version: 66.06
glider: 148
mission: 9
dive: 477
start: 1 9 111 4 2 31
data:
$ID,148
$MISSION,9
$DIVE,477
$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,-868489
$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,43
$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
$GPS1,035403,2249.746,-15757.454,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.6
$GPS2,040137,2249.644,-15757.488,14,1.6,31,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.164,0.157
$KALMAN_X,-86506.9,211.1,56.1,107528.3,-981.7
$KALMAN_Y,-110069.7,-222.6,-450.9,239924.4,-1086.6
$MHEAD_RNG_PITCHd_Wd,36.2,1063,-17.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.26,-117.5,0.0,0.0,0,88,0.00,0.00,-68.10,0.000,2,0.000,0.000,412,1902,3218,0,0,0,0,0,0
$GC,93,-1.30,-146.0,3.1,-3.5,9,125,11.35,2.85,-9.60,0.000,4,0.153,0.051,2569,210,3719,0,0,0,0,0,0
$GC,190,-1.30,-146.0,27.0,-18.2,23,199,0.00,2.50,0.00,0.000,6,0.000,0.019,2569,1795,3720,0,0,0,0,0,0
$GC,462,-1.13,-146.0,67.8,-14.7,49,467,0.20,2.50,0.00,0.000,4,0.103,0.029,2611,3359,3720,0,0,0,0,0,0
$GC,507,-1.13,-146.0,74.5,-10.9,52,515,0.00,2.53,0.00,0.000,6,0.000,0.022,2611,1785,3720,0,0,0,0,0,0
$GC,774,-1.13,-146.0,107.8,-12.7,77,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1784,3721,0,0,0,0,0,0
$GC,1035,-1.24,-146.0,138.1,-9.9,102,1039,0.00,2.53,0.00,0.000,4,0.000,0.028,2611,3365,3721,0,0,0,0,0,0
$GC,1084,-1.43,-146.0,142.9,-9.4,106,1094,0.22,2.50,0.00,0.000,6,0.016,0.022,2469,1806,3722,0,0,0,0,0,0
$GC,1348,-1.13,-146.0,187.9,-18.1,131,1357,0.62,2.55,0.00,0.000,4,0.089,0.035,2608,208,3722,0,0,0,0,0,0
$GC,1401,-1.39,-146.0,194.0,-9.4,136,1406,0.20,2.47,0.00,0.000,6,0.042,0.019,2516,1805,3723,0,0,0,0,0,0
$GC,1665,-1.25,-146.0,228.7,-13.6,146,1670,0.30,2.45,0.00,0.000,4,0.087,0.028,2583,3357,3723,0,0,0,0,0,0
$GC,1703,-1.36,-146.0,233.2,-9.4,146,1709,0.00,2.47,0.00,0.000,6,0.000,0.022,2583,1797,3724,0,0,0,0,0,0
$GC,1955,-1.45,-146.0,256.9,-9.7,153,1960,0.17,2.50,0.00,0.000,4,0.051,0.031,2505,3356,3724,0,0,0,0,0,0
$GC,1989,-1.33,-146.0,261.3,-12.8,153,1994,0.30,2.42,0.00,0.000,6,0.087,0.023,2570,1813,3724,0,0,0,0,0,0
$GC,2238,-1.33,-146.0,287.2,-10.2,159,2242,0.00,2.47,0.00,0.000,4,0.000,0.033,2570,3357,3724,0,0,0,0,0,0
$GC,2277,-1.42,-146.0,291.1,-9.8,159,2283,0.00,2.45,0.00,0.000,6,0.000,0.025,2570,1826,3724,0,0,0,0,0,0
$GC,2527,-1.49,-146.0,315.7,-9.7,166,2532,0.15,2.50,0.00,0.000,4,0.055,0.037,2501,3353,3724,0,0,0,0,0,0
$GC,2546,-1.49,-146.0,318.4,-12.8,166,2551,0.15,2.45,0.00,0.000,6,0.100,0.025,2533,1821,3723,0,0,0,0,0,0
$GC,2812,-1.49,-146.0,350.6,-12.4,173,2817,0.00,2.50,0.00,0.000,4,0.000,0.039,2533,3357,3722,0,0,0,0,0,0
$GC,2844,-1.49,-146.0,355.1,-11.9,173,2849,0.00,2.45,0.00,0.000,6,0.000,0.027,2533,1823,3722,0,0,0,0,0,0
$GC,3094,-1.49,-146.0,384.4,-11.4,179,3098,0.00,2.53,0.00,0.000,4,0.000,0.042,2533,3357,3721,0,0,0,0,0,0
$GC,3114,-1.49,-146.0,386.7,-12.4,179,3118,0.00,2.45,0.00,0.000,6,0.000,0.026,2533,1831,3720,0,0,0,0,0,0
$GC,3377,-1.49,-146.0,415.9,-11.0,186,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1831,3719,0,0,0,0,0,0
$GC,3621,-1.49,-146.0,443.4,-11.1,192,3625,0.00,2.53,0.00,0.000,4,0.000,0.046,2533,3346,3718,0,0,0,0,0,0
$GC,3673,-1.49,-146.0,448.9,-10.3,193,3678,0.00,2.42,0.00,0.000,6,0.000,0.028,2533,1833,3718,0,0,0,0,0,0
$GC,3950,-1.49,-146.0,476.4,-9.8,200,3955,0.00,2.75,0.00,0.000,4,0.000,0.063,2533,214,3716,0,0,0,0,0,0
$GC,3993,-1.49,-146.0,480.7,-10.5,201,3998,0.00,2.58,0.00,0.000,6,0.000,0.033,2533,1810,3715,0,0,0,0,0,0
$STATE,4237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4237,begin apogee
$GC,4245,-0.31,0.0,503.8,9.5,207,4368,1.15,0.00,119.35,0.867,6,0.083,0.000,2789,1665,3119,0,0,0,0,0,0
$STATE,4368,end apogee,CONTROL_FINISHED_OK
$STATE,4369,begin climb
$GC,4371,1.30,146.0,508.4,0.0,210,4502,1.42,2.62,121.45,0.850,4,0.024,0.068,3144,187,2522,0,0,0,0,0,0
$GC,4770,0.89,146.0,485.5,11.1,218,4776,0.43,2.45,0.00,0.000,6,0.109,0.028,3057,1684,2514,0,0,0,0,0,0
$GC,5020,0.90,209.5,469.8,5.7,225,5081,0.00,2.62,53.75,0.829,4,0.000,0.058,3057,186,2265,0,0,0,0,0,0
$GC,5273,0.81,209.5,447.7,10.1,230,5277,0.00,2.42,0.00,0.000,6,0.000,0.026,3057,1678,2259,0,0,0,0,0,0
$GC,5534,0.84,232.7,427.0,7.8,237,5556,0.00,0.00,20.50,0.783,6,0.000,0.000,3057,1679,2170,0,0,0,0,0,0
$GC,5777,0.86,245.5,407.1,8.3,243,5797,0.00,2.62,12.35,0.737,4,0.000,0.058,3058,181,2118,0,0,0,0,0,0
$GC,5825,0.86,245.5,402.2,10.7,244,5829,0.00,2.42,0.00,0.000,6,0.000,0.027,3057,1670,2118,0,0,0,0,0,0
$GC,6108,0.86,245.5,375.5,9.6,251,6113,0.00,2.70,0.00,0.000,4,0.000,0.054,3057,3253,2114,0,0,0,0,0,0
$GC,6155,0.94,245.5,370.5,10.1,252,6160,0.00,2.62,0.00,0.000,6,0.000,0.035,3057,1681,2112,0,0,0,0,0,0
$GC,6437,0.94,245.5,344.0,9.4,259,6441,0.00,2.60,0.00,0.000,4,0.000,0.066,3057,166,2112,0,0,0,0,0,0
$GC,6494,0.94,245.5,337.9,10.6,260,6499,0.00,2.40,0.00,0.000,6,0.000,0.025,3057,1671,2112,0,0,0,0,0,0
$GC,6772,0.96,261.9,313.6,8.2,267,6792,0.00,2.75,14.65,0.708,4,0.000,0.051,3057,3278,2051,0,0,0,0,0,0
$GC,6847,1.08,275.5,308.1,8.3,268,6868,0.15,2.70,14.00,0.696,6,0.056,0.035,3121,1665,1995,0,0,0,0,0,0
$GC,7156,0.97,275.5,276.0,10.8,276,7163,0.25,2.67,0.00,0.000,4,0.096,0.042,3065,3250,1989,0,0,0,0,0,0
$GC,7173,0.97,275.5,274.0,10.3,276,7177,0.00,2.60,0.00,0.000,6,0.000,0.031,3065,1668,1989,0,0,0,0,0,0
$GC,7445,0.97,281.7,250.7,8.7,283,7457,0.00,2.70,5.62,0.547,4,0.000,0.038,3065,3252,1970,0,0,0,0,0,0
$GC,7486,1.07,281.7,247.1,9.3,283,7492,0.12,2.62,0.00,0.000,6,0.066,0.032,3132,1659,1969,0,0,0,0,0,0
$GC,7737,0.95,281.7,218.7,11.5,290,7739,0.30,0.00,0.00,0.000,6,0.094,0.000,3068,1659,1969,0,0,0,0,0,0
$GC,7979,1.02,291.4,197.5,8.5,296,8001,0.00,2.65,9.73,0.591,4,0.000,0.035,3067,3258,1933,0,0,0,0,0,0
$GC,8016,1.14,310.3,194.5,8.0,299,8043,0.17,2.62,19.10,0.630,6,0.051,0.030,3153,1668,1855,0,0,0,0,0,0
$GC,8296,1.00,310.3,160.4,12.3,326,8301,0.32,2.50,0.00,0.000,4,0.098,0.048,3080,167,1851,0,0,0,0,0,0
$GC,8363,1.00,310.3,153.4,9.7,332,8368,0.00,2.38,0.00,0.000,6,0.000,0.022,3080,1671,1851,0,0,0,0,0,0
$GC,8626,1.07,310.3,129.1,9.7,356,8630,0.00,2.55,0.00,0.000,4,0.000,0.032,3080,3260,1850,0,0,0,0,0,0
$GC,8664,1.22,310.3,125.6,9.7,359,8670,0.17,2.60,0.00,0.000,6,0.048,0.028,3160,1661,1847,0,0,0,0,0,0
$GC,8929,1.12,310.3,92.4,12.6,383,8934,0.25,2.45,0.00,0.000,4,0.100,0.045,3105,171,1848,0,0,0,0,0,0
$GC,8985,1.12,310.3,85.3,12.0,388,8989,0.00,2.33,0.00,0.000,6,0.000,0.021,3105,1657,1848,0,0,0,0,0,0
$GC,9254,1.16,347.8,61.8,7.1,412,9294,0.00,2.58,32.92,0.528,4,0.000,0.046,3105,174,1701,0,0,0,0,0,0
$GC,9315,1.16,347.8,56.5,10.2,417,9319,0.00,2.30,0.00,0.000,6,0.000,0.020,3105,1649,1701,0,0,0,0,0,0
$GC,9586,1.16,347.8,27.9,10.7,442,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1653,1698,0,0,0,0,0,0
$STATE,9813,end climb,SURFACE_DEPTH_REACHED
$STATE,9813,begin surface coast
$FINISH,0.7,1.011242
$STATE,9852,end surface coast,CONTROL_FINISHED_OK
$STATE,9852,begin surface
$SM_CCo,9874,14.88,0.062,0,0,1569,380.21
$SM_GC,1.60,0.00,0.00,14.88,0.000,0.000,0.062,413,1857,1569,-11.26,1.87,380.21
$IRIDIUM_FIX,2239.35,-15757.16,040400,000022
$TT8_MAMPS,0.026845
$HUMID,50.07
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,61.906
$10V_AH,10.1,54.716
$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,29.350,127.250,423.425,14.875,0.000,31.223,41.907,209.390,0.000,0.000,32.563,1018.149,6293.436,473.332,1966.675,587.086,33.378,1281.760,0.000,1945.896,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,68.263,867.477,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.932,295.048,370.539,573.075,1013.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355348
$DATA_FILE_SIZE,38315,484
$CAP_FILE_SIZE,112690,0
$CFSIZE,260165632,145199104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090111,064914,2249.946,-15756.863,55,1.3,74,10.1