version: 66.06
glider: 148
mission: 9
dive: 520
start: 1 14 111 18 21 28
data:
$ID,148
$MISSION,9
$DIVE,520
$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,208
$T_MISSION,450
$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,-869490.06
$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,55
$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
$GPS1,180827,2248.495,-15757.603,39,99.0,58,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.2
$GPS2,182032,2248.379,-15757.545,14,1.1,14,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.026,-0.182
$KALMAN_X,-107100.9,-117.9,115.5,128297.7,-761.1
$KALMAN_Y,-142748.0,-110.7,-67.4,269760.5,-286.5
$MHEAD_RNG_PITCHd_Wd,161.8,2591,-19.9,-8.013
$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,-1.34,-79.7,0.0,0.0,0,88,0.00,0.00,-68.10,0.000,2,0.000,0.000,413,1872,3235,0,0,0,0,0,0
$GC,91,-1.42,-146.0,3.0,-2.7,9,123,11.38,2.80,-9.80,0.000,4,0.158,0.051,2540,201,3719,0,0,0,0,0,0
$GC,178,-1.42,-146.0,21.9,-17.2,21,186,0.00,2.50,0.00,0.000,6,0.000,0.020,2540,1777,3720,0,0,0,0,0,0
$GC,459,-1.27,-146.0,71.1,-19.0,50,464,0.20,2.55,0.00,0.000,4,0.107,0.029,2582,3365,3720,0,0,0,0,0,0
$GC,546,-1.27,-146.0,85.8,-15.8,57,550,0.00,2.53,0.00,0.000,6,0.000,0.024,2582,1786,3720,0,0,0,0,0,0
$GC,811,-1.34,-146.0,123.3,-11.8,81,816,0.00,2.55,0.00,0.000,4,0.000,0.028,2582,3369,3721,0,0,0,0,0,0
$GC,862,-1.52,-146.0,128.5,-9.5,85,867,0.22,2.47,0.00,0.000,6,0.036,0.023,2468,1803,3721,0,0,0,0,0,0
$GC,1128,-1.25,-146.0,175.6,-17.4,109,1137,0.62,2.55,0.00,0.000,4,0.093,0.035,2582,208,3722,0,0,0,0,0,0
$GC,1150,-1.14,-146.0,180.0,-16.7,111,1155,0.12,2.50,0.00,0.000,6,0.114,0.020,2609,1823,3722,0,0,0,0,0,0
$GC,1411,-1.36,-146.0,204.2,-8.7,132,1416,0.17,2.47,0.00,0.000,4,0.047,0.030,2523,3369,3722,0,0,0,0,0,0
$GC,1456,-1.36,-146.0,209.6,-12.4,133,1461,0.17,2.47,0.00,0.000,6,0.092,0.023,2564,1809,3722,0,0,0,0,0,0
$GC,1744,-1.45,-146.0,242.2,-11.2,140,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1809,3723,0,0,0,0,0,0
$GC,1988,-1.55,-146.0,268.0,-10.7,146,1993,0.17,2.65,0.00,0.000,4,0.050,0.051,2489,204,3722,0,0,0,0,0,0
$GC,2004,-1.55,-146.0,270.0,-10.6,146,2009,0.15,2.50,0.00,0.000,6,0.109,0.021,2520,1817,3722,0,0,0,0,0,0
$GC,2273,-1.55,-146.0,304.5,-12.3,153,2277,0.00,2.50,0.00,0.000,4,0.000,0.035,2520,3367,3722,0,0,0,0,0,0
$GC,2324,-1.55,-146.0,311.2,-11.9,154,2328,0.00,2.47,0.00,0.000,6,0.000,0.025,2520,1814,3722,0,0,0,0,0,0
$GC,2603,-1.55,-146.0,345.8,-12.2,161,2607,0.00,2.50,0.00,0.000,4,0.000,0.038,2520,3357,3722,0,0,0,0,0,0
$GC,2658,-1.55,-146.0,353.1,-12.3,162,2663,0.00,2.47,0.00,0.000,6,0.000,0.028,2520,1823,3722,0,0,0,0,0,0
$GC,2933,-1.55,-146.0,384.4,-11.2,169,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1823,3720,0,0,0,0,0,0
$GC,3175,-1.55,-146.0,409.3,-10.2,175,3179,0.00,2.53,0.00,0.000,4,0.000,0.044,2521,3354,3719,0,0,0,0,0,0
$GC,3189,-1.55,-146.0,411.0,-10.1,175,3193,0.00,2.42,0.00,0.000,6,0.000,0.025,2520,1827,3719,0,0,0,0,0,0
$GC,3457,-1.55,-146.0,441.3,-11.7,182,3461,0.00,2.55,0.00,0.000,4,0.000,0.047,2520,3354,3717,0,0,0,0,0,0
$GC,3472,-1.55,-146.0,443.3,-12.5,182,3477,0.00,2.42,0.00,0.000,6,0.000,0.026,2520,1834,3717,0,0,0,0,0,0
$GC,3740,-1.55,-146.0,475.7,-12.0,189,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1829,3715,0,0,0,0,0,0
$STATE,3982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3982,begin apogee
$GC,3988,-0.31,0.0,503.4,11.2,195,4111,1.23,0.00,119.70,0.861,6,0.088,0.000,2788,1665,3120,0,0,0,0,0,0
$STATE,4112,end apogee,CONTROL_FINISHED_OK
$STATE,4112,begin climb
$GC,4116,1.42,146.0,507.6,0.0,198,4247,1.55,2.67,121.65,0.845,4,0.028,0.071,3171,183,2524,0,0,0,0,0,0
$GC,4354,1.02,146.0,497.5,11.9,203,4361,0.45,2.40,0.00,0.000,6,0.116,0.030,3081,1657,2517,0,0,0,0,0,0
$GC,4621,1.04,161.9,478.3,6.9,210,4641,0.00,2.58,13.43,0.762,4,0.000,0.058,3081,185,2459,0,0,0,0,0,0
$GC,4690,0.91,161.9,472.7,9.0,211,4695,0.12,2.45,0.00,0.000,6,0.130,0.028,3058,1687,2457,0,0,0,0,0,0
$GC,4954,0.93,180.9,454.6,6.7,218,4978,0.00,2.67,17.52,0.787,4,0.000,0.058,3057,187,2381,0,0,0,0,0,0
$GC,5178,0.93,180.9,436.1,8.5,222,5183,0.00,2.40,0.00,0.000,6,0.000,0.025,3057,1682,2377,0,0,0,0,0,0
$GC,5427,0.95,192.9,418.2,7.2,229,5440,0.00,0.00,11.10,0.738,6,0.000,0.000,3057,1683,2333,0,0,0,0,0,0
$GC,5673,1.02,198.7,399.4,7.6,235,5686,0.10,2.65,6.28,0.640,4,0.080,0.058,3107,182,2308,0,0,0,0,0,0
$GC,5749,0.88,198.7,391.4,11.4,236,5754,0.28,2.40,0.00,0.000,6,0.102,0.025,3051,1666,2307,0,0,0,0,0,0
$GC,6011,1.00,216.4,372.6,6.8,243,6035,0.12,2.60,16.58,0.753,4,0.067,0.056,3108,183,2236,0,0,0,0,0,0
$GC,6098,0.88,216.4,364.6,9.8,244,6104,0.25,2.38,0.00,0.000,6,0.101,0.025,3054,1665,2235,0,0,0,0,0,0
$GC,6350,1.01,239.8,348.4,6.4,251,6378,0.10,2.62,21.67,0.752,4,0.079,0.056,3099,181,2142,0,0,0,0,0,0
$GC,6394,0.94,239.8,344.5,9.4,252,6399,0.17,2.38,0.00,0.000,6,0.107,0.025,3065,1664,2141,0,0,0,0,0,0
$GC,6683,1.03,239.8,317.9,9.2,259,6688,0.00,2.70,0.00,0.000,4,0.000,0.051,3065,3257,2137,0,0,0,0,0,0
$GC,6716,1.16,239.8,314.7,9.2,259,6725,0.20,2.62,0.00,0.000,6,0.046,0.033,3145,1667,2135,0,0,0,0,0,0
$GC,6969,1.06,239.8,284.5,12.3,266,6976,0.25,2.65,0.00,0.000,4,0.107,0.042,3089,3250,2135,0,0,0,0,0,0
$GC,7011,1.15,239.8,280.5,10.1,266,7016,0.00,2.65,0.00,0.000,6,0.000,0.033,3089,1655,2134,0,0,0,0,0,0
$GC,7260,1.15,239.8,256.7,9.6,273,7265,0.00,2.53,0.00,0.000,4,0.000,0.063,3089,167,2134,0,0,0,0,0,0
$GC,7390,1.15,239.8,243.3,10.4,275,7394,0.00,2.33,0.00,0.000,6,0.000,0.023,3089,1652,2134,0,0,0,0,0,0
$GC,7640,1.21,239.8,220.7,9.0,281,7645,0.15,2.65,0.00,0.000,4,0.059,0.048,3147,3248,2134,0,0,0,0,0,0
$GC,7654,1.21,239.8,219.3,8.4,281,7660,0.12,2.65,0.00,0.000,6,0.119,0.031,3121,1638,2132,0,0,0,0,0,0
$GC,7916,1.21,239.8,193.3,10.0,290,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1638,2132,0,0,0,0,0,0
$GC,8172,1.21,239.8,171.0,8.4,314,8176,0.00,2.62,0.00,0.000,4,0.000,0.035,3121,3251,2132,0,0,0,0,0,0
$GC,8201,1.22,244.9,168.9,7.7,316,8211,0.00,2.62,4.28,0.438,6,0.000,0.029,3121,1642,2121,0,0,0,0,0,0
$GC,8471,1.23,256.8,148.4,7.2,341,8490,0.00,0.00,12.07,0.572,6,0.000,0.000,3121,1642,2072,0,0,0,0,0,0
$GC,8749,1.23,256.8,125.3,9.8,367,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1642,2070,0,0,0,0,0,0
$GC,9010,1.23,260.0,101.7,7.8,392,9024,0.00,2.67,3.97,0.380,4,0.000,0.033,3121,3252,2059,0,0,0,0,0,0
$GC,9038,1.35,285.5,99.8,6.3,394,9069,0.10,2.62,24.23,0.555,6,0.035,0.028,3178,1655,1955,0,0,0,0,0,0
$GC,9323,1.27,285.5,70.4,11.3,421,9328,0.20,2.45,0.00,0.000,4,0.102,0.044,3137,170,1951,0,0,0,0,0,0
$GC,9357,1.27,285.5,66.0,11.3,423,9366,0.00,2.35,0.00,0.000,6,0.000,0.021,3137,1653,1951,0,0,0,0,0,0
$GC,9625,1.27,285.5,40.4,10.5,448,9629,0.00,2.47,0.00,0.000,4,0.000,0.044,3137,167,1950,0,0,0,0,0,0
$GC,9678,1.27,285.5,34.0,12.5,452,9682,0.00,2.28,0.00,0.000,6,0.000,0.021,3137,1639,1950,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,1.1,1.024058
$STATE,10007,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10027,49.67,0.397,1,0,1569,380.21
$SM_GC,1.47,0.00,0.00,49.67,0.000,0.000,0.397,411,1857,1569,-11.27,1.89,380.21
$IRIDIUM_FIX,2241.69,-15759.32,090400,141427
$TT8_MAMPS,0.026845
$HUMID,50.27
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.50
$XPDR_PINGS,3
$24V_AH,23.4,67.197
$10V_AH,10.0,59.686
$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,29.800,121.950,372.475,49.675,0.000,66.271,72.085,367.091,0.750,0.000,15.625,1054.297,6526.156,480.867,1935.363,810.865,33.375,1258.664,0.000,1931.921,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,71.331,861.341,396.539,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.728,305.849,385.869,581.510,1026.696,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38261,501
$CAP_FILE_SIZE,115459,0
$CFSIZE,260165632,142655488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140111,211036,2246.750,-15757.909,8,2.0,24,10.1