version: 66.06
glider: 148
mission: 9
dive: 514
start: 1 13 111 22 20 57
data:
$ID,148
$MISSION,9
$DIVE,514
$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,-869383.06
$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,30
$R_STBD_OVSHOOT,48
$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
$GPS1,220854,2248.902,-15803.213,28,1.1,45,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.7
$GPS2,222002,2248.888,-15803.330,14,1.9,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.122,0.219
$KALMAN_X,-105041.1,-202.3,-5.6,116487.8,-783.8
$KALMAN_Y,-139917.8,224.0,-34.6,267509.4,-373.1
$MHEAD_RNG_PITCHd_Wd,18.9,2136,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.17,-145.9,0.0,0.0,0,95,0.00,0.00,-74.03,0.000,2,0.000,0.000,412,1866,3414,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.8,-5.0,10,124,11.60,2.40,-5.20,0.000,4,0.155,0.038,2595,3367,3718,0,0,0,0,0,0
$GC,234,-1.17,-146.0,32.5,-12.7,29,243,0.00,2.55,0.00,0.000,6,0.000,0.024,2595,1785,3720,0,0,0,0,0,0
$GC,501,-1.02,-146.0,67.0,-12.8,54,506,0.20,2.53,0.00,0.000,4,0.097,0.028,2638,3363,3721,0,0,0,0,0,0
$GC,546,-1.02,-146.0,72.6,-9.3,57,555,0.00,2.53,0.00,0.000,6,0.000,0.022,2638,1794,3721,0,0,0,0,0,0
$GC,810,-1.02,-146.0,96.3,-8.9,82,814,0.00,2.50,0.00,0.000,4,0.000,0.028,2638,3369,3721,0,0,0,0,0,0
$GC,869,-1.13,-146.0,100.8,-7.1,87,874,0.10,2.47,0.00,0.000,6,0.074,0.022,2568,1798,3721,0,0,0,0,0,0
$GC,1137,-0.97,-146.0,130.6,-11.4,111,1142,0.35,0.00,0.00,0.000,6,0.084,0.000,2645,1798,3722,0,0,0,0,0,0
$GC,1400,-1.10,-146.0,150.2,-7.5,136,1405,0.10,2.50,0.00,0.000,4,0.075,0.028,2581,3364,3723,0,0,0,0,0,0
$GC,1456,-1.10,-146.0,155.7,-10.1,141,1461,0.17,2.45,0.00,0.000,6,0.087,0.022,2622,1805,3723,0,0,0,0,0,0
$GC,1718,-1.16,-146.0,178.1,-9.1,165,1722,0.00,2.50,0.00,0.000,4,0.000,0.029,2622,3365,3724,0,0,0,0,0,0
$GC,1757,-1.27,-146.0,181.8,-8.8,168,1767,0.12,2.47,0.00,0.000,6,0.027,0.023,2518,1821,3724,0,0,0,0,0,0
$GC,2014,-1.04,-146.0,217.0,-13.9,184,2016,0.50,0.00,0.00,0.000,6,0.084,0.000,2630,1820,3723,0,0,0,0,0,0
$GC,2256,-1.16,-146.0,233.8,-6.4,190,2261,0.10,2.50,0.00,0.000,4,0.076,0.030,2566,3368,3723,0,0,0,0,0,0
$GC,2286,-1.16,-146.0,236.4,-9.4,190,2292,0.17,2.45,0.00,0.000,6,0.084,0.024,2606,1819,3723,0,0,0,0,0,0
$GC,2542,-1.22,-146.0,255.7,-7.3,197,2546,0.00,2.47,0.00,0.000,4,0.000,0.030,2607,3363,3724,0,0,0,0,0,0
$GC,2586,-1.34,-146.0,258.4,-5.9,198,2591,0.17,2.42,0.00,0.000,6,0.047,0.024,2520,1827,3724,0,0,0,0,0,0
$GC,2875,-1.15,-146.0,292.1,-12.4,205,2880,0.38,2.47,0.00,0.000,4,0.085,0.031,2605,3367,3723,0,0,0,0,0,0
$GC,2894,-1.15,-146.0,294.4,-10.7,205,2899,0.00,2.42,0.00,0.000,6,0.000,0.024,2605,1834,3724,0,0,0,0,0,0
$GC,3160,-1.24,-146.0,316.2,-8.3,212,3164,0.00,2.47,0.00,0.000,4,0.000,0.034,2605,3368,3723,0,0,0,0,0,0
$GC,3198,-1.37,-146.0,319.8,-8.4,212,3204,0.17,2.42,0.00,0.000,6,0.045,0.026,2520,1846,3723,0,0,0,0,0,0
$GC,3448,-1.20,-146.0,351.1,-12.7,219,3450,0.35,0.00,0.00,0.000,6,0.087,0.000,2596,1841,3721,0,0,0,0,0,0
$GC,3693,-1.27,-146.0,371.0,-7.8,225,3698,0.00,2.45,0.00,0.000,4,0.000,0.037,2596,3358,3721,0,0,0,0,0,0
$GC,3749,-1.40,-146.0,375.4,-7.4,226,3754,0.17,2.45,0.00,0.000,6,0.045,0.028,2522,1844,3720,0,0,0,0,0,0
$GC,4025,-1.25,-146.0,407.2,-12.3,233,4032,0.28,2.72,0.00,0.000,4,0.091,0.054,2584,215,3719,0,0,0,0,0,0
$GC,4051,-1.25,-146.0,410.5,-10.6,233,4056,0.00,2.58,0.00,0.000,6,0.000,0.026,2584,1839,3719,0,0,0,0,0,0
$GC,4310,-1.25,-146.0,433.5,-8.8,240,4315,0.00,2.53,0.00,0.000,4,0.000,0.044,2584,3373,3717,0,0,0,0,0,0
$GC,4368,-1.35,-146.0,438.0,-7.5,241,4373,0.00,2.45,0.00,0.000,6,0.000,0.028,2584,1858,3717,0,0,0,0,0,0
$GC,4641,-1.35,-146.0,458.5,-7.4,248,4646,0.00,2.78,0.00,0.000,4,0.000,0.061,2585,218,3715,0,0,0,0,0,0
$GC,4674,-1.43,-146.0,461.2,-8.1,248,4680,0.15,2.65,0.00,0.000,6,0.057,0.029,2515,1860,3715,0,0,0,0,0,0
$GC,4926,-1.27,-146.0,487.7,-10.9,254,4933,0.28,2.83,0.00,0.000,4,0.091,0.059,2577,211,3714,0,0,0,0,0,0
$GC,4947,-1.27,-146.0,490.3,-9.7,254,4952,0.00,2.67,0.00,0.000,6,0.000,0.032,2577,1849,3713,0,0,0,0,0,0
$STATE,5087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5087,begin apogee
$GC,5095,-0.31,0.0,501.5,7.9,258,5218,0.95,0.00,119.57,0.864,6,0.077,0.000,2791,1670,3120,0,0,0,0,0,0
$STATE,5218,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5221,1.17,146.0,506.6,0.0,261,5351,1.33,2.62,122.03,0.850,4,0.031,0.067,3121,191,2523,0,0,0,0,0,0
$GC,5621,0.76,160.6,487.0,8.4,270,5641,0.45,2.40,12.52,0.757,6,0.104,0.029,3027,1670,2465,0,0,0,0,0,0
$GC,5913,0.86,240.8,470.2,5.7,277,5990,0.00,2.65,70.28,0.833,4,0.000,0.060,3027,190,2138,0,0,0,0,0,0
$GC,6086,0.80,240.8,455.5,9.1,280,6092,0.00,2.42,0.00,0.000,6,0.000,0.027,3027,1693,2134,0,0,0,0,0,0
$GC,6336,0.81,250.4,434.1,8.6,287,6352,0.00,2.62,8.62,0.698,4,0.000,0.057,3027,191,2098,0,0,0,0,0,0
$GC,6386,0.81,250.4,429.3,10.5,288,6390,0.00,2.40,0.00,0.000,6,0.000,0.027,3027,1680,2098,0,0,0,0,0,0
$GC,6668,0.82,255.9,404.4,8.8,295,6681,0.00,2.72,5.82,0.622,4,0.000,0.051,3027,3252,2076,0,0,0,0,0,0
$GC,6728,0.91,268.7,398.9,8.5,296,6749,0.12,2.60,13.02,0.738,6,0.064,0.035,3086,1694,2023,0,0,0,0,0,0
$GC,7007,0.79,268.7,367.9,11.4,303,7009,0.25,0.00,0.00,0.000,6,0.093,0.000,3032,1694,2020,0,0,0,0,0,0
$GC,7247,0.80,277.1,346.3,8.7,309,7260,0.00,2.65,8.10,0.661,4,0.000,0.040,3033,3254,1990,0,0,0,0,0,0
$GC,7315,0.90,277.1,340.1,9.6,310,7320,0.10,2.65,0.00,0.000,6,0.077,0.035,3086,1668,1988,0,0,0,0,0,0
$GC,7582,0.80,277.1,311.5,10.7,317,7589,0.25,2.67,0.00,0.000,4,0.096,0.042,3028,3261,1987,0,0,0,0,0,0
$GC,7599,0.80,277.1,309.5,9.8,317,7603,0.00,2.62,0.00,0.000,6,0.000,0.031,3028,1673,1986,0,0,0,0,0,0
$GC,7869,0.82,296.6,287.3,8.2,324,7893,0.00,2.70,18.80,0.704,4,0.000,0.038,3028,3260,1910,0,0,0,0,0,0
$GC,7961,0.94,296.6,278.8,9.5,326,7966,0.15,2.60,0.00,0.000,6,0.055,0.031,3101,1682,1906,0,0,0,0,0,0
$GC,8251,0.81,296.6,243.9,12.0,333,8253,0.30,0.00,0.00,0.000,6,0.094,0.000,3038,1682,1905,0,0,0,0,0,0
$GC,8493,0.82,306.2,222.5,8.6,339,8504,0.00,0.00,9.77,0.609,6,0.000,0.000,3038,1682,1871,0,0,0,0,0,0
$GC,8738,0.90,310.1,200.8,8.8,345,8745,0.00,0.00,4.88,0.486,6,0.000,0.000,3038,1682,1855,0,0,0,0,0,0
$GC,8991,1.01,336.7,179.7,7.9,366,9022,0.17,2.70,24.50,0.628,4,0.051,0.035,3122,3265,1746,0,0,0,0,0,0
$GC,9034,0.87,336.7,175.2,11.5,370,9040,0.32,2.62,0.00,0.000,6,0.087,0.028,3050,1675,1744,0,0,0,0,0,0
$GC,9299,0.93,339.0,151.7,8.9,395,9303,0.00,2.60,0.00,0.000,4,0.000,0.032,3051,3274,1742,0,0,0,0,0,0
$GC,9328,1.04,351.0,149.2,8.5,397,9350,0.15,2.60,13.90,0.574,6,0.055,0.028,3118,1681,1687,0,0,0,0,0,0
$GC,9606,0.93,351.0,117.1,11.3,423,9611,0.25,2.50,0.00,0.000,4,0.090,0.050,3060,171,1685,0,0,0,0,0,0
$GC,9625,0.93,351.0,114.2,11.4,424,9634,0.00,2.42,0.00,0.000,6,0.000,0.022,3060,1689,1685,0,0,0,0,0,0
$GC,9894,1.06,367.4,91.7,8.3,449,9916,0.12,2.55,15.50,0.530,4,0.064,0.032,3128,3251,1622,0,0,0,0,0,0
$GC,9981,1.06,367.4,81.7,12.0,457,9987,0.17,2.53,0.00,0.000,6,0.093,0.028,3090,1686,1618,0,0,0,0,0,0
$GC,10244,1.06,367.4,53.3,10.9,481,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1686,1617,0,0,0,0,0,0
$GC,10510,1.06,367.4,26.2,9.2,508,10519,0.00,2.53,0.00,0.000,4,0.000,0.045,3089,172,1617,0,0,0,0,0,0
$GC,10528,1.06,367.4,23.9,9.3,510,10537,0.00,2.40,0.00,0.000,6,0.000,0.021,3090,1687,1617,0,0,0,0,0,0
$STATE,10713,end climb,SURFACE_DEPTH_REACHED
$STATE,10713,begin surface coast
$FINISH,0.7,1.022398
$STATE,10765,end surface coast,CONTROL_FINISHED_OK
$STATE,10765,begin surface
$SM_CCo,10787,5.38,0.064,0,0,1569,380.21
$SM_GC,1.74,0.00,0.00,5.38,0.000,0.000,0.064,417,1884,1569,-11.24,2.66,380.21
$IRIDIUM_FIX,2239.35,-15804.53,080400,191923
$TT8_MAMPS,0.026845
$HUMID,51.14
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.50
$XPDR_PINGS,2
$24V_AH,23.4,66.412
$10V_AH,10.0,58.960
$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,31.250,132.850,447.325,5.375,0.000,27.689,34.169,454.605,0.500,0.000,16.257,1146.528,6871.890,483.493,2110.484,848.020,33.380,1340.080,0.000,2111.609,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,66.729,864.409,63.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.396,341.556,427.127,637.677,1127.695,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41658,547
$CAP_FILE_SIZE,128699,0
$CFSIZE,260165632,143020032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140111,012224,2250.016,-15802.519,41,1.7,55,10.1