version: 66.06
glider: 148
mission: 9
dive: 587
start: 1 26 111 21 41 14
data:
$ID,148
$MISSION,9
$DIVE,587
$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,100
$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,-870925.75
$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,23
$R_STBD_OVSHOOT,60
$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
$GPS1,213031,2247.846,-15758.283,40,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.2
$GPS2,214020,2247.895,-15758.369,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,-0.029
$KALMAN_X,-110635.5,-80.8,-97.0,130595.2,41.5
$KALMAN_Y,-225126.3,21.7,171.0,350868.3,-1494.0
$MHEAD_RNG_PITCHd_Wd,89.5,1921,-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,-63.0,0.0,0.0,0,88,0.00,0.00,-67.38,0.000,2,0.000,0.000,411,1810,3208,0,0,0,0,0,0
$GC,91,-1.82,-97.3,3.3,-4.5,9,116,10.93,2.65,-6.45,0.000,4,0.156,0.048,2454,191,3517,0,0,0,0,0,0
$GC,134,-1.26,-97.3,14.3,-25.5,14,143,0.57,2.53,0.00,0.000,6,0.091,0.019,2581,1775,3519,0,0,0,0,0,0
$GC,415,-1.51,-97.3,52.1,-13.1,47,420,0.22,2.55,0.00,0.000,4,0.044,0.028,2506,3366,3521,0,0,0,0,0,0
$GC,473,-1.60,-97.3,60.9,-17.2,51,478,0.00,2.53,0.00,0.000,6,0.000,0.024,2506,1778,3521,0,0,0,0,0,0
$GC,741,-1.72,-97.3,105.7,-14.6,75,745,0.00,2.55,0.00,0.000,4,0.000,0.044,2506,214,3522,0,0,0,0,0,0
$GC,778,-1.86,-97.3,112.0,-14.7,78,783,0.20,2.50,0.00,0.000,6,0.050,0.018,2441,1820,3522,0,0,0,0,0,0
$GC,1040,-1.86,-97.3,161.4,-17.9,102,1045,0.00,2.62,0.00,0.000,4,0.000,0.038,2441,204,3523,0,0,0,0,0,0
$GC,1059,-1.86,-97.3,164.3,-18.0,103,1063,0.00,2.47,0.00,0.000,6,0.000,0.018,2441,1800,3523,0,0,0,0,0,0
$GC,1319,-1.86,-97.3,206.7,-15.5,124,1324,0.00,2.60,0.00,0.000,4,0.000,0.038,2441,212,3524,0,0,0,0,0,0
$GC,1343,-1.86,-97.3,211.2,-17.4,124,1347,0.00,2.47,0.00,0.000,6,0.000,0.019,2441,1807,3524,0,0,0,0,0,0
$GC,1601,-1.86,-97.3,251.7,-15.4,131,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1810,3525,0,0,0,0,0,0
$GC,1847,-1.86,-97.3,288.7,-15.3,137,1851,0.00,2.62,0.00,0.000,4,0.000,0.043,2441,211,3525,0,0,0,0,0,0
$GC,1958,-1.86,-97.3,307.6,-16.2,139,1962,0.00,2.50,0.00,0.000,6,0.000,0.021,2441,1789,3525,0,0,0,0,0,0
$GC,2224,-1.92,-97.3,344.9,-14.1,146,2228,0.00,2.67,0.00,0.000,4,0.000,0.048,2441,210,3525,0,0,0,0,0,0
$GC,2270,-1.92,-97.3,352.0,-14.5,147,2274,0.00,2.47,0.00,0.000,6,0.000,0.021,2441,1789,3525,0,0,0,0,0,0
$GC,2552,-1.99,-97.3,390.0,-13.6,154,2557,0.00,2.67,0.00,0.000,4,0.000,0.051,2441,210,3524,0,0,0,0,0,0
$GC,2619,-1.99,-97.3,399.7,-14.4,155,2624,0.00,2.50,0.00,0.000,6,0.000,0.025,2441,1782,3524,0,0,0,0,0,0
$GC,2883,-2.07,-97.3,434.6,-13.1,162,2888,0.12,2.70,0.00,0.000,4,0.068,0.056,2391,212,3523,0,0,0,0,0,0
$GC,2917,-1.99,-97.3,440.5,-17.6,162,2923,0.17,2.55,0.00,0.000,6,0.115,0.030,2426,1783,3523,0,0,0,0,0,0
$GC,3169,-1.99,-97.3,472.0,-12.0,168,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1783,3522,0,0,0,0,0,0
$GC,3411,-2.05,-97.3,501.9,-12.6,174,3415,0.00,2.72,0.00,0.000,4,0.000,0.063,2426,210,3520,0,0,0,0,0,0
$GC,3492,-2.05,-97.3,513.2,-14.3,175,3496,0.00,2.55,0.00,0.000,6,0.000,0.034,2426,1778,3520,0,0,0,0,0,0
$GC,3742,-2.13,-97.3,544.9,-12.5,181,3747,0.12,2.72,0.00,0.000,4,0.069,0.064,2381,219,3518,0,0,0,0,0,0
$GC,3772,-2.05,-97.3,549.6,-16.0,181,3777,0.15,2.55,0.00,0.000,6,0.120,0.036,2410,1778,3518,0,0,0,0,0,0
$GC,4029,-2.05,-97.3,584.5,-13.4,188,4034,0.00,2.70,0.00,0.000,4,0.000,0.062,2410,217,3516,0,0,0,0,0,0
$GC,4062,-2.05,-97.3,589.5,-14.7,188,4066,0.00,2.55,0.00,0.000,6,0.000,0.035,2410,1778,3516,0,0,0,0,0,0
$GC,4311,-2.05,-97.3,622.5,-13.3,194,4316,0.00,2.70,0.00,0.000,4,0.000,0.064,2410,221,3515,0,0,0,0,0,0
$GC,4364,-2.05,-97.3,630.4,-15.5,195,4369,0.00,2.55,0.00,0.000,6,0.000,0.039,2410,1756,3514,0,0,0,0,0,0
$GC,4642,-2.05,-97.3,669.8,-13.8,202,4646,0.00,2.65,0.00,0.000,4,0.000,0.066,2410,221,3512,0,0,0,0,0,0
$GC,4697,-2.05,-97.3,678.7,-15.6,203,4701,0.00,2.58,0.00,0.000,6,0.000,0.041,2410,1759,3512,0,0,0,0,0,0
$GC,4972,-2.05,-97.3,717.3,-14.0,210,4976,0.00,2.70,0.00,0.000,4,0.000,0.067,2410,219,3510,0,0,0,0,0,0
$GC,5018,-2.05,-97.3,724.8,-15.6,211,5022,0.00,2.58,0.00,0.000,6,0.000,0.041,2410,1757,3510,0,0,0,0,0,0
$GC,5300,-2.12,-97.3,763.1,-13.4,218,5305,0.00,2.70,0.00,0.000,4,0.000,0.067,2410,214,3507,0,0,0,0,0,0
$GC,5321,-2.12,-97.3,766.0,-13.7,218,5325,0.00,2.55,0.00,0.000,6,0.000,0.038,2410,1745,3507,0,0,0,0,0,0
$GC,5585,-2.18,-97.3,801.7,-13.4,225,5590,0.12,2.67,0.00,0.000,4,0.073,0.067,2368,222,3506,0,0,0,0,0,0
$GC,5604,-2.18,-97.3,804.9,-15.5,225,5609,0.00,2.53,0.00,0.000,6,0.000,0.038,2368,1741,3505,0,0,0,0,0,0
$GC,5870,-2.18,-97.3,845.9,-15.6,232,5874,0.00,2.65,0.00,0.000,4,0.000,0.067,2368,222,3503,0,0,0,0,0,0
$GC,5913,-2.10,-97.3,853.8,-17.8,233,5918,0.15,2.53,0.00,0.000,6,0.126,0.041,2399,1744,3503,0,0,0,0,0,0
$GC,6200,-2.10,-97.3,896.8,-14.7,240,6204,0.00,2.65,0.00,0.000,4,0.000,0.067,2399,221,3501,0,0,0,0,0,0
$STATE,6221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6221,begin apogee
$GC,6231,-0.31,0.0,900.5,16.0,240,6319,1.80,0.00,83.10,1.174,6,0.097,0.000,2788,1684,3120,0,0,0,0,0,0
$STATE,6319,end apogee,CONTROL_FINISHED_OK
$STATE,6320,begin climb
$GC,6322,1.82,97.3,903.8,0.0,242,6420,1.95,2.72,88.18,1.154,4,0.031,0.069,3257,178,2721,0,0,0,0,0,0
$GC,6430,1.61,181.2,908.2,1.1,245,6517,0.22,2.50,77.50,1.138,6,0.141,0.034,3215,1684,2380,0,0,0,0,0,0
$GC,6790,1.51,181.2,858.3,15.6,254,6795,0.12,2.65,0.00,0.000,4,0.141,0.065,3191,184,2371,0,0,0,0,0,0
$GC,7060,1.34,181.2,810.7,18.0,259,7067,0.20,2.47,0.00,0.000,6,0.140,0.035,3156,1669,2367,0,0,0,0,0,0
$GC,7310,1.34,181.2,774.3,14.5,266,7314,0.00,2.62,0.00,0.000,4,0.000,0.067,3155,181,2365,0,0,0,0,0,0
$GC,7580,1.28,181.2,733.2,15.9,271,7586,0.00,2.47,0.00,0.000,6,0.000,0.034,3155,1668,2364,0,0,0,0,0,0
$GC,7830,1.28,181.2,701.4,12.7,278,7834,0.00,2.58,0.00,0.000,4,0.000,0.066,3155,184,2363,0,0,0,0,0,0
$GC,8082,1.28,181.2,665.4,15.1,283,8086,0.00,2.42,0.00,0.000,6,0.000,0.034,3155,1649,2362,0,0,0,0,0,0
$GC,8345,1.28,181.2,634.4,11.5,290,8349,0.00,2.58,0.00,0.000,4,0.000,0.064,3155,177,2361,0,0,0,0,0,0
$GC,8615,1.28,181.2,595.9,15.6,295,8620,0.00,2.42,0.00,0.000,6,0.000,0.032,3155,1645,2360,0,0,0,0,0,0
$GC,8867,1.34,181.2,563.8,12.6,302,8871,0.00,2.55,0.00,0.000,4,0.000,0.062,3155,180,2360,0,0,0,0,0,0
$GC,9038,1.34,181.2,540.6,12.5,305,9042,0.00,2.40,0.00,0.000,6,0.000,0.029,3155,1644,2359,0,0,0,0,0,0
$GC,9290,1.43,181.2,512.8,11.2,311,9294,0.00,2.53,0.00,0.000,4,0.000,0.059,3155,183,2359,0,0,0,0,0,0
$GC,9488,1.43,181.2,487.6,11.6,315,9492,0.00,2.35,0.00,0.000,6,0.000,0.028,3155,1629,2358,0,0,0,0,0,0
$GC,9758,1.52,181.2,458.4,11.1,322,9763,0.15,2.47,0.00,0.000,4,0.062,0.058,3210,177,2358,0,0,0,0,0,0
$GC,10030,1.37,181.2,419.3,13.9,327,10036,0.28,2.33,0.00,0.000,6,0.130,0.027,3158,1615,2357,0,0,0,0,0,0
$GC,10280,1.47,190.9,395.6,9.0,334,10292,0.00,2.53,5.60,0.652,4,0.000,0.057,3158,181,2341,0,0,0,0,0,0
$GC,10512,1.47,190.9,370.8,11.6,339,10516,0.00,2.33,0.00,0.000,6,0.000,0.026,3158,1621,2340,0,0,0,0,0,0
$GC,10799,1.58,195.2,344.0,9.5,346,10812,0.17,2.55,5.38,0.613,4,0.054,0.055,3227,171,2324,0,0,0,0,0,0
$GC,11036,1.41,195.2,311.8,14.2,351,11041,0.30,2.33,0.00,0.000,6,0.132,0.025,3171,1611,2323,0,0,0,0,0,0
$GC,11321,1.51,195.2,282.1,10.4,358,11326,0.00,2.45,0.00,0.000,4,0.000,0.055,3170,182,2322,0,0,0,0,0,0
$GC,11517,1.51,195.2,259.1,11.4,362,11521,0.00,2.25,0.00,0.000,6,0.000,0.024,3170,1604,2322,0,0,0,0,0,0
$GC,11791,1.63,211.7,235.5,8.3,369,11813,0.20,2.47,16.12,0.678,4,0.049,0.054,3243,182,2256,0,0,0,0,0,0
$GC,11906,1.46,211.7,221.4,12.6,371,11911,0.32,2.25,0.00,0.000,6,0.130,0.023,3181,1599,2254,0,0,0,0,0,0
$GC,12168,1.56,211.7,193.5,10.8,381,12173,0.00,2.42,0.00,0.000,4,0.000,0.053,3181,174,2253,0,0,0,0,0,0
$GC,12235,1.56,211.7,185.3,13.6,387,12239,0.00,2.25,0.00,0.000,6,0.000,0.022,3181,1593,2253,0,0,0,0,0,0
$GC,12498,1.69,212.2,158.6,9.9,411,12510,0.20,2.75,0.00,0.000,4,0.046,0.037,3259,3270,2252,0,0,0,0,0,0
$GC,12521,1.69,212.2,155.8,11.3,413,12530,0.15,2.78,0.00,0.000,6,0.121,0.031,3230,1579,2252,0,0,0,0,0,0
$GC,12785,1.69,212.2,125.5,11.7,438,12789,0.00,2.35,0.00,0.000,4,0.000,0.054,3230,171,2252,0,0,0,0,0,0
$GC,12831,1.58,212.2,119.8,12.5,442,12836,0.12,2.25,0.00,0.000,6,0.133,0.021,3206,1600,2252,0,0,0,0,0,0
$GC,13092,1.69,217.6,90.2,9.4,466,13105,0.00,2.75,6.05,0.470,4,0.000,0.034,3206,3271,2233,0,0,0,0,0,0
$GC,13111,1.81,238.4,88.6,7.8,467,13138,0.20,2.78,19.92,0.558,6,0.047,0.029,3282,1579,2148,0,0,0,0,0,0
$GC,13395,1.74,238.4,53.4,12.9,494,13400,0.20,2.33,0.00,0.000,4,0.117,0.045,3241,178,2146,0,0,0,0,0,0
$GC,13668,1.64,238.4,15.7,13.4,525,13677,0.10,2.25,0.00,0.000,6,0.103,0.021,3218,1595,2145,0,0,0,0,0,0
$STATE,13758,end climb,SURFACE_DEPTH_REACHED
$STATE,13758,begin surface coast
$FINISH,1.1,1.023942
$STATE,13794,end surface coast,CONTROL_FINISHED_OK
$STATE,13794,begin surface
$SM_CCo,13817,69.90,0.067,0,0,1570,380.21
$SM_GC,1.94,0.00,0.00,69.90,0.000,0.000,0.067,413,1885,1570,-11.26,2.69,380.21
$IRIDIUM_FIX,2241.69,-15754.11,210400,161616
$TT8_MAMPS,0.027612
$HUMID,51.96
$INTERNAL_PRESSURE,9.68197
$TCM_TEMP,20.00
$XPDR_PINGS,4
$24V_AH,22.9,77.146
$10V_AH,9.8,68.039
$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,31.050,182.900,301.850,69.900,0.000,23.473,33.523,374.072,1.000,0.000,13.512,1325.416,9267.464,474.137,2583.375,819.157,33.375,1581.511,0.000,2560.804,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,69.030,1174.277,67.496,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.768,277.765,350.793,501.990,887.818,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41589,544
$CAP_FILE_SIZE,157816,0
$CFSIZE,260165632,137879552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270111,013406,2247.148,-15756.888,38,1.5,43,10.1