version: 66.06
glider: 148
mission: 9
dive: 552
start: 1 19 111 18 35 1
data:
$ID,148
$MISSION,9
$DIVE,552
$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,-870214.88
$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,47
$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
$GPS1,182707,2250.698,-15757.336,40,1.9,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.4
$GPS2,183407,2250.625,-15757.271,10,1.1,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.016,0.185
$KALMAN_X,-120373.1,-184.7,-45.7,142269.6,755.1
$KALMAN_Y,-180425.5,1159.7,510.2,309744.5,-4475.0
$MHEAD_RNG_PITCHd_Wd,344.9,1247,-25.5,-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,17,-1.68,-71.9,0.0,0.0,0,88,0.00,0.00,-68.28,0.000,2,0.000,0.000,407,1886,3219,0,0,0,0,0,0
$GC,93,-1.77,-143.4,3.1,-3.3,9,125,10.95,2.42,-9.62,0.000,4,0.154,0.042,2468,3367,3709,0,0,0,0,0,0
$GC,172,-1.68,-143.4,23.9,-21.1,20,181,0.08,2.58,0.00,0.000,6,0.099,0.025,2489,1784,3710,0,0,0,0,0,0
$GC,452,-1.59,-143.4,85.6,-23.0,47,457,0.12,2.55,0.00,0.000,4,0.131,0.031,2513,3364,3711,0,0,0,0,0,0
$GC,470,-1.50,-143.4,91.5,-22.2,48,475,0.00,2.50,0.00,0.000,6,0.000,0.020,2512,1772,3711,0,0,0,0,0,0
$GC,735,-1.58,-143.4,141.5,-16.5,72,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1772,3711,0,0,0,0,0,0
$GC,999,-1.71,-143.4,180.4,-13.0,97,1005,0.12,0.00,0.00,0.000,6,0.067,0.000,2463,1772,3713,0,0,0,0,0,0
$GC,1274,-1.71,-143.4,229.1,-17.7,112,1279,0.10,2.55,0.00,0.000,4,0.128,0.040,2484,215,3714,0,0,0,0,0,0
$GC,1314,-1.83,-143.4,235.8,-17.1,112,1320,0.00,2.45,0.00,0.000,6,0.000,0.020,2484,1789,3714,0,0,0,0,0,0
$GC,1564,-1.92,-143.4,274.7,-15.2,119,1569,0.17,2.55,0.00,0.000,4,0.054,0.034,2423,3367,3715,0,0,0,0,0,0
$GC,1603,-1.92,-143.4,281.9,-20.4,119,1609,0.00,2.53,0.00,0.000,6,0.000,0.024,2423,1789,3714,0,0,0,0,0,0
$GC,1853,-1.92,-143.4,328.6,-18.5,126,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1789,3714,0,0,0,0,0,0
$GC,2096,-1.92,-143.4,372.2,-17.8,132,2101,0.00,2.65,0.00,0.000,4,0.000,0.051,2423,208,3714,0,0,0,0,0,0
$GC,2161,-1.92,-143.4,384.2,-17.7,133,2166,0.00,2.47,0.00,0.000,6,0.000,0.025,2423,1769,3714,0,0,0,0,0,0
$GC,2427,-1.92,-143.4,428.9,-17.0,140,2431,0.00,2.62,0.00,0.000,4,0.000,0.055,2423,215,3714,0,0,0,0,0,0
$GC,2459,-1.92,-143.4,435.3,-17.2,140,2464,0.00,2.53,0.00,0.000,6,0.000,0.030,2423,1781,3714,0,0,0,0,0,0
$GC,2709,-1.92,-143.4,477.8,-16.9,146,2713,0.00,2.70,0.00,0.000,4,0.000,0.060,2423,211,3713,0,0,0,0,0,0
$GC,2743,-1.92,-143.4,483.6,-17.1,146,2748,0.00,2.55,0.00,0.000,6,0.000,0.035,2423,1772,3713,0,0,0,0,0,0
$GC,2993,-1.92,-143.4,525.2,-16.7,152,2997,0.00,2.70,0.00,0.000,4,0.000,0.063,2423,214,3711,0,0,0,0,0,0
$GC,3016,-1.92,-143.4,529.8,-18.7,152,3021,0.00,2.58,0.00,0.000,6,0.000,0.038,2423,1775,3711,0,0,0,0,0,0
$GC,3275,-1.92,-143.4,571.1,-15.6,159,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1775,3709,0,0,0,0,0,0
$GC,3519,-1.92,-143.4,608.3,-15.2,165,3523,0.00,2.72,0.00,0.000,4,0.000,0.066,2423,214,3707,0,0,0,0,0,0
$GC,3533,-1.92,-143.4,610.8,-15.5,165,3537,0.00,2.58,0.00,0.000,6,0.000,0.041,2423,1766,3708,0,0,0,0,0,0
$GC,3803,-1.92,-143.4,651.1,-14.8,172,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1766,3705,0,0,0,0,0,0
$GC,4044,-1.92,-143.4,686.3,-14.3,178,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1765,3704,0,0,0,0,0,0
$GC,4288,-1.92,-143.4,719.8,-13.7,184,4293,0.00,2.72,0.00,0.000,4,0.000,0.069,2423,214,3701,0,0,0,0,0,0
$GC,4307,-1.92,-143.4,722.7,-14.6,184,4311,0.00,2.62,0.00,0.000,6,0.000,0.044,2423,1771,3701,0,0,0,0,0,0
$GC,4572,-1.92,-143.4,759.1,-13.8,191,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1772,3698,0,0,0,0,0,0
$GC,4814,-1.92,-143.4,793.4,-14.2,197,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1771,3697,0,0,0,0,0,0
$GC,5057,-1.92,-143.4,828.6,-14.5,203,5062,0.00,2.72,0.00,0.000,4,0.000,0.067,2422,215,3695,0,0,0,0,0,0
$GC,5085,-1.92,-143.4,832.9,-15.1,203,5090,0.00,2.62,0.00,0.000,6,0.000,0.045,2423,1771,3695,0,0,0,0,0,0
$GC,5341,-1.92,-143.4,868.1,-13.6,210,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1771,3693,0,0,0,0,0,0
$STATE,5581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5581,begin apogee
$GC,5587,-0.31,0.0,900.6,13.4,216,5715,1.67,0.00,123.93,1.165,6,0.090,0.000,2789,1677,3120,0,0,0,0,0,0
$STATE,5716,end apogee,CONTROL_FINISHED_OK
$STATE,5716,begin climb
$GC,5718,1.77,143.4,905.5,0.0,219,5857,1.92,2.75,129.25,1.144,4,0.028,0.072,3261,184,2535,0,0,0,0,0,0
$GC,6086,1.33,143.4,867.5,17.0,227,6094,0.55,2.50,0.00,0.000,6,0.123,0.038,3153,1683,2526,0,0,0,0,0,0
$GC,6344,1.27,143.4,835.7,11.9,234,6348,0.00,2.65,0.00,0.000,4,0.000,0.070,3153,179,2523,0,0,0,0,0,0
$GC,6463,1.09,143.4,819.8,14.7,236,6468,0.28,2.50,0.00,0.000,6,0.132,0.038,3101,1678,2523,0,0,0,0,0,0
$GC,6723,1.18,143.4,792.4,10.2,243,6728,0.00,2.65,0.00,0.000,4,0.000,0.071,3101,184,2521,0,0,0,0,0,0
$GC,6876,1.18,143.4,774.9,11.0,246,6880,0.00,2.50,0.00,0.000,6,0.000,0.037,3100,1676,2520,0,0,0,0,0,0
$GC,7145,1.28,153.2,749.9,9.1,253,7158,0.15,2.67,7.43,0.879,4,0.062,0.070,3151,184,2495,0,0,0,0,0,0
$GC,7424,1.12,153.2,716.1,11.6,259,7430,0.22,2.47,0.00,0.000,6,0.132,0.036,3107,1663,2492,0,0,0,0,0,0
$GC,7710,1.21,167.2,690.8,8.7,266,7730,0.00,2.70,13.93,0.963,4,0.000,0.068,3107,185,2437,0,0,0,0,0,0
$GC,7996,1.21,167.2,660.8,11.4,272,8000,0.00,2.42,0.00,0.000,6,0.000,0.035,3106,1648,2433,0,0,0,0,0,0
$GC,8275,1.32,174.1,634.6,9.4,279,8289,0.17,2.60,7.45,0.831,4,0.057,0.067,3164,180,2410,0,0,0,0,0,0
$GC,8323,1.16,174.1,628.9,12.9,280,8329,0.25,2.42,0.00,0.000,6,0.130,0.034,3117,1638,2408,0,0,0,0,0,0
$GC,8607,1.24,174.1,599.9,10.0,287,8611,0.00,2.55,0.00,0.000,4,0.000,0.066,3117,177,2407,0,0,0,0,0,0
$GC,8671,1.24,174.1,593.0,11.7,288,8675,0.00,2.40,0.00,0.000,6,0.000,0.033,3117,1633,2406,0,0,0,0,0,0
$GC,8937,1.34,180.1,567.7,9.4,295,8950,0.15,2.58,7.00,0.785,4,0.063,0.064,3167,184,2385,0,0,0,0,0,0
$GC,9085,1.19,180.1,548.5,12.8,298,9090,0.22,2.38,0.00,0.000,6,0.133,0.030,3124,1640,2383,0,0,0,0,0,0
$GC,9365,1.28,185.2,521.2,9.5,305,9377,0.00,2.60,5.93,0.725,4,0.000,0.061,3124,184,2364,0,0,0,0,0,0
$GC,9396,1.28,185.2,517.6,11.9,305,9400,0.00,2.38,0.00,0.000,6,0.000,0.028,3124,1632,2364,0,0,0,0,0,0
$GC,9653,1.36,186.6,492.6,9.9,312,9654,0.15,0.00,0.00,0.000,6,0.061,0.000,3176,1632,2362,0,0,0,0,0,0
$GC,9894,1.36,186.6,464.2,11.7,318,9898,0.00,2.50,0.00,0.000,4,0.000,0.059,3176,177,2361,0,0,0,0,0,0
$GC,10011,1.22,186.6,448.7,13.1,320,10016,0.25,2.33,0.00,0.000,6,0.133,0.026,3129,1624,2361,0,0,0,0,0,0
$GC,10273,1.31,186.6,421.6,10.2,327,10277,0.00,2.50,0.00,0.000,4,0.000,0.059,3129,176,2361,0,0,0,0,0,0
$GC,10319,1.31,186.6,415.9,12.8,328,10323,0.00,2.33,0.00,0.000,6,0.000,0.026,3129,1627,2360,0,0,0,0,0,0
$GC,10603,1.41,187.3,387.4,9.9,335,10608,0.15,2.50,0.00,0.000,4,0.061,0.059,3181,174,2361,0,0,0,0,0,0
$GC,10623,1.34,187.3,384.9,11.0,335,10628,0.15,2.33,0.00,0.000,6,0.139,0.025,3155,1622,2361,0,0,0,0,0,0
$GC,10887,1.34,188.7,358.3,9.9,342,10896,0.00,2.47,4.32,0.552,4,0.000,0.057,3155,181,2350,0,0,0,0,0,0
$GC,11156,1.34,188.7,328.7,10.8,347,11161,0.00,2.30,0.00,0.000,6,0.000,0.025,3155,1621,2350,0,0,0,0,0,0
$GC,11407,1.34,191.3,304.6,9.8,354,11416,0.00,2.47,4.05,0.506,4,0.000,0.058,3155,180,2340,0,0,0,0,0,0
$GC,11477,1.34,191.3,296.9,11.0,355,11481,0.00,2.30,0.00,0.000,6,0.000,0.024,3155,1617,2340,0,0,0,0,0,0
$GC,11738,1.42,203.5,273.0,8.9,362,11758,0.00,2.80,12.85,0.684,4,0.000,0.048,3155,3257,2288,0,0,0,0,0,0
$GC,11787,1.55,214.9,268.5,8.9,363,11805,0.17,2.75,11.32,0.663,6,0.053,0.033,3214,1615,2244,0,0,0,0,0,0
$GC,12072,1.55,214.9,233.4,12.5,370,12076,0.00,2.78,0.00,0.000,4,0.000,0.041,3214,3266,2240,0,0,0,0,0,0
$GC,12123,1.55,214.9,226.6,12.5,371,12127,0.00,2.75,0.00,0.000,6,0.000,0.034,3214,1615,2239,0,0,0,0,0,0
$GC,12384,1.55,214.9,195.6,12.3,379,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1615,2239,0,0,0,0,0,0
$GC,12647,1.55,214.9,166.8,10.8,404,12651,0.00,2.42,0.00,0.000,4,0.000,0.057,3214,181,2239,0,0,0,0,0,0
$GC,12935,1.41,214.9,130.6,11.5,432,12945,0.20,2.30,0.00,0.000,6,0.100,0.022,3170,1623,2239,0,0,0,0,0,0
$GC,13201,1.55,230.7,109.0,8.5,457,13223,0.12,2.45,15.25,0.554,4,0.068,0.047,3216,177,2178,0,0,0,0,0,0
$GC,13519,1.48,230.7,76.4,10.4,487,13529,0.12,2.28,0.00,0.000,6,0.100,0.021,3187,1610,2176,0,0,0,0,0,0
$GC,13790,1.58,235.6,52.6,9.5,512,13804,0.00,2.42,5.62,0.416,4,0.000,0.044,3187,182,2159,0,0,0,0,0,0
$GC,14098,1.58,235.6,17.3,11.6,547,14106,0.00,2.25,0.00,0.000,6,0.000,0.019,3187,1607,2159,0,0,0,0,0,0
$STATE,14231,end climb,SURFACE_DEPTH_REACHED
$STATE,14231,begin surface coast
$FINISH,0.9,1.012319
$STATE,14283,end surface coast,CONTROL_FINISHED_OK
$STATE,14283,begin surface
$SM_CCo,14306,69.78,0.064,0,0,1570,380.21
$SM_GC,1.88,0.00,0.00,69.78,0.000,0.000,0.064,408,1831,1570,-11.28,1.19,380.21
$IRIDIUM_FIX,2241.69,-15759.32,140400,131301
$TT8_MAMPS,0.026845
$HUMID,48.22
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,22.9,71.350
$10V_AH,9.8,63.647
$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,29.925,152.325,348.325,69.775,0.000,29.214,36.690,190.202,0.000,0.000,16.709,1304.465,9920.844,504.256,2439.799,619.491,33.370,1543.947,0.000,2418.985,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,72.098,1165.073,64.428,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.203,294.303,372.015,529.845,936.999,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355316
$DATA_FILE_SIZE,44729,576
$CAP_FILE_SIZE,145804,0
$CFSIZE,260165632,140496896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190111,223558,2251.755,-15756.917,36,2.0,39,10.1