version: 66.06
glider: 148
mission: 9
dive: 616
start: 2 1 111 14 16 32
data:
$ID,148
$MISSION,9
$DIVE,616
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,300
$T_MISSION,650
$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,100
$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,-871500.38
$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,20
$R_STBD_OVSHOOT,52
$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
$GPS1,140737,2248.174,-15757.707,29,0.9,29,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-69.5
$GPS2,141538,2248.212,-15757.752,12,1.6,12,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.017,-0.172
$KALMAN_X,-117939.2,143.0,-170.8,138806.0,-254.6
$KALMAN_Y,-243461.3,282.0,-45.4,369748.9,-515.6
$MHEAD_RNG_PITCHd_Wd,164.3,2246,-27.2,-10.000
$D_GRID,900
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.78,-63.0,0.0,0.0,0,92,0.00,0.00,-68.03,0.000,2,0.000,0.000,412,1875,3222,0,0,0,0,0,0
$GC,95,-1.82,-97.3,3.4,-4.5,9,120,10.90,2.80,-6.12,0.000,4,0.156,0.053,2453,176,3517,0,0,0,0,0,0
$GC,217,-1.74,-97.3,32.5,-22.5,26,223,0.12,2.53,0.00,0.000,6,0.136,0.019,2478,1795,3520,0,0,0,0,0,0
$GC,482,-1.74,-97.3,85.7,-19.1,50,486,0.00,2.62,0.00,0.000,4,0.000,0.038,2478,187,3521,0,0,0,0,0,0
$GC,563,-1.81,-97.3,101.4,-17.9,57,568,0.00,2.50,0.00,0.000,6,0.000,0.019,2478,1777,3521,0,0,0,0,0,0
$GC,831,-1.90,-97.3,145.1,-16.2,81,837,0.12,0.00,0.00,0.000,6,0.070,0.000,2433,1781,3523,0,0,0,0,0,0
$GC,1096,-1.90,-97.3,189.9,-16.6,106,1100,0.00,2.60,0.00,0.000,4,0.000,0.037,2433,187,3524,0,0,0,0,0,0
$GC,1155,-1.90,-97.3,200.9,-17.7,111,1163,0.00,2.53,0.00,0.000,6,0.000,0.019,2433,1790,3524,0,0,0,0,0,0
$GC,1404,-1.90,-97.3,241.6,-16.1,118,1409,0.00,2.62,0.00,0.000,4,0.000,0.038,2433,188,3525,0,0,0,0,0,0
$GC,1456,-1.90,-97.3,250.8,-17.8,119,1460,0.00,2.47,0.00,0.000,6,0.000,0.019,2433,1779,3525,0,0,0,0,0,0
$GC,1735,-1.90,-97.3,294.2,-15.8,126,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1780,3525,0,0,0,0,0,0
$GC,1977,-1.90,-97.3,331.9,-15.5,132,1981,0.00,2.62,0.00,0.000,4,0.000,0.044,2433,189,3526,0,0,0,0,0,0
$GC,2105,-1.90,-97.3,353.4,-17.3,134,2110,0.00,2.50,0.00,0.000,6,0.000,0.023,2433,1776,3526,0,0,0,0,0,0
$GC,2355,-1.96,-97.3,390.6,-14.7,140,2360,0.00,2.65,0.00,0.000,4,0.000,0.048,2433,200,3525,0,0,0,0,0,0
$GC,2420,-1.96,-97.3,401.8,-17.1,141,2425,0.00,2.50,0.00,0.000,6,0.000,0.025,2433,1773,3525,0,0,0,0,0,0
$GC,2686,-2.03,-97.3,441.4,-14.9,148,2691,0.00,2.65,0.00,0.000,4,0.000,0.054,2433,203,3524,0,0,0,0,0,0
$GC,2730,-2.09,-97.3,448.5,-16.1,149,2735,0.12,2.53,0.00,0.000,6,0.070,0.029,2390,1765,3524,0,0,0,0,0,0
$GC,3019,-2.09,-97.3,495.3,-16.2,156,3024,0.00,2.67,0.00,0.000,4,0.000,0.058,2390,204,3523,0,0,0,0,0,0
$GC,3121,-2.09,-97.3,513.8,-19.2,158,3126,0.00,2.53,0.00,0.000,6,0.000,0.035,2389,1751,3522,0,0,0,0,0,0
$GC,3394,-2.09,-97.3,557.4,-16.0,165,3399,0.00,2.70,0.00,0.000,4,0.000,0.063,2390,196,3520,0,0,0,0,0,0
$GC,3457,-2.02,-97.3,567.5,-16.9,166,3462,0.15,2.58,0.00,0.000,6,0.121,0.038,2419,1752,3520,0,0,0,0,0,0
$GC,3727,-2.09,-97.3,604.9,-13.6,173,3731,0.00,2.70,0.00,0.000,4,0.000,0.064,2419,200,3518,0,0,0,0,0,0
$GC,3784,-2.09,-97.3,613.3,-15.2,174,3788,0.00,2.58,0.00,0.000,6,0.000,0.037,2419,1754,3518,0,0,0,0,0,0
$GC,4057,-2.17,-97.3,651.5,-13.9,181,4064,0.12,2.72,0.00,0.000,4,0.069,0.067,2375,200,3516,0,0,0,0,0,0
$GC,4182,-2.09,-97.3,672.8,-16.9,183,4187,0.12,2.58,0.00,0.000,6,0.128,0.039,2401,1743,3515,0,0,0,0,0,0
$GC,4437,-2.09,-97.3,711.3,-14.6,190,4442,0.00,2.70,0.00,0.000,4,0.000,0.067,2401,201,3513,0,0,0,0,0,0
$GC,4526,-2.09,-97.3,725.3,-14.9,192,4531,0.00,2.55,0.00,0.000,6,0.000,0.039,2401,1736,3513,0,0,0,0,0,0
$GC,4815,-2.09,-97.3,763.8,-13.1,199,4820,0.00,2.70,0.00,0.000,4,0.000,0.068,2401,198,3511,0,0,0,0,0,0
$GC,4917,-2.09,-97.3,779.4,-15.0,201,4921,0.00,2.55,0.00,0.000,6,0.000,0.040,2401,1735,3510,0,0,0,0,0,0
$GC,5192,-2.09,-97.3,814.7,-13.0,208,5196,0.00,2.70,0.00,0.000,4,0.000,0.069,2401,197,3508,0,0,0,0,0,0
$GC,5257,-2.09,-97.3,824.6,-15.1,209,5261,0.00,2.53,0.00,0.000,6,0.000,0.040,2401,1725,3508,0,0,0,0,0,0
$GC,5521,-2.09,-97.3,859.7,-13.2,216,5525,0.00,2.67,0.00,0.000,4,0.000,0.069,2401,200,3506,0,0,0,0,0,0
$GC,5601,-2.09,-97.3,872.0,-15.4,217,5606,0.00,2.55,0.00,0.000,6,0.000,0.040,2401,1722,3505,0,0,0,0,0,0
$STATE,5849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5849,begin apogee
$GC,5855,-0.31,0.0,905.0,13.1,223,5943,1.77,0.00,83.97,1.170,6,0.090,0.000,2788,1659,3120,0,0,0,0,0,0
$STATE,5944,end apogee,CONTROL_FINISHED_OK
$STATE,5944,begin climb
$GC,5948,1.82,97.3,907.6,0.0,225,6041,1.98,0.00,88.78,1.150,6,0.025,0.000,3273,1659,2722,0,0,0,0,0,0
$GC,6255,1.53,98.9,892.1,9.8,233,6262,0.38,2.60,0.00,0.000,4,0.136,0.070,3198,184,2715,0,0,0,0,0,0
$GC,6528,1.28,112.4,865.4,8.6,238,6550,0.30,2.50,13.40,1.028,6,0.139,0.033,3142,1687,2661,0,0,0,0,0,0
$GC,6827,1.30,123.4,839.8,8.8,246,6843,0.00,2.72,10.88,0.990,4,0.000,0.068,3142,184,2617,0,0,0,0,0,0
$GC,7108,1.20,123.4,809.0,11.2,252,7113,0.00,2.47,0.00,0.000,6,0.000,0.034,3142,1677,2613,0,0,0,0,0,0
$GC,7391,1.22,132.0,782.5,9.1,259,7407,0.00,2.65,9.40,0.949,4,0.000,0.067,3143,185,2580,0,0,0,0,0,0
$GC,7674,1.13,136.4,754.0,9.5,265,7687,0.17,2.45,5.20,0.779,6,0.145,0.033,3111,1666,2563,0,0,0,0,0,0
$GC,7962,1.29,157.3,731.1,7.8,272,7991,0.12,2.67,20.55,1.022,4,0.071,0.067,3153,181,2477,0,0,0,0,0,0
$GC,8257,1.22,157.3,696.6,10.8,278,8262,0.15,2.47,0.00,0.000,6,0.132,0.033,3126,1665,2473,0,0,0,0,0,0
$GC,8528,1.35,172.7,673.4,8.4,285,8549,0.12,2.67,14.82,0.959,4,0.072,0.066,3167,184,2416,0,0,0,0,0,0
$GC,8817,1.26,172.7,639.1,12.3,291,8822,0.15,2.42,0.00,0.000,6,0.137,0.032,3140,1656,2412,0,0,0,0,0,0
$GC,9098,1.36,172.7,610.2,10.3,298,9102,0.00,2.60,0.00,0.000,4,0.000,0.064,3139,175,2410,0,0,0,0,0,0
$GC,9273,1.36,172.7,588.5,10.9,301,9279,0.00,2.42,0.00,0.000,6,0.000,0.030,3139,1647,2410,0,0,0,0,0,0
$GC,9525,1.47,174.7,563.5,9.8,308,9531,0.17,2.58,0.00,0.000,4,0.058,0.061,3193,180,2409,0,0,0,0,0,0
$GC,9797,1.32,174.7,528.8,12.8,313,9803,0.22,2.40,0.00,0.000,6,0.135,0.028,3152,1645,2408,0,0,0,0,0,0
$GC,10047,1.42,175.1,502.9,10.0,320,10051,0.00,2.53,0.00,0.000,4,0.000,0.058,3152,181,2408,0,0,0,0,0,0
$GC,10235,1.42,175.1,482.6,10.9,324,10240,0.00,2.33,0.00,0.000,6,0.000,0.025,3152,1633,2408,0,0,0,0,0,0
$GC,10518,1.53,186.0,457.7,8.8,331,10539,0.17,2.53,12.70,0.822,4,0.059,0.056,3206,182,2360,0,0,0,0,0,0
$GC,10600,1.38,186.0,448.7,13.1,332,10605,0.22,2.35,0.00,0.000,6,0.130,0.025,3164,1625,2358,0,0,0,0,0,0
$GC,10856,1.46,186.0,420.4,10.7,339,10860,0.00,2.50,0.00,0.000,4,0.000,0.056,3164,174,2357,0,0,0,0,0,0
$GC,10932,1.46,186.0,411.1,13.1,340,10936,0.00,2.35,0.00,0.000,6,0.000,0.025,3164,1628,2357,0,0,0,0,0,0
$GC,11186,1.54,191.1,386.1,9.5,347,11195,0.12,0.00,5.65,0.645,6,0.072,0.000,3206,1628,2340,0,0,0,0,0,0
$GC,11429,1.54,191.1,357.9,11.8,353,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1628,2339,0,0,0,0,0,0
$GC,11673,1.54,191.1,328.9,11.8,359,11678,0.00,2.50,0.00,0.000,4,0.000,0.056,3206,174,2339,0,0,0,0,0,0
$GC,11731,1.42,191.1,321.6,14.0,360,11736,0.17,2.33,0.00,0.000,6,0.133,0.023,3175,1640,2338,0,0,0,0,0,0
$GC,12005,1.50,191.1,293.2,10.2,367,12009,0.00,2.50,0.00,0.000,4,0.000,0.054,3175,180,2338,0,0,0,0,0,0
$GC,12168,1.50,191.1,275.7,10.8,370,12172,0.00,2.28,0.00,0.000,6,0.000,0.023,3174,1612,2338,0,0,0,0,0,0
$GC,12432,1.60,197.1,250.6,9.4,377,12444,0.15,2.80,6.57,0.592,4,0.062,0.044,3227,3259,2316,0,0,0,0,0,0
$GC,12475,1.60,197.1,246.3,11.0,377,12480,0.00,2.70,0.00,0.000,6,0.000,0.031,3227,1622,2315,0,0,0,0,0,0
$GC,12724,1.60,197.1,217.6,11.5,384,12728,0.00,2.45,0.00,0.000,4,0.000,0.061,3226,176,2315,0,0,0,0,0,0
$GC,12767,1.47,197.1,212.3,11.8,385,12772,0.22,2.28,0.00,0.000,6,0.131,0.022,3183,1610,2315,0,0,0,0,0,0
$GC,13032,1.58,213.4,188.5,8.3,398,13054,0.00,2.75,16.23,0.634,4,0.000,0.038,3183,3250,2248,0,0,0,0,0,0
$GC,13069,1.70,227.5,185.0,8.5,401,13090,0.20,2.72,13.57,0.614,6,0.048,0.031,3248,1615,2192,0,0,0,0,0,0
$GC,13351,1.70,227.5,150.3,13.5,428,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1615,2189,0,0,0,0,0,0
$GC,13607,1.70,227.5,117.3,12.4,452,13611,0.00,2.40,0.00,0.000,4,0.000,0.053,3248,174,2189,0,0,0,0,0,0
$GC,13662,1.59,227.5,110.2,12.0,457,13667,0.20,2.28,0.00,0.000,6,0.127,0.022,3210,1626,2189,0,0,0,0,0,0
$GC,13929,1.69,230.1,82.0,9.7,481,13933,0.00,2.45,0.00,0.000,4,0.000,0.048,3210,170,2189,0,0,0,0,0,0
$GC,14023,1.69,230.1,71.3,10.5,489,14027,0.00,2.25,0.00,0.000,6,0.000,0.021,3210,1617,2189,0,0,0,0,0,0
$GC,14293,1.79,232.3,45.1,9.8,513,14310,0.15,2.45,5.75,0.423,4,0.059,0.044,3265,174,2170,0,0,0,0,0,0
$GC,14315,1.79,232.3,41.6,10.7,514,14324,0.00,2.30,0.00,0.000,6,0.000,0.021,3266,1618,2170,0,0,0,0,0,0
$GC,14608,1.79,232.3,4.3,13.3,554,14616,0.00,2.42,0.00,0.000,4,0.000,0.044,3265,173,2170,0,0,0,0,0,0
$STATE,14625,end climb,SURFACE_DEPTH_REACHED
$STATE,14626,begin surface coast
$FINISH,1.0,1.023805
$STATE,14676,end surface coast,CONTROL_FINISHED_OK
$STATE,14676,begin surface
$SM_CCo,14700,74.82,0.067,0,0,1570,380.21
$SM_GC,2.12,0.00,0.00,74.82,0.000,0.000,0.067,412,1812,1570,-11.26,0.65,380.21
$IRIDIUM_FIX,2244.02,-15759.32,270400,090956
$TT8_MAMPS,0.026845
$HUMID,50.39
$INTERNAL_PRESSURE,9.69174
$TCM_TEMP,20.50
$XPDR_PINGS,2
$24V_AH,22.8,81.088
$10V_AH,9.9,71.625
$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,30.725,172.900,307.475,74.825,0.000,29.362,38.015,250.916,0.500,0.000,14.425,1387.205,9977.533,498.185,2663.844,723.964,33.373,1634.986,0.000,2638.219,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,92.807,1169.675,66.729,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.236,277.066,350.828,499.380,882.745,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355328
$DATA_FILE_SIZE,44830,564
$CAP_FILE_SIZE,160042,0
$CFSIZE,260165632,135753728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010211,182411,2246.945,-15757.700,36,2.0,40,10.1