version: 66.06
glider: 148
mission: 9
dive: 545
start: 1 18 111 11 44 23
data:
$ID,148
$MISSION,9
$DIVE,545
$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,-870067
$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,42
$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
$GPS1,112907,2251.797,-15803.172,26,1.5,26,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.9
$GPS2,114331,2251.628,-15803.155,13,1.5,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.006,-0.173
$KALMAN_X,-120823.3,-646.0,-7.8,133009.9,197.0
$KALMAN_Y,-168926.1,-72.9,-216.7,302066.7,-749.6
$MHEAD_RNG_PITCHd_Wd,168.0,3026,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.78,-63.0,0.0,0.0,0,89,0.00,0.00,-68.40,0.000,2,0.000,0.000,413,1870,3256,0,0,0,0,0,0
$GC,92,-1.84,-107.8,3.4,-5.2,9,117,10.93,2.42,-6.07,0.000,4,0.158,0.036,2454,3370,3561,0,0,0,0,0,0
$GC,216,-1.84,-107.8,34.6,-19.6,26,225,0.00,2.58,0.00,0.000,6,0.000,0.024,2454,1774,3563,0,0,0,0,0,0
$GC,483,-1.73,-107.8,93.7,-23.2,51,488,0.12,2.58,0.00,0.000,4,0.130,0.038,2480,201,3563,0,0,0,0,0,0
$GC,514,-1.73,-107.8,101.0,-22.5,53,519,0.00,2.50,0.00,0.000,6,0.000,0.021,2480,1784,3563,0,0,0,0,0,0
$GC,780,-1.82,-107.8,149.0,-16.1,77,785,0.00,2.50,0.00,0.000,4,0.000,0.028,2480,3370,3564,0,0,0,0,0,0
$GC,889,-1.99,-107.8,166.3,-14.4,87,899,0.20,2.53,0.00,0.000,6,0.025,0.023,2398,1794,3564,0,0,0,0,0,0
$GC,1158,-1.91,-107.8,216.6,-19.0,107,1163,0.20,2.55,0.00,0.000,4,0.110,0.035,2440,213,3565,0,0,0,0,0,0
$GC,1203,-1.91,-107.8,224.9,-18.4,108,1208,0.00,2.47,0.00,0.000,6,0.000,0.019,2440,1799,3565,0,0,0,0,0,0
$GC,1490,-1.98,-107.8,270.9,-15.2,115,1495,0.00,2.62,0.00,0.000,4,0.000,0.040,2441,205,3566,0,0,0,0,0,0
$GC,1686,-1.98,-107.8,304.2,-17.3,119,1691,0.00,2.45,0.00,0.000,6,0.000,0.022,2441,1766,3566,0,0,0,0,0,0
$GC,1959,-2.06,-107.8,346.1,-15.3,126,1964,0.12,2.60,0.00,0.000,4,0.070,0.048,2393,210,3566,0,0,0,0,0,0
$GC,1978,-2.06,-107.8,349.6,-16.2,126,1983,0.00,2.47,0.00,0.000,6,0.000,0.024,2393,1778,3567,0,0,0,0,0,0
$GC,2244,-2.06,-107.8,394.2,-16.5,133,2248,0.00,2.65,0.00,0.000,4,0.000,0.052,2393,208,3566,0,0,0,0,0,0
$GC,2333,-2.06,-107.8,410.2,-17.9,135,2337,0.00,2.47,0.00,0.000,6,0.000,0.027,2393,1764,3565,0,0,0,0,0,0
$GC,2621,-2.06,-107.8,456.6,-15.7,142,2626,0.00,2.65,0.00,0.000,4,0.000,0.058,2393,218,3564,0,0,0,0,0,0
$GC,2677,-2.06,-107.8,466.5,-17.8,143,2681,0.00,2.50,0.00,0.000,6,0.000,0.032,2393,1757,3563,0,0,0,0,0,0
$GC,2949,-2.06,-107.8,509.6,-15.8,150,2954,0.00,2.65,0.00,0.000,4,0.000,0.061,2393,220,3562,0,0,0,0,0,0
$GC,3048,-2.06,-107.8,526.5,-16.6,152,3053,0.00,2.53,0.00,0.000,6,0.000,0.037,2393,1758,3561,0,0,0,0,0,0
$GC,3326,-2.06,-107.8,572.1,-16.5,159,3330,0.00,2.67,0.00,0.000,4,0.000,0.064,2393,217,3559,0,0,0,0,0,0
$GC,3494,-2.06,-107.8,601.8,-18.5,162,3498,0.00,2.53,0.00,0.000,6,0.000,0.042,2393,1743,3558,0,0,0,0,0,0
$GC,3748,-2.06,-107.8,641.8,-15.6,169,3752,0.00,2.67,0.00,0.000,4,0.000,0.067,2393,215,3556,0,0,0,0,0,0
$GC,3828,-2.06,-107.8,655.3,-17.3,170,3833,0.00,2.55,0.00,0.000,6,0.000,0.044,2393,1740,3555,0,0,0,0,0,0
$GC,4078,-2.06,-107.8,693.6,-15.1,176,4082,0.00,2.65,0.00,0.000,4,0.000,0.068,2393,214,3553,0,0,0,0,0,0
$GC,4170,-2.06,-107.8,709.0,-17.1,178,4175,0.00,2.55,0.00,0.000,6,0.000,0.044,2393,1739,3552,0,0,0,0,0,0
$GC,4454,-2.06,-107.8,752.3,-15.3,185,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,1739,3550,0,0,0,0,0,0
$GC,4696,-2.06,-107.8,788.1,-14.7,191,4700,0.00,2.67,0.00,0.000,4,0.000,0.070,2393,215,3548,0,0,0,0,0,0
$GC,4756,-2.06,-107.8,797.9,-16.0,192,4760,0.00,2.55,0.00,0.000,6,0.000,0.043,2393,1736,3548,0,0,0,0,0,0
$GC,5026,-2.06,-107.8,836.7,-14.4,199,5030,0.00,2.65,0.00,0.000,4,0.000,0.068,2393,223,3545,0,0,0,0,0,0
$GC,5044,-2.06,-107.8,839.8,-14.2,199,5048,0.00,2.50,0.00,0.000,6,0.000,0.041,2393,1731,3545,0,0,0,0,0,0
$GC,5307,-2.06,-107.8,875.8,-13.3,206,5312,0.00,2.65,0.00,0.000,4,0.000,0.068,2393,218,3544,0,0,0,0,0,0
$GC,5425,-2.06,-107.8,892.6,-13.8,208,5429,0.00,2.50,0.00,0.000,6,0.000,0.042,2393,1724,3542,0,0,0,0,0,0
$STATE,5478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5478,begin apogee
$GC,5483,-0.31,0.0,900.3,13.6,210,5580,1.83,0.00,91.82,1.167,6,0.094,0.000,2787,1724,3120,0,0,0,0,0,0
$STATE,5580,end apogee,CONTROL_FINISHED_OK
$STATE,5580,begin climb
$GC,5583,1.84,107.8,901.8,0.0,212,5689,1.98,2.72,98.07,1.146,4,0.027,0.059,3293,3275,2679,0,0,0,0,0,0
$GC,5701,1.57,151.4,902.6,5.4,215,5750,0.47,2.70,41.05,1.111,6,0.137,0.039,3204,1697,2501,0,0,0,0,0,0
$GC,6011,1.47,151.4,860.5,14.0,223,6017,0.12,2.72,0.00,0.000,4,0.163,0.077,3182,170,2493,0,0,0,0,0,0
$GC,6244,1.30,151.4,826.4,14.4,228,6249,0.20,2.53,0.00,0.000,6,0.142,0.037,3146,1677,2489,0,0,0,0,0,0
$GC,6529,1.30,151.4,793.9,11.4,235,6533,0.00,2.67,0.00,0.000,4,0.000,0.068,3146,169,2487,0,0,0,0,0,0
$GC,6547,1.30,151.4,791.2,12.3,235,6552,0.00,2.50,0.00,0.000,6,0.000,0.038,3146,1672,2487,0,0,0,0,0,0
$GC,6813,1.30,151.4,761.3,11.4,242,6817,0.00,2.67,0.00,0.000,4,0.000,0.070,3146,161,2486,0,0,0,0,0,0
$GC,7057,1.23,151.4,729.5,13.2,247,7061,0.00,2.50,0.00,0.000,6,0.000,0.038,3145,1657,2484,0,0,0,0,0,0
$GC,7331,1.23,151.4,699.4,10.8,254,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1657,2483,0,0,0,0,0,0
$GC,7574,1.29,151.4,673.4,10.6,260,7578,0.00,2.62,0.00,0.000,4,0.000,0.068,3146,164,2482,0,0,0,0,0,0
$GC,7780,1.29,151.4,648.1,12.1,264,7785,0.00,2.45,0.00,0.000,6,0.000,0.036,3146,1648,2480,0,0,0,0,0,0
$GC,8044,1.36,151.4,621.1,10.1,271,8049,0.00,2.60,0.00,0.000,4,0.000,0.066,3146,169,2480,0,0,0,0,0,0
$GC,8193,1.36,151.4,604.3,11.6,274,8198,0.00,2.42,0.00,0.000,6,0.000,0.034,3146,1645,2479,0,0,0,0,0,0
$GC,8466,1.43,151.4,576.3,10.1,281,8472,0.10,2.58,0.00,0.000,4,0.085,0.063,3181,169,2479,0,0,0,0,0,0
$GC,8579,1.29,151.4,563.9,11.8,283,8584,0.20,2.42,0.00,0.000,6,0.130,0.031,3144,1643,2479,0,0,0,0,0,0
$GC,8848,1.39,164.8,539.6,8.6,290,8864,0.00,2.60,8.88,0.829,4,0.000,0.060,3144,168,2447,0,0,0,0,0,0
$GC,9008,1.39,164.8,522.3,10.8,293,9012,0.00,2.35,0.00,0.000,6,0.000,0.028,3144,1624,2445,0,0,0,0,0,0
$GC,9272,1.49,169.2,497.4,9.5,300,9285,0.17,2.58,5.32,0.690,4,0.058,0.058,3198,170,2430,0,0,0,0,0,0
$GC,9338,1.33,169.2,489.5,12.8,301,9343,0.25,2.35,0.00,0.000,6,0.124,0.028,3151,1623,2429,0,0,0,0,0,0
$GC,9607,1.42,169.2,461.7,10.3,308,9612,0.00,2.53,0.00,0.000,4,0.000,0.058,3151,162,2428,0,0,0,0,0,0
$GC,9669,1.42,169.2,455.2,11.1,309,9673,0.00,2.33,0.00,0.000,6,0.000,0.027,3151,1618,2428,0,0,0,0,0,0
$GC,9939,1.52,178.1,429.8,9.0,316,9956,0.17,2.58,9.95,0.781,4,0.057,0.058,3208,166,2393,0,0,0,0,0,0
$GC,9986,1.36,178.1,424.5,11.6,317,9991,0.25,2.35,0.00,0.000,6,0.127,0.027,3161,1623,2391,0,0,0,0,0,0
$GC,10276,1.46,189.4,398.7,8.8,324,10292,0.00,2.55,11.43,0.774,4,0.000,0.058,3161,168,2347,0,0,0,0,0,0
$GC,10451,1.46,189.4,379.6,11.8,327,10457,0.00,2.35,0.00,0.000,6,0.000,0.026,3161,1622,2344,0,0,0,0,0,0
$GC,10702,1.57,196.4,356.4,9.3,334,10712,0.17,0.00,7.47,0.685,6,0.056,0.000,3219,1623,2319,0,0,0,0,0,0
$GC,10945,1.57,196.4,327.8,12.0,340,10949,0.00,2.50,0.00,0.000,4,0.000,0.054,3219,166,2317,0,0,0,0,0,0
$GC,10970,1.45,196.4,325.0,10.9,340,10975,0.20,2.33,0.00,0.000,6,0.129,0.025,3179,1620,2316,0,0,0,0,0,0
$GC,11230,1.53,202.4,299.2,9.4,347,11239,0.00,0.00,6.78,0.629,6,0.000,0.000,3179,1621,2294,0,0,0,0,0,0
$GC,11474,1.61,205.1,276.0,9.7,353,11483,0.12,2.50,4.18,0.500,4,0.069,0.053,3229,167,2282,0,0,0,0,0,0
$GC,11675,1.47,205.1,250.4,12.6,357,11681,0.25,2.35,0.00,0.000,6,0.124,0.024,3181,1634,2282,0,0,0,0,0,0
$GC,11946,1.57,205.1,221.4,10.6,364,11951,0.00,2.72,0.00,0.000,4,0.000,0.048,3180,3258,2281,0,0,0,0,0,0
$GC,11966,1.67,209.0,219.3,9.6,364,11978,0.17,2.70,5.03,0.514,6,0.054,0.031,3247,1608,2266,0,0,0,0,0,0
$GC,12240,1.67,209.0,187.6,11.3,377,12245,0.12,0.00,0.00,0.000,6,0.132,0.000,3224,1608,2266,0,0,0,0,0,0
$GC,12502,1.67,213.8,162.7,9.5,402,12516,0.00,2.47,5.88,0.505,4,0.000,0.053,3224,167,2247,0,0,0,0,0,0
$GC,12580,1.59,213.8,154.7,11.9,409,12584,0.00,2.28,0.00,0.000,6,0.000,0.021,3223,1621,2247,0,0,0,0,0,0
$GC,12848,1.62,240.5,132.5,7.2,433,12876,0.00,0.00,24.77,0.589,6,0.000,0.000,3223,1626,2139,0,0,0,0,0,0
$GC,13131,1.70,240.5,106.2,10.1,460,13136,0.00,2.65,0.00,0.000,4,0.000,0.035,3223,3259,2137,0,0,0,0,0,0
$GC,13327,1.81,240.5,84.8,11.1,478,13337,0.10,2.72,0.00,0.000,6,0.036,0.028,3277,1599,2135,0,0,0,0,0,0
$GC,13596,1.75,240.5,51.4,13.1,503,13601,0.17,2.40,0.00,0.000,4,0.120,0.045,3242,156,2135,0,0,0,0,0,0
$GC,13737,1.65,240.5,28.8,15.7,515,13746,0.08,2.30,0.00,0.000,6,0.109,0.020,3224,1614,2136,0,0,0,0,0,0
$STATE,13921,end climb,SURFACE_DEPTH_REACHED
$STATE,13921,begin surface coast
$FINISH,0.9,1.004096
$STATE,13960,end surface coast,CONTROL_FINISHED_OK
$STATE,13960,begin surface
$SM_CCo,13983,66.72,0.064,0,0,1570,380.21
$SM_GC,1.92,0.00,0.00,66.72,0.000,0.000,0.064,414,1837,1570,-11.25,1.33,380.21
$IRIDIUM_FIX,2244.02,-15804.53,130400,111152
$TT8_MAMPS,0.027612
$HUMID,48.97
$INTERNAL_PRESSURE,9.72104
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.0,70.432
$10V_AH,9.9,62.835
$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,30.250,167.750,320.625,66.725,0.000,88.269,136.054,315.930,0.000,0.000,31.585,1322.563,9659.051,504.457,2477.542,942.099,33.363,1557.165,0.000,2440.903,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,77.467,1166.607,63.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.593,277.160,350.353,477.674,842.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355252
$DATA_FILE_SIZE,44592,550
$CAP_FILE_SIZE,157394,0
$CFSIZE,260165632,140980224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180111,153958,2250.254,-15803.118,39,2.0,43,10.1