version: 66.06
glider: 148
mission: 9
dive: 466
start: 1 7 111 17 39 51
data:
$ID,148
$MISSION,9
$DIVE,466
$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,-868170.31
$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
$GPS1,173206,2248.283,-15757.517,17,1.0,33,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-65.5
$GPS2,173856,2248.267,-15757.525,13,1.1,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.007,-0.241
$KALMAN_X,-79595.1,-39.3,-162.0,101024.5,-554.6
$KALMAN_Y,-100869.9,291.7,-498.8,227703.7,329.8
$MHEAD_RNG_PITCHd_Wd,168.2,2393,-16.7,-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,18,-1.21,-133.7,0.0,0.0,0,95,0.00,0.00,-75.25,0.000,2,0.000,0.000,410,1843,3215,0,0,0,0,0,0
$GC,100,-1.22,-146.0,3.4,-4.4,10,133,11.40,2.50,-9.70,0.000,4,0.150,0.043,2586,3365,3718,0,0,0,0,0,0
$GC,248,-1.22,-146.0,27.8,-10.3,32,257,0.00,2.55,0.00,0.000,6,0.000,0.024,2586,1788,3719,0,0,0,0,0,0
$GC,520,-1.07,-146.0,68.5,-16.0,58,525,0.17,2.55,0.00,0.000,4,0.102,0.030,2625,3371,3719,0,0,0,0,0,0
$GC,565,-1.07,-146.0,75.2,-12.5,61,569,0.00,2.53,0.00,0.000,6,0.000,0.024,2625,1792,3719,0,0,0,0,0,0
$GC,833,-1.07,-146.0,107.0,-10.8,85,838,0.00,2.53,0.00,0.000,4,0.000,0.028,2625,3367,3720,0,0,0,0,0,0
$GC,883,-1.14,-146.0,112.8,-9.5,89,889,0.00,2.47,0.00,0.000,6,0.000,0.023,2625,1809,3720,0,0,0,0,0,0
$GC,1147,-1.20,-146.0,140.3,-10.8,114,1152,0.12,2.50,0.00,0.000,4,0.061,0.029,2551,3373,3720,0,0,0,0,0,0
$GC,1176,-1.13,-146.0,144.2,-12.7,116,1181,0.28,2.45,0.00,0.000,6,0.079,0.022,2613,1826,3721,0,0,0,0,0,0
$GC,1436,-1.13,-146.0,170.8,-9.9,140,1441,0.00,2.47,0.00,0.000,4,0.000,0.029,2614,3370,3721,0,0,0,0,0,0
$GC,1472,-1.24,-146.0,174.1,-9.4,143,1477,0.10,2.42,0.00,0.000,6,0.074,0.022,2545,1837,3721,0,0,0,0,0,0
$GC,1764,-1.09,-146.0,211.8,-13.5,164,1769,0.32,2.45,0.00,0.000,4,0.081,0.029,2618,3373,3721,0,0,0,0,0,0
$GC,1793,-1.16,-146.0,215.4,-9.2,164,1797,0.00,2.40,0.00,0.000,6,0.000,0.021,2618,1844,3722,0,0,0,0,0,0
$GC,2048,-1.26,-146.0,235.8,-8.1,171,2053,0.12,2.47,0.00,0.000,4,0.062,0.030,2544,3375,3722,0,0,0,0,0,0
$GC,2083,-1.19,-146.0,239.4,-11.2,171,2088,0.25,2.42,0.00,0.000,6,0.079,0.022,2600,1849,3722,0,0,0,0,0,0
$GC,2333,-1.19,-146.0,261.2,-8.6,177,2337,0.00,2.42,0.00,0.000,4,0.000,0.030,2600,3372,3722,0,0,0,0,0,0
$GC,2361,-1.27,-146.0,263.7,-9.3,177,2365,0.00,2.38,0.00,0.000,6,0.000,0.022,2600,1862,3722,0,0,0,0,0,0
$GC,2617,-1.35,-146.0,286.4,-8.8,184,2622,0.15,2.45,0.00,0.000,4,0.054,0.031,2522,3373,3722,0,0,0,0,0,0
$GC,2627,-1.35,-146.0,287.8,-8.5,184,2632,0.20,2.35,0.00,0.000,6,0.091,0.021,2567,1866,3722,0,0,0,0,0,0
$GC,2901,-1.35,-146.0,314.0,-9.2,191,2905,0.00,2.72,0.00,0.000,4,0.000,0.047,2567,214,3722,0,0,0,0,0,0
$GC,2921,-1.35,-146.0,316.0,-10.0,191,2925,0.00,2.62,0.00,0.000,6,0.000,0.022,2567,1876,3722,0,0,0,0,0,0
$GC,3184,-1.35,-146.0,341.1,-9.9,198,3189,0.00,2.72,0.00,0.000,4,0.000,0.046,2567,219,3721,0,0,0,0,0,0
$GC,3203,-1.35,-146.0,343.3,-10.9,198,3207,0.00,2.58,0.00,0.000,6,0.000,0.023,2567,1862,3721,0,0,0,0,0,0
$GC,3468,-1.35,-146.0,369.4,-10.0,205,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1861,3719,0,0,0,0,0,0
$GC,3711,-1.35,-146.0,391.8,-8.9,211,3715,0.00,2.45,0.00,0.000,4,0.000,0.039,2567,3364,3718,0,0,0,0,0,0
$GC,3748,-1.41,-146.0,395.1,-8.2,211,3754,0.00,2.38,0.00,0.000,6,0.000,0.026,2567,1874,3718,0,0,0,0,0,0
$GC,4000,-1.41,-146.0,418.0,-9.5,218,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1874,3717,0,0,0,0,0,0
$GC,4241,-1.41,-146.0,440.3,-9.0,224,4246,0.00,2.47,0.00,0.000,4,0.000,0.047,2567,3359,3715,0,0,0,0,0,0
$GC,4279,-1.47,-146.0,443.8,-9.0,224,4285,0.12,2.38,0.00,0.000,6,0.066,0.027,2500,1885,3715,0,0,0,0,0,0
$GC,4531,-1.32,-146.0,474.0,-12.6,231,4533,0.32,0.00,0.00,0.000,6,0.085,0.000,2572,1885,3714,0,0,0,0,0,0
$GC,4775,-1.32,-146.0,494.9,-7.9,237,4779,0.00,2.45,0.00,0.000,4,0.000,0.048,2572,3359,3712,0,0,0,0,0,0
$GC,4808,-1.40,-146.0,497.5,-6.9,237,4812,0.00,2.38,0.00,0.000,6,0.000,0.029,2572,1893,3711,0,0,0,0,0,0
$STATE,4852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4852,begin apogee
$GC,4859,-0.31,0.0,500.8,7.0,238,4982,0.98,0.00,118.82,0.863,6,0.073,0.000,2794,1683,3120,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4982,begin climb
$GC,4985,1.22,146.0,504.4,0.0,241,5116,1.38,2.70,121.95,0.847,4,0.029,0.071,3138,181,2523,0,0,0,0,0,0
$GC,5381,0.78,146.0,477.6,10.9,250,5388,0.50,2.40,0.00,0.000,6,0.104,0.027,3034,1666,2515,0,0,0,0,0,0
$GC,5658,0.86,210.2,460.6,6.1,257,5715,0.00,0.00,54.45,0.825,6,0.000,0.000,3034,1666,2263,0,0,0,0,0,0
$GC,5940,0.87,218.5,437.3,8.6,264,5950,0.00,0.00,7.60,0.678,6,0.000,0.000,3034,1666,2229,0,0,0,0,0,0
$GC,6184,0.89,232.1,417.0,8.4,270,6199,0.00,0.00,13.25,0.745,6,0.000,0.000,3034,1666,2173,0,0,0,0,0,0
$GC,6429,0.92,257.5,397.7,7.9,276,6456,0.10,0.00,23.62,0.775,6,0.079,0.000,3080,1666,2069,0,0,0,0,0,0
$GC,6672,0.83,257.5,373.3,10.2,282,6679,0.17,2.75,0.00,0.000,4,0.101,0.052,3042,3267,2064,0,0,0,0,0,0
$GC,6697,0.83,257.5,370.6,10.0,282,6702,0.00,2.62,0.00,0.000,6,0.000,0.033,3042,1690,2063,0,0,0,0,0,0
$GC,6958,0.83,257.5,345.1,9.8,289,6962,0.00,2.65,0.00,0.000,4,0.000,0.065,3042,162,2062,0,0,0,0,0,0
$GC,6990,0.83,257.5,341.5,10.7,289,6995,0.00,2.42,0.00,0.000,6,0.000,0.025,3042,1687,2062,0,0,0,0,0,0
$GC,7240,0.87,286.6,321.5,7.7,295,7273,0.00,2.70,25.62,0.738,4,0.000,0.058,3042,171,1950,0,0,0,0,0,0
$GC,7341,0.87,291.9,313.2,8.8,297,7353,0.00,2.40,6.53,0.600,6,0.000,0.024,3042,1666,1928,0,0,0,0,0,0
$GC,7622,0.87,291.9,288.0,9.4,304,7626,0.00,2.65,0.00,0.000,4,0.000,0.045,3042,3245,1923,0,0,0,0,0,0
$GC,7647,0.96,291.9,285.6,9.8,304,7652,0.12,2.62,0.00,0.000,6,0.064,0.033,3101,1654,1922,0,0,0,0,0,0
$GC,7907,0.86,291.9,254.9,11.4,311,7909,0.25,0.00,0.00,0.000,6,0.092,0.000,3047,1654,1922,0,0,0,0,0,0
$GC,8151,0.95,311.1,234.7,8.1,317,8176,0.00,2.72,17.55,0.660,4,0.000,0.035,3047,3250,1850,0,0,0,0,0,0
$GC,8204,1.08,311.1,229.8,9.5,318,8212,0.20,2.62,0.00,0.000,6,0.051,0.031,3120,1653,1847,0,0,0,0,0,0
$GC,8466,0.97,311.1,196.3,13.0,326,8475,0.22,2.65,0.00,0.000,4,0.095,0.035,3072,3250,1846,0,0,0,0,0,0
$GC,8498,0.97,311.1,192.9,10.5,329,8502,0.00,2.58,0.00,0.000,6,0.000,0.030,3072,1668,1845,0,0,0,0,0,0
$GC,8760,0.98,313.5,168.7,8.9,353,8764,0.00,2.58,0.00,0.000,4,0.000,0.034,3072,3253,1845,0,0,0,0,0,0
$GC,8791,0.98,313.5,166.3,9.6,355,8795,0.00,2.58,0.00,0.000,6,0.000,0.028,3072,1676,1843,0,0,0,0,0,0
$GC,9058,0.98,313.5,142.3,9.1,379,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1676,1843,0,0,0,0,0,0
$GC,9319,1.04,313.5,114.9,10.8,404,9324,0.00,2.47,0.00,0.000,4,0.000,0.046,3072,167,1843,0,0,0,0,0,0
$GC,9350,1.04,313.5,111.2,12.3,406,9359,0.00,2.42,0.00,0.000,6,0.000,0.021,3072,1696,1843,0,0,0,0,0,0
$GC,9616,1.14,318.3,85.8,8.8,431,9629,0.15,2.58,6.75,0.457,4,0.056,0.034,3158,3253,1822,0,0,0,0,0,0
$GC,9652,1.02,318.3,81.6,12.2,434,9662,0.32,2.58,0.00,0.000,6,0.077,0.027,3082,1682,1821,0,0,0,0,0,0
$GC,9916,1.02,322.3,59.0,8.8,459,9925,0.00,0.00,5.43,0.407,6,0.000,0.000,3082,1682,1805,0,0,0,0,0,0
$GC,10184,1.07,361.7,35.6,7.2,484,10222,0.00,0.00,35.35,0.500,6,0.000,0.000,3082,1682,1644,0,0,0,0,0,0
$STATE,10492,end climb,SURFACE_DEPTH_REACHED
$STATE,10492,begin surface coast
$FINISH,0.9,1.009923
$STATE,10530,end surface coast,CONTROL_FINISHED_OK
$STATE,10531,begin surface
$SM_CCo,10553,15.65,0.209,1,0,1569,380.21
$SM_GC,1.86,0.00,0.00,15.65,0.000,0.000,0.209,416,1849,1569,-11.25,1.64,380.21
$IRIDIUM_FIX,2241.69,-15754.99,020400,141410
$TT8_MAMPS,0.026845
$HUMID,49.05
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.5,60.603
$10V_AH,10.0,53.481
$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,28.875,121.650,436.925,15.650,0.000,24.265,32.524,202.220,0.250,0.000,14.921,1090.625,6844.002,537.159,1937.068,574.292,33.380,1278.236,0.000,1950.529,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,70.564,862.875,209.391,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.275,339.257,417.833,643.785,1139.053,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355328
$DATA_FILE_SIZE,41523,536
$CAP_FILE_SIZE,113561,0
$CFSIZE,260165632,145846272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070111,203725,2246.896,-15757.761,41,1.3,41,10.1