version: 66.06
glider: 148
mission: 9
dive: 536
start: 1 17 111 1 45 19
data:
$ID,148
$MISSION,9
$DIVE,536
$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,-869870.69
$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,30
$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
$GPS1,013442,2246.677,-15800.585,20,2.3,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.1
$GPS2,014425,2246.703,-15800.550,24,2.3,43,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.226,0.082
$KALMAN_X,-116573.2,389.6,-71.4,132270.4,-624.7
$KALMAN_Y,-155761.1,-495.3,-324.3,280316.9,-580.6
$MHEAD_RNG_PITCHd_Wd,279.9,4219,-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,19,-1.06,-146.0,0.0,0.0,0,96,0.00,0.00,-74.47,0.000,2,0.000,0.000,406,1878,3304,0,0,0,0,0,0
$GC,99,-1.06,-146.0,3.7,-3.8,10,124,11.57,2.42,-7.88,0.000,4,0.149,0.040,2619,3388,3718,0,0,0,0,0,0
$GC,135,0.61,-146.0,14.6,-24.4,14,145,1.60,2.60,0.00,0.000,6,0.065,0.021,2987,1779,3719,0,0,0,0,0,0
$GC,436,-0.19,-146.0,34.6,-7.1,57,449,0.70,2.58,0.00,0.000,4,0.050,0.028,2817,3380,3720,0,0,0,0,0,0
$GC,544,-0.69,-146.0,44.1,-9.1,66,553,0.43,2.67,0.00,0.000,6,0.049,0.021,2711,1718,3720,0,0,0,0,0,0
$GC,811,-1.36,-146.0,63.4,-6.4,91,820,0.60,0.00,0.00,0.000,6,0.049,0.000,2555,1718,3721,0,0,0,0,0,0
$GC,1075,-1.05,-146.0,101.9,-15.7,116,1088,0.32,2.70,0.00,0.000,4,0.090,0.031,2630,3382,3721,0,0,0,0,0,0
$GC,1163,-1.05,-146.0,112.1,-8.6,124,1171,0.00,2.60,0.00,0.000,6,0.000,0.023,2630,1772,3721,0,0,0,0,0,0
$GC,1430,-1.05,-146.0,134.4,-8.7,149,1434,0.00,2.60,0.00,0.000,4,0.000,0.029,2630,3387,3721,0,0,0,0,0,0
$GC,1457,-1.05,-146.0,137.2,-9.3,151,1462,0.00,2.53,0.00,0.000,6,0.000,0.022,2630,1790,3721,0,0,0,0,0,0
$GC,1725,-1.05,-146.0,159.0,-7.6,175,1729,0.00,2.55,0.00,0.000,4,0.000,0.029,2630,3381,3722,0,0,0,0,0,0
$GC,1765,-1.15,-146.0,162.2,-6.9,178,1770,0.00,2.53,0.00,0.000,6,0.000,0.023,2630,1795,3722,0,0,0,0,0,0
$GC,2029,-1.15,-146.0,181.4,-8.0,203,2033,0.00,2.55,0.00,0.000,4,0.000,0.030,2630,3381,3722,0,0,0,0,0,0
$GC,2058,-1.15,-146.0,183.7,-8.3,205,2062,0.00,2.47,0.00,0.000,6,0.000,0.022,2630,1810,3722,0,0,0,0,0,0
$GC,2336,-1.15,-146.0,206.7,-8.0,225,2340,0.00,2.50,0.00,0.000,4,0.000,0.030,2630,3379,3722,0,0,0,0,0,0
$GC,2389,-1.27,-146.0,210.7,-7.5,226,2394,0.20,2.50,0.00,0.000,6,0.042,0.023,2554,1813,3722,0,0,0,0,0,0
$GC,2668,-1.11,-146.0,240.7,-10.7,233,2673,0.25,2.53,0.00,0.000,4,0.084,0.030,2614,3387,3722,0,0,0,0,0,0
$GC,2694,-1.11,-146.0,243.0,-7.9,233,2698,0.00,2.50,0.00,0.000,6,0.000,0.023,2614,1820,3722,0,0,0,0,0,0
$GC,2953,-1.11,-146.0,261.2,-7.1,240,2957,0.00,2.50,0.00,0.000,4,0.000,0.032,2614,3381,3722,0,0,0,0,0,0
$GC,2996,-1.20,-146.0,264.6,-7.8,241,3001,0.00,2.47,0.00,0.000,6,0.000,0.025,2614,1835,3722,0,0,0,0,0,0
$GC,3285,-1.20,-146.0,286.8,-7.7,248,3289,0.00,2.47,0.00,0.000,4,0.000,0.033,2614,3377,3722,0,0,0,0,0,0
$GC,3309,-1.20,-146.0,288.8,-7.9,248,3313,0.00,2.45,0.00,0.000,6,0.000,0.025,2614,1836,3722,0,0,0,0,0,0
$GC,3568,-1.20,-146.0,307.9,-7.5,255,3572,0.00,2.50,0.00,0.000,4,0.000,0.035,2615,3384,3721,0,0,0,0,0,0
$GC,3593,-1.20,-146.0,309.9,-9.1,255,3597,0.00,2.45,0.00,0.000,6,0.000,0.026,2614,1849,3721,0,0,0,0,0,0
$GC,3852,-1.20,-146.0,330.3,-7.9,262,3856,0.00,2.50,0.00,0.000,4,0.000,0.038,2614,3374,3719,0,0,0,0,0,0
$GC,3885,-1.29,-146.0,333.0,-7.5,262,3890,0.15,2.42,0.00,0.000,6,0.051,0.028,2537,1862,3720,0,0,0,0,0,0
$GC,4136,-1.09,-146.0,362.8,-12.4,268,4144,0.35,2.75,0.00,0.000,4,0.081,0.049,2618,215,3719,0,0,0,0,0,0
$GC,4154,-1.02,-146.0,365.1,-11.0,268,4158,0.00,2.62,0.00,0.000,6,0.000,0.023,2618,1880,3719,0,0,0,0,0,0
$GC,4426,-1.08,-146.0,385.1,-7.2,275,4431,0.00,2.42,0.00,0.000,4,0.000,0.041,2618,3374,3717,0,0,0,0,0,0
$GC,4478,-1.19,-146.0,389.2,-7.1,276,4482,0.00,2.40,0.00,0.000,6,0.000,0.028,2618,1871,3717,0,0,0,0,0,0
$GC,4756,-1.25,-146.0,406.6,-6.4,283,4761,0.12,2.53,0.00,0.000,4,0.064,0.044,2553,3380,3715,0,0,0,0,0,0
$GC,4777,-1.25,-146.0,408.3,-7.7,283,4782,0.15,2.42,0.00,0.000,6,0.090,0.027,2588,1877,3715,0,0,0,0,0,0
$GC,5041,-1.25,-146.0,429.2,-8.0,290,5046,0.00,2.47,0.00,0.000,4,0.000,0.045,2588,3369,3713,0,0,0,0,0,0
$GC,5080,-1.25,-146.0,432.2,-7.4,290,5086,0.00,2.38,0.00,0.000,6,0.000,0.028,2588,1889,3713,0,0,0,0,0,0
$GC,5330,-1.25,-146.0,450.6,-7.3,297,5335,0.00,2.85,0.00,0.000,4,0.000,0.061,2588,210,3711,0,0,0,0,0,0
$GC,5354,-1.25,-146.0,452.6,-8.5,297,5358,0.00,2.67,0.00,0.000,6,0.000,0.028,2589,1886,3711,0,0,0,0,0,0
$GC,5613,-1.25,-146.0,472.6,-7.9,304,5617,0.00,2.45,0.00,0.000,4,0.000,0.049,2589,3368,3710,0,0,0,0,0,0
$GC,5658,-1.25,-146.0,475.9,-7.4,305,5662,0.00,2.40,0.00,0.000,6,0.000,0.031,2588,1889,3710,0,0,0,0,0,0
$GC,5949,-1.25,-146.0,498.6,-7.9,312,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1888,3709,0,0,0,0,0,0
$STATE,5987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5987,begin apogee
$GC,5994,-0.31,0.0,501.8,7.8,313,6117,0.88,0.00,119.05,0.867,6,0.067,0.000,2791,1681,3120,0,0,0,0,0,0
$STATE,6117,end apogee,CONTROL_FINISHED_OK
$STATE,6117,begin climb
$GC,6120,1.06,146.0,507.5,0.0,316,6251,1.23,2.72,122.35,0.854,4,0.030,0.076,3101,183,2523,0,0,0,0,0,0
$GC,6317,0.60,146.0,505.7,8.7,320,6324,0.50,2.47,0.00,0.000,6,0.094,0.031,2994,1682,2519,0,0,0,0,0,0
$GC,6574,0.70,225.7,492.1,5.0,327,6646,0.00,0.00,68.40,0.842,6,0.000,0.000,2994,1683,2198,0,0,0,0,0,0
$GC,6903,0.75,263.9,470.9,6.6,335,6943,0.12,0.00,34.38,0.818,6,0.064,0.000,3053,1683,2043,0,0,0,0,0,0
$GC,7187,0.62,263.9,446.6,8.4,342,7194,0.28,2.62,0.00,0.000,4,0.087,0.058,2989,177,2036,0,0,0,0,0,0
$GC,7219,0.65,291.3,444.2,7.0,342,7252,0.00,2.45,25.40,0.798,6,0.000,0.028,2989,1685,1932,0,0,0,0,0,0
$GC,7522,0.66,303.3,422.6,7.6,350,7539,0.00,2.72,11.93,0.739,4,0.000,0.056,2989,3257,1882,0,0,0,0,0,0
$GC,7583,0.81,303.3,417.4,8.9,351,7588,0.20,2.60,0.00,0.000,6,0.045,0.036,3061,1700,1880,0,0,0,0,0,0
$GC,7852,0.69,303.3,386.5,11.6,358,7860,0.22,2.67,0.00,0.000,4,0.092,0.065,3012,163,1878,0,0,0,0,0,0
$GC,7885,0.69,303.3,383.0,10.0,358,7889,0.00,2.47,0.00,0.000,6,0.000,0.026,3012,1695,1877,0,0,0,0,0,0
$GC,8139,0.69,303.3,360.1,8.9,365,8143,0.00,2.65,0.00,0.000,4,0.000,0.052,3011,3256,1876,0,0,0,0,0,0
$GC,8190,0.77,303.3,355.6,8.9,366,8195,0.00,2.58,0.00,0.000,6,0.000,0.033,3012,1689,1874,0,0,0,0,0,0
$GC,8470,0.77,303.3,330.0,9.3,373,8474,0.00,2.65,0.00,0.000,4,0.000,0.044,3012,3260,1874,0,0,0,0,0,0
$GC,8521,0.85,303.3,325.2,9.2,374,8526,0.15,2.60,0.00,0.000,6,0.055,0.034,3065,1693,1873,0,0,0,0,0,0
$GC,8799,0.73,303.3,296.9,10.0,381,8804,0.22,2.62,0.00,0.000,4,0.092,0.064,3017,171,1873,0,0,0,0,0,0
$GC,8839,0.73,303.3,293.3,8.9,381,8844,0.00,2.45,0.00,0.000,6,0.000,0.024,3016,1706,1872,0,0,0,0,0,0
$GC,9088,0.75,312.1,274.3,7.7,388,9101,0.00,2.62,7.72,0.614,4,0.000,0.047,3017,3254,1846,0,0,0,0,0,0
$GC,9136,0.84,312.1,270.5,8.3,389,9141,0.10,2.55,0.00,0.000,6,0.076,0.032,3060,1705,1845,0,0,0,0,0,0
$GC,9419,0.76,312.1,243.5,9.6,396,9425,0.15,2.65,0.00,0.000,4,0.101,0.061,3026,170,1844,0,0,0,0,0,0
$GC,9453,0.76,312.1,240.3,9.4,396,9457,0.00,2.45,0.00,0.000,6,0.000,0.023,3027,1704,1844,0,0,0,0,0,0
$GC,9704,0.77,314.5,220.7,7.9,402,9708,0.00,2.55,0.00,0.000,4,0.000,0.041,3026,3253,1843,0,0,0,0,0,0
$GC,9722,0.77,314.5,219.0,8.3,402,9727,0.00,2.55,0.00,0.000,6,0.000,0.030,3026,1699,1842,0,0,0,0,0,0
$GC,9986,0.77,315.2,197.7,8.0,409,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1699,1842,0,0,0,0,0,0
$GC,10246,0.77,315.2,177.5,8.3,433,10250,0.00,2.53,0.00,0.000,4,0.000,0.034,3026,3258,1842,0,0,0,0,0,0
$GC,10285,0.86,315.2,174.1,8.6,436,10289,0.00,2.53,0.00,0.000,6,0.000,0.028,3026,1694,1842,0,0,0,0,0,0
$GC,10552,0.87,318.9,152.0,7.9,460,10562,0.10,0.00,6.93,0.512,6,0.077,0.000,3083,1694,1820,0,0,0,0,0,0
$GC,10816,0.78,318.9,125.9,10.2,485,10821,0.25,2.55,0.00,0.000,4,0.087,0.032,3024,3262,1819,0,0,0,0,0,0
$GC,10867,0.95,336.3,121.8,7.4,489,10890,0.17,2.53,16.77,0.559,6,0.048,0.028,3085,1699,1749,0,0,0,0,0,0
$GC,11144,0.95,336.3,96.2,8.5,515,11148,0.00,2.55,0.00,0.000,4,0.000,0.046,3085,165,1747,0,0,0,0,0,0
$GC,11204,0.95,336.3,90.1,10.0,520,11213,0.00,2.45,0.00,0.000,6,0.000,0.021,3085,1701,1746,0,0,0,0,0,0
$GC,11471,0.95,336.3,67.9,9.4,545,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1702,1746,0,0,0,0,0,0
$GC,11737,0.88,336.3,43.0,9.1,570,11742,0.15,2.55,0.00,0.000,4,0.099,0.044,3052,167,1746,0,0,0,0,0,0
$GC,11801,0.88,336.3,38.0,8.7,575,11805,0.00,2.40,0.00,0.000,6,0.000,0.021,3051,1701,1746,0,0,0,0,0,0
$GC,12096,0.88,336.3,13.8,10.2,614,12104,0.00,2.55,0.00,0.000,4,0.000,0.046,3052,174,1747,0,0,0,0,0,0
$GC,12120,0.88,336.3,11.5,9.9,617,12128,0.00,2.38,0.00,0.000,6,0.000,0.020,3052,1685,1746,0,0,0,0,0,0
$STATE,12205,end climb,SURFACE_DEPTH_REACHED
$STATE,12205,begin surface coast
$FINISH,0.7,1.024129
$STATE,12262,end surface coast,CONTROL_FINISHED_OK
$STATE,12262,begin surface
$SM_CCo,12281,26.75,0.320,1,0,1569,380.21
$SM_GC,1.47,0.00,0.00,26.75,0.000,0.000,0.320,407,1862,1569,-11.28,2.04,380.21
$IRIDIUM_FIX,2239.35,-15757.16,110400,222200
$TT8_MAMPS,0.026845
$HUMID,49.68
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.4,69.273
$10V_AH,9.9,61.731
$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,31.775,168.100,412.925,26.750,0.000,23.584,35.226,339.159,0.500,0.000,46.237,1316.463,7823.239,520.998,2475.376,755.736,33.383,1466.042,0.000,2441.865,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,75.933,867.477,319.839,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,432.426,400.498,501.615,788.711,1394.371,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,50830,638
$CAP_FILE_SIZE,142023,0
$CFSIZE,260165632,141586432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170111,051155,2246.379,-15802.849,41,1.1,41,10.1