0,0
$GC,2723,-1.26,-146.0,274.6,-8.3,197,2727,0.00,2.40,0.00,0.000,6,0.000,0.025,2602,1845,3721,0,0,0,0,0,0
$GC,2978,-1.32,-146.0,294.2,-7.7,204,2983,0.12,2.72,0.00,0.000,4,0.064,0.048,2536,211,3720,0,0,0,0,0,0
$GC,3002,-1.25,-146.0,296.7,-10.9,204,3007,0.22,2.58,0.00,0.000,6,0.085,0.023,2587,1841,3720,0,0,0,0,0,0
$GC,3264,-1.25,-146.0,317.2,-7.7,211,3268,0.00,2.45,0.00,0.000,4,0.000,0.034,2587,3365,3719,0,0,0,0,0,0
$GC,3288,-1.25,-146.0,319.3,-8.9,211,3292,0.00,2.42,0.00,0.000,6,0.000,0.027,2587,1843,3718,0,0,0,0,0,0
$GC,3547,-1.25,-146.0,340.9,-8.3,218,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1842,3718,0,0,0,0,0,0
$GC,3792,-1.25,-146.0,361.0,-8.3,224,3796,0.00,2.47,0.00,0.000,4,0.000,0.038,2587,3363,3716,0,0,0,0,0,0
$GC,3825,-1.32,-146.0,363.9,-7.8,224,3829,0.00,2.40,0.00,0.000,6,0.000,0.028,2587,1862,3715,0,0,0,0,0,0
$GC,4075,-1.32,-146.0,383.1,-7.7,230,4079,0.00,2.45,0.00,0.000,4,0.000,0.039,2587,3355,3714,0,0,0,0,0,0
$GC,4100,-1.32,-146.0,384.9,-8.2,230,4104,0.00,2.40,0.00,0.000,6,0.000,0.027,2587,1860,3714,0,0,0,0,0,0
$GC,4359,-1.32,-146.0,405.0,-7.7,237,4363,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,3362,3712,0,0,0,0,0,0
$GC,4377,-1.32,-146.0,406.6,-8.1,237,4382,0.00,2.38,0.00,0.000,6,0.000,0.027,2587,1872,3712,0,0,0,0,0,0
$GC,4643,-1.32,-146.0,427.8,-8.2,244,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1872,3710,0,0,0,0,0,0
$GC,4885,-1.32,-146.0,448.5,-8.5,250,4889,0.00,2.47,0.00,0.000,4,0.000,0.044,2587,3358,3709,0,0,0,0,0,0
$GC,4918,-1.40,-146.0,451.5,-8.7,250,4922,0.12,2.40,0.00,0.000,6,0.061,0.030,2518,1869,3709,0,0,0,0,0,0
$GC,5169,-1.23,-146.0,479.8,-11.8,256,5171,0.32,0.00,0.00,0.000,6,0.084,0.000,2589,1869,3708,0,0,0,0,0,0
$GC,5411,-1.29,-146.0,499.9,-8.1,262,5415,0.00,2.08,0.00,0.000,3,0.000,0.047,2589,3114,3706,0,0,0,0,0,0
$STATE,5416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5416,begin apogee
$GC,5424,-0.31,0.0,500.3,8.1,262,5546,0.85,0.00,117.88,0.870,6,0.073,0.000,2786,1688,3120,0,0,0,0,0,0
$STATE,5547,end apogee,CONTROL_FINISHED_OK
$STATE,5547,begin climb
$GC,5551,1.17,146.0,506.1,0.0,265,5685,1.35,2.70,123.53,0.853,4,0.028,0.068,3129,171,2522,0,0,0,0,0,0
$GC,5706,0.77,205.1,508.2,6.5,268,5764,0.47,2.45,51.33,0.831,6,0.100,0.028,3031,1662,2283,0,0,0,0,0,0
$GC,6050,0.81,239.4,482.5,7.6,277,6086,0.00,2.85,29.77,0.809,4,0.000,0.060,3031,3261,2143,0,0,0,0,0,0
$GC,6120,0.83,251.1,476.7,8.5,278,6139,0.00,2.65,11.65,0.742,6,0.000,0.036,3031,1694,2096,0,0,0,0,0,0
$GC,6384,0.83,257.1,454.1,8.8,285,6396,0.00,2.72,5.97,0.635,4,0.000,0.048,3030,3254,2071,0,0,0,0,0,0
$GC,6420,0.83,257.1,450.5,9.5,285,6424,0.00,2.65,0.00,0.000,6,0.000,0.038,3031,1682,2069,0,0,0,0,0,0
$GC,6669,0.83,257.1,427.0,9.4,291,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1683,2068,0,0,0,0,0,0
$GC,6913,0.84,264.3,405.4,8.7,297,6922,0.00,0.00,7.20,0.666,6,0.000,0.000,3031,1683,2042,0,0,0,0,0,0
$GC,7158,0.86,278.3,384.8,8.4,303,7179,0.00,2.75,14.02,0.742,4,0.000,0.045,3030,3260,1984,0,0,0,0,0,0
$GC,7198,0.88,293.4,381.3,8.4,303,7219,0.00,2.65,15.52,0.741,6,0.000,0.035,3031,1685,1923,0,0,0,0,0,0
$GC,7495,0.88,298.5,355.0,8.8,311,7508,0.10,2.72,5.45,0.587,4,0.077,0.046,3078,3254,1901,0,0,0,0,0,0
$GC,7527,0.81,298.5,351.4,10.7,311,7532,0.20,2.62,0.00,0.000,6,0.091,0.035,3035,1689,1899,0,0,0,0,0,0
$GC,7782,0.81,298.5,327.0,9.8,318,7787,0.00,2.65,0.00,0.000,4,0.000,0.043,3035,3263,1898,0,0,0,0,0,0
$GC,7822,0.89,298.5,323.1,10.3,318,7827,0.00,2.60,0.00,0.000,6,0.000,0.033,3035,1698,1897,0,0,0,0,0,0
$GC,8071,0.89,298.5,298.0,10.0,325,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1698,1897,0,0,0,0,0,0
$GC,8315,0.90,309.7,276.5,8.5,331,8328,0.00,0.00,10.85,0.659,6,0.000,0.000,3035,1698,1857,0,0,0,0,0,0
$GC,8561,0.94,335.4,256.9,7.9,337,8587,0.12,0.00,23.70,0.691,6,0.064,0.000,3094,1697,1752,0,0,0,0,0,0
$GC,8803,0.85,335.4,228.7,11.8,343,8808,0.22,2.62,0.00,0.000,4,0.094,0.038,3046,3262,1747,0,0,0,0,0,0
$GC,8838,0.95,345.3,225.3,8.6,343,8855,0.00,2.58,9.50,0.604,6,0.000,0.031,3046,1707,1712,0,0,0,0,0,0
$GC,9141,1.05,375.2,201.5,7.8,351,9175,0.17,2.67,27.80,0.650,4,0.051,0.055,3121,164,1591,0,0,0,0,0,0
$GC,9195,0.89,375.2,194.6,14.2,353,9202,0.30,2.53,0.00,0.000,6,0.088,0.025,3055,1721,1591,0,0,0,0,0,0
$GC,9459,0.89,375.2,169.6,9.8,378,9463,0.00,2.53,0.00,0.000,4,0.000,0.035,3055,3261,1587,0,0,0,0,0,0
$GC,9507,1.01,375.2,165.0,9.3,382,9513,0.10,2.55,0.00,0.000,6,0.077,0.028,3104,1707,1583,0,0,0,0,0,0
$GC,9768,0.93,375.2,132.1,13.2,406,9773,0.20,2.58,0.00,0.000,4,0.095,0.052,3061,173,1583,0,0,0,0,0,0
$GC,9828,0.93,375.2,125.4,12.0,411,9832,0.00,2.45,0.00,0.000,6,0.000,0.023,3061,1712,1583,0,0,0,0,0,0
$GC,10096,1.02,393.5,101.5,8.2,435,10118,0.00,2.53,16.42,0.550,4,0.000,0.031,3062,3262,1513,0,0,0,0,0,0
$GC,10129,1.11,401.9,97.9,8.7,438,10144,0.17,2.58,8.82,0.502,6,0.049,0.026,3139,1688,1480,0,0,0,0,0,0
$GC,10398,1.00,401.9,66.8,13.5,463,10403,0.25,2.53,0.00,0.000,4,0.091,0.045,3079,173,1476,0,0,0,0,0,0
$GC,10441,1.09,401.9,61.9,11.1,466,10446,0.00,2.42,0.00,0.000,6,0.000,0.021,3079,1706,1476,0,0,0,0,0,0
$GC,10710,1.09,401.9,37.3,9.8,490,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1711,1475,0,0,0,0,0,0
$GC,11010,1.13,435.5,4.4,7.6,533,11020,0.10,0.00,7.35,0.412,2,0.077,0.000,3133,1711,1450,0,0,0,0,0,0
$STATE,11021,end climb,SURFACE_DEPTH_REACHED
$STATE,11021,begin surface coast
$FINISH,0.8,1.002043
$STATE,11072,end surface coast,CONTROL_FINISHED_OK
$STATE,11072,begin surface
$SM_CCo,11153,0.00,0.000,0,0,1444,410.88
$SM_GC,1.69,10.85,0.00,0.00,0.015,0.000,0.000,408,1826,1444,-11.17,1.02,410.88
$IRIDIUM_FIX,2237.01,-15758.03,080400,000010
$TT8_MAMPS,0.026845
$HUMID,51.53
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.00
$XPDR_PINGS,2
$24V_AH,23.4,65.635
$10V_AH,10.1,58.262
$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,30.025,141.850,486.775,0.000,0.000,28.312,37.459,474.303,0.500,0.000,17.421,1115.187,7345.006,517.452,1989.801,864.052,33.374,1361.622,0.000,1992.609,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,75.933,869.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.014,328.375,412.383,634.079,1120.858,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41583,542
$CAP_FILE_SIZE,130915,0
$CFSIZE,260165632,143376384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130111,064034,2247.052,-15758.985,132,1.5,132,10.1