version: 66.06
glider: 148
mission: 9
dive: 530
start: 1 16 111 5 13 4
data:
$ID,148
$MISSION,9
$DIVE,530
$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,-869733.31
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,050230,2249.667,-15758.354,36,1.9,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.7
$GPS2,051210,2249.582,-15758.368,12,2.1,31,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.196,0.140
$KALMAN_X,-113996.7,-453.9,23.9,134212.3,-705.1
$KALMAN_Y,-151130.5,-602.1,271.4,280528.0,-1170.4
$MHEAD_RNG_PITCHd_Wd,44.4,2461,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.06,-146.0,0.0,0.0,0,89,0.00,0.00,-68.38,0.000,2,0.000,0.000,409,1766,3264,0,0,0,0,0,0
$GC,92,-1.06,-146.0,3.4,-3.2,9,124,11.62,2.67,-8.80,0.000,4,0.150,0.047,2620,3373,3719,0,0,0,0,0,0
$GC,167,-0.91,-146.0,19.1,-13.9,19,176,0.15,2.58,0.00,0.000,6,0.069,0.023,2659,1782,3720,0,0,0,0,0,0
$GC,454,-0.91,-146.0,46.5,-9.4,53,458,0.00,2.60,0.00,0.000,4,0.000,0.030,2659,3393,3721,0,0,0,0,0,0
$GC,487,-0.91,-146.0,49.1,-8.9,55,492,0.00,2.53,0.00,0.000,6,0.000,0.022,2659,1798,3721,0,0,0,0,0,0
$GC,752,-0.91,-146.0,73.2,-8.9,79,757,0.00,2.55,0.00,0.000,4,0.000,0.030,2659,3385,3721,0,0,0,0,0,0
$GC,795,-0.97,-146.0,77.1,-8.7,82,800,0.00,2.50,0.00,0.000,6,0.000,0.022,2659,1802,3721,0,0,0,0,0,0
$GC,1058,-0.97,-146.0,99.7,-9.0,106,1062,0.00,2.53,0.00,0.000,4,0.000,0.029,2659,3388,3722,0,0,0,0,0,0
$GC,1099,-1.04,-146.0,103.7,-8.7,109,1105,0.10,2.47,0.00,0.000,6,0.074,0.021,2601,1816,3722,0,0,0,0,0,0
$GC,1363,-0.89,-146.0,134.8,-11.3,134,1368,0.25,2.60,0.00,0.000,4,0.086,0.038,2660,206,3722,0,0,0,0,0,0
$GC,1390,-0.89,-146.0,137.7,-9.6,136,1394,0.00,2.55,0.00,0.000,6,0.000,0.018,2661,1864,3722,0,0,0,0,0,0
$GC,1658,-0.99,-146.0,154.6,-5.9,160,1662,0.00,2.40,0.00,0.000,4,0.000,0.029,2660,3390,3722,0,0,0,0,0,0
$GC,1706,-1.17,-146.0,158.0,-6.3,164,1712,0.22,2.47,0.00,0.000,6,0.041,0.021,2577,1827,3722,0,0,0,0,0,0
$GC,1970,-1.02,-146.0,184.8,-11.3,189,1979,0.28,0.00,0.00,0.000,6,0.081,0.000,2638,1827,3723,0,0,0,0,0,0
$GC,2232,-1.09,-146.0,203.5,-7.1,211,2236,0.00,2.50,0.00,0.000,4,0.000,0.030,2639,3393,3723,0,0,0,0,0,0
$GC,2290,-1.23,-146.0,207.9,-6.9,212,2295,0.20,2.47,0.00,0.000,6,0.042,0.022,2563,1834,3723,0,0,0,0,0,0
$GC,2564,-1.09,-146.0,236.9,-10.8,219,2571,0.25,2.62,0.00,0.000,4,0.083,0.041,2623,217,3723,0,0,0,0,0,0
$GC,2594,-1.09,-146.0,240.1,-8.6,219,2598,0.00,2.58,0.00,0.000,6,0.000,0.020,2623,1861,3723,0,0,0,0,0,0
$GC,2850,-1.09,-146.0,258.8,-7.4,226,2855,0.00,2.42,0.00,0.000,4,0.000,0.031,2623,3388,3723,0,0,0,0,0,0
$GC,2902,-1.20,-146.0,262.7,-7.2,227,2907,0.10,2.47,0.00,0.000,6,0.073,0.023,2555,1837,3723,0,0,0,0,0,0
$GC,3182,-1.04,-146.0,288.5,-9.2,234,3189,0.32,2.67,0.00,0.000,4,0.078,0.044,2630,217,3723,0,0,0,0,0,0
$GC,3204,-1.04,-146.0,290.4,-7.2,234,3208,0.00,2.60,0.00,0.000,6,0.000,0.022,2630,1873,3723,0,0,0,0,0,0
$GC,3468,-1.13,-146.0,305.9,-6.1,241,3472,0.00,2.42,0.00,0.000,4,0.000,0.035,2630,3387,3722,0,0,0,0,0,0
$GC,3513,-1.26,-146.0,308.6,-6.2,242,3518,0.20,2.45,0.00,0.000,6,0.042,0.026,2549,1848,3723,0,0,0,0,0,0
$GC,3801,-1.11,-146.0,338.6,-11.2,249,3808,0.28,2.70,0.00,0.000,4,0.081,0.048,2614,218,3720,0,0,0,0,0,0
$GC,3828,-1.11,-146.0,341.3,-9.3,249,3833,0.00,2.62,0.00,0.000,6,0.000,0.024,2615,1869,3721,0,0,0,0,0,0
$GC,4088,-1.11,-146.0,360.8,-7.3,256,4092,0.00,2.45,0.00,0.000,4,0.000,0.038,2615,3380,3719,0,0,0,0,0,0
$GC,4131,-1.19,-146.0,363.8,-7.2,257,4135,0.00,2.45,0.00,0.000,6,0.000,0.027,2615,1861,3719,0,0,0,0,0,0
$GC,4419,-1.19,-146.0,381.3,-5.9,264,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,1861,3717,0,0,0,0,0,0
$GC,4661,-1.19,-146.0,397.3,-6.9,270,4665,0.00,2.50,0.00,0.000,4,0.000,0.041,2615,3380,3716,0,0,0,0,0,0
$GC,4694,-1.28,-146.0,399.7,-6.4,270,4699,0.15,2.42,0.00,0.000,6,0.051,0.028,2532,1869,3715,0,0,0,0,0,0
$GC,4946,-1.09,-146.0,427.5,-11.4,276,4948,0.40,0.00,0.00,0.000,6,0.077,0.000,2621,1869,3713,0,0,0,0,0,0
$GC,5188,-1.17,-146.0,444.3,-6.6,282,5192,0.00,2.53,0.00,0.000,4,0.000,0.048,2621,3383,3712,0,0,0,0,0,0
$GC,5221,-1.29,-146.0,446.6,-6.4,282,5226,0.17,2.45,0.00,0.000,6,0.046,0.030,2537,1879,3712,0,0,0,0,0,0
$GC,5473,-1.12,-146.0,472.2,-10.6,288,5475,0.35,0.00,0.00,0.000,6,0.077,0.000,2615,1879,3711,0,0,0,0,0,0
$GC,5715,-1.19,-146.0,490.1,-7.1,294,5719,0.00,2.53,0.00,0.000,4,0.000,0.053,2615,3371,3710,0,0,0,0,0,0
$GC,5750,-1.29,-146.0,492.6,-7.4,294,5755,0.15,2.40,0.00,0.000,6,0.052,0.031,2532,1886,3709,0,0,0,0,0,0
$STATE,5834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5834,begin apogee
$GC,5842,-0.31,0.0,501.4,9.9,296,5965,1.15,0.00,118.88,0.867,6,0.073,0.000,2789,1675,3120,0,0,0,0,0,0
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5968,1.06,146.0,506.7,0.0,299,6100,1.23,2.65,122.00,0.851,4,0.026,0.074,3105,188,2522,0,0,0,0,0,0
$GC,6174,0.62,146.0,501.8,10.7,303,6183,0.52,2.47,0.00,0.000,6,0.097,0.031,2995,1690,2518,0,0,0,0,0,0
$GC,6429,0.69,210.3,487.0,5.6,310,6489,0.00,2.67,54.95,0.834,4,0.000,0.061,2995,184,2261,0,0,0,0,0,0
$GC,6508,0.72,234.2,481.8,7.1,311,6537,0.10,2.47,22.27,0.792,6,0.077,0.029,3044,1685,2164,0,0,0,0,0,0
$GC,6805,0.60,234.2,453.4,9.9,319,6810,0.25,2.58,0.00,0.000,4,0.089,0.056,2985,184,2157,0,0,0,0,0,0
$GC,6822,0.52,234.2,451.6,9.4,319,6826,0.00,2.45,0.00,0.000,6,0.000,0.027,2985,1688,2157,0,0,0,0,0,0
$GC,7092,0.57,276.6,433.4,6.4,326,7135,0.00,2.72,37.08,0.807,4,0.000,0.054,2985,3254,1993,0,0,0,0,0,0
$GC,7155,0.70,313.5,429.2,6.6,327,7197,0.12,2.65,35.53,0.795,6,0.065,0.035,3047,1683,1842,0,0,0,0,0,0
$GC,7466,0.60,313.5,397.5,10.5,335,7473,0.25,2.70,0.00,0.000,4,0.088,0.049,2989,3262,1834,0,0,0,0,0,0
$GC,7497,0.72,313.5,394.7,8.1,335,7502,0.12,2.65,0.00,0.000,6,0.063,0.035,3049,1678,1832,0,0,0,0,0,0
$GC,7754,0.63,313.5,367.9,10.7,342,7756,0.25,0.00,0.00,0.000,6,0.091,0.000,2995,1677,1831,0,0,0,0,0,0
$GC,7996,0.70,322.3,348.6,7.7,348,8009,0.00,2.75,7.10,0.636,4,0.000,0.046,2995,3255,1805,0,0,0,0,0,0
$GC,8061,0.86,328.3,343.6,7.8,349,8074,0.22,2.60,6.97,0.630,6,0.042,0.033,3062,1687,1781,0,0,0,0,0,0
$GC,8335,0.75,328.3,313.5,11.4,356,8340,0.17,2.65,0.00,0.000,4,0.095,0.065,3024,166,1778,0,0,0,0,0,0
$GC,8355,0.69,328.3,311.0,11.4,356,8359,0.00,2.47,0.00,0.000,6,0.000,0.025,3024,1708,1778,0,0,0,0,0,0
$GC,8620,0.69,328.3,285.2,9.8,363,8624,0.00,2.60,0.00,0.000,4,0.000,0.049,3024,3251,1777,0,0,0,0,0,0
$GC,8665,0.76,328.3,280.6,11.0,364,8669,0.00,2.58,0.00,0.000,6,0.000,0.032,3024,1693,1775,0,0,0,0,0,0
$GC,8951,0.76,328.3,253.2,9.1,371,8956,0.00,2.60,0.00,0.000,4,0.000,0.062,3024,167,1775,0,0,0,0,0,0
$GC,9004,0.76,328.3,248.3,9.6,372,9009,0.00,2.45,0.00,0.000,6,0.000,0.023,3024,1701,1774,0,0,0,0,0,0
$GC,9282,0.78,340.7,226.8,7.5,379,9299,0.00,2.62,11.52,0.627,4,0.000,0.043,3024,3250,1730,0,0,0,0,0,0
$GC,9341,0.91,343.5,222.5,7.9,380,9351,0.15,2.58,4.10,0.450,6,0.055,0.031,3074,1694,1719,0,0,0,0,0,0
$GC,9605,0.82,343.5,196.5,10.6,389,9610,0.15,2.60,0.00,0.000,4,0.100,0.054,3039,171,1717,0,0,0,0,0,0
$GC,9645,0.82,343.5,191.7,11.2,392,9650,0.00,2.42,0.00,0.000,6,0.000,0.023,3039,1694,1717,0,0,0,0,0,0
$GC,9908,0.82,343.5,164.4,10.4,417,9912,0.00,2.53,0.00,0.000,4,0.000,0.035,3039,3255,1717,0,0,0,0,0,0
$GC,9958,0.91,343.5,159.0,10.1,421,9963,0.00,2.55,0.00,0.000,6,0.000,0.028,3039,1692,1714,0,0,0,0,0,0
$GC,10222,0.92,349.9,137.3,7.8,446,10236,0.10,2.55,7.18,0.508,4,0.077,0.047,3089,166,1692,0,0,0,0,0,0
$GC,10260,0.84,349.9,133.7,10.2,449,10265,0.20,2.42,0.00,0.000,6,0.090,0.023,3045,1700,1692,0,0,0,0,0,0
$GC,10524,0.93,371.7,113.7,7.2,473,10550,0.00,0.00,21.70,0.561,6,0.000,0.000,3045,1702,1602,0,0,0,0,0,0
$GC,10807,1.00,371.7,90.7,8.1,500,10812,0.12,2.60,0.00,0.000,4,0.061,0.050,3101,164,1600,0,0,0,0,0,0
$GC,10828,1.00,371.7,89.1,8.6,501,10833,0.12,2.38,0.00,0.000,6,0.107,0.021,3075,1690,1600,0,0,0,0,0,0
$GC,11092,1.00,371.7,63.9,9.3,525,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1690,1600,0,0,0,0,0,0
$GC,11357,1.00,371.7,39.3,9.4,550,11362,0.00,2.53,0.00,0.000,4,0.000,0.044,3074,173,1599,0,0,0,0,0,0
$GC,11411,1.00,371.7,33.9,10.1,554,11415,0.00,2.33,0.00,0.000,6,0.000,0.020,3074,1680,1600,0,0,0,0,0,0
$GC,11716,1.00,371.7,5.7,8.8,599,11724,0.00,2.55,0.00,0.000,4,0.000,0.033,3074,3247,1600,0,0,0,0,0,0
$STATE,11731,end climb,SURFACE_DEPTH_REACHED
$STATE,11732,begin surface coast
$FINISH,0.8,1.022678
$STATE,11807,end surface coast,CONTROL_FINISHED_OK
$STATE,11807,begin surface
$SM_CCo,11832,3.30,0.065,0,0,1570,380.21
$SM_GC,2.25,0.00,0.00,3.30,0.000,0.000,0.065,412,1789,1570,-11.27,-0.03,380.21
$IRIDIUM_FIX,2244.02,-15801.49,110400,010155
$TT8_MAMPS,0.026845
$HUMID,49.80
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.4,68.487
$10V_AH,10.1,60.981
$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,31.150,162.800,449.275,3.300,0.000,30.554,31.716,347.342,0.250,0.000,33.937,1264.978,7527.002,497.674,2343.897,777.057,33.368,1409.969,0.000,2338.520,0.000,0.538,0.000
$DEVICE_MAMPS,150.332,74.399,866.710,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,416.646,400.828,492.570,750.920,1327.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,47915,613
$CAP_FILE_SIZE,140265,0
$CFSIZE,260165632,141975552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160111,083136,2250.056,-15757.632,36,0.9,36,10.1