version: 66.06
glider: 148
mission: 9
dive: 543
start: 1 18 111 3 25 44
data:
$ID,148
$MISSION,9
$DIVE,543
$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,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,-870017.44
$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,27
$R_STBD_OVSHOOT,93
$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
$GPS1,031027,2250.175,-15802.309,39,99.0,58,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.9
$GPS2,032449,2250.168,-15802.266,12,2.0,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.040,0.169
$KALMAN_X,-121383.0,864.3,-4.5,133585.0,-1667.2
$KALMAN_Y,-165523.0,-627.5,114.8,296183.5,-2035.1
$MHEAD_RNG_PITCHd_Wd,3.2,1291,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-68.03,0.000,2,0.000,0.000,414,1840,3250,0,0,0,0,0,0
$GC,93,-1.84,-115.2,3.3,-4.4,9,118,10.82,2.67,-6.55,0.000,4,0.154,0.044,2452,198,3591,0,0,0,0,0,0
$GC,183,-1.78,-115.2,28.2,-21.9,22,191,0.00,2.45,0.00,0.000,6,0.000,0.020,2452,1737,3592,0,0,0,0,0,0
$GC,452,-1.70,-115.2,89.0,-22.2,47,457,0.17,2.55,0.00,0.000,4,0.121,0.032,2486,3322,3593,0,0,0,0,0,0
$GC,489,-1.70,-115.2,99.4,-22.0,50,494,0.00,2.42,0.00,0.000,6,0.000,0.023,2486,1792,3593,0,0,0,0,0,0
$GC,752,-1.80,-115.2,147.4,-17.5,74,756,0.00,2.45,0.00,0.000,4,0.000,0.028,2487,3329,3594,0,0,0,0,0,0
$GC,774,-1.93,-115.2,151.5,-16.5,75,783,0.15,2.47,0.00,0.000,6,0.028,0.022,2421,1790,3594,0,0,0,0,0,0
$GC,1039,-1.93,-115.2,199.7,-17.6,100,1043,0.00,2.58,0.00,0.000,4,0.000,0.037,2420,213,3594,0,0,0,0,0,0
$GC,1059,-1.93,-115.2,204.3,-18.4,100,1063,0.00,2.38,0.00,0.000,6,0.000,0.019,2420,1747,3594,0,0,0,0,0,0
$GC,1323,-1.93,-115.2,253.3,-18.1,107,1327,0.00,2.53,0.00,0.000,4,0.000,0.038,2420,210,3595,0,0,0,0,0,0
$GC,1382,-1.93,-115.2,264.5,-18.3,108,1387,0.00,2.45,0.00,0.000,6,0.000,0.020,2420,1788,3596,0,0,0,0,0,0
$GC,1651,-1.93,-115.2,309.9,-17.3,115,1655,0.00,2.62,0.00,0.000,4,0.000,0.044,2420,208,3596,0,0,0,0,0,0
$GC,1743,-1.93,-115.2,326.1,-17.2,117,1747,0.00,2.45,0.00,0.000,6,0.000,0.021,2420,1771,3596,0,0,0,0,0,0
$GC,2025,-1.93,-115.2,371.6,-16.2,124,2029,0.00,2.62,0.00,0.000,4,0.000,0.050,2420,209,3596,0,0,0,0,0,0
$GC,2088,-1.93,-115.2,381.8,-16.8,125,2093,0.00,2.50,0.00,0.000,6,0.000,0.025,2420,1771,3596,0,0,0,0,0,0
$GC,2357,-1.93,-115.2,424.1,-15.5,132,2361,0.00,2.65,0.00,0.000,4,0.000,0.055,2420,214,3595,0,0,0,0,0,0
$GC,2384,-1.93,-115.2,429.4,-19.1,132,2389,0.00,2.50,0.00,0.000,6,0.000,0.031,2420,1764,3595,0,0,0,0,0,0
$GC,2641,-1.99,-115.2,470.9,-16.5,139,2645,0.00,2.65,0.00,0.000,4,0.000,0.044,2420,3372,3593,0,0,0,0,0,0
$GC,2655,-1.99,-115.2,473.9,-16.3,139,2660,0.00,2.58,0.00,0.000,6,0.000,0.030,2420,1780,3592,0,0,0,0,0,0
$GC,2926,-2.06,-115.2,518.3,-16.5,146,2930,0.00,2.70,0.00,0.000,4,0.000,0.063,2420,202,3591,0,0,0,0,0,0
$GC,2949,-2.06,-115.2,522.8,-17.8,146,2953,0.00,2.55,0.00,0.000,6,0.000,0.035,2420,1766,3591,0,0,0,0,0,0
$GC,3208,-2.14,-115.2,563.2,-15.5,153,3214,0.10,2.70,0.00,0.000,4,0.081,0.063,2380,203,3589,0,0,0,0,0,0
$GC,3254,-2.14,-115.2,571.4,-19.2,154,3258,0.00,2.58,0.00,0.000,6,0.000,0.038,2380,1770,3589,0,0,0,0,0,0
$GC,3540,-2.14,-115.2,623.8,-17.9,161,3545,0.00,2.70,0.00,0.000,4,0.000,0.064,2380,204,3587,0,0,0,0,0,0
$GC,3577,-2.14,-115.2,630.9,-18.7,161,3583,0.00,2.58,0.00,0.000,6,0.000,0.040,2380,1769,3586,0,0,0,0,0,0
$GC,3829,-2.14,-115.2,672.5,-16.3,168,3833,0.00,2.70,0.00,0.000,4,0.000,0.066,2380,208,3584,0,0,0,0,0,0
$GC,3852,-2.14,-115.2,677.0,-18.3,168,3856,0.00,2.60,0.00,0.000,6,0.000,0.040,2380,1769,3584,0,0,0,0,0,0
$GC,4110,-2.14,-115.2,716.1,-15.1,175,4115,0.00,2.70,0.00,0.000,4,0.000,0.066,2380,208,3582,0,0,0,0,0,0
$GC,4129,-2.14,-115.2,719.4,-16.5,175,4133,0.00,2.60,0.00,0.000,6,0.000,0.040,2380,1769,3582,0,0,0,0,0,0
$GC,4394,-2.14,-115.2,759.7,-15.1,182,4399,0.00,2.70,0.00,0.000,4,0.000,0.067,2380,214,3580,0,0,0,0,0,0
$GC,4413,-2.14,-115.2,763.0,-15.3,182,4417,0.00,2.60,0.00,0.000,6,0.000,0.039,2380,1772,3579,0,0,0,0,0,0
$GC,4676,-2.14,-115.2,801.4,-14.7,189,4681,0.00,2.70,0.00,0.000,4,0.000,0.068,2380,214,3577,0,0,0,0,0,0
$GC,4715,-2.14,-115.2,807.6,-16.4,189,4721,0.00,2.58,0.00,0.000,6,0.000,0.041,2380,1766,3577,0,0,0,0,0,0
$GC,4965,-2.14,-115.2,844.8,-14.4,196,4969,0.00,2.72,0.00,0.000,4,0.000,0.068,2380,208,3575,0,0,0,0,0,0
$GC,5044,-2.14,-115.2,857.7,-16.3,197,5048,0.00,2.60,0.00,0.000,6,0.000,0.041,2380,1762,3574,0,0,0,0,0,0
$GC,5295,-2.14,-115.2,894.1,-14.6,203,5299,0.00,2.70,0.00,0.000,4,0.000,0.067,2380,214,3573,0,0,0,0,0,0
$STATE,5330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5330,begin apogee
$GC,5338,-0.31,0.0,900.4,17.2,203,5440,1.85,0.00,97.85,1.166,6,0.094,0.000,2788,1681,3120,0,0,0,0,0,0
$STATE,5441,end apogee,CONTROL_FINISHED_OK
$STATE,5441,begin climb
$GC,5443,1.84,115.2,903.8,0.0,206,5555,2.00,2.75,103.72,1.146,4,0.028,0.070,3269,177,2649,0,0,0,0,0,0
$GC,5825,1.43,115.2,868.1,15.3,215,5833,0.47,2.50,0.00,0.000,6,0.127,0.035,3176,1681,2639,0,0,0,0,0,0
$GC,6115,1.43,116.8,838.6,9.8,222,6119,0.00,2.65,0.00,0.000,4,0.000,0.067,3175,177,2638,0,0,0,0,0,0
$GC,6384,1.25,116.8,809.1,10.9,227,6390,0.22,2.50,0.00,0.000,6,0.140,0.035,3134,1677,2635,0,0,0,0,0,0
$GC,6634,1.27,132.3,787.8,8.3,234,6654,0.00,2.75,14.18,1.009,4,0.000,0.068,3134,173,2579,0,0,0,0,0,0
$GC,6907,1.20,132.3,758.8,11.2,239,6914,0.00,2.47,0.00,0.000,6,0.000,0.035,3134,1664,2575,0,0,0,0,0,0
$GC,7159,1.29,145.1,736.4,8.6,246,7178,0.00,2.67,12.65,0.975,4,0.000,0.066,3134,177,2528,0,0,0,0,0,0
$GC,7303,1.29,145.1,721.5,10.5,249,7307,0.00,2.47,0.00,0.000,6,0.000,0.035,3134,1662,2525,0,0,0,0,0,0
$GC,7583,1.37,155.8,696.8,8.9,256,7600,0.10,2.70,10.62,0.930,4,0.084,0.067,3169,177,2484,0,0,0,0,0,0
$GC,7684,1.26,155.8,684.5,13.4,258,7689,0.17,2.47,0.00,0.000,6,0.137,0.035,3137,1656,2483,0,0,0,0,0,0
$GC,7964,1.35,160.8,657.8,9.5,265,7977,0.00,2.62,5.43,0.761,4,0.000,0.065,3137,169,2465,0,0,0,0,0,0
$GC,8245,1.35,160.8,626.3,11.9,271,8249,0.00,2.45,0.00,0.000,6,0.000,0.035,3137,1644,2463,0,0,0,0,0,0
$GC,8532,1.45,160.8,597.4,10.1,278,8537,0.17,2.60,0.00,0.000,4,0.058,0.065,3191,169,2463,0,0,0,0,0,0
$GC,8802,1.29,160.8,562.6,13.1,283,8809,0.25,2.42,0.00,0.000,6,0.130,0.032,3144,1642,2461,0,0,0,0,0,0
$GC,9054,1.38,162.6,537.7,9.8,290,9059,0.00,2.55,0.00,0.000,4,0.000,0.061,3144,171,2461,0,0,0,0,0,0
$GC,9294,1.38,162.6,512.1,11.0,295,9299,0.00,2.40,0.00,0.000,6,0.000,0.028,3144,1638,2460,0,0,0,0,0,0
$GC,9570,1.50,175.4,488.6,8.6,302,9590,0.17,2.60,14.40,0.856,4,0.058,0.058,3201,183,2404,0,0,0,0,0,0
$GC,9688,1.34,175.4,473.3,13.7,304,9693,0.22,2.35,0.00,0.000,6,0.131,0.028,3157,1628,2401,0,0,0,0,0,0
$GC,9950,1.43,175.4,444.2,11.0,311,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1628,2400,0,0,0,0,0,0
$GC,10192,1.52,183.0,421.4,9.2,317,10206,0.15,2.55,7.93,0.735,4,0.064,0.056,3210,169,2373,0,0,0,0,0,0
$GC,10342,1.38,183.0,401.1,13.5,320,10347,0.25,2.38,0.00,0.000,6,0.128,0.027,3163,1627,2372,0,0,0,0,0,0
$GC,10616,1.47,183.0,372.7,10.1,327,10620,0.00,2.47,0.00,0.000,4,0.000,0.056,3162,173,2370,0,0,0,0,0,0
$GC,10748,1.47,183.0,358.2,10.9,329,10754,0.00,2.33,0.00,0.000,6,0.000,0.025,3162,1628,2370,0,0,0,0,0,0
$GC,10998,1.58,194.9,335.6,8.7,336,11018,0.17,2.53,12.12,0.731,4,0.056,0.056,3224,173,2323,0,0,0,0,0,0
$GC,11068,1.41,194.9,327.7,13.1,337,11074,0.28,2.35,0.00,0.000,6,0.122,0.025,3171,1632,2322,0,0,0,0,0,0
$GC,11333,1.50,194.9,298.9,10.8,344,11338,0.00,2.50,0.00,0.000,4,0.000,0.057,3171,177,2321,0,0,0,0,0,0
$GC,11432,1.50,194.9,286.6,13.1,346,11436,0.00,2.30,0.00,0.000,6,0.000,0.025,3171,1624,2321,0,0,0,0,0,0
$GC,11710,1.60,194.9,256.5,11.0,353,11715,0.15,2.50,0.00,0.000,4,0.061,0.057,3228,175,2321,0,0,0,0,0,0
$GC,11979,1.47,194.9,221.5,12.7,358,11985,0.22,2.28,0.00,0.000,6,0.121,0.023,3182,1607,2321,0,0,0,0,0,0
$GC,12229,1.59,214.3,200.4,7.9,365,12254,0.10,2.53,17.58,0.649,4,0.081,0.054,3223,174,2246,0,0,0,0,0,0
$GC,12379,1.50,214.3,184.2,11.4,376,12384,0.17,2.28,0.00,0.000,6,0.123,0.023,3190,1613,2244,0,0,0,0,0,0
$GC,12644,1.61,217.0,160.4,9.7,400,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1613,2242,0,0,0,0,0,0
$GC,12910,1.72,220.7,135.5,9.6,425,12923,0.17,2.47,6.82,0.509,4,0.053,0.048,3253,174,2220,0,0,0,0,0,0
$GC,13080,1.58,220.7,115.0,11.2,441,13085,0.25,2.28,0.00,0.000,6,0.114,0.021,3204,1615,2219,0,0,0,0,0,0
$GC,13345,1.71,241.6,93.7,7.8,465,13372,0.12,2.47,19.88,0.548,4,0.067,0.047,3256,170,2134,0,0,0,0,0,0
$GC,13471,1.61,241.6,79.8,12.0,477,13476,0.22,2.28,0.00,0.000,6,0.112,0.021,3210,1608,2133,0,0,0,0,0,0
$GC,13735,1.73,241.6,53.8,11.0,501,13740,0.10,2.70,0.00,0.000,4,0.079,0.035,3256,3261,2132,0,0,0,0,0,0
$GC,13755,1.80,241.6,51.9,10.2,502,13760,0.00,2.70,0.00,0.000,6,0.000,0.029,3256,1592,2131,0,0,0,0,0,0
$GC,14036,1.80,241.6,15.7,11.7,534,14044,0.00,2.38,0.00,0.000,4,0.000,0.044,3256,164,2131,0,0,0,0,0,0
$GC,14066,1.71,241.6,11.5,13.3,538,14075,0.08,2.28,0.00,0.000,6,0.105,0.020,3237,1610,2131,0,0,0,0,0,0
$STATE,14119,end climb,SURFACE_DEPTH_REACHED
$STATE,14119,begin surface coast
$FINISH,1.0,1.000362
$STATE,14152,end surface coast,CONTROL_FINISHED_OK
$STATE,14152,begin surface
$SM_CCo,14175,68.10,0.064,0,0,1570,380.21
$SM_GC,1.92,0.00,0.00,68.10,0.000,0.000,0.064,412,1892,1570,-11.27,2.88,380.21
$IRIDIUM_FIX,2244.02,-15801.49,130400,030320
$TT8_MAMPS,0.026845
$HUMID,50.74
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.30
$XPDR_PINGS,2
$24V_AH,23.0,70.195
$10V_AH,9.9,62.607
$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,30.900,187.750,323.175,68.100,0.000,87.147,117.314,353.444,0.500,0.000,13.996,1343.063,9675.037,507.920,2601.972,968.022,33.372,1635.889,0.000,2580.816,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,69.797,1165.840,64.428,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.664,276.807,349.905,486.707,860.820,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355248
$DATA_FILE_SIZE,44576,551
$CAP_FILE_SIZE,166573,0
$CFSIZE,260165632,141115392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180111,072451,2250.716,-15802.173,46,1.6,61,10.1