version: 66.06
glider: 148
mission: 9
dive: 544
start: 1 18 111 7 33 19
data:
$ID,148
$MISSION,9
$DIVE,544
$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,-870034.81
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,072451,2250.716,-15802.173,46,1.6,61,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-69.2
$GPS2,073225,2250.658,-15802.116,10,2.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.068,0.159
$KALMAN_X,-121128.5,-100.1,278.2,134269.3,-1379.3
$KALMAN_Y,-167231.6,-1017.5,88.4,299219.5,-1537.5
$MHEAD_RNG_PITCHd_Wd,326.8,1940,-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,-67.88,0.000,2,0.000,0.000,411,1891,3194,0,0,0,0,0,0
$GC,91,-1.86,-129.1,3.0,-3.0,9,123,10.80,2.83,-9.43,0.000,4,0.154,0.050,2445,205,3650,0,0,0,0,0,0
$GC,164,-1.78,-129.1,21.7,-22.8,19,173,0.08,2.55,0.00,0.000,6,0.107,0.021,2464,1800,3651,0,0,0,0,0,0
$GC,435,-1.71,-129.1,84.3,-22.7,46,440,0.10,2.53,0.00,0.000,4,0.142,0.033,2484,3367,3652,0,0,0,0,0,0
$GC,456,-1.63,-129.1,89.2,-23.7,47,461,0.00,2.53,0.00,0.000,6,0.000,0.021,2484,1782,3652,0,0,0,0,0,0
$GC,725,-1.70,-129.1,137.2,-17.3,71,730,0.00,2.55,0.00,0.000,4,0.000,0.038,2484,215,3653,0,0,0,0,0,0
$GC,816,-1.85,-129.1,153.3,-17.6,79,821,0.12,2.45,0.00,0.000,6,0.068,0.019,2438,1794,3653,0,0,0,0,0,0
$GC,1083,-1.85,-129.1,200.6,-17.5,103,1087,0.00,2.47,0.00,0.000,4,0.000,0.028,2438,3365,3654,0,0,0,0,0,0
$GC,1097,-1.85,-129.1,204.7,-18.4,103,1101,0.00,2.53,0.00,0.000,6,0.000,0.021,2438,1774,3654,0,0,0,0,0,0
$GC,1365,-1.85,-129.1,249.8,-16.4,110,1369,0.00,2.50,0.00,0.000,4,0.000,0.038,2437,215,3655,0,0,0,0,0,0
$GC,1383,-1.92,-129.1,252.4,-16.4,110,1387,0.00,2.45,0.00,0.000,6,0.000,0.020,2437,1790,3656,0,0,0,0,0,0
$GC,1651,-1.99,-129.1,296.6,-16.4,117,1655,0.00,2.60,0.00,0.000,4,0.000,0.042,2437,217,3656,0,0,0,0,0,0
$GC,1674,-1.99,-129.1,300.8,-17.8,117,1679,0.00,2.45,0.00,0.000,6,0.000,0.021,2437,1769,3657,0,0,0,0,0,0
$GC,1935,-2.06,-129.1,341.6,-15.9,124,1940,0.12,2.62,0.00,0.000,4,0.067,0.047,2392,211,3656,0,0,0,0,0,0
$GC,1960,-2.06,-129.1,346.7,-19.1,124,1964,0.00,2.47,0.00,0.000,6,0.000,0.023,2392,1770,3656,0,0,0,0,0,0
$GC,2218,-2.06,-129.1,394.1,-18.5,131,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1770,3657,0,0,0,0,0,0
$GC,2464,-2.06,-129.1,438.1,-18.3,137,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1770,3655,0,0,0,0,0,0
$GC,2706,-2.06,-129.1,483.0,-18.5,143,2710,0.00,2.65,0.00,0.000,4,0.000,0.063,2392,223,3654,0,0,0,0,0,0
$GC,2761,-2.06,-129.1,493.6,-18.2,144,2766,0.00,2.53,0.00,0.000,6,0.000,0.036,2392,1757,3654,0,0,0,0,0,0
$GC,3036,-2.06,-129.1,541.8,-17.5,151,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1757,3652,0,0,0,0,0,0
$GC,3278,-2.06,-129.1,581.8,-16.0,157,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1757,3651,0,0,0,0,0,0
$GC,3521,-2.06,-129.1,622.4,-16.8,163,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1757,3649,0,0,0,0,0,0
$GC,3765,-2.06,-129.1,663.0,-16.8,169,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1757,3647,0,0,0,0,0,0
$GC,4011,-2.06,-129.1,702.1,-16.0,175,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1758,3645,0,0,0,0,0,0
$GC,4253,-2.06,-129.1,740.8,-15.7,181,4257,0.00,2.72,0.00,0.000,4,0.000,0.073,2392,217,3643,0,0,0,0,0,0
$GC,4299,-2.06,-129.1,748.6,-16.6,182,4303,0.00,2.62,0.00,0.000,6,0.000,0.043,2392,1781,3643,0,0,0,0,0,0
$GC,4583,-2.06,-129.1,792.5,-15.8,189,4587,0.00,2.70,0.00,0.000,4,0.000,0.067,2392,225,3640,0,0,0,0,0,0
$GC,4606,-2.06,-129.1,797.2,-18.4,189,4610,0.00,2.60,0.00,0.000,6,0.000,0.042,2391,1776,3640,0,0,0,0,0,0
$GC,4865,-2.06,-129.1,839.0,-16.0,196,4869,0.00,2.72,0.00,0.000,4,0.000,0.067,2391,220,3638,0,0,0,0,0,0
$GC,4934,-2.06,-129.1,851.4,-17.7,197,4939,0.00,2.60,0.00,0.000,6,0.000,0.042,2392,1769,3637,0,0,0,0,0,0
$GC,5195,-2.06,-129.1,892.0,-15.5,204,5199,0.00,2.70,0.00,0.000,4,0.000,0.067,2392,225,3636,0,0,0,0,0,0
$GC,5238,-2.06,-129.1,899.4,-16.7,205,5242,0.00,2.10,0.00,0.000,3,0.000,0.038,2392,1498,3635,0,0,0,0,0,0
$STATE,5242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5242,begin apogee
$GC,5248,-0.31,0.0,900.1,16.2,205,5366,1.80,0.00,111.10,1.164,6,0.094,0.000,2785,1688,3119,0,0,0,0,0,0
$STATE,5367,end apogee,CONTROL_FINISHED_OK
$STATE,5367,begin climb
$GC,5371,1.86,129.1,905.6,0.0,208,5497,2.00,2.75,115.25,1.143,4,0.028,0.067,3287,192,2592,0,0,0,0,0,0
$GC,5763,1.43,129.1,864.4,16.3,216,5772,0.57,2.47,0.00,0.000,6,0.136,0.035,3176,1684,2582,0,0,0,0,0,0
$GC,6018,1.43,129.1,834.8,11.6,223,6022,0.00,2.65,0.00,0.000,4,0.000,0.068,3176,187,2580,0,0,0,0,0,0
$GC,6288,1.25,129.1,801.5,12.0,228,6295,0.22,2.47,0.00,0.000,6,0.146,0.035,3135,1671,2578,0,0,0,0,0,0
$GC,6538,1.26,133.7,777.5,9.5,235,6543,0.00,2.62,0.00,0.000,4,0.000,0.067,3135,183,2577,0,0,0,0,0,0
$GC,6692,1.26,133.7,760.5,11.6,238,6696,0.00,2.47,0.00,0.000,6,0.000,0.035,3135,1674,2576,0,0,0,0,0,0
$GC,6961,1.33,140.3,735.1,9.3,245,6977,0.00,2.65,8.55,0.904,4,0.000,0.067,3135,184,2546,0,0,0,0,0,0
$GC,7121,1.33,140.3,717.9,10.3,248,7125,0.00,2.47,0.00,0.000,6,0.000,0.035,3135,1670,2544,0,0,0,0,0,0
$GC,7385,1.41,150.5,694.4,8.9,255,7402,0.12,2.70,10.55,0.926,4,0.072,0.067,3177,187,2505,0,0,0,0,0,0
$GC,7492,1.26,150.5,682.3,11.6,257,7497,0.22,2.45,0.00,0.000,6,0.143,0.034,3137,1660,2503,0,0,0,0,0,0
$GC,7768,1.35,156.9,656.2,9.3,264,7780,0.00,2.65,6.72,0.818,4,0.000,0.067,3137,194,2480,0,0,0,0,0,0
$GC,7953,1.35,156.9,636.1,11.7,268,7957,0.00,2.42,0.00,0.000,6,0.000,0.034,3137,1656,2478,0,0,0,0,0,0
$GC,8240,1.44,160.5,608.6,9.6,275,8252,0.15,2.58,4.68,0.689,4,0.064,0.063,3183,184,2465,0,0,0,0,0,0
$GC,8429,1.30,160.5,584.6,13.1,279,8434,0.20,2.42,0.00,0.000,6,0.143,0.032,3148,1648,2464,0,0,0,0,0,0
$GC,8714,1.38,161.1,556.4,9.9,286,8719,0.00,2.53,0.00,0.000,4,0.000,0.061,3148,184,2463,0,0,0,0,0,0
$GC,8952,1.38,161.1,528.9,11.3,291,8956,0.00,2.40,0.00,0.000,6,0.000,0.029,3148,1645,2462,0,0,0,0,0,0
$GC,9230,1.47,166.4,502.6,9.4,298,9239,0.12,0.00,6.60,0.746,6,0.071,0.000,3190,1645,2441,0,0,0,0,0,0
$GC,9473,1.47,166.4,476.5,10.7,304,9477,0.00,2.53,0.00,0.000,4,0.000,0.058,3190,183,2439,0,0,0,0,0,0
$GC,9493,1.38,166.4,474.3,10.9,304,9498,0.15,2.40,0.00,0.000,6,0.147,0.028,3164,1649,2439,0,0,0,0,0,0
$GC,9758,1.39,170.9,448.2,9.5,311,9770,0.00,2.58,5.57,0.677,4,0.000,0.058,3164,188,2423,0,0,0,0,0,0
$GC,10012,1.39,170.9,422.2,10.5,316,10017,0.00,2.38,0.00,0.000,6,0.000,0.027,3164,1648,2422,0,0,0,0,0,0
$GC,10276,1.47,182.7,399.0,8.7,323,10291,0.00,0.00,12.40,0.779,6,0.000,0.000,3164,1648,2375,0,0,0,0,0,0
$GC,10522,1.56,186.5,376.0,9.6,329,10529,0.15,0.00,4.82,0.594,6,0.061,0.000,3211,1648,2359,0,0,0,0,0,0
$GC,10763,1.56,186.5,348.7,11.2,335,10767,0.00,2.53,0.00,0.000,4,0.000,0.055,3212,177,2358,0,0,0,0,0,0
$GC,10931,1.42,186.5,329.1,13.1,338,10936,0.20,2.35,0.00,0.000,6,0.140,0.025,3175,1645,2356,0,0,0,0,0,0
$GC,11187,1.50,193.8,304.7,9.2,345,11202,0.00,2.75,8.05,0.659,4,0.000,0.050,3175,3256,2328,0,0,0,0,0,0
$GC,11208,1.58,204.3,302.7,8.9,345,11225,0.12,2.67,10.98,0.689,6,0.064,0.035,3231,1662,2286,0,0,0,0,0,0
$GC,11477,1.58,204.3,268.4,13.1,352,11482,0.12,2.60,0.00,0.000,4,0.139,0.066,3208,162,2283,0,0,0,0,0,0
$GC,11747,1.51,204.3,231.5,12.1,357,11753,0.00,2.35,0.00,0.000,6,0.000,0.024,3208,1632,2282,0,0,0,0,0,0
$GC,11999,1.52,209.7,207.0,9.4,364,12012,0.00,2.53,5.55,0.531,4,0.000,0.050,3208,160,2265,0,0,0,0,0,0
$GC,12241,1.52,209.7,178.4,12.3,381,12245,0.00,2.33,0.00,0.000,6,0.000,0.023,3208,1621,2264,0,0,0,0,0,0
$GC,12505,1.58,209.7,152.1,10.3,405,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1621,2264,0,0,0,0,0,0
$GC,12768,1.66,222.8,127.9,8.6,430,12790,0.00,2.53,13.38,0.567,4,0.000,0.048,3208,164,2210,0,0,0,0,0,0
$GC,13084,1.68,237.0,95.8,8.5,460,13104,0.00,2.33,13.80,0.538,6,0.000,0.022,3208,1622,2152,0,0,0,0,0,0
$GC,13368,1.80,237.0,69.5,10.3,487,13373,0.17,2.45,0.00,0.000,4,0.051,0.045,3291,162,2150,0,0,0,0,0,0
$GC,13444,1.59,237.0,59.3,14.4,493,13449,0.40,2.30,0.00,0.000,6,0.114,0.021,3209,1631,2150,0,0,0,0,0,0
$GC,13708,1.68,237.0,31.1,11.9,517,13711,0.00,2.42,0.00,0.000,4,0.000,0.044,3209,162,2149,0,0,0,0,0,0
$GC,13746,1.68,237.0,26.3,12.5,522,13754,0.00,2.33,0.00,0.000,6,0.000,0.021,3209,1626,2149,0,0,0,0,0,0
$STATE,13949,end climb,SURFACE_DEPTH_REACHED
$STATE,13949,begin surface coast
$FINISH,0.9,1.024022
$STATE,13988,end surface coast,CONTROL_FINISHED_OK
$STATE,13988,begin surface
$SM_CCo,14009,69.03,0.064,0,0,1569,380.21
$SM_GC,1.77,0.00,0.00,69.03,0.000,0.000,0.064,413,1870,1569,-11.26,2.23,380.21
$IRIDIUM_FIX,2239.35,-15800.20,130400,030313
$TT8_MAMPS,0.027612
$HUMID,49.44
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.0,70.310
$10V_AH,9.9,62.721
$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,29.500,147.075,338.000,69.025,0.000,24.806,39.363,231.248,0.000,0.000,16.746,1303.829,9585.679,478.666,2496.813,663.396,33.358,1548.508,0.000,2475.748,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,72.865,1164.306,64.428,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.695,289.656,360.045,513.314,904.532,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355256
$DATA_FILE_SIZE,44785,560
$CAP_FILE_SIZE,147522,0
$CFSIZE,260165632,141058048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180111,112907,2251.797,-15803.172,26,1.5,26,10.1