version: 66.06
glider: 148
mission: 9
dive: 529
start: 1 16 111 1 34 52
data:
$ID,148
$MISSION,9
$DIVE,529
$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,-869698.75
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,012054,2249.100,-15758.957,23,1.0,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.7
$GPS2,013356,2249.083,-15758.962,14,1.8,14,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.183,0.155
$KALMAN_X,-112616.8,-138.2,-419.6,131936.2,-79.3
$KALMAN_Y,-149976.4,-358.8,-107.5,278592.5,-830.2
$MHEAD_RNG_PITCHd_Wd,39.6,3755,-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,18,-1.06,-146.0,0.0,0.0,0,95,0.00,0.00,-74.70,0.000,2,0.000,0.000,413,1759,3456,0,0,0,0,0,0
$GC,98,-1.06,-146.0,3.9,-4.2,10,123,11.73,2.65,-4.68,0.000,4,0.155,0.038,2622,3384,3717,0,0,0,0,0,0
$GC,172,-0.89,-146.0,22.4,-14.5,20,181,0.15,2.60,0.00,0.000,6,0.070,0.024,2661,1777,3719,0,0,0,0,0,0
$GC,454,-0.89,-146.0,48.5,-9.0,51,458,0.00,2.58,0.00,0.000,4,0.000,0.029,2662,3386,3719,0,0,0,0,0,0
$GC,510,-0.99,-146.0,53.1,-8.6,55,515,0.00,2.53,0.00,0.000,6,0.000,0.022,2662,1793,3719,0,0,0,0,0,0
$GC,776,-0.99,-146.0,77.3,-9.5,79,780,0.00,2.55,0.00,0.000,4,0.000,0.029,2662,3388,3720,0,0,0,0,0,0
$GC,815,-1.06,-146.0,81.0,-9.0,82,820,0.15,2.50,0.00,0.000,6,0.051,0.028,2579,1806,3720,0,0,0,0,0,0
$GC,1079,-0.80,-146.0,118.5,-14.8,106,1092,0.45,2.58,0.00,0.000,4,0.082,0.043,2682,208,3721,0,0,0,0,0,0
$GC,1097,-0.71,-146.0,121.0,-12.4,107,1104,0.10,2.53,0.00,0.000,6,0.107,0.018,2707,1852,3721,0,0,0,0,0,0
$GC,1362,-0.95,-146.0,135.6,-5.1,132,1367,0.22,2.42,0.00,0.000,4,0.036,0.027,2574,3391,3721,0,0,0,0,0,0
$GC,1422,-0.86,-146.0,140.9,-9.8,137,1431,0.43,2.47,0.00,0.000,6,0.077,0.022,2670,1819,3721,0,0,0,0,0,0
$GC,1686,-0.99,-146.0,158.3,-6.4,162,1691,0.12,2.62,0.00,0.000,4,0.061,0.041,2577,215,3722,0,0,0,0,0,0
$GC,1707,-0.99,-146.0,159.6,-7.5,163,1716,0.30,2.55,0.00,0.000,6,0.077,0.018,2645,1863,3721,0,0,0,0,0,0
$GC,1971,-0.99,-146.0,178.8,-7.1,188,1975,0.00,2.42,0.00,0.000,4,0.000,0.029,2645,3389,3722,0,0,0,0,0,0
$GC,2029,-1.13,-146.0,182.6,-7.2,193,2034,0.15,2.47,0.00,0.000,6,0.051,0.021,2575,1828,3722,0,0,0,0,0,0
$GC,2289,-1.00,-146.0,208.4,-10.3,211,2294,0.25,2.60,0.00,0.000,4,0.081,0.037,2637,216,3722,0,0,0,0,0,0
$GC,2309,-1.00,-146.0,210.4,-8.3,211,2313,0.00,2.58,0.00,0.000,6,0.000,0.019,2637,1870,3722,0,0,0,0,0,0
$GC,2575,-1.07,-146.0,225.9,-5.9,218,2579,0.00,2.40,0.00,0.000,4,0.000,0.029,2636,3386,3722,0,0,0,0,0,0
$GC,2603,-1.19,-146.0,227.8,-6.1,218,2608,0.15,2.45,0.00,0.000,6,0.052,0.023,2566,1842,3722,0,0,0,0,0,0
$GC,2858,-1.07,-146.0,253.3,-10.5,225,2860,0.28,0.00,0.00,0.000,6,0.078,0.000,2629,1843,3722,0,0,0,0,0,0
$GC,3104,-1.14,-146.0,270.3,-6.6,231,3108,0.00,2.47,0.00,0.000,4,0.000,0.031,2629,3388,3722,0,0,0,0,0,0
$GC,3142,-1.28,-146.0,272.8,-5.9,231,3148,0.20,2.45,0.00,0.000,6,0.041,0.024,2552,1857,3722,0,0,0,0,0,0
$GC,3391,-1.13,-146.0,295.6,-9.5,238,3399,0.25,2.70,0.00,0.000,4,0.083,0.044,2612,212,3721,0,0,0,0,0,0
$GC,3424,-1.13,-146.0,298.5,-8.1,238,3428,0.00,2.60,0.00,0.000,6,0.000,0.022,2612,1871,3721,0,0,0,0,0,0
$GC,3678,-1.13,-146.0,317.2,-7.5,245,3683,0.00,2.42,0.00,0.000,4,0.000,0.035,2612,3387,3720,0,0,0,0,0,0
$GC,3711,-1.21,-146.0,320.0,-7.7,245,3716,0.00,2.42,0.00,0.000,6,0.000,0.025,2612,1867,3720,0,0,0,0,0,0
$GC,3963,-1.21,-146.0,339.0,-7.6,251,3967,0.00,2.45,0.00,0.000,4,0.000,0.037,2612,3379,3718,0,0,0,0,0,0
$GC,3986,-1.21,-146.0,341.1,-8.3,251,3990,0.00,2.42,0.00,0.000,6,0.000,0.026,2612,1876,3718,0,0,0,0,0,0
$GC,4245,-1.21,-146.0,359.8,-7.3,258,4249,0.00,2.45,0.00,0.000,4,0.000,0.038,2612,3376,3716,0,0,0,0,0,0
$GC,4275,-1.21,-146.0,361.9,-7.9,258,4279,0.00,2.42,0.00,0.000,6,0.000,0.027,2611,1879,3716,0,0,0,0,0,0
$GC,4529,-1.21,-146.0,380.4,-7.1,265,4533,0.00,2.47,0.00,0.000,4,0.000,0.040,2612,3381,3715,0,0,0,0,0,0
$GC,4548,-1.21,-146.0,381.7,-7.1,265,4552,0.00,2.40,0.00,0.000,6,0.000,0.027,2612,1889,3715,0,0,0,0,0,0
$GC,4813,-1.21,-146.0,399.7,-6.9,272,4817,0.00,2.45,0.00,0.000,4,0.000,0.041,2612,3373,3713,0,0,0,0,0,0
$GC,4836,-1.27,-146.0,401.5,-8.0,272,4841,0.12,2.40,0.00,0.000,6,0.061,0.028,2537,1896,3713,0,0,0,0,0,0
$GC,5096,-1.10,-146.0,429.2,-11.1,279,5098,0.38,0.00,0.00,0.000,6,0.078,0.000,2619,1896,3711,0,0,0,0,0,0
$GC,5342,-1.17,-146.0,445.3,-6.3,285,5346,0.00,2.47,0.00,0.000,4,0.000,0.048,2619,3371,3710,0,0,0,0,0,0
$GC,5361,-1.24,-146.0,446.9,-7.0,285,5366,0.12,2.38,0.00,0.000,6,0.060,0.028,2552,1905,3709,0,0,0,0,0,0
$GC,5626,-1.13,-146.0,472.4,-10.0,292,5631,0.25,2.47,0.00,0.000,4,0.083,0.051,2612,3377,3708,0,0,0,0,0,0
$GC,5652,-1.13,-146.0,474.6,-7.5,292,5656,0.00,2.40,0.00,0.000,6,0.000,0.029,2612,1902,3708,0,0,0,0,0,0
$GC,5911,-1.19,-146.0,491.7,-6.5,299,5915,0.00,2.47,0.00,0.000,4,0.000,0.052,2612,3371,3707,0,0,0,0,0,0
$GC,5935,-1.27,-146.0,493.4,-7.5,299,5939,0.12,2.40,0.00,0.000,6,0.062,0.031,2543,1898,3706,0,0,0,0,0,0
$STATE,6029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6029,begin apogee
$GC,6037,-0.31,0.0,502.2,9.5,302,6159,1.10,0.00,118.45,0.873,6,0.074,0.000,2790,1682,3120,0,0,0,0,0,0
$STATE,6160,end apogee,CONTROL_FINISHED_OK
$STATE,6160,begin climb
$GC,6162,1.06,146.0,507.0,0.0,305,6294,1.23,2.75,122.15,0.856,4,0.027,0.074,3098,183,2522,0,0,0,0,0,0
$GC,6564,0.63,151.4,488.1,7.8,313,6576,0.47,2.45,4.62,0.572,6,0.097,0.029,2997,1680,2501,0,0,0,0,0,0
$GC,6864,0.76,256.0,475.1,4.1,321,6966,0.12,2.67,92.15,0.845,4,0.065,0.059,3056,180,2075,0,0,0,0,0,0
$GC,6982,0.57,256.0,466.7,9.4,324,6987,0.32,2.47,0.00,0.000,6,0.088,0.029,2985,1681,2074,0,0,0,0,0,0
$GC,7272,0.64,313.6,449.1,5.9,331,7332,0.00,2.75,52.33,0.821,4,0.000,0.057,2985,3261,1839,0,0,0,0,0,0
$GC,7369,0.80,321.1,442.6,7.7,333,7383,0.20,2.60,7.35,0.669,6,0.045,0.035,3044,1705,1810,0,0,0,0,0,0
$GC,7646,0.72,321.1,415.6,10.2,340,7651,0.12,2.70,0.00,0.000,4,0.110,0.053,3017,3261,1805,0,0,0,0,0,0
$GC,7665,0.72,321.1,413.2,9.8,340,7670,0.00,2.60,0.00,0.000,6,0.000,0.034,3017,1694,1804,0,0,0,0,0,0
$GC,7929,0.72,321.1,390.1,8.9,347,7933,0.00,2.67,0.00,0.000,4,0.000,0.048,3017,3263,1803,0,0,0,0,0,0
$GC,7964,0.72,321.1,387.2,9.1,347,7969,0.00,2.62,0.00,0.000,6,0.000,0.035,3017,1691,1801,0,0,0,0,0,0
$GC,8214,0.72,321.1,364.8,8.9,353,8218,0.00,2.67,0.00,0.000,4,0.000,0.048,3017,3269,1800,0,0,0,0,0,0
$GC,8242,0.72,321.1,362.1,9.1,353,8246,0.00,2.60,0.00,0.000,6,0.000,0.034,3017,1707,1799,0,0,0,0,0,0
$GC,8498,0.72,321.1,337.7,9.6,360,8502,0.00,2.62,0.00,0.000,4,0.000,0.047,3017,3267,1799,0,0,0,0,0,0
$GC,8525,0.72,321.1,334.7,10.2,360,8530,0.00,2.58,0.00,0.000,6,0.000,0.033,3017,1715,1797,0,0,0,0,0,0
$GC,8780,0.72,321.1,310.5,9.4,367,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1715,1798,0,0,0,0,0,0
$GC,9023,0.73,328.0,291.2,7.8,373,9036,0.00,2.65,5.57,0.568,4,0.000,0.043,3017,3257,1781,0,0,0,0,0,0
$GC,9099,0.85,328.0,285.0,8.3,374,9104,0.12,2.55,0.00,0.000,6,0.063,0.032,3054,1717,1778,0,0,0,0,0,0
$GC,9359,0.79,328.0,259.5,10.0,381,9364,0.12,2.67,0.00,0.000,4,0.107,0.063,3028,170,1779,0,0,0,0,0,0
$GC,9375,0.79,328.0,258.1,9.5,381,9380,0.00,2.50,0.00,0.000,6,0.000,0.023,3028,1739,1778,0,0,0,0,0,0
$GC,9643,0.79,328.0,234.1,8.8,388,9647,0.00,2.53,0.00,0.000,4,0.000,0.044,3028,3270,1778,0,0,0,0,0,0
$GC,9661,0.79,328.0,232.5,8.1,388,9666,0.00,2.55,0.00,0.000,6,0.000,0.031,3028,1716,1777,0,0,0,0,0,0
$GC,9927,0.79,328.0,210.8,8.1,395,9931,0.00,2.62,0.00,0.000,4,0.000,0.055,3028,167,1777,0,0,0,0,0,0
$GC,9954,0.79,328.0,208.4,8.7,395,9959,0.00,2.50,0.00,0.000,6,0.000,0.023,3028,1742,1777,0,0,0,0,0,0
$GC,10214,0.82,356.8,189.9,6.9,411,10247,0.00,2.58,27.00,0.638,4,0.000,0.038,3028,3274,1664,0,0,0,0,0,0
$GC,10290,0.96,368.5,184.9,7.6,418,10309,0.17,2.53,11.88,0.585,6,0.053,0.029,3078,1728,1616,0,0,0,0,0,0
$GC,10565,0.89,368.5,156.3,10.5,444,10567,0.12,0.00,0.00,0.000,6,0.106,0.000,3053,1728,1614,0,0,0,0,0,0
$GC,10818,0.89,368.5,132.2,9.1,468,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1728,1614,0,0,0,0,0,0
$GC,11074,0.90,376.0,110.0,7.7,492,11085,0.00,0.00,7.68,0.489,6,0.000,0.000,3052,1728,1587,0,0,0,0,0,0
$GC,11342,0.90,376.0,87.4,8.7,517,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1728,1585,0,0,0,0,0,0
$GC,11607,0.90,376.0,65.3,8.3,542,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1728,1585,0,0,0,0,0,0
$GC,11871,0.90,376.0,41.5,8.9,567,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1728,1585,0,0,0,0,0,0
$GC,12150,0.90,376.0,17.4,8.1,602,12158,0.00,2.60,0.00,0.000,4,0.000,0.044,3052,166,1585,0,0,0,0,0,0
$GC,12186,0.90,376.0,14.3,8.1,607,12195,0.00,2.53,0.00,0.000,6,0.000,0.021,3052,1761,1585,0,0,0,0,0,0
$STATE,12300,end climb,SURFACE_DEPTH_REACHED
$STATE,12300,begin surface coast
$FINISH,0.8,1.021875
$STATE,12357,end surface coast,CONTROL_FINISHED_OK
$STATE,12357,begin surface
$SM_CCo,12378,1.50,0.067,0,0,1569,380.21
$SM_GC,2.29,0.00,0.00,1.50,0.000,0.000,0.067,409,1765,1569,-11.27,-0.71,380.21
$IRIDIUM_FIX,2241.69,-15757.16,110400,010102
$TT8_MAMPS,0.026845
$HUMID,50.23
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.4,68.360
$10V_AH,10.0,60.848
$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,30.725,162.550,449.175,1.500,0.000,50.829,70.296,438.143,0.500,0.000,16.457,1293.402,8068.070,506.664,2346.035,945.273,33.370,1426.260,0.000,2358.851,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,74.399,872.846,67.496,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,428.905,401.050,501.231,753.637,1331.624,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,51036,633
$CAP_FILE_SIZE,144554,0
$CFSIZE,260165632,142032896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160111,050230,2249.667,-15758.354,36,1.9,36,10.1