version: 66.06
glider: 148
mission: 9
dive: 513
start: 1 13 111 19 14 52
data:
$ID,148
$MISSION,9
$DIVE,513
$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,-869366.19
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,185952,2247.835,-15803.381,73,2.4,92,10.1
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.3
$GPS2,191358,2247.698,-15803.449,16,2.4,35,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.104,0.228
$KALMAN_X,-104140.9,-111.7,-47.9,115338.7,-705.4
$KALMAN_Y,-138828.0,-128.0,-443.3,264977.5,-62.2
$MHEAD_RNG_PITCHd_Wd,14.3,4332,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.17,-146.0,0.0,0.0,0,91,0.00,0.00,-68.15,0.000,2,0.000,0.000,412,1855,3229,0,0,0,0,0,0
$GC,94,-1.17,-146.0,3.0,-3.3,9,127,11.40,2.50,-9.80,0.000,4,0.147,0.048,2596,3364,3718,0,0,0,0,0,0
$GC,225,-1.17,-146.0,24.5,-11.8,28,234,0.00,2.55,0.00,0.000,6,0.000,0.023,2596,1786,3719,0,0,0,0,0,0
$GC,505,-1.03,-146.0,62.3,-12.9,56,510,0.17,2.58,0.00,0.000,4,0.099,0.031,2635,3365,3720,0,0,0,0,0,0
$GC,539,-0.96,-146.0,66.6,-11.6,58,544,0.00,2.47,0.00,0.000,6,0.000,0.021,2635,1793,3720,0,0,0,0,0,0
$GC,801,-0.96,-146.0,92.2,-9.1,82,805,0.00,2.50,0.00,0.000,4,0.000,0.028,2634,3369,3720,0,0,0,0,0,0
$GC,842,-1.03,-146.0,95.5,-8.8,85,847,0.00,2.47,0.00,0.000,6,0.000,0.021,2635,1809,3720,0,0,0,0,0,0
$GC,1108,-1.03,-146.0,119.9,-9.1,109,1112,0.00,2.50,0.00,0.000,4,0.000,0.029,2635,3367,3721,0,0,0,0,0,0
$GC,1157,-1.17,-146.0,124.3,-9.0,113,1162,0.12,2.45,0.00,0.000,6,0.060,0.022,2556,1809,3721,0,0,0,0,0,0
$GC,1421,-0.99,-146.0,159.2,-13.3,137,1427,0.45,0.00,0.00,0.000,6,0.081,0.000,2640,1809,3721,0,0,0,0,0,0
$GC,1686,-1.12,-146.0,179.2,-6.9,162,1691,0.10,2.50,0.00,0.000,4,0.075,0.029,2576,3370,3721,0,0,0,0,0,0
$GC,1735,-1.12,-146.0,183.6,-10.3,166,1740,0.17,2.42,0.00,0.000,6,0.086,0.023,2616,1828,3722,0,0,0,0,0,0
$GC,2006,-1.12,-146.0,206.8,-8.4,185,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1828,3722,0,0,0,0,0,0
$GC,2247,-1.19,-146.0,226.3,-7.9,191,2251,0.00,2.45,0.00,0.000,4,0.000,0.030,2616,3368,3722,0,0,0,0,0,0
$GC,2293,-1.34,-146.0,230.2,-8.2,192,2298,0.20,2.42,0.00,0.000,6,0.041,0.024,2530,1833,3722,0,0,0,0,0,0
$GC,2578,-1.16,-146.0,265.4,-12.8,199,2580,0.35,0.00,0.00,0.000,6,0.081,0.000,2607,1833,3722,0,0,0,0,0,0
$GC,2820,-1.24,-146.0,285.3,-8.0,205,2825,0.00,2.45,0.00,0.000,4,0.000,0.031,2607,3367,3721,0,0,0,0,0,0
$GC,2885,-1.39,-146.0,291.2,-9.2,206,2890,0.20,2.42,0.00,0.000,6,0.041,0.025,2508,1838,3721,0,0,0,0,0,0
$GC,3152,-1.18,-146.0,327.7,-14.0,213,3154,0.45,0.00,0.00,0.000,6,0.082,0.000,2604,1838,3721,0,0,0,0,0,0
$GC,3394,-1.26,-146.0,350.0,-9.0,219,3398,0.00,2.50,0.00,0.000,4,0.000,0.036,2604,3370,3720,0,0,0,0,0,0
$GC,3428,-1.38,-146.0,352.8,-8.3,219,3434,0.17,2.45,0.00,0.000,6,0.046,0.028,2515,1839,3720,0,0,0,0,0,0
$GC,3678,-1.20,-146.0,384.2,-13.0,225,3683,0.35,2.53,0.00,0.000,4,0.084,0.039,2595,3369,3719,0,0,0,0,0,0
$GC,3708,-1.20,-146.0,387.2,-8.8,225,3712,0.00,2.42,0.00,0.000,6,0.000,0.028,2596,1851,3719,0,0,0,0,0,0
$GC,3964,-1.28,-146.0,408.0,-8.4,232,3969,0.00,2.47,0.00,0.000,4,0.000,0.042,2596,3360,3718,0,0,0,0,0,0
$GC,4002,-1.39,-146.0,411.6,-8.1,232,4008,0.15,2.42,0.00,0.000,6,0.054,0.027,2500,1856,3718,0,0,0,0,0,0
$GC,4252,-1.19,-146.0,442.8,-12.9,239,4254,0.45,0.00,0.00,0.000,6,0.081,0.000,2599,1856,3717,0,0,0,0,0,0
$GC,4498,-1.29,-146.0,461.3,-7.3,245,4502,0.00,2.50,0.00,0.000,4,0.000,0.048,2599,3361,3714,0,0,0,0,0,0
$GC,4517,-1.40,-146.0,463.1,-8.2,245,4522,0.20,2.40,0.00,0.000,6,0.042,0.027,2512,1858,3714,0,0,0,0,0,0
$GC,4781,-1.26,-146.0,494.9,-12.3,252,4789,0.30,2.83,0.00,0.000,4,0.087,0.063,2582,214,3712,0,0,0,0,0,0
$GC,4800,-1.26,-146.0,496.9,-11.0,252,4804,0.00,2.65,0.00,0.000,6,0.000,0.032,2582,1852,3712,0,0,0,0,0,0
$STATE,4863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4863,begin apogee
$GC,4869,-0.31,0.0,502.2,8.1,254,4991,0.93,0.00,119.35,0.862,6,0.070,0.000,2794,1659,3120,0,0,0,0,0,0
$STATE,4992,end apogee,CONTROL_FINISHED_OK
$STATE,4992,begin climb
$GC,4996,1.17,146.0,507.5,0.0,257,5126,1.33,2.62,121.47,0.848,4,0.035,0.067,3125,191,2523,0,0,0,0,0,0
$GC,5322,0.74,146.0,490.3,10.5,264,5329,0.47,2.38,0.00,0.000,6,0.098,0.030,3023,1662,2515,0,0,0,0,0,0
$GC,5593,0.85,241.5,474.9,5.0,271,5682,0.10,2.62,82.35,0.834,4,0.079,0.059,3071,183,2134,0,0,0,0,0,0
$GC,5704,0.66,241.5,466.9,9.6,273,5709,0.30,2.47,0.00,0.000,6,0.091,0.028,3005,1687,2132,0,0,0,0,0,0
$GC,5959,0.75,313.9,451.1,6.0,280,6026,0.00,0.00,65.12,0.818,6,0.000,0.000,3005,1687,1840,0,0,0,0,0,0
$GC,6246,0.87,338.4,429.5,8.0,287,6275,0.17,2.80,21.67,0.775,4,0.050,0.059,3081,3257,1739,0,0,0,0,0,0
$GC,6290,0.77,338.4,424.4,11.5,288,6297,0.25,2.60,0.00,0.000,6,0.085,0.035,3027,1702,1736,0,0,0,0,0,0
$GC,6581,0.77,338.4,395.4,9.8,295,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1702,1732,0,0,0,0,0,0
$GC,6823,0.77,338.4,370.8,10.3,301,6828,0.00,2.62,0.00,0.000,4,0.000,0.044,3026,3266,1731,0,0,0,0,0,0
$GC,6861,0.90,338.4,366.7,11.0,301,6867,0.12,2.65,0.00,0.000,6,0.066,0.035,3078,1681,1728,0,0,0,0,0,0
$GC,7112,0.83,338.4,335.1,12.8,308,7114,0.17,0.00,0.00,0.000,6,0.098,0.000,3041,1681,1728,0,0,0,0,0,0
$GC,7354,0.83,338.4,310.0,10.2,314,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1681,1727,0,0,0,0,0,0
$GC,7597,0.83,338.4,285.7,10.0,320,7602,0.00,2.65,0.00,0.000,4,0.000,0.043,3041,3271,1726,0,0,0,0,0,0
$GC,7630,0.92,338.4,282.4,10.3,320,7635,0.00,2.60,0.00,0.000,6,0.000,0.032,3041,1687,1724,0,0,0,0,0,0
$GC,7881,0.92,338.4,257.7,9.9,326,7886,0.00,2.60,0.00,0.000,4,0.000,0.040,3041,3264,1724,0,0,0,0,0,0
$GC,7900,0.98,338.4,255.5,10.2,326,7906,0.15,2.55,0.00,0.000,6,0.057,0.030,3109,1695,1724,0,0,0,0,0,0
$GC,8165,0.86,338.4,221.3,13.2,333,8170,0.25,2.58,0.00,0.000,4,0.093,0.058,3051,173,1724,0,0,0,0,0,0
$GC,8223,0.86,338.4,214.5,11.3,334,8227,0.00,2.40,0.00,0.000,6,0.000,0.022,3051,1699,1723,0,0,0,0,0,0
$GC,8485,0.86,338.4,188.2,9.8,348,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1702,1723,0,0,0,0,0,0
$GC,8742,0.86,338.8,164.8,9.0,372,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1702,1723,0,0,0,0,0,0
$GC,8995,0.93,338.8,140.5,9.0,396,8999,0.00,2.50,0.00,0.000,4,0.000,0.035,3051,3258,1723,0,0,0,0,0,0
$GC,9035,1.04,338.8,137.1,9.4,399,9041,0.15,2.55,0.00,0.000,6,0.055,0.028,3128,1677,1722,0,0,0,0,0,0
$GC,9300,0.92,338.8,103.7,12.3,423,9305,0.30,2.47,0.00,0.000,4,0.087,0.045,3061,171,1722,0,0,0,0,0,0
$GC,9371,1.05,338.8,96.5,9.7,429,9376,0.12,2.40,0.00,0.000,6,0.064,0.021,3132,1698,1721,0,0,0,0,0,0
$GC,9635,0.94,338.8,66.2,11.3,453,9641,0.30,2.50,0.00,0.000,4,0.137,0.032,3064,3254,1722,0,0,0,0,0,0
$GC,9670,1.05,341.6,62.6,8.9,455,9680,0.05,2.58,0.00,0.000,6,0.045,0.028,3116,1680,1722,0,0,0,0,0,0
$GC,9937,0.97,341.6,34.9,11.4,480,9942,0.20,2.47,0.00,0.000,4,0.096,0.043,3072,173,1722,0,0,0,0,0,0
$GC,9982,0.97,341.6,30.0,10.4,483,9991,0.00,2.38,0.00,0.000,6,0.000,0.020,3072,1684,1721,0,0,0,0,0,0
$STATE,10260,end climb,SURFACE_DEPTH_REACHED
$STATE,10260,begin surface coast
$FINISH,0.7,1.024055
$STATE,10305,end surface coast,CONTROL_FINISHED_OK
$STATE,10306,begin surface
$SM_CCo,10328,24.02,0.305,1,0,1570,380.21
$SM_GC,1.44,0.00,0.00,24.02,0.000,0.000,0.305,412,1866,1570,-11.26,2.15,380.21
$IRIDIUM_FIX,2237.01,-15802.37,080400,191903
$TT8_MAMPS,0.027612
$HUMID,50.63
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.60
$XPDR_PINGS,1
$24V_AH,23.4,66.281
$10V_AH,10.0,58.842
$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,31.400,116.300,409.975,24.025,0.000,45.518,75.218,475.664,0.250,0.000,38.194,1092.701,6690.118,501.551,1980.211,936.877,33.380,1239.501,0.000,1971.962,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,67.496,862.108,305.266,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.322,334.132,424.066,641.862,1134.343,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41570,534
$CAP_FILE_SIZE,120258,0
$CFSIZE,260165632,143089664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130111,220854,2248.902,-15803.213,28,1.1,45,10.1