version: 66.06
glider: 148
mission: 9
dive: 554
start: 1 20 111 2 57 7
data:
$ID,148
$MISSION,9
$DIVE,554
$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,-870248.5
$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,19
$R_STBD_OVSHOOT,54
$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
$GPS1,024637,2252.112,-15756.343,35,1.6,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-68.1
$GPS2,025613,2251.953,-15756.383,13,1.6,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.139,-0.103
$KALMAN_X,-119461.8,553.8,-74.1,142170.5,214.2
$KALMAN_Y,-182455.8,-188.6,51.0,316043.8,-2667.1
$MHEAD_RNG_PITCHd_Wd,223.3,3768,-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,-63.0,0.0,0.0,0,95,0.00,0.00,-73.18,0.000,6,0.000,0.000,412,1811,3378,0,0,0,0,0,0
$GC,98,-1.82,-93.7,4.3,-6.7,10,123,10.88,2.70,-2.30,0.000,4,0.154,0.046,2456,189,3505,0,0,0,0,0,0
$GC,371,-1.82,-93.7,71.9,-22.1,40,375,0.00,2.50,0.00,0.000,6,0.000,0.019,2456,1783,3507,0,0,0,0,0,0
$GC,635,-1.82,-93.7,123.5,-17.3,64,639,0.00,2.53,0.00,0.000,4,0.000,0.029,2456,3366,3509,0,0,0,0,0,0
$GC,666,-1.82,-93.7,129.1,-16.5,66,674,0.00,2.55,0.00,0.000,6,0.000,0.023,2456,1780,3509,0,0,0,0,0,0
$GC,931,-1.82,-93.7,169.3,-16.5,91,935,0.00,2.55,0.00,0.000,4,0.000,0.038,2456,210,3510,0,0,0,0,0,0
$GC,1020,-1.90,-93.7,184.6,-15.7,99,1029,0.00,2.47,0.00,0.000,6,0.000,0.019,2456,1777,3510,0,0,0,0,0,0
$GC,1288,-2.00,-93.7,224.4,-14.3,113,1293,0.12,2.55,0.00,0.000,4,0.069,0.030,2407,3364,3511,0,0,0,0,0,0
$GC,1304,-2.00,-93.7,227.4,-14.0,113,1309,0.00,2.53,0.00,0.000,6,0.000,0.021,2407,1775,3511,0,0,0,0,0,0
$GC,1572,-2.00,-93.7,271.1,-16.0,120,1577,0.00,2.55,0.00,0.000,4,0.000,0.041,2407,214,3512,0,0,0,0,0,0
$GC,1646,-2.00,-93.7,284.9,-18.4,121,1651,0.00,2.47,0.00,0.000,6,0.000,0.021,2406,1784,3512,0,0,0,0,0,0
$GC,1902,-2.00,-93.7,326.4,-16.3,128,1907,0.00,2.60,0.00,0.000,4,0.000,0.044,2407,216,3512,0,0,0,0,0,0
$GC,1967,-2.00,-93.7,338.1,-18.0,129,1972,0.00,2.47,0.00,0.000,6,0.000,0.023,2407,1775,3512,0,0,0,0,0,0
$GC,2231,-2.00,-93.7,382.4,-16.8,136,2235,0.00,2.62,0.00,0.000,4,0.000,0.050,2406,211,3511,0,0,0,0,0,0
$GC,2293,-2.00,-93.7,393.4,-18.1,137,2297,0.00,2.50,0.00,0.000,6,0.000,0.025,2406,1769,3512,0,0,0,0,0,0
$GC,2561,-2.00,-93.7,437.5,-16.1,144,2565,0.00,2.65,0.00,0.000,4,0.000,0.057,2407,218,3510,0,0,0,0,0,0
$GC,2607,-2.00,-93.7,445.5,-16.9,145,2611,0.00,2.50,0.00,0.000,6,0.000,0.030,2406,1760,3511,0,0,0,0,0,0
$GC,2891,-2.00,-93.7,488.0,-15.1,152,2895,0.00,2.65,0.00,0.000,4,0.000,0.061,2406,220,3509,0,0,0,0,0,0
$GC,2942,-2.00,-93.7,496.6,-16.0,153,2946,0.00,2.53,0.00,0.000,6,0.000,0.033,2406,1761,3508,0,0,0,0,0,0
$GC,3221,-2.00,-93.7,537.3,-14.6,160,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1761,3507,0,0,0,0,0,0
$GC,3463,-2.00,-93.7,573.7,-15.0,166,3467,0.00,2.67,0.00,0.000,4,0.000,0.065,2406,221,3506,0,0,0,0,0,0
$GC,3492,-2.00,-93.7,578.2,-15.8,166,3497,0.00,2.53,0.00,0.000,6,0.000,0.038,2406,1745,3505,0,0,0,0,0,0
$GC,3746,-2.00,-93.7,614.1,-13.9,173,3751,0.00,2.78,0.00,0.000,4,0.000,0.058,2407,3376,3503,0,0,0,0,0,0
$GC,3758,-2.00,-93.7,615.5,-13.9,173,3763,0.00,2.65,0.00,0.000,6,0.000,0.035,2406,1769,3503,0,0,0,0,0,0
$GC,4031,-2.00,-93.7,652.9,-13.6,180,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1769,3501,0,0,0,0,0,0
$GC,4275,-2.00,-93.7,685.8,-13.6,186,4279,0.00,2.75,0.00,0.000,4,0.000,0.077,2406,211,3500,0,0,0,0,0,0
$GC,4323,-2.00,-93.7,692.6,-15.4,187,4327,0.00,2.58,0.00,0.000,6,0.000,0.041,2406,1752,3499,0,0,0,0,0,0
$GC,4605,-2.06,-93.7,730.8,-13.6,194,4610,0.00,2.72,0.00,0.000,4,0.000,0.069,2407,200,3498,0,0,0,0,0,0
$GC,4624,-2.06,-93.7,733.7,-14.8,194,4628,0.00,2.60,0.00,0.000,6,0.000,0.040,2406,1758,3497,0,0,0,0,0,0
$GC,4889,-2.12,-93.7,768.9,-13.2,201,4894,0.00,2.72,0.00,0.000,4,0.000,0.070,2406,204,3495,0,0,0,0,0,0
$GC,4922,-2.12,-93.7,773.9,-15.1,201,4926,0.00,2.58,0.00,0.000,6,0.000,0.041,2407,1747,3495,0,0,0,0,0,0
$GC,5172,-2.19,-93.7,806.7,-13.0,207,5177,0.10,2.72,0.00,0.000,4,0.081,0.069,2371,204,3493,0,0,0,0,0,0
$GC,5240,-2.12,-93.7,817.6,-16.0,208,5245,0.12,2.58,0.00,0.000,6,0.128,0.041,2395,1742,3493,0,0,0,0,0,0
$GC,5504,-2.12,-93.7,853.8,-13.5,215,5509,0.00,2.67,0.00,0.000,4,0.000,0.068,2394,210,3492,0,0,0,0,0,0
$GC,5543,-2.12,-93.7,859.2,-14.4,215,5549,0.00,2.58,0.00,0.000,6,0.000,0.041,2395,1744,3491,0,0,0,0,0,0
$GC,5793,-2.12,-93.7,892.0,-12.8,222,5797,0.00,2.70,0.00,0.000,4,0.000,0.069,2395,205,3490,0,0,0,0,0,0
$GC,5825,-2.12,-93.7,896.6,-13.8,222,5829,0.00,2.55,0.00,0.000,6,0.000,0.040,2395,1731,3489,0,0,0,0,0,0
$STATE,5871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5871,begin apogee
$GC,5877,-0.31,0.0,902.4,13.0,223,5962,1.83,0.00,81.00,1.170,6,0.091,0.000,2791,1665,3120,0,0,0,0,0,0
$STATE,5963,end apogee,CONTROL_FINISHED_OK
$STATE,5963,begin climb
$GC,5967,1.82,93.7,904.1,0.0,225,6059,1.95,0.00,85.03,1.149,6,0.025,0.000,3303,1665,2738,0,0,0,0,0,0
$GC,6321,1.47,93.7,879.1,11.6,234,6329,0.60,2.60,0.00,0.000,4,0.134,0.069,3183,186,2729,0,0,0,0,0,0
$GC,6593,1.24,93.7,851.3,10.0,239,6601,0.25,2.45,0.00,0.000,6,0.138,0.034,3134,1673,2727,0,0,0,0,0,0
$GC,6845,1.27,120.4,833.0,7.2,246,6874,0.00,2.70,23.80,1.079,4,0.000,0.069,3133,184,2629,0,0,0,0,0,0
$GC,7099,1.21,133.9,811.1,8.6,251,7117,0.00,2.45,13.32,1.008,6,0.000,0.034,3133,1671,2574,0,0,0,0,0,0
$GC,7361,1.30,152.5,790.3,8.0,258,7386,0.00,2.72,18.48,1.035,4,0.000,0.068,3133,186,2498,0,0,0,0,0,0
$GC,7545,1.30,152.5,770.6,11.7,262,7549,0.00,2.47,0.00,0.000,6,0.000,0.035,3134,1670,2493,0,0,0,0,0,0
$GC,7832,1.38,152.5,741.7,10.2,269,7837,0.10,2.62,0.00,0.000,4,0.084,0.067,3168,181,2492,0,0,0,0,0,0
$GC,8065,1.26,152.5,712.7,12.7,274,8070,0.17,2.45,0.00,0.000,6,0.136,0.034,3137,1658,2490,0,0,0,0,0,0
$GC,8350,1.34,152.5,683.8,10.2,281,8354,0.00,2.60,0.00,0.000,4,0.000,0.067,3137,181,2490,0,0,0,0,0,0
$GC,8620,1.34,152.5,652.3,11.2,286,8625,0.00,2.42,0.00,0.000,6,0.000,0.033,3137,1645,2489,0,0,0,0,0,0
$GC,8870,1.44,160.7,628.9,9.1,293,8883,0.15,2.60,7.07,0.821,4,0.066,0.064,3183,184,2465,0,0,0,0,0,0
$GC,9151,1.30,160.7,595.3,12.4,299,9156,0.20,2.40,0.00,0.000,6,0.137,0.031,3148,1643,2463,0,0,0,0,0,0
$GC,9441,1.38,165.8,568.1,9.5,306,9453,0.00,2.60,6.07,0.757,4,0.000,0.062,3148,187,2444,0,0,0,0,0,0
$GC,9500,1.38,165.8,561.6,10.9,307,9504,0.00,2.40,0.00,0.000,6,0.000,0.031,3148,1642,2443,0,0,0,0,0,0
$GC,9773,1.48,170.5,536.0,9.5,314,9786,0.15,2.60,6.00,0.736,4,0.065,0.060,3195,183,2424,0,0,0,0,0,0
$GC,10053,1.34,170.5,500.9,12.4,320,10059,0.20,2.38,0.00,0.000,6,0.135,0.028,3157,1638,2423,0,0,0,0,0,0
$GC,10345,1.44,180.3,474.0,9.0,327,10361,0.00,2.60,10.60,0.811,4,0.000,0.059,3157,182,2385,0,0,0,0,0,0
$GC,10419,1.44,180.4,466.7,10.0,328,10423,0.00,2.38,0.00,0.000,6,0.000,0.027,3157,1635,2383,0,0,0,0,0,0
$GC,10680,1.54,189.2,442.7,9.1,335,10697,0.17,2.58,9.35,0.771,4,0.059,0.058,3211,185,2347,0,0,0,0,0,0
$GC,10875,1.40,189.2,417.9,11.7,339,10880,0.22,2.35,0.00,0.000,6,0.133,0.027,3168,1628,2346,0,0,0,0,0,0
$GC,11153,1.48,191.1,390.2,9.8,346,11158,0.00,2.50,0.00,0.000,4,0.000,0.057,3168,176,2344,0,0,0,0,0,0
$GC,11377,1.48,191.1,363.7,11.9,350,11383,0.00,2.33,0.00,0.000,6,0.000,0.025,3168,1620,2345,0,0,0,0,0,0
$GC,11627,1.57,192.8,338.8,9.8,357,11639,0.15,2.47,4.30,0.542,4,0.064,0.054,3216,183,2334,0,0,0,0,0,0
$GC,11725,1.43,192.8,327.3,11.5,359,11730,0.22,2.30,0.00,0.000,6,0.131,0.025,3175,1616,2333,0,0,0,0,0,0
$GC,12008,1.51,192.8,299.5,10.0,366,12012,0.00,2.45,0.00,0.000,4,0.000,0.054,3174,181,2333,0,0,0,0,0,0
$GC,12221,1.51,192.8,274.6,11.2,370,12225,0.00,2.28,0.00,0.000,6,0.000,0.024,3174,1618,2333,0,0,0,0,0,0
$GC,12482,1.61,200.3,250.7,9.2,377,12498,0.15,2.47,8.65,0.629,4,0.063,0.054,3224,179,2302,0,0,0,0,0,0
$GC,12768,1.47,200.3,215.1,12.2,383,12773,0.22,2.28,0.00,0.000,6,0.126,0.021,3182,1610,2301,0,0,0,0,0,0
$GC,13040,1.57,205.2,189.2,9.5,397,13048,0.00,0.00,5.60,0.515,6,0.000,0.000,3181,1612,2283,0,0,0,0,0,0
$GC,13305,1.68,208.5,162.9,9.6,422,13312,0.17,0.00,4.82,0.469,6,0.055,0.000,3241,1612,2269,0,0,0,0,0,0
$GC,13569,1.68,208.5,133.0,11.4,447,13574,0.00,2.40,0.00,0.000,4,0.000,0.050,3241,180,2268,0,0,0,0,0,0
$GC,13868,1.56,208.5,96.9,10.3,475,13875,0.20,2.28,0.00,0.000,6,0.122,0.021,3202,1626,2268,0,0,0,0,0,0
$GC,14138,1.69,227.3,77.2,8.0,500,14163,0.12,2.72,17.88,0.532,4,0.068,0.035,3252,3274,2191,0,0,0,0,0,0
$GC,14271,1.69,227.3,63.5,10.8,511,14280,0.08,2.72,0.00,0.000,6,0.100,0.028,3233,1621,2190,0,0,0,0,0,0
$GC,14538,1.70,232.9,38.5,9.4,536,14547,0.00,0.00,6.22,0.421,6,0.000,0.000,3233,1621,2169,0,0,0,0,0,0
$GC,14834,1.70,232.9,4.6,11.1,578,14842,0.00,2.40,0.00,0.000,4,0.000,0.044,3233,177,2169,0,0,0,0,0,0
$STATE,14849,end climb,SURFACE_DEPTH_REACHED
$STATE,14849,begin surface coast
$FINISH,0.9,1.011840
$STATE,14882,end surface coast,CONTROL_FINISHED_OK
$STATE,14882,begin surface
$SM_CCo,14905,79.80,0.433,1,0,1570,380.21
$SM_GC,1.95,0.00,0.00,79.80,0.000,0.000,0.433,413,1827,1570,-11.26,1.07,380.21
$IRIDIUM_FIX,2244.02,-15718.49,140400,222219
$TT8_MAMPS,0.026845
$HUMID,48.93
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.30
$XPDR_PINGS,3
$24V_AH,22.9,71.589
$10V_AH,9.9,63.884
$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,30.125,172.975,308.200,79.800,0.000,30.411,38.819,351.319,0.750,0.000,15.011,1429.265,10017.168,487.282,2812.605,816.509,33.371,1687.736,0.000,2785.003,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,91.273,1170.442,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.783,295.749,376.489,524.489,927.159,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,44650,585
$CAP_FILE_SIZE,165152,0
$CFSIZE,260165632,140333056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200111,070807,2250.620,-15757.385,26,1.2,26,10.1