version: 66.06
glider: 148
mission: 9
dive: 580
start: 1 25 111 12 32 7
data:
$ID,148
$MISSION,9
$DIVE,580
$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,-870810.94
$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,85
$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
$GPS1,121507,2247.574,-15801.188,35,0.8,35,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.3
$GPS2,123113,2247.356,-15801.058,9,2.0,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.166,0.057
$KALMAN_X,-112431.4,-98.4,96.1,127580.8,-357.4
$KALMAN_Y,-215956.1,32.9,164.8,340697.2,-1675.2
$MHEAD_RNG_PITCHd_Wd,278.7,3382,-26.9,-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,-1.76,-64.4,0.0,0.0,0,88,0.00,0.00,-68.00,0.000,2,0.000,0.000,414,1836,3222,0,0,0,0,0,0
$GC,93,-1.85,-137.5,3.0,-2.4,9,125,10.77,2.75,-9.32,0.000,4,0.152,0.053,2448,205,3685,0,0,0,0,0,0
$GC,290,-1.85,-137.5,53.0,-23.0,33,299,0.00,2.45,0.00,0.000,6,0.000,0.021,2449,1743,3686,0,0,0,0,0,0
$GC,553,-1.85,-137.5,111.7,-19.4,58,557,0.00,2.62,0.00,0.000,4,0.000,0.031,2448,3371,3687,0,0,0,0,0,0
$GC,600,-1.85,-137.5,121.7,-19.2,62,605,0.00,2.53,0.00,0.000,6,0.000,0.023,2448,1779,3687,0,0,0,0,0,0
$GC,864,-1.85,-137.5,170.0,-19.3,86,869,0.00,2.58,0.00,0.000,4,0.000,0.029,2449,3375,3687,0,0,0,0,0,0
$GC,879,-1.85,-137.5,173.7,-19.8,87,884,0.00,2.50,0.00,0.000,6,0.000,0.021,2448,1786,3687,0,0,0,0,0,0
$GC,1156,-1.85,-137.5,220.3,-16.0,104,1160,0.00,2.55,0.00,0.000,4,0.000,0.038,2448,207,3689,0,0,0,0,0,0
$GC,1169,-1.85,-137.5,222.7,-16.1,104,1174,0.00,2.50,0.00,0.000,6,0.000,0.019,2448,1822,3688,0,0,0,0,0,0
$GC,1439,-1.85,-137.5,270.1,-18.4,111,1444,0.00,2.62,0.00,0.000,4,0.000,0.039,2448,209,3689,0,0,0,0,0,0
$GC,1518,-1.92,-137.5,286.9,-20.2,112,1523,0.00,2.47,0.00,0.000,6,0.000,0.022,2448,1776,3689,0,0,0,0,0,0
$GC,1770,-1.98,-137.5,330.0,-16.8,118,1775,0.00,2.60,0.00,0.000,4,0.000,0.036,2449,3373,3689,0,0,0,0,0,0
$GC,1784,-1.98,-137.5,332.8,-15.8,118,1789,0.00,2.53,0.00,0.000,6,0.000,0.023,2449,1797,3689,0,0,0,0,0,0
$GC,2053,-2.07,-137.5,376.6,-16.3,125,2055,0.17,0.00,0.00,0.000,6,0.054,0.000,2388,1798,3689,0,0,0,0,0,0
$GC,2298,-2.07,-137.5,423.8,-19.9,131,2303,0.00,2.67,0.00,0.000,4,0.000,0.056,2389,220,3688,0,0,0,0,0,0
$GC,2400,-2.07,-137.5,445.6,-21.1,133,2404,0.00,2.55,0.00,0.000,6,0.000,0.032,2389,1793,3687,0,0,0,0,0,0
$GC,2673,-2.07,-137.5,495.3,-17.7,140,2678,0.10,2.72,0.00,0.000,4,0.137,0.060,2407,221,3686,0,0,0,0,0,0
$GC,2696,-2.07,-137.5,499.0,-17.5,140,2700,0.00,2.55,0.00,0.000,6,0.000,0.034,2407,1792,3686,0,0,0,0,0,0
$GC,2959,-2.07,-137.5,540.7,-15.7,147,2964,0.00,2.70,0.00,0.000,4,0.000,0.062,2407,221,3684,0,0,0,0,0,0
$GC,2978,-2.07,-137.5,543.9,-16.5,147,2983,0.00,2.60,0.00,0.000,6,0.000,0.036,2407,1794,3684,0,0,0,0,0,0
$GC,3244,-2.07,-137.5,587.5,-16.7,154,3248,0.00,2.72,0.00,0.000,4,0.000,0.063,2407,224,3682,0,0,0,0,0,0
$GC,3327,-2.07,-137.5,603.2,-18.5,155,3333,0.00,2.60,0.00,0.000,6,0.000,0.040,2407,1795,3681,0,0,0,0,0,0
$GC,3577,-2.07,-137.5,644.8,-16.5,162,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1796,3679,0,0,0,0,0,0
$GC,3822,-2.07,-137.5,683.4,-15.8,168,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1796,3678,0,0,0,0,0,0
$GC,4064,-2.07,-137.5,721.2,-15.5,174,4068,0.00,2.75,0.00,0.000,4,0.000,0.067,2407,225,3675,0,0,0,0,0,0
$GC,4078,-2.07,-137.5,723.6,-15.2,174,4082,0.00,2.60,0.00,0.000,6,0.000,0.039,2407,1786,3675,0,0,0,0,0,0
$GC,4348,-2.07,-137.5,762.2,-14.0,181,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1786,3673,0,0,0,0,0,0
$GC,4589,-2.07,-137.5,796.3,-14.1,187,4594,0.00,2.72,0.00,0.000,4,0.000,0.067,2407,221,3671,0,0,0,0,0,0
$GC,4622,-2.07,-137.5,801.4,-16.1,187,4627,0.00,2.60,0.00,0.000,6,0.000,0.042,2407,1783,3670,0,0,0,0,0,0
$GC,4872,-2.13,-137.5,837.3,-14.3,193,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1782,3669,0,0,0,0,0,0
$GC,5118,-2.20,-137.5,872.6,-14.6,199,5119,0.12,0.00,0.00,0.000,6,0.074,0.000,2366,1782,3667,0,0,0,0,0,0
$STATE,5316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5316,begin apogee
$GC,5322,-0.31,0.0,906.9,17.1,204,5446,1.95,0.00,119.57,1.168,6,0.093,0.000,2788,1673,3120,0,0,0,0,0,0
$STATE,5447,end apogee,CONTROL_FINISHED_OK
$STATE,5447,begin climb
$GC,5449,1.85,137.5,912.0,0.0,207,5587,1.98,2.88,125.82,1.150,4,0.027,0.058,3271,3275,2559,0,0,0,0,0,0
$GC,5625,1.61,137.5,907.0,13.9,211,5633,0.30,2.70,0.00,0.000,6,0.123,0.038,3213,1697,2554,0,0,0,0,0,0
$GC,5908,1.46,137.5,870.0,13.1,218,5915,0.17,2.78,0.00,0.000,4,0.127,0.082,3179,163,2550,0,0,0,0,0,0
$GC,6181,1.27,137.5,831.9,13.3,223,6188,0.22,2.50,0.00,0.000,6,0.135,0.036,3138,1662,2546,0,0,0,0,0,0
$GC,6431,1.27,137.5,805.0,10.6,230,6435,0.00,2.65,0.00,0.000,4,0.000,0.067,3138,164,2545,0,0,0,0,0,0
$GC,6700,1.19,137.5,773.1,12.2,235,6706,0.00,2.47,0.00,0.000,6,0.000,0.036,3138,1650,2543,0,0,0,0,0,0
$GC,6952,1.19,137.6,747.9,10.0,242,6956,0.00,2.62,0.00,0.000,4,0.000,0.068,3138,164,2541,0,0,0,0,0,0
$GC,7223,1.12,137.6,715.8,11.4,247,7229,0.17,2.45,0.00,0.000,6,0.140,0.035,3106,1642,2541,0,0,0,0,0,0
$GC,7475,1.27,148.0,692.6,8.9,254,7489,0.12,2.62,7.60,0.871,4,0.071,0.068,3150,164,2516,0,0,0,0,0,0
$GC,7756,1.18,148.0,662.3,11.1,260,7761,0.17,2.45,0.00,0.000,6,0.133,0.035,3118,1641,2513,0,0,0,0,0,0
$GC,8039,1.33,172.9,639.7,7.4,267,8071,0.12,2.65,24.20,0.983,4,0.071,0.065,3160,167,2414,0,0,0,0,0,0
$GC,8337,1.24,172.9,605.2,11.9,273,8342,0.15,2.42,0.00,0.000,6,0.139,0.033,3134,1630,2409,0,0,0,0,0,0
$GC,8604,1.35,181.0,580.9,9.2,280,8620,0.00,2.58,8.43,0.832,4,0.000,0.064,3134,167,2381,0,0,0,0,0,0
$GC,8886,1.35,181.0,548.7,12.2,286,8890,0.00,2.40,0.00,0.000,6,0.000,0.031,3134,1628,2378,0,0,0,0,0,0
$GC,9168,1.47,181.0,518.4,10.8,293,9173,0.20,2.55,0.00,0.000,4,0.053,0.060,3196,166,2377,0,0,0,0,0,0
$GC,9392,1.32,181.0,485.1,14.1,297,9398,0.25,2.38,0.00,0.000,6,0.128,0.028,3149,1628,2377,0,0,0,0,0,0
$GC,9642,1.40,181.0,457.9,10.7,304,9646,0.00,2.55,0.00,0.000,4,0.000,0.061,3149,159,2376,0,0,0,0,0,0
$GC,9703,1.40,181.0,450.2,13.1,305,9708,0.00,2.38,0.00,0.000,6,0.000,0.028,3149,1633,2376,0,0,0,0,0,0
$GC,9976,1.49,181.0,421.2,10.3,312,9981,0.15,2.55,0.00,0.000,4,0.063,0.060,3201,166,2376,0,0,0,0,0,0
$GC,10168,1.35,181.0,395.3,12.8,316,10173,0.22,2.35,0.00,0.000,6,0.133,0.026,3157,1623,2375,0,0,0,0,0,0
$GC,10449,1.44,187.1,368.5,9.4,323,10461,0.00,2.58,5.85,0.645,4,0.000,0.058,3157,167,2357,0,0,0,0,0,0
$GC,10728,1.44,187.1,337.6,10.8,329,10732,0.00,2.30,0.00,0.000,6,0.000,0.025,3157,1604,2356,0,0,0,0,0,0
$GC,11017,1.54,194.5,311.6,9.2,336,11034,0.15,2.50,8.52,0.676,4,0.062,0.055,3214,166,2325,0,0,0,0,0,0
$GC,11105,1.40,194.5,300.3,12.8,337,11111,0.25,2.33,0.00,0.000,6,0.126,0.025,3167,1610,2325,0,0,0,0,0,0
$GC,11358,1.49,194.6,274.4,10.0,344,11362,0.00,2.47,0.00,0.000,4,0.000,0.056,3167,161,2324,0,0,0,0,0,0
$GC,11441,1.49,194.6,265.1,11.4,345,11446,0.00,2.30,0.00,0.000,6,0.000,0.025,3167,1602,2324,0,0,0,0,0,0
$GC,11693,1.59,199.8,241.4,9.5,352,11706,0.17,2.53,5.93,0.568,4,0.054,0.055,3231,164,2305,0,0,0,0,0,0
$GC,11976,1.43,199.8,205.3,12.2,358,11981,0.30,2.25,0.00,0.000,6,0.122,0.023,3173,1584,2304,0,0,0,0,0,0
$GC,12241,1.55,212.3,180.9,8.7,377,12263,0.10,2.47,12.75,0.614,4,0.078,0.051,3217,161,2253,0,0,0,0,0,0
$GC,12402,1.44,212.3,161.9,12.6,393,12407,0.22,2.28,0.00,0.000,6,0.124,0.023,3175,1590,2252,0,0,0,0,0,0
$GC,12668,1.55,212.3,133.6,10.4,417,12677,0.10,2.78,0.00,0.000,4,0.077,0.036,3227,3273,2250,0,0,0,0,0,0
$GC,12794,1.55,212.3,118.1,11.9,429,12803,0.15,2.80,0.00,0.000,6,0.114,0.030,3197,1564,2249,0,0,0,0,0,0
$GC,13059,1.64,219.4,92.0,9.3,454,13072,0.00,2.83,7.40,0.492,4,0.000,0.033,3197,3271,2225,0,0,0,0,0,0
$GC,13189,1.78,224.0,78.7,9.5,466,13203,0.20,2.75,5.93,0.453,6,0.048,0.030,3272,1579,2206,0,0,0,0,0,0
$GC,13457,1.71,224.0,46.9,11.7,491,13466,0.20,0.00,0.00,0.000,6,0.114,0.000,3232,1579,2205,0,0,0,0,0,0
$GC,13744,1.71,227.7,16.3,9.6,526,13753,0.00,0.00,5.12,0.389,6,0.000,0.000,3232,1579,2190,0,0,0,0,0,0
$STATE,13871,end climb,SURFACE_DEPTH_REACHED
$STATE,13871,begin surface coast
$FINISH,1.0,1.005092
$STATE,13917,end surface coast,CONTROL_FINISHED_OK
$STATE,13918,begin surface
$SM_CCo,13940,76.25,0.067,0,0,1570,380.21
$SM_GC,2.06,0.00,0.00,76.25,0.000,0.000,0.067,412,1890,1570,-11.27,2.86,380.21
$IRIDIUM_FIX,2239.35,-15804.53,200400,121227
$TT8_MAMPS,0.027612
$HUMID,50.11
$INTERNAL_PRESSURE,9.69174
$TCM_TEMP,20.50
$XPDR_PINGS,2
$24V_AH,22.9,76.133
$10V_AH,9.8,67.182
$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,30.775,149.100,337.125,76.250,0.000,48.797,80.439,600.161,0.500,0.000,16.230,1321.253,9396.240,508.350,2619.632,1126.352,33.372,1622.274,0.000,2601.015,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,82.069,1168.141,66.729,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.752,286.296,358.789,512.143,904.891,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,44482,553
$CAP_FILE_SIZE,157072,0
$CFSIZE,260165632,138403840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250111,162707,2247.304,-15802.262,41,1.5,41,10.1