version: 66.06
glider: 148
mission: 9
dive: 526
start: 1 15 111 14 48 22
data:
$ID,148
$MISSION,9
$DIVE,526
$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,-869625.25
$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,49
$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
$GPS1,143807,2250.238,-15802.718,36,1.0,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.1
$GPS2,144726,2250.312,-15802.692,13,1.2,13,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.239,0.028
$KALMAN_X,-111274.6,180.8,189.0,123234.4,-747.2
$KALMAN_Y,-146451.8,102.0,253.6,276509.2,-474.9
$MHEAD_RNG_PITCHd_Wd,73.3,9734,-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,-74.57,0.000,2,0.000,0.000,413,1870,3239,0,0,0,0,0,0
$GC,99,-1.06,-146.0,3.0,-2.7,10,123,11.70,0.00,-9.62,0.000,6,0.154,0.000,2622,1870,3718,0,0,0,0,0,0
$GC,411,-0.93,-146.0,44.1,-10.7,50,416,0.15,2.40,0.00,0.000,4,0.104,0.030,2654,3366,3720,0,0,0,0,0,0
$GC,465,-0.93,-146.0,49.4,-8.0,54,474,0.00,2.55,0.00,0.000,6,0.000,0.022,2654,1778,3721,0,0,0,0,0,0
$GC,731,-0.93,-146.0,71.4,-8.6,79,735,0.00,2.53,0.00,0.000,4,0.000,0.029,2655,3363,3721,0,0,0,0,0,0
$GC,797,-1.02,-146.0,77.1,-8.2,84,801,0.00,2.47,0.00,0.000,6,0.000,0.022,2654,1806,3721,0,0,0,0,0,0
$GC,1061,-1.02,-146.0,100.5,-8.7,108,1065,0.00,2.47,0.00,0.000,4,0.000,0.029,2654,3363,3721,0,0,0,0,0,0
$GC,1099,-1.02,-146.0,103.9,-8.1,111,1103,0.00,2.45,0.00,0.000,6,0.000,0.022,2654,1809,3721,0,0,0,0,0,0
$GC,1366,-1.02,-146.0,123.9,-6.5,135,1371,0.00,2.47,0.00,0.000,4,0.000,0.029,2654,3365,3721,0,0,0,0,0,0
$GC,1398,-1.12,-146.0,126.5,-7.2,137,1404,0.17,2.45,0.00,0.000,6,0.046,0.022,2570,1816,3721,0,0,0,0,0,0
$GC,1661,-0.94,-146.0,153.2,-11.0,162,1666,0.35,2.47,0.00,0.000,4,0.081,0.028,2653,3363,3722,0,0,0,0,0,0
$GC,1689,-0.94,-146.0,155.4,-7.5,164,1694,0.00,2.42,0.00,0.000,6,0.000,0.021,2653,1829,3722,0,0,0,0,0,0
$GC,1952,-1.04,-146.0,172.7,-6.9,188,1956,0.00,2.42,0.00,0.000,4,0.000,0.028,2653,3363,3722,0,0,0,0,0,0
$GC,2002,-1.20,-146.0,176.4,-7.0,192,2011,0.20,2.42,0.00,0.000,6,0.018,0.022,2524,1848,3722,0,0,0,0,0,0
$GC,2261,-0.93,-146.0,211.5,-14.2,211,2263,0.60,0.00,0.00,0.000,6,0.078,0.000,2658,1847,3723,0,0,0,0,0,0
$GC,2505,-1.07,-146.0,227.4,-5.9,217,2510,0.15,2.42,0.00,0.000,4,0.054,0.030,2566,3360,3722,0,0,0,0,0,0
$GC,2543,-0.99,-146.0,230.9,-9.0,217,2550,0.35,2.40,0.00,0.000,6,0.071,0.023,2646,1848,3722,0,0,0,0,0,0
$GC,2794,-1.09,-146.0,246.7,-6.1,224,2799,0.10,2.45,0.00,0.000,4,0.075,0.030,2577,3360,3722,0,0,0,0,0,0
$GC,2829,-1.03,-146.0,249.6,-9.1,224,2834,0.25,2.40,0.00,0.000,6,0.076,0.024,2635,1854,3722,0,0,0,0,0,0
$GC,3079,-1.11,-146.0,266.6,-6.8,230,3084,0.00,2.70,0.00,0.000,4,0.000,0.046,2635,217,3722,0,0,0,0,0,0
$GC,3110,-1.24,-146.0,269.0,-7.8,230,3115,0.20,2.58,0.00,0.000,6,0.041,0.021,2532,1855,3722,0,0,0,0,0,0
$GC,3365,-0.98,-146.0,301.2,-12.8,237,3372,0.55,2.40,0.00,0.000,4,0.078,0.031,2643,3363,3722,0,0,0,0,0,0
$GC,3420,-1.15,-146.0,305.8,-5.7,238,3425,0.15,2.40,0.00,0.000,6,0.051,0.027,2554,1858,3722,0,0,0,0,0,0
$GC,3700,-0.98,-146.0,335.0,-10.7,245,3702,0.45,0.00,0.00,0.000,6,0.075,0.000,2645,1858,3720,0,0,0,0,0,0
$GC,3942,-1.11,-146.0,348.2,-5.1,251,3947,0.12,2.45,0.00,0.000,4,0.062,0.035,2568,3358,3719,0,0,0,0,0,0
$GC,3982,-1.11,-146.0,351.1,-8.4,251,3988,0.22,2.40,0.00,0.000,6,0.078,0.027,2621,1868,3719,0,0,0,0,0,0
$GC,4232,-1.17,-146.0,367.1,-6.4,258,4236,0.00,2.42,0.00,0.000,4,0.000,0.038,2621,3363,3718,0,0,0,0,0,0
$GC,4265,-1.27,-146.0,369.2,-5.9,258,4270,0.17,2.40,0.00,0.000,6,0.047,0.028,2535,1879,3718,0,0,0,0,0,0
$GC,4517,-1.08,-146.0,395.1,-10.9,264,4524,0.38,2.80,0.00,0.000,4,0.078,0.053,2623,216,3716,0,0,0,0,0,0
$GC,4553,-1.21,-146.0,398.6,-7.3,264,4558,0.12,2.62,0.00,0.000,6,0.061,0.026,2553,1863,3716,0,0,0,0,0,0
$GC,4802,-1.08,-146.0,425.3,-11.0,270,4808,0.30,2.45,0.00,0.000,4,0.078,0.042,2622,3358,3714,0,0,0,0,0,0
$GC,4852,-1.20,-146.0,429.5,-7.7,271,4857,0.10,2.40,0.00,0.000,6,0.072,0.028,2546,1878,3714,0,0,0,0,0,0
$GC,5137,-1.04,-146.0,458.2,-10.2,278,5142,0.38,2.45,0.00,0.000,4,0.077,0.045,2628,3354,3712,0,0,0,0,0,0
$GC,5158,-1.04,-146.0,460.1,-8.1,278,5162,0.00,2.40,0.00,0.000,6,0.000,0.029,2628,1876,3712,0,0,0,0,0,0
$GC,5422,-1.15,-146.0,475.8,-6.0,285,5427,0.00,2.45,0.00,0.000,4,0.000,0.048,2628,3350,3710,0,0,0,0,0,0
$GC,5457,-1.29,-146.0,478.0,-6.3,285,5462,0.20,2.38,0.00,0.000,6,0.041,0.030,2534,1890,3710,0,0,0,0,0,0
$STATE,5663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5664,begin apogee
$GC,5671,-0.31,0.0,500.1,11.0,290,5794,1.15,0.00,118.82,0.866,6,0.074,0.000,2792,1680,3120,0,0,0,0,0,0
$STATE,5794,end apogee,CONTROL_FINISHED_OK
$STATE,5795,begin climb
$GC,5797,1.06,146.0,506.1,0.0,293,5929,1.23,2.75,121.90,0.851,4,0.027,0.075,3108,182,2522,0,0,0,0,0,0
$GC,6121,0.61,146.0,494.1,9.9,300,6128,0.55,2.40,0.00,0.000,6,0.095,0.028,2992,1665,2516,0,0,0,0,0,0
$GC,6397,0.71,234.6,480.4,4.7,307,6479,0.10,0.00,76.25,0.838,6,0.077,0.000,3046,1665,2162,0,0,0,0,0,0
$GC,6726,0.59,234.6,454.1,8.5,315,6731,0.25,2.55,0.00,0.000,4,0.088,0.056,2987,184,2154,0,0,0,0,0,0
$GC,6773,0.63,264.7,450.4,6.9,316,6805,0.00,2.45,26.67,0.799,6,0.000,0.027,2987,1688,2040,0,0,0,0,0,0
$GC,7056,0.68,306.2,432.4,6.5,323,7100,0.00,2.80,38.85,0.806,4,0.000,0.057,2987,3259,1869,0,0,0,0,0,0
$GC,7134,0.83,317.3,427.0,7.6,324,7151,0.22,2.62,10.82,0.719,6,0.042,0.035,3067,1701,1826,0,0,0,0,0,0
$GC,7443,0.69,317.3,391.8,11.7,332,7450,0.25,2.67,0.00,0.000,4,0.090,0.064,3009,167,1820,0,0,0,0,0,0
$GC,7489,0.69,317.3,386.5,11.1,333,7493,0.00,2.47,0.00,0.000,6,0.000,0.025,3008,1697,1820,0,0,0,0,0,0
$GC,7775,0.69,317.3,362.0,8.4,340,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1697,1817,0,0,0,0,0,0
$GC,8021,0.69,317.3,340.8,8.6,346,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1697,1816,0,0,0,0,0,0
$GC,8263,0.69,317.3,320.5,8.2,352,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1697,1815,0,0,0,0,0,0
$GC,8506,0.69,317.3,299.1,9.0,358,8511,0.00,2.62,0.00,0.000,4,0.000,0.046,3008,3258,1814,0,0,0,0,0,0
$GC,8535,0.78,317.3,296.3,9.3,358,8539,0.00,2.58,0.00,0.000,6,0.000,0.031,3008,1686,1813,0,0,0,0,0,0
$GC,8791,0.78,317.3,274.5,8.1,365,8795,0.00,2.60,0.00,0.000,4,0.000,0.061,3008,167,1813,0,0,0,0,0,0
$GC,8810,0.79,330.1,272.9,7.5,365,8827,0.10,2.45,10.55,0.647,6,0.075,0.023,3065,1701,1774,0,0,0,0,0,0
$GC,9079,0.70,330.1,249.2,8.9,372,9086,0.25,2.62,0.00,0.000,4,0.086,0.055,3006,162,1771,0,0,0,0,0,0
$GC,9096,0.71,333.2,247.6,7.9,372,9105,0.00,2.45,4.15,0.468,6,0.000,0.022,3006,1700,1761,0,0,0,0,0,0
$GC,9364,0.83,358.4,229.5,7.1,379,9397,0.15,2.62,24.55,0.665,4,0.054,0.043,3085,3252,1658,0,0,0,0,0,0
$GC,9410,0.71,358.4,225.0,11.7,380,9417,0.32,2.60,0.00,0.000,6,0.080,0.030,3014,1684,1656,0,0,0,0,0,0
$GC,9701,0.80,364.3,201.2,7.8,387,9710,0.00,0.00,6.45,0.532,6,0.000,0.000,3014,1685,1633,0,0,0,0,0,0
$GC,9956,0.91,383.5,182.6,7.3,408,9981,0.20,2.67,18.73,0.612,4,0.044,0.036,3104,3251,1556,0,0,0,0,0,0
$GC,10000,0.76,383.5,178.0,11.8,412,10010,0.35,2.60,0.00,0.000,6,0.084,0.028,3028,1672,1553,0,0,0,0,0,0
$GC,10266,0.76,383.5,154.6,8.2,437,10271,0.00,2.60,0.00,0.000,4,0.000,0.032,3028,3257,1552,0,0,0,0,0,0
$GC,10311,0.90,383.5,150.7,8.1,441,10316,0.12,2.53,0.00,0.000,6,0.063,0.028,3093,1690,1550,0,0,0,0,0,0
$GC,10575,0.78,383.5,120.6,11.7,465,10581,0.30,0.00,0.00,0.000,6,0.084,0.000,3027,1690,1550,0,0,0,0,0,0
$GC,10838,0.87,389.5,99.8,7.8,490,10850,0.10,0.00,5.90,0.450,6,0.075,0.000,3087,1690,1531,0,0,0,0,0,0
$GC,11108,0.87,389.5,72.2,10.9,515,11114,0.17,2.58,0.00,0.000,4,0.092,0.033,3048,3259,1530,0,0,0,0,0,0
$GC,11152,1.01,389.5,67.9,8.5,518,11157,0.12,2.55,0.00,0.000,6,0.061,0.033,3121,1687,1529,0,0,0,0,0,0
$GC,11415,0.83,389.5,35.2,12.7,542,11427,0.38,2.50,0.00,0.000,4,0.084,0.043,3042,167,1529,0,0,0,0,0,0
$GC,11454,0.90,389.5,31.2,9.3,545,11459,0.00,2.40,0.00,0.000,6,0.000,0.020,3042,1701,1529,0,0,0,0,0,0
$GC,11763,0.97,389.5,5.5,9.3,592,11773,0.12,2.53,0.00,0.000,4,0.063,0.031,3116,3247,1529,0,0,0,0,0,0
$STATE,11780,end climb,SURFACE_DEPTH_REACHED
$STATE,11780,begin surface coast
$FINISH,0.9,1.024052
$STATE,11806,end surface coast,CONTROL_FINISHED_OK
$STATE,11806,begin surface
$SM_CCo,11891,0.00,0.000,0,0,1525,391.01
$SM_GC,1.83,11.00,0.00,0.00,0.026,0.000,0.000,410,1772,1525,-11.19,-0.48,391.01
$IRIDIUM_FIX,2241.69,-15754.99,100400,111123
$TT8_MAMPS,0.027612
$HUMID,50.66
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.4,67.971
$10V_AH,10.0,60.443
$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,34.825,145.825,463.650,0.000,0.000,30.205,33.263,342.937,0.250,0.000,14.629,1244.831,7678.776,513.151,2250.343,757.810,33.375,1397.211,0.000,2251.435,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,75.166,865.943,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.787,369.545,467.117,710.687,1255.354,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,47860,598
$CAP_FILE_SIZE,136860,0
$CFSIZE,260165632,142241792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150111,180736,2250.003,-15800.878,24,1.3,24,10.1