version: 66.06
glider: 148
mission: 9
dive: 512
start: 1 13 111 15 56 9
data:
$ID,148
$MISSION,9
$DIVE,512
$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,-869327.38
$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,18
$R_STBD_OVSHOOT,61
$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
$GPS1,154455,2246.981,-15803.083,31,1.5,42,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.4
$GPS2,155514,2246.868,-15803.078,14,1.7,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.041,0.247
$KALMAN_X,-103061.6,-32.9,-107.4,114873.3,-416.8
$KALMAN_Y,-137714.9,-402.0,-69.4,262228.2,-858.4
$MHEAD_RNG_PITCHd_Wd,359.4,5801,-15.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,89,0.00,0.00,-68.32,0.000,2,0.000,0.000,414,1809,3233,0,0,0,0,0,0
$GC,92,-1.17,-146.0,3.3,-3.7,9,125,11.38,2.70,-9.45,0.000,4,0.147,0.050,2595,196,3719,0,0,0,0,0,0
$GC,197,-1.17,-146.0,22.6,-11.9,24,206,0.00,2.50,0.00,0.000,6,0.000,0.018,2595,1783,3720,0,0,0,0,0,0
$GC,474,-1.02,-146.0,58.9,-13.3,53,479,0.17,2.55,0.00,0.000,4,0.109,0.030,2633,3365,3721,0,0,0,0,0,0
$GC,553,-1.11,-146.0,68.0,-9.4,59,558,0.00,2.50,0.00,0.000,6,0.000,0.022,2633,1781,3721,0,0,0,0,0,0
$GC,820,-1.11,-146.0,95.4,-10.0,83,824,0.00,2.53,0.00,0.000,4,0.000,0.028,2633,3368,3722,0,0,0,0,0,0
$GC,849,-1.11,-146.0,98.3,-10.7,85,853,0.00,2.47,0.00,0.000,6,0.000,0.023,2633,1810,3722,0,0,0,0,0,0
$GC,1117,-1.18,-146.0,120.3,-8.0,109,1122,0.12,0.00,0.00,0.000,6,0.063,0.000,2568,1810,3722,0,0,0,0,0,0
$GC,1381,-1.09,-146.0,153.3,-11.9,134,1386,0.25,0.00,0.00,0.000,6,0.087,0.000,2623,1810,3722,0,0,0,0,0,0
$GC,1644,-1.16,-146.0,176.0,-8.5,159,1648,0.00,2.50,0.00,0.000,4,0.000,0.029,2623,3368,3723,0,0,0,0,0,0
$GC,1681,-1.27,-146.0,179.0,-8.0,162,1687,0.17,2.45,0.00,0.000,6,0.048,0.023,2527,1810,3723,0,0,0,0,0,0
$GC,1972,-1.02,-146.0,216.6,-12.7,180,1979,0.52,2.58,0.00,0.000,4,0.084,0.037,2631,214,3723,0,0,0,0,0,0
$GC,2000,-1.09,-146.0,219.6,-8.0,180,2005,0.00,2.50,0.00,0.000,6,0.000,0.019,2631,1822,3724,0,0,0,0,0,0
$GC,2260,-1.22,-146.0,235.5,-6.0,187,2265,0.15,2.42,0.00,0.000,4,0.055,0.029,2550,3359,3723,0,0,0,0,0,0
$GC,2304,-1.15,-146.0,239.4,-9.5,188,2309,0.25,2.42,0.00,0.000,6,0.081,0.023,2607,1814,3724,0,0,0,0,0,0
$GC,2594,-1.22,-146.0,261.7,-7.8,195,2598,0.00,2.47,0.00,0.000,4,0.000,0.030,2607,3359,3724,0,0,0,0,0,0
$GC,2637,-1.36,-146.0,265.0,-7.1,196,2642,0.17,2.42,0.00,0.000,6,0.048,0.025,2514,1824,3723,0,0,0,0,0,0
$GC,2927,-1.14,-146.0,299.4,-12.0,203,2934,0.43,2.65,0.00,0.000,4,0.082,0.043,2608,208,3723,0,0,0,0,0,0
$GC,2963,-1.28,-146.0,302.7,-6.7,203,2968,0.12,2.53,0.00,0.000,6,0.062,0.021,2539,1824,3723,0,0,0,0,0,0
$GC,3214,-1.17,-146.0,328.4,-10.8,209,3220,0.25,2.47,0.00,0.000,4,0.084,0.033,2599,3370,3722,0,0,0,0,0,0
$GC,3253,-1.29,-146.0,332.2,-8.3,209,3259,0.00,2.45,0.00,0.000,6,0.000,0.028,2599,1832,3722,0,0,0,0,0,0
$GC,3503,-1.36,-146.0,352.1,-8.2,216,3508,0.15,2.53,0.00,0.000,4,0.055,0.038,2531,3367,3722,0,0,0,0,0,0
$GC,3562,-1.26,-146.0,358.5,-11.0,217,3567,0.25,2.45,0.00,0.000,6,0.082,0.026,2587,1841,3721,0,0,0,0,0,0
$GC,3835,-1.26,-146.0,382.0,-8.4,224,3840,0.00,2.47,0.00,0.000,4,0.000,0.039,2586,3363,3720,0,0,0,0,0,0
$GC,3863,-1.26,-146.0,384.5,-8.3,224,3868,0.00,2.42,0.00,0.000,6,0.000,0.027,2587,1842,3720,0,0,0,0,0,0
$GC,4120,-1.26,-146.0,404.0,-7.5,231,4124,0.00,2.47,0.00,0.000,4,0.000,0.040,2587,3359,3718,0,0,0,0,0,0
$GC,4148,-1.26,-146.0,406.2,-7.3,231,4152,0.00,2.40,0.00,0.000,6,0.000,0.028,2587,1857,3718,0,0,0,0,0,0
$GC,4402,-1.26,-146.0,425.6,-7.8,238,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1857,3716,0,0,0,0,0,0
$GC,4647,-1.26,-146.0,445.1,-7.9,244,4652,0.00,2.47,0.00,0.000,4,0.000,0.044,2587,3354,3715,0,0,0,0,0,0
$GC,4685,-1.36,-146.0,448.5,-8.3,244,4691,0.10,2.42,0.00,0.000,6,0.077,0.028,2533,1855,3714,0,0,0,0,0,0
$GC,4935,-1.26,-146.0,476.6,-11.8,251,4940,0.22,2.53,0.00,0.000,4,0.090,0.046,2584,3360,3713,0,0,0,0,0,0
$GC,4961,-1.26,-146.0,479.3,-9.6,251,4965,0.00,2.42,0.00,0.000,6,0.000,0.028,2584,1858,3713,0,0,0,0,0,0
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5223,-0.31,0.0,502.6,9.0,258,5346,0.90,0.00,119.55,0.874,6,0.069,0.000,2791,1677,3120,0,0,0,0,0,0
$STATE,5347,end apogee,CONTROL_FINISHED_OK
$STATE,5347,begin climb
$GC,5351,1.17,146.0,508.8,0.0,261,5482,1.33,2.75,122.43,0.856,4,0.026,0.050,3136,3248,2523,0,0,0,0,0,0
$GC,5678,0.85,146.0,494.9,9.5,268,5685,0.43,2.60,0.00,0.000,6,0.095,0.037,3046,1695,2516,0,0,0,0,0,0
$GC,5945,0.80,201.2,476.6,6.7,275,5994,0.00,0.00,47.20,0.833,6,0.000,0.000,3046,1695,2299,0,0,0,0,0,0
$GC,6234,0.76,232.1,454.6,7.7,282,6263,0.00,0.00,27.65,0.810,6,0.000,0.000,3046,1695,2173,0,0,0,0,0,0
$GC,6475,0.73,261.8,435.6,7.8,288,6508,0.12,2.75,27.08,0.803,4,0.114,0.071,3019,160,2051,0,0,0,0,0,0
$GC,6535,0.73,261.8,431.0,9.4,289,6539,0.00,2.42,0.00,0.000,6,0.000,0.026,3019,1661,2050,0,0,0,0,0,0
$GC,6803,0.77,291.7,410.4,7.8,296,6836,0.00,2.78,27.60,0.793,4,0.000,0.051,3019,3255,1930,0,0,0,0,0,0
$GC,6877,0.89,300.4,404.4,8.6,297,6892,0.15,2.65,9.15,0.696,6,0.056,0.035,3090,1672,1895,0,0,0,0,0,0
$GC,7135,0.76,300.4,372.5,12.4,304,7142,0.28,2.67,0.00,0.000,4,0.097,0.047,3029,3253,1890,0,0,0,0,0,0
$GC,7149,0.68,300.4,371.0,12.2,304,7154,0.00,2.62,0.00,0.000,6,0.000,0.033,3028,1668,1889,0,0,0,0,0,0
$GC,7424,0.70,315.5,346.9,8.4,311,7444,0.00,2.75,14.27,0.725,4,0.000,0.043,3029,3254,1832,0,0,0,0,0,0
$GC,7473,0.80,317.2,342.7,8.9,312,7477,0.00,2.62,0.00,0.000,6,0.000,0.034,3028,1686,1829,0,0,0,0,0,0
$GC,7755,0.82,334.7,319.1,8.3,319,7775,0.00,0.00,17.88,0.720,6,0.000,0.000,3029,1686,1755,0,0,0,0,0,0
$GC,7999,0.90,345.7,298.6,8.6,325,8013,0.12,0.00,11.18,0.670,6,0.066,0.000,3087,1686,1709,0,0,0,0,0,0
$GC,8243,0.83,345.7,270.5,11.5,331,8245,0.22,0.00,0.00,0.000,6,0.094,0.000,3041,1686,1706,0,0,0,0,0,0
$GC,8488,0.83,345.7,247.1,9.5,337,8492,0.00,2.60,0.00,0.000,4,0.000,0.037,3041,3255,1705,0,0,0,0,0,0
$GC,8544,0.99,357.6,241.6,8.5,338,8561,0.15,2.60,11.55,0.636,6,0.055,0.032,3102,1686,1662,0,0,0,0,0,0
$GC,8820,0.90,357.6,208.7,12.3,345,8825,0.20,2.60,0.00,0.000,4,0.099,0.054,3059,161,1659,0,0,0,0,0,0
$GC,8863,0.90,357.6,203.0,11.9,346,8867,0.00,2.45,0.00,0.000,6,0.000,0.023,3059,1701,1659,0,0,0,0,0,0
$GC,9129,0.90,357.6,175.8,10.6,368,9133,0.00,2.50,0.00,0.000,4,0.000,0.035,3058,3253,1658,0,0,0,0,0,0
$GC,9158,0.97,357.6,172.6,10.7,370,9164,0.00,2.58,0.00,0.000,6,0.000,0.028,3059,1678,1656,0,0,0,0,0,0
$GC,9423,0.97,357.6,144.6,11.6,395,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1678,1656,0,0,0,0,0,0
$GC,9686,1.04,357.6,118.4,10.1,420,9691,0.12,2.50,0.00,0.000,4,0.064,0.047,3134,167,1657,0,0,0,0,0,0
$GC,9704,1.04,357.6,116.6,10.0,421,9710,0.22,2.38,0.00,0.000,6,0.096,0.022,3086,1686,1656,0,0,0,0,0,0
$GC,9969,1.04,357.6,89.9,9.7,445,9974,0.00,2.53,0.00,0.000,4,0.000,0.031,3086,3256,1656,0,0,0,0,0,0
$GC,10045,1.15,357.6,82.5,9.9,452,10050,0.10,2.55,0.00,0.000,6,0.074,0.028,3147,1685,1655,0,0,0,0,0,0
$GC,10309,1.01,357.6,50.9,10.9,476,10314,0.30,2.47,0.00,0.000,4,0.091,0.044,3078,174,1655,0,0,0,0,0,0
$GC,10384,1.01,357.6,43.2,9.1,482,10388,0.00,2.35,0.00,0.000,6,0.000,0.021,3078,1688,1655,0,0,0,0,0,0
$GC,10672,1.01,357.6,15.5,9.7,517,10680,0.00,2.53,0.00,0.000,4,0.000,0.030,3078,3254,1655,0,0,0,0,0,0
$GC,10690,1.01,357.6,13.8,9.6,519,10698,0.00,2.55,0.00,0.000,6,0.000,0.025,3078,1681,1655,0,0,0,0,0,0
$STATE,10791,end climb,SURFACE_DEPTH_REACHED
$STATE,10791,begin surface coast
$FINISH,0.7,1.014613
$STATE,10847,end surface coast,CONTROL_FINISHED_OK
$STATE,10847,begin surface
$SM_CCo,10868,16.45,0.223,1,0,1570,380.21
$SM_GC,1.94,0.00,0.00,16.45,0.000,0.000,0.223,413,1855,1570,-11.26,1.84,380.21
$IRIDIUM_FIX,2239.35,-15802.37,080400,131311
$TT8_MAMPS,0.027612
$HUMID,51.06
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.70
$XPDR_PINGS,2
$24V_AH,23.4,66.148
$10V_AH,10.1,58.722
$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,30.100,131.950,435.525,16.450,0.000,26.636,43.426,414.586,0.500,0.000,15.877,1143.163,7018.112,512.148,2046.039,790.164,33.378,1313.559,0.000,2043.499,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,70.564,873.613,223.197,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.365,332.689,417.304,634.851,1120.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,41533,543
$CAP_FILE_SIZE,125769,0
$CFSIZE,260165632,143147008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130111,185952,2247.835,-15803.381,73,2.4,92,10.1