version: 66.06
glider: 148
mission: 9
dive: 519
start: 1 14 111 14 47 39
data:
$ID,148
$MISSION,9
$DIVE,519
$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,-869473.81
$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,44
$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
$GPS1,143430,2250.262,-15757.206,37,1.4,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.9
$GPS2,144643,2250.263,-15757.080,11,1.5,11,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.016,-0.240
$KALMAN_X,-106730.7,146.9,77.4,128497.5,-581.0
$KALMAN_Y,-142528.4,-225.2,325.1,272751.6,-821.9
$MHEAD_RNG_PITCHd_Wd,173.7,6167,-14.1,-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,19,-1.06,-146.0,0.0,0.0,0,95,0.00,0.00,-74.65,0.000,2,0.000,0.000,408,1854,3253,0,0,0,0,0,0
$GC,98,-1.06,-146.0,3.1,-3.0,10,131,11.75,2.47,-9.32,0.000,4,0.155,0.042,2621,3366,3719,0,0,0,0,0,0
$GC,147,-0.09,-146.0,14.6,-22.8,16,156,0.93,2.55,0.00,0.000,6,0.066,0.024,2836,1788,3720,0,0,0,0,0,0
$GC,450,-0.76,-146.0,39.7,-9.6,57,462,0.57,2.53,0.00,0.000,4,0.044,0.025,2693,3370,3721,0,0,0,0,0,0
$GC,774,-1.47,-146.0,61.6,-6.2,86,787,0.65,2.50,0.00,0.000,6,0.048,0.021,2535,1780,3721,0,0,0,0,0,0
$GC,1046,-1.09,-146.0,104.8,-17.5,111,1055,0.38,2.50,0.00,0.000,4,0.095,0.034,2619,213,3721,0,0,0,0,0,0
$GC,1130,-1.18,-146.0,116.0,-9.7,119,1135,0.00,2.47,0.00,0.000,6,0.000,0.018,2619,1826,3721,0,0,0,0,0,0
$GC,1397,-1.18,-146.0,140.7,-9.6,143,1401,0.00,2.42,0.00,0.000,4,0.000,0.029,2619,3354,3722,0,0,0,0,0,0
$GC,1466,-1.18,-146.0,146.9,-7.8,149,1470,0.00,2.45,0.00,0.000,6,0.000,0.022,2619,1807,3721,0,0,0,0,0,0
$GC,1730,-1.18,-146.0,169.5,-9.2,173,1734,0.00,2.47,0.00,0.000,4,0.000,0.029,2619,3354,3722,0,0,0,0,0,0
$GC,1778,-1.24,-146.0,174.6,-9.6,177,1787,0.10,2.45,0.00,0.000,6,0.028,0.022,2528,1822,3722,0,0,0,0,0,0
$GC,2059,-0.98,-146.0,211.6,-13.1,198,2066,0.50,2.45,0.00,0.000,4,0.082,0.028,2644,3362,3722,0,0,0,0,0,0
$GC,2072,-0.81,-146.0,213.6,-12.1,198,2077,0.17,2.42,0.00,0.000,6,0.087,0.020,2683,1811,3722,0,0,0,0,0,0
$GC,2346,-1.03,-146.0,226.1,-4.6,205,2351,0.20,2.47,0.00,0.000,4,0.041,0.028,2570,3361,3722,0,0,0,0,0,0
$GC,2391,-1.03,-146.0,230.1,-10.2,206,2396,0.30,2.42,0.00,0.000,6,0.075,0.024,2639,1834,3722,0,0,0,0,0,0
$GC,2681,-1.12,-146.0,250.4,-6.9,213,2686,0.10,2.45,0.00,0.000,4,0.075,0.030,2574,3362,3722,0,0,0,0,0,0
$GC,2702,-1.12,-146.0,252.2,-8.2,213,2707,0.17,2.40,0.00,0.000,6,0.087,0.023,2614,1838,3722,0,0,0,0,0,0
$GC,2966,-1.12,-146.0,272.8,-7.8,220,2970,0.00,2.42,0.00,0.000,4,0.000,0.031,2614,3357,3722,0,0,0,0,0,0
$GC,3009,-1.19,-146.0,276.1,-7.7,221,3014,0.00,2.38,0.00,0.000,6,0.000,0.025,2614,1857,3722,0,0,0,0,0,0
$GC,3298,-1.19,-146.0,297.7,-7.7,228,3302,0.00,2.40,0.00,0.000,4,0.000,0.033,2614,3354,3721,0,0,0,0,0,0
$GC,3331,-1.19,-146.0,300.6,-7.9,228,3335,0.00,2.38,0.00,0.000,6,0.000,0.025,2614,1857,3721,0,0,0,0,0,0
$GC,3582,-1.19,-146.0,319.2,-7.5,234,3586,0.00,2.40,0.00,0.000,4,0.000,0.035,2614,3351,3719,0,0,0,0,0,0
$GC,3624,-1.27,-146.0,322.2,-6.4,234,3630,0.12,2.35,0.00,0.000,6,0.062,0.027,2532,1878,3719,0,0,0,0,0,0
$GC,3874,-1.07,-146.0,348.1,-10.6,241,3879,0.40,2.42,0.00,0.000,4,0.082,0.036,2625,3357,3718,0,0,0,0,0,0
$GC,3920,-1.18,-146.0,351.4,-6.9,242,3924,0.00,2.35,0.00,0.000,6,0.000,0.028,2625,1890,3718,0,0,0,0,0,0
$GC,4207,-1.25,-146.0,370.0,-6.6,249,4214,0.17,2.83,0.00,0.000,4,0.048,0.055,2541,213,3716,0,0,0,0,0,0
$GC,4229,-1.15,-146.0,372.1,-10.3,249,4236,0.30,2.62,0.00,0.000,6,0.083,0.025,2608,1873,3716,0,0,0,0,0,0
$GC,4497,-1.15,-146.0,392.4,-7.6,256,4501,0.00,2.40,0.00,0.000,4,0.000,0.040,2609,3347,3714,0,0,0,0,0,0
$GC,4549,-1.23,-146.0,396.4,-7.1,257,4553,0.00,2.30,0.00,0.000,6,0.000,0.027,2608,1906,3714,0,0,0,0,0,0
$GC,4828,-1.23,-146.0,414.7,-6.4,264,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1906,3712,0,0,0,0,0,0
$GC,5070,-1.23,-146.0,432.4,-7.5,270,5074,0.00,2.38,0.00,0.000,4,0.000,0.045,2609,3346,3711,0,0,0,0,0,0
$GC,5107,-1.31,-146.0,435.3,-7.4,270,5114,0.15,2.33,0.00,0.000,6,0.053,0.029,2549,1910,3711,0,0,0,0,0,0
$GC,5359,-1.18,-146.0,458.9,-9.5,277,5367,0.25,2.90,0.00,0.000,4,0.095,0.059,2607,214,3710,0,0,0,0,0,0
$GC,5385,-1.18,-146.0,461.3,-8.1,277,5390,0.00,2.67,0.00,0.000,6,0.000,0.030,2607,1879,3710,0,0,0,0,0,0
$GC,5645,-1.18,-146.0,478.2,-6.7,284,5649,0.00,2.42,0.00,0.000,4,0.000,0.051,2607,3342,3708,0,0,0,0,0,0
$GC,5690,-1.27,-146.0,481.2,-7.1,285,5695,0.10,2.33,0.00,0.000,6,0.074,0.031,2558,1912,3708,0,0,0,0,0,0
$STATE,5893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5893,begin apogee
$GC,5899,-0.31,0.0,501.2,10.0,290,6021,1.05,0.00,118.65,0.873,6,0.081,0.000,2790,1676,3119,0,0,0,0,0,0
$STATE,6022,end apogee,CONTROL_FINISHED_OK
$STATE,6022,begin climb
$GC,6026,1.06,146.0,507.3,0.0,293,6154,1.23,0.00,122.35,0.856,6,0.033,0.000,3103,1676,2524,0,0,0,0,0,0
$GC,6395,0.73,151.2,493.3,7.8,302,6403,0.40,0.00,4.53,0.565,6,0.095,0.000,3018,1676,2503,0,0,0,0,0,0
$GC,6637,0.74,240.7,481.2,4.7,308,6724,0.00,2.72,78.82,0.847,4,0.000,0.073,3018,184,2137,0,0,0,0,0,0
$GC,6805,0.65,240.7,469.5,9.3,311,6809,0.00,2.35,0.00,0.000,6,0.000,0.028,3018,1636,2133,0,0,0,0,0,0
$GC,7055,0.66,247.8,450.0,7.7,317,7067,0.00,2.58,6.28,0.650,4,0.000,0.059,3018,184,2109,0,0,0,0,0,0
$GC,7103,0.57,247.8,446.3,8.5,318,7108,0.15,2.38,0.00,0.000,6,0.103,0.026,2986,1660,2108,0,0,0,0,0,0
$GC,7392,0.64,300.6,428.4,6.0,325,7447,0.00,2.65,49.03,0.818,4,0.000,0.058,2986,180,1893,0,0,0,0,0,0
$GC,7462,0.75,338.7,423.6,6.6,326,7503,0.15,2.40,34.88,0.798,6,0.057,0.025,3043,1666,1739,0,0,0,0,0,0
$GC,7762,0.75,338.7,390.1,11.5,334,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1666,1731,0,0,0,0,0,0
$GC,8006,0.75,338.7,362.6,11.1,340,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1666,1729,0,0,0,0,0,0
$GC,8251,0.75,338.7,337.3,10.4,346,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1666,1727,0,0,0,0,0,0
$GC,8493,0.75,338.7,314.8,8.8,352,8498,0.00,2.70,0.00,0.000,4,0.000,0.051,3043,3258,1726,0,0,0,0,0,0
$GC,8530,0.75,338.7,311.5,9.0,352,8536,0.00,2.65,0.00,0.000,6,0.000,0.033,3043,1659,1724,0,0,0,0,0,0
$GC,8780,0.75,338.7,288.1,9.8,359,8784,0.00,2.55,0.00,0.000,4,0.000,0.062,3043,173,1724,0,0,0,0,0,0
$GC,8800,0.75,338.7,286.0,10.5,359,8805,0.00,2.35,0.00,0.000,6,0.000,0.024,3043,1659,1724,0,0,0,0,0,0
$GC,9064,0.75,338.7,261.8,8.7,366,9068,0.00,2.67,0.00,0.000,4,0.000,0.048,3043,3254,1724,0,0,0,0,0,0
$GC,9091,0.75,338.7,259.3,8.5,366,9096,0.00,2.62,0.00,0.000,6,0.000,0.033,3043,1655,1722,0,0,0,0,0,0
$GC,9347,0.75,338.7,237.3,9.1,373,9352,0.00,2.53,0.00,0.000,4,0.000,0.059,3043,171,1722,0,0,0,0,0,0
$GC,9393,0.75,338.7,231.9,11.6,374,9398,0.00,2.35,0.00,0.000,6,0.000,0.022,3043,1655,1722,0,0,0,0,0,0
$GC,9675,0.75,338.7,203.1,10.2,381,9680,0.00,2.62,0.00,0.000,4,0.000,0.039,3043,3251,1722,0,0,0,0,0,0
$GC,9696,0.75,338.7,201.2,9.3,381,9700,0.00,2.60,0.00,0.000,6,0.000,0.029,3043,1644,1721,0,0,0,0,0,0
$GC,9961,0.75,338.7,176.9,8.6,405,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1644,1721,0,0,0,0,0,0
$GC,10217,0.75,338.7,154.6,8.3,429,10221,0.00,2.60,0.00,0.000,4,0.000,0.033,3043,3251,1721,0,0,0,0,0,0
$GC,10246,0.75,338.7,152.0,8.3,431,10251,0.00,2.60,0.00,0.000,6,0.000,0.028,3043,1654,1720,0,0,0,0,0,0
$GC,10510,0.77,354.4,132.1,7.4,456,10531,0.00,2.62,12.65,0.553,4,0.000,0.032,3043,3253,1673,0,0,0,0,0,0
$GC,10567,0.87,367.1,127.9,7.5,461,10588,0.00,2.58,13.05,0.548,6,0.000,0.028,3043,1674,1622,0,0,0,0,0,0
$GC,10846,0.87,370.8,105.3,7.9,487,10856,0.00,2.50,4.30,0.393,4,0.000,0.053,3043,167,1608,0,0,0,0,0,0
$GC,10891,0.98,370.8,101.6,8.3,491,10896,0.12,2.38,0.00,0.000,6,0.061,0.021,3119,1680,1608,0,0,0,0,0,0
$GC,11155,0.83,370.8,73.1,11.3,515,11167,0.35,2.55,0.00,0.000,4,0.084,0.032,3042,3250,1607,0,0,0,0,0,0
$GC,11194,0.96,370.8,69.6,9.0,518,11199,0.10,2.55,0.00,0.000,6,0.074,0.028,3104,1665,1606,0,0,0,0,0,0
$GC,11457,0.85,370.8,40.6,12.3,542,11462,0.25,2.45,0.00,0.000,4,0.085,0.044,3044,171,1606,0,0,0,0,0,0
$GC,11476,0.85,370.8,38.4,11.1,543,11481,0.00,2.33,0.00,0.000,6,0.000,0.020,3044,1680,1606,0,0,0,0,0,0
$GC,11770,0.91,370.8,13.9,8.1,582,11778,0.00,2.55,0.00,0.000,4,0.000,0.034,3044,3244,1606,0,0,0,0,0,0
$GC,11831,1.07,375.2,9.1,7.8,591,11851,0.17,2.55,5.62,0.377,6,0.021,0.031,3153,1680,1590,0,0,0,0,0,0
$STATE,11876,end climb,SURFACE_DEPTH_REACHED
$STATE,11877,begin surface coast
$FINISH,0.8,1.024054
$STATE,11920,end surface coast,CONTROL_FINISHED_OK
$STATE,11920,begin surface
$SM_CCo,11941,6.22,0.072,0,0,1570,380.21
$SM_GC,1.58,0.00,0.00,6.22,0.000,0.000,0.072,414,1873,1570,-11.26,2.35,380.21
$IRIDIUM_FIX,2241.69,-15757.16,090400,141442
$TT8_MAMPS,0.027612
$HUMID,50.98
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.80
$XPDR_PINGS,4
$24V_AH,23.4,67.080
$10V_AH,9.9,59.576
$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,32.450,155.225,450.150,6.225,0.000,55.041,65.436,391.223,1.000,0.000,13.033,1249.456,7714.570,518.275,2309.311,885.798,33.373,1440.356,0.000,2314.358,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,72.865,872.846,72.098,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.263,371.362,470.830,730.590,1291.232,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355348
$DATA_FILE_SIZE,48124,603
$CAP_FILE_SIZE,141327,0
$CFSIZE,260165632,142684160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140111,180827,2248.495,-15757.603,39,99.0,58,10.1