version: 66.06
glider: 148
mission: 9
dive: 558
start: 1 20 111 22 39 2
data:
$ID,148
$MISSION,9
$DIVE,558
$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,-870311.12
$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,46
$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
$GPS1,222009,2248.024,-15803.034,39,1.1,40,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.3
$GPS2,223810,2247.933,-15803.008,19,1.0,20,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,0.161
$KALMAN_X,-118411.9,-371.3,-36.9,130622.8,631.2
$KALMAN_Y,-188686.4,475.6,632.8,313575.2,-3326.8
$MHEAD_RNG_PITCHd_Wd,328.6,1728,-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,-63.0,0.0,0.0,0,95,0.00,0.00,-72.57,0.000,6,0.000,0.000,413,1852,3377,0,0,0,0,0,0
$GC,98,-1.83,-100.5,4.0,-6.0,10,123,11.27,2.47,-2.90,0.000,4,0.170,0.041,2454,3364,3533,0,0,0,0,0,0
$GC,171,-1.75,-100.5,25.3,-22.5,20,180,0.08,2.58,0.00,0.000,6,0.098,0.025,2474,1784,3534,0,0,0,0,0,0
$GC,443,-1.75,-100.5,81.4,-21.9,46,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1784,3535,0,0,0,0,0,0
$GC,710,-1.84,-100.5,126.6,-14.2,71,715,0.00,2.55,0.00,0.000,4,0.000,0.041,2474,210,3535,0,0,0,0,0,0
$GC,760,-1.94,-100.5,136.2,-17.0,75,767,0.15,2.47,0.00,0.000,6,0.061,0.018,2421,1800,3535,0,0,0,0,0,0
$GC,1028,-1.94,-100.5,181.8,-17.8,100,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1803,3536,0,0,0,0,0,0
$GC,1291,-1.94,-100.5,228.5,-16.7,114,1296,0.00,2.60,0.00,0.000,4,0.000,0.037,2421,207,3537,0,0,0,0,0,0
$GC,1343,-1.94,-100.5,238.1,-17.8,115,1347,0.00,2.47,0.00,0.000,6,0.000,0.020,2421,1788,3537,0,0,0,0,0,0
$GC,1622,-1.94,-100.5,282.9,-16.5,122,1626,0.00,2.55,0.00,0.000,4,0.000,0.033,2421,3369,3537,0,0,0,0,0,0
$GC,1642,-1.94,-100.5,286.7,-17.7,122,1646,0.00,2.53,0.00,0.000,6,0.000,0.024,2421,1792,3537,0,0,0,0,0,0
$GC,1905,-1.94,-100.5,329.2,-15.6,129,1910,0.00,2.62,0.00,0.000,4,0.000,0.047,2421,208,3537,0,0,0,0,0,0
$GC,1963,-1.94,-100.5,338.4,-17.3,130,1967,0.00,2.50,0.00,0.000,6,0.000,0.022,2421,1789,3537,0,0,0,0,0,0
$GC,2235,-1.94,-100.5,381.1,-15.5,137,2240,0.00,2.65,0.00,0.000,4,0.000,0.050,2421,215,3536,0,0,0,0,0,0
$GC,2249,-1.94,-100.5,383.5,-16.1,137,2253,0.00,2.50,0.00,0.000,6,0.000,0.024,2421,1798,3537,0,0,0,0,0,0
$GC,2519,-1.94,-100.5,425.6,-15.9,144,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1798,3535,0,0,0,0,0,0
$GC,2761,-1.94,-100.5,464.0,-15.7,150,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1798,3534,0,0,0,0,0,0
$GC,3004,-1.94,-100.5,500.6,-14.8,156,3009,0.00,2.75,0.00,0.000,4,0.000,0.063,2421,211,3532,0,0,0,0,0,0
$GC,3070,-1.94,-100.5,511.2,-16.0,157,3074,0.00,2.58,0.00,0.000,6,0.000,0.035,2421,1774,3532,0,0,0,0,0,0
$GC,3333,-2.00,-100.5,548.2,-14.0,164,3338,0.00,2.70,0.00,0.000,4,0.000,0.051,2421,3380,3529,0,0,0,0,0,0
$GC,3347,-2.00,-100.5,550.3,-13.6,164,3352,0.00,2.62,0.00,0.000,6,0.000,0.033,2421,1786,3530,0,0,0,0,0,0
$GC,3618,-2.07,-100.5,588.1,-14.5,171,3623,0.00,2.75,0.00,0.000,4,0.000,0.070,2421,207,3527,0,0,0,0,0,0
$GC,3678,-2.07,-100.5,598.4,-15.8,172,3683,0.00,2.60,0.00,0.000,6,0.000,0.038,2421,1778,3527,0,0,0,0,0,0
$GC,3947,-2.15,-100.5,637.3,-14.4,179,3948,0.12,0.00,0.00,0.000,6,0.071,0.000,2379,1778,3525,0,0,0,0,0,0
$GC,4192,-2.15,-100.5,675.9,-16.1,185,4196,0.00,2.72,0.00,0.000,4,0.000,0.067,2378,212,3522,0,0,0,0,0,0
$GC,4210,-2.15,-100.5,679.6,-16.9,185,4215,0.00,2.62,0.00,0.000,6,0.000,0.042,2378,1780,3523,0,0,0,0,0,0
$GC,4474,-2.15,-100.5,721.6,-15.6,192,4478,0.00,2.75,0.00,0.000,4,0.000,0.067,2379,210,3520,0,0,0,0,0,0
$GC,4559,-2.09,-100.5,735.9,-16.8,193,4566,0.12,2.62,0.00,0.000,6,0.127,0.044,2403,1770,3520,0,0,0,0,0,0
$GC,4809,-2.09,-100.5,771.6,-13.9,200,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1771,3518,0,0,0,0,0,0
$GC,5053,-2.09,-100.5,804.1,-13.2,206,5057,0.00,2.75,0.00,0.000,4,0.000,0.068,2403,204,3516,0,0,0,0,0,0
$GC,5115,-2.09,-100.5,812.6,-14.4,207,5119,0.00,2.65,0.00,0.000,6,0.000,0.043,2402,1781,3515,0,0,0,0,0,0
$GC,5383,-2.09,-100.5,848.3,-13.4,214,5387,0.00,2.75,0.00,0.000,4,0.000,0.068,2402,214,3514,0,0,0,0,0,0
$GC,5401,-2.09,-100.5,851.1,-14.1,214,5406,0.00,2.62,0.00,0.000,6,0.000,0.043,2402,1777,3513,0,0,0,0,0,0
$GC,5667,-2.15,-100.5,886.4,-13.4,221,5671,0.00,2.72,0.00,0.000,4,0.000,0.068,2402,212,3512,0,0,0,0,0,0
$GC,5686,-2.15,-100.5,889.7,-14.6,221,5690,0.00,2.62,0.00,0.000,6,0.000,0.042,2402,1776,3512,0,0,0,0,0,0
$STATE,5784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5784,begin apogee
$GC,5790,-0.31,0.0,903.1,13.5,224,5880,1.77,0.00,85.65,1.170,6,0.088,0.000,2790,1668,3120,0,0,0,0,0,0
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5885,1.83,100.5,905.4,0.0,226,5982,1.95,0.00,92.22,1.147,6,0.024,0.000,3269,1668,2710,0,0,0,0,0,0
$GC,6192,1.54,101.6,889.9,9.9,234,6199,0.32,2.62,0.00,0.000,4,0.129,0.071,3202,183,2702,0,0,0,0,0,0
$GC,6464,1.26,104.2,862.7,9.7,239,6470,0.32,2.47,0.00,0.000,6,0.134,0.035,3139,1669,2698,0,0,0,0,0,0
$GC,6713,1.29,124.9,843.4,7.8,246,6742,0.00,2.65,21.67,1.075,4,0.000,0.067,3139,185,2609,0,0,0,0,0,0
$GC,6951,1.21,124.9,818.2,12.3,251,6955,0.00,2.47,0.00,0.000,6,0.000,0.036,3139,1666,2604,0,0,0,0,0,0
$GC,7230,1.21,125.9,790.4,9.9,258,7235,0.00,2.60,0.00,0.000,4,0.000,0.069,3139,182,2603,0,0,0,0,0,0
$GC,7502,1.14,125.9,760.0,10.8,263,7509,0.15,2.45,0.00,0.000,6,0.151,0.035,3113,1657,2602,0,0,0,0,0,0
$GC,7753,1.27,133.9,736.6,9.1,270,7768,0.10,2.62,8.12,0.901,4,0.081,0.067,3149,180,2573,0,0,0,0,0,0
$GC,7974,1.17,133.9,711.9,11.8,274,7979,0.17,2.42,0.00,0.000,6,0.140,0.035,3118,1652,2572,0,0,0,0,0,0
$GC,8224,1.31,149.1,690.2,8.4,280,8246,0.12,2.65,15.43,0.976,4,0.071,0.067,3160,181,2511,0,0,0,0,0,0
$GC,8513,1.21,149.1,656.9,11.8,286,8518,0.20,2.42,0.00,0.000,6,0.141,0.035,3125,1642,2508,0,0,0,0,0,0
$GC,8789,1.33,156.4,631.2,9.2,293,8803,0.10,2.60,7.62,0.837,4,0.081,0.066,3161,177,2481,0,0,0,0,0,0
$GC,8972,1.25,156.4,608.6,13.5,297,8977,0.15,2.40,0.00,0.000,6,0.144,0.033,3136,1627,2479,0,0,0,0,0,0
$GC,9260,1.35,157.8,579.1,9.8,304,9264,0.00,2.50,0.00,0.000,4,0.000,0.064,3135,183,2477,0,0,0,0,0,0
$GC,9483,1.35,157.8,554.9,10.2,308,9489,0.00,2.38,0.00,0.000,6,0.000,0.031,3135,1628,2477,0,0,0,0,0,0
$GC,9734,1.48,174.6,533.8,8.2,315,9759,0.20,2.60,17.48,0.897,4,0.052,0.061,3201,183,2407,0,0,0,0,0,0
$GC,9894,1.31,174.6,514.0,12.7,318,9899,0.28,2.35,0.00,0.000,6,0.136,0.028,3150,1621,2405,0,0,0,0,0,0
$GC,10159,1.41,179.8,488.8,9.4,325,10171,0.00,2.55,6.03,0.713,4,0.000,0.059,3150,188,2386,0,0,0,0,0,0
$GC,10338,1.41,179.8,468.1,12.4,328,10344,0.00,2.33,0.00,0.000,6,0.000,0.027,3150,1620,2385,0,0,0,0,0,0
$GC,10590,1.52,182.4,443.6,9.7,335,10595,0.17,2.50,0.00,0.000,4,0.055,0.059,3210,179,2384,0,0,0,0,0,0
$GC,10739,1.37,182.4,423.6,15.1,338,10744,0.25,2.33,0.00,0.000,6,0.133,0.026,3162,1620,2383,0,0,0,0,0,0
$GC,11015,1.45,182.4,395.7,10.0,345,11019,0.00,2.47,0.00,0.000,4,0.000,0.058,3162,183,2383,0,0,0,0,0,0
$GC,11116,1.45,182.4,384.1,11.9,347,11120,0.00,2.30,0.00,0.000,6,0.000,0.025,3162,1617,2383,0,0,0,0,0,0
$GC,11391,1.54,182.4,355.8,10.6,354,11396,0.15,2.50,0.00,0.000,4,0.060,0.058,3217,180,2382,0,0,0,0,0,0
$GC,11661,1.39,182.4,319.4,13.2,359,11668,0.28,2.30,0.00,0.000,6,0.128,0.024,3165,1618,2382,0,0,0,0,0,0
$GC,11912,1.51,199.1,297.4,8.2,366,11936,0.10,2.55,18.10,0.730,4,0.080,0.057,3212,184,2307,0,0,0,0,0,0
$GC,12081,1.39,199.1,277.6,11.5,369,12086,0.25,2.28,0.00,0.000,6,0.130,0.023,3165,1612,2305,0,0,0,0,0,0
$GC,12337,1.52,204.1,253.8,9.5,376,12345,0.10,0.00,5.70,0.565,6,0.079,0.000,3217,1615,2287,0,0,0,0,0,0
$GC,12581,1.52,204.1,226.9,11.1,382,12583,0.12,0.00,0.00,0.000,6,0.133,0.000,3194,1615,2286,0,0,0,0,0,0
$GC,12823,1.59,204.1,201.7,10.1,388,12828,0.00,2.45,0.00,0.000,4,0.000,0.053,3193,173,2286,0,0,0,0,0,0
$GC,12928,1.59,204.1,189.1,11.0,395,12934,0.00,2.28,0.00,0.000,6,0.000,0.022,3193,1607,2286,0,0,0,0,0,0
$GC,13193,1.68,206.3,162.6,9.8,420,13198,0.12,2.42,0.00,0.000,4,0.069,0.050,3244,178,2286,0,0,0,0,0,0
$GC,13395,1.54,206.3,137.8,11.7,439,13400,0.22,2.25,0.00,0.000,6,0.123,0.022,3200,1605,2286,0,0,0,0,0,0
$GC,13659,1.67,238.8,115.5,6.5,463,13702,0.10,2.47,31.58,0.586,4,0.078,0.048,3251,180,2146,0,0,0,0,0,0
$GC,14002,1.56,238.8,76.5,11.2,495,14011,0.22,2.22,0.00,0.000,6,0.103,0.021,3202,1583,2143,0,0,0,0,0,0
$GC,14269,1.69,238.8,51.2,10.7,520,14274,0.10,2.35,0.00,0.000,4,0.076,0.045,3263,170,2142,0,0,0,0,0,0
$GC,14493,1.57,238.8,18.5,13.7,545,14502,0.25,2.22,0.00,0.000,6,0.102,0.020,3207,1583,2142,0,0,0,0,0,0
$STATE,14620,end climb,SURFACE_DEPTH_REACHED
$STATE,14620,begin surface coast
$FINISH,1.0,1.023273
$STATE,14666,end surface coast,CONTROL_FINISHED_OK
$STATE,14667,begin surface
$SM_CCo,14689,67.85,0.065,0,0,1569,380.21
$SM_GC,1.91,0.00,0.00,67.85,0.000,0.000,0.065,408,1881,1569,-11.28,2.57,380.21
$IRIDIUM_FIX,2239.35,-15802.37,150400,222257
$TT8_MAMPS,0.027612
$HUMID,49.52
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.0,72.244
$10V_AH,9.9,64.374
$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,31.500,156.875,309.600,67.850,0.000,75.871,115.174,586.042,0.000,0.000,22.286,1367.792,10157.958,498.971,2642.410,1159.013,33.371,1611.188,0.000,2607.792,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,71.331,1169.675,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.842,283.797,358.245,504.474,892.218,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,44726,572
$CAP_FILE_SIZE,166039,0
$CFSIZE,260165632,140038144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210111,024625,2249.013,-15803.036,44,1.9,44,10.1