version: 66.06
glider: 148
mission: 9
dive: 548
start: 1 19 111 1 37 49
data:
$ID,148
$MISSION,9
$DIVE,548
$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,-870150.69
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,013007,2250.947,-15758.140,29,1.0,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.9
$GPS2,013656,2250.892,-15758.176,15,1.4,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.168,0.044
$KALMAN_X,-121133.2,619.2,40.4,140577.6,-715.1
$KALMAN_Y,-172737.6,-118.7,-91.5,304432.8,-2357.9
$MHEAD_RNG_PITCHd_Wd,65.4,2599,-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,-63.0,0.0,0.0,0,96,0.00,0.00,-73.82,0.000,6,0.000,0.000,416,1847,3377,0,0,0,0,0,0
$GC,100,-1.82,-93.5,4.3,-6.8,10,126,10.93,2.47,-2.28,0.000,4,0.158,0.040,2454,3370,3505,0,0,0,0,0,0
$GC,166,-1.73,-93.5,25.8,-22.5,19,175,0.10,2.58,0.00,0.000,6,0.102,0.025,2479,1787,3506,0,0,0,0,0,0
$GC,440,-1.73,-93.5,80.2,-19.2,45,444,0.00,2.55,0.00,0.000,4,0.000,0.040,2479,208,3507,0,0,0,0,0,0
$GC,500,-1.73,-93.5,93.6,-18.8,50,509,0.00,2.50,0.00,0.000,6,0.000,0.019,2479,1788,3508,0,0,0,0,0,0
$GC,767,-1.82,-93.5,137.2,-15.6,75,771,0.00,2.53,0.00,0.000,4,0.000,0.029,2479,3368,3509,0,0,0,0,0,0
$GC,816,-1.94,-93.5,145.0,-14.8,79,821,0.17,2.55,0.00,0.000,6,0.052,0.022,2415,1772,3509,0,0,0,0,0,0
$GC,1082,-1.94,-93.5,192.3,-17.3,103,1087,0.10,2.53,0.00,0.000,4,0.134,0.038,2434,202,3510,0,0,0,0,0,0
$GC,1141,-1.94,-93.5,203.8,-16.9,107,1145,0.00,2.47,0.00,0.000,6,0.000,0.020,2434,1781,3510,0,0,0,0,0,0
$GC,1416,-1.94,-93.5,245.7,-14.8,114,1420,0.00,2.58,0.00,0.000,4,0.000,0.038,2434,213,3512,0,0,0,0,0,0
$GC,1436,-1.94,-93.5,249.2,-15.9,114,1441,0.00,2.47,0.00,0.000,6,0.000,0.020,2434,1790,3511,0,0,0,0,0,0
$GC,1700,-1.94,-93.5,288.5,-14.3,121,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1792,3512,0,0,0,0,0,0
$GC,1944,-2.01,-93.5,324.7,-14.8,127,1948,0.00,2.65,0.00,0.000,4,0.000,0.045,2434,207,3512,0,0,0,0,0,0
$GC,1986,-2.01,-93.5,331.3,-15.4,128,1991,0.00,2.47,0.00,0.000,6,0.000,0.023,2434,1778,3512,0,0,0,0,0,0
$GC,2275,-2.08,-93.5,374.4,-15.1,135,2280,0.12,2.65,0.00,0.000,4,0.068,0.051,2390,217,3512,0,0,0,0,0,0
$GC,2304,-2.01,-93.5,380.2,-19.8,135,2309,0.15,2.50,0.00,0.000,6,0.117,0.025,2420,1778,3511,0,0,0,0,0,0
$GC,2561,-2.01,-93.5,421.4,-15.8,142,2566,0.00,2.65,0.00,0.000,4,0.000,0.055,2420,217,3511,0,0,0,0,0,0
$GC,2589,-2.01,-93.5,426.7,-17.6,142,2594,0.00,2.53,0.00,0.000,6,0.000,0.028,2420,1777,3511,0,0,0,0,0,0
$GC,2843,-2.01,-93.5,465.1,-14.8,149,2848,0.00,2.65,0.00,0.000,4,0.000,0.058,2420,220,3509,0,0,0,0,0,0
$GC,2925,-2.01,-93.5,477.5,-16.0,150,2930,0.00,2.55,0.00,0.000,6,0.000,0.033,2420,1775,3509,0,0,0,0,0,0
$GC,3178,-2.07,-93.5,513.4,-13.9,156,3182,0.00,2.67,0.00,0.000,4,0.000,0.061,2420,221,3508,0,0,0,0,0,0
$GC,3306,-2.07,-93.5,533.5,-16.2,158,3310,0.00,2.53,0.00,0.000,6,0.000,0.037,2420,1759,3507,0,0,0,0,0,0
$GC,3556,-2.14,-93.5,571.2,-15.1,164,3561,0.12,2.67,0.00,0.000,4,0.070,0.065,2376,218,3505,0,0,0,0,0,0
$GC,3594,-2.06,-93.5,578.5,-18.7,164,3600,0.17,2.53,0.00,0.000,6,0.117,0.038,2410,1753,3505,0,0,0,0,0,0
$GC,3845,-2.06,-93.5,617.9,-15.8,171,3850,0.00,2.67,0.00,0.000,4,0.000,0.067,2410,222,3503,0,0,0,0,0,0
$GC,3870,-2.06,-93.5,622.2,-17.0,171,3874,0.00,2.55,0.00,0.000,6,0.000,0.041,2410,1750,3503,0,0,0,0,0,0
$GC,4129,-2.12,-93.5,660.5,-14.5,178,4134,0.00,2.67,0.00,0.000,4,0.000,0.068,2410,222,3502,0,0,0,0,0,0
$GC,4163,-2.12,-93.5,665.8,-16.5,178,4168,0.00,2.53,0.00,0.000,6,0.000,0.041,2410,1744,3501,0,0,0,0,0,0
$GC,4413,-2.19,-93.5,700.9,-13.9,184,4418,0.12,2.67,0.00,0.000,4,0.071,0.070,2368,223,3500,0,0,0,0,0,0
$GC,4452,-2.08,-93.5,707.3,-17.2,184,4458,0.17,2.55,0.00,0.000,6,0.117,0.043,2402,1742,3500,0,0,0,0,0,0
$GC,4703,-2.08,-93.5,741.6,-13.5,191,4707,0.00,2.67,0.00,0.000,4,0.000,0.070,2402,220,3498,0,0,0,0,0,0
$GC,4782,-2.08,-93.5,754.0,-15.9,192,4786,0.00,2.55,0.00,0.000,6,0.000,0.044,2402,1734,3497,0,0,0,0,0,0
$GC,5031,-2.08,-93.5,786.7,-13.1,198,5036,0.00,2.67,0.00,0.000,4,0.000,0.070,2402,214,3496,0,0,0,0,0,0
$GC,5084,-2.08,-93.5,794.6,-15.8,199,5088,0.00,2.55,0.00,0.000,6,0.000,0.044,2402,1729,3495,0,0,0,0,0,0
$GC,5362,-2.14,-93.5,832.0,-13.3,206,5366,0.00,2.65,0.00,0.000,4,0.000,0.070,2403,221,3493,0,0,0,0,0,0
$GC,5399,-2.14,-93.5,837.7,-15.6,206,5404,0.00,2.53,0.00,0.000,6,0.000,0.044,2402,1724,3493,0,0,0,0,0,0
$GC,5650,-2.21,-93.5,872.1,-13.7,213,5656,0.10,2.65,0.00,0.000,4,0.085,0.070,2367,215,3492,0,0,0,0,0,0
$GC,5702,-2.12,-93.5,881.2,-16.9,214,5708,0.15,2.50,0.00,0.000,6,0.123,0.043,2396,1718,3492,0,0,0,0,0,0
$STATE,5856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5856,begin apogee
$GC,5863,-0.31,0.0,903.8,14.2,218,5949,1.80,0.00,80.82,1.171,6,0.091,0.000,2789,1719,3120,0,0,0,0,0,0
$STATE,5949,end apogee,CONTROL_FINISHED_OK
$STATE,5949,begin climb
$GC,5952,1.82,93.5,907.2,0.0,220,6048,1.95,2.80,84.65,1.147,4,0.025,0.071,3285,179,2737,0,0,0,0,0,0
$GC,6056,1.54,174.2,910.7,1.4,222,6139,0.45,2.55,74.75,1.134,6,0.130,0.036,3198,1687,2409,0,0,0,0,0,0
$GC,6394,1.47,174.2,868.8,13.9,231,6398,0.00,2.67,0.00,0.000,4,0.000,0.068,3198,181,2400,0,0,0,0,0,0
$GC,6664,1.30,174.2,823.7,17.5,236,6670,0.28,2.50,0.00,0.000,6,0.135,0.038,3146,1664,2397,0,0,0,0,0,0
$GC,6916,1.36,174.2,791.5,12.6,243,6920,0.00,2.62,0.00,0.000,4,0.000,0.069,3146,183,2395,0,0,0,0,0,0
$GC,7167,1.36,174.2,755.0,15.0,248,7171,0.00,2.47,0.00,0.000,6,0.000,0.038,3146,1659,2394,0,0,0,0,0,0
$GC,7431,1.44,174.2,721.9,12.5,255,7436,0.12,2.60,0.00,0.000,4,0.074,0.069,3187,184,2393,0,0,0,0,0,0
$GC,7702,1.29,174.2,679.7,16.2,260,7708,0.22,2.45,0.00,0.000,6,0.133,0.037,3146,1649,2392,0,0,0,0,0,0
$GC,7952,1.38,174.2,649.6,11.7,267,7956,0.00,2.58,0.00,0.000,4,0.000,0.067,3146,184,2392,0,0,0,0,0,0
$GC,8095,1.38,174.2,631.9,13.1,270,8100,0.00,2.42,0.00,0.000,6,0.000,0.035,3146,1645,2391,0,0,0,0,0,0
$GC,8378,1.46,174.2,601.0,10.6,277,8383,0.15,2.55,0.00,0.000,4,0.065,0.065,3192,178,2390,0,0,0,0,0,0
$GC,8514,1.34,174.2,582.0,13.4,280,8519,0.20,2.40,0.00,0.000,6,0.137,0.033,3156,1636,2390,0,0,0,0,0,0
$GC,8802,1.41,174.2,551.8,10.2,287,8806,0.00,2.50,0.00,0.000,4,0.000,0.061,3155,184,2390,0,0,0,0,0,0
$GC,8978,1.41,174.2,532.2,10.4,290,8984,0.00,2.38,0.00,0.000,6,0.000,0.029,3155,1638,2389,0,0,0,0,0,0
$GC,9228,1.49,179.3,508.5,9.5,297,9233,0.12,2.53,0.00,0.000,4,0.074,0.061,3197,184,2388,0,0,0,0,0,0
$GC,9359,1.36,179.3,491.5,13.0,299,9365,0.20,2.35,0.00,0.000,6,0.140,0.028,3161,1633,2388,0,0,0,0,0,0
$GC,9609,1.43,179.3,465.7,10.2,306,9614,0.00,2.50,0.00,0.000,4,0.000,0.059,3160,181,2388,0,0,0,0,0,0
$GC,9860,1.43,179.3,435.4,11.6,311,9864,0.00,2.33,0.00,0.000,6,0.000,0.027,3160,1634,2387,0,0,0,0,0,0
$GC,10131,1.52,184.6,409.9,9.4,318,10144,0.12,2.58,6.12,0.676,4,0.074,0.058,3203,179,2367,0,0,0,0,0,0
$GC,10220,1.39,184.6,399.2,13.3,319,10226,0.20,2.33,0.00,0.000,6,0.133,0.026,3166,1619,2366,0,0,0,0,0,0
$GC,10472,1.48,192.0,375.7,9.2,326,10487,0.00,2.47,8.48,0.713,4,0.000,0.056,3166,183,2336,0,0,0,0,0,0
$GC,10529,1.48,192.0,369.1,10.4,327,10533,0.00,2.33,0.00,0.000,6,0.000,0.026,3166,1620,2336,0,0,0,0,0,0
$GC,10801,1.57,192.0,340.6,10.6,334,10803,0.15,0.00,0.00,0.000,6,0.063,0.000,3216,1620,2335,0,0,0,0,0,0
$GC,11047,1.57,192.0,309.9,12.7,340,11051,0.00,2.45,0.00,0.000,4,0.000,0.054,3216,181,2335,0,0,0,0,0,0
$GC,11203,1.44,192.0,289.1,14.6,343,11208,0.20,2.30,0.00,0.000,6,0.130,0.025,3178,1616,2334,0,0,0,0,0,0
$GC,11474,1.52,192.0,259.8,10.7,350,11478,0.00,2.42,0.00,0.000,4,0.000,0.054,3178,181,2334,0,0,0,0,0,0
$GC,11492,1.52,192.0,257.6,10.1,350,11496,0.00,2.28,0.00,0.000,6,0.000,0.024,3178,1613,2334,0,0,0,0,0,0
$GC,11760,1.62,204.7,233.6,8.7,357,11781,0.15,2.78,12.75,0.654,4,0.061,0.047,3230,3253,2283,0,0,0,0,0,0
$GC,11793,1.62,204.7,230.3,10.9,357,11797,0.00,2.72,0.00,0.000,6,0.000,0.034,3230,1623,2282,0,0,0,0,0,0
$GC,12047,1.62,204.7,201.2,11.3,364,12051,0.00,2.45,0.00,0.000,4,0.000,0.059,3230,179,2282,0,0,0,0,0,0
$GC,12061,1.62,204.7,199.5,11.2,364,12065,0.00,2.28,0.00,0.000,6,0.000,0.021,3230,1616,2281,0,0,0,0,0,0
$GC,12336,1.62,204.7,169.7,11.2,388,12340,0.00,2.42,0.00,0.000,4,0.000,0.050,3229,181,2281,0,0,0,0,0,0
$GC,12533,1.50,204.7,145.9,10.8,407,12538,0.20,2.25,0.00,0.000,6,0.124,0.022,3191,1606,2281,0,0,0,0,0,0
$GC,12798,1.61,218.6,121.5,8.5,431,12819,0.00,2.75,13.35,0.561,4,0.000,0.034,3191,3253,2227,0,0,0,0,0,0
$GC,12856,1.78,231.0,116.1,8.7,436,12875,0.20,2.72,12.12,0.545,6,0.026,0.028,3264,1609,2178,0,0,0,0,0,0
$GC,13129,1.78,231.0,85.4,11.3,462,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1609,2176,0,0,0,0,0,0
$GC,13389,1.78,231.0,56.4,11.4,486,13393,0.00,2.35,0.00,0.000,4,0.000,0.045,3264,177,2176,0,0,0,0,0,0
$GC,13726,1.60,231.0,11.3,13.8,526,13734,0.22,2.25,0.00,0.000,6,0.101,0.020,3213,1609,2176,0,0,0,0,0,0
$STATE,13784,end climb,SURFACE_DEPTH_REACHED
$STATE,13785,begin surface coast
$FINISH,1.0,1.006707
$STATE,13833,end surface coast,CONTROL_FINISHED_OK
$STATE,13833,begin surface
$SM_CCo,13855,70.35,0.064,0,0,1570,380.21
$SM_GC,1.83,0.00,0.00,70.35,0.000,0.000,0.064,416,1885,1570,-11.25,2.69,380.21
$IRIDIUM_FIX,2241.69,-15759.32,130400,202023
$TT8_MAMPS,0.026845
$HUMID,49.96
$INTERNAL_PRESSURE,9.69174
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,22.9,70.848
$10V_AH,9.8,63.190
$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,30.900,182.300,293.050,70.350,0.000,23.288,34.354,189.670,0.000,0.000,16.895,1297.004,9498.748,469.379,2442.772,617.056,33.366,1529.835,0.000,2413.941,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,70.564,1171.209,64.428,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.021,268.575,344.049,486.519,859.789,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355268
$DATA_FILE_SIZE,41605,542
$CAP_FILE_SIZE,153010,0
$CFSIZE,260165632,140763136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190111,053107,2250.357,-15756.435,30,0.9,30,10.1