version: 66.06
glider: 148
mission: 9
dive: 590
start: 1 27 111 11 46 32
data:
$ID,148
$MISSION,9
$DIVE,590
$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,-871005.88
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,113515,2247.424,-15801.069,39,99.0,58,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.3
$GPS2,114539,2247.350,-15800.965,10,2.9,29,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.169,0.057
$KALMAN_X,-111474.9,241.0,215.2,126319.0,-458.1
$KALMAN_Y,-227232.5,230.4,142.2,351790.9,-1682.4
$MHEAD_RNG_PITCHd_Wd,278.7,3535,-26.5,-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,18,-1.74,-66.6,0.0,0.0,0,88,0.00,0.00,-67.62,0.000,2,0.000,0.000,415,1863,3214,0,0,0,0,0,0
$GC,91,-1.77,-97.3,3.4,-4.2,9,116,11.35,2.42,-6.32,0.000,4,0.170,0.038,2466,3375,3519,0,0,0,0,0,0
$GC,257,-1.77,-97.3,38.8,-18.8,31,261,0.00,2.55,0.00,0.000,6,0.000,0.024,2466,1788,3522,0,0,0,0,0,0
$GC,523,-1.77,-97.3,94.7,-20.0,55,527,0.00,2.58,0.00,0.000,4,0.000,0.044,2466,207,3522,0,0,0,0,0,0
$GC,554,-1.77,-97.3,100.4,-18.1,57,558,0.00,2.47,0.00,0.000,6,0.000,0.019,2466,1802,3523,0,0,0,0,0,0
$GC,820,-1.77,-97.3,142.0,-15.4,81,824,0.00,2.62,0.00,0.000,4,0.000,0.036,2466,198,3524,0,0,0,0,0,0
$GC,847,-1.77,-97.3,146.7,-16.8,83,852,0.00,2.47,0.00,0.000,6,0.000,0.019,2466,1795,3524,0,0,0,0,0,0
$GC,1111,-1.77,-97.3,188.7,-16.4,107,1116,0.00,2.60,0.00,0.000,4,0.000,0.037,2466,206,3525,0,0,0,0,0,0
$GC,1147,-1.77,-97.3,195.2,-17.1,110,1151,0.00,2.45,0.00,0.000,6,0.000,0.019,2466,1785,3525,0,0,0,0,0,0
$GC,1430,-1.84,-97.3,236.4,-14.2,119,1435,0.00,2.60,0.00,0.000,4,0.000,0.039,2466,204,3525,0,0,0,0,0,0
$GC,1453,-1.84,-97.3,240.4,-15.2,119,1458,0.00,2.45,0.00,0.000,6,0.000,0.020,2466,1776,3526,0,0,0,0,0,0
$GC,1713,-1.92,-97.3,273.5,-12.6,126,1718,0.10,2.60,0.00,0.000,4,0.082,0.041,2426,211,3525,0,0,0,0,0,0
$GC,1808,-1.92,-97.3,288.2,-16.0,128,1812,0.00,2.47,0.00,0.000,6,0.000,0.021,2426,1776,3526,0,0,0,0,0,0
$GC,2090,-1.92,-97.3,330.5,-14.6,135,2094,0.00,2.60,0.00,0.000,4,0.000,0.044,2426,212,3526,0,0,0,0,0,0
$GC,2152,-1.92,-97.3,340.2,-15.9,136,2157,0.00,2.45,0.00,0.000,6,0.000,0.021,2426,1759,3526,0,0,0,0,0,0
$GC,2420,-1.92,-97.3,381.2,-14.9,143,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1760,3526,0,0,0,0,0,0
$GC,2664,-1.92,-97.3,420.0,-16.0,149,2669,0.00,2.62,0.00,0.000,4,0.000,0.054,2426,214,3524,0,0,0,0,0,0
$GC,2736,-1.92,-97.3,432.5,-17.1,150,2740,0.00,2.47,0.00,0.000,6,0.000,0.028,2426,1748,3524,0,0,0,0,0,0
$GC,2995,-1.92,-97.3,473.0,-15.4,157,2999,0.00,2.62,0.00,0.000,4,0.000,0.058,2426,217,3523,0,0,0,0,0,0
$GC,3064,-1.92,-97.3,484.3,-16.5,158,3068,0.00,2.50,0.00,0.000,6,0.000,0.032,2426,1745,3522,0,0,0,0,0,0
$GC,3325,-1.92,-97.3,520.4,-14.0,165,3329,0.00,2.65,0.00,0.000,4,0.000,0.060,2426,208,3521,0,0,0,0,0,0
$GC,3353,-1.92,-97.3,524.9,-14.8,165,3357,0.00,2.50,0.00,0.000,6,0.000,0.034,2426,1743,3520,0,0,0,0,0,0
$GC,3607,-1.92,-97.3,558.9,-13.3,172,3611,0.00,2.65,0.00,0.000,4,0.000,0.061,2426,210,3519,0,0,0,0,0,0
$GC,3643,-1.92,-97.3,563.8,-16.0,172,3647,0.00,2.53,0.00,0.000,6,0.000,0.037,2426,1737,3518,0,0,0,0,0,0
$GC,3893,-1.92,-97.3,596.8,-12.9,178,3897,0.00,2.65,0.00,0.000,4,0.000,0.063,2426,211,3517,0,0,0,0,0,0
$GC,3920,-1.92,-97.3,600.9,-14.6,178,3925,0.00,2.50,0.00,0.000,6,0.000,0.035,2426,1737,3517,0,0,0,0,0,0
$GC,4175,-1.92,-97.3,632.4,-12.4,185,4179,0.00,2.62,0.00,0.000,4,0.000,0.065,2426,218,3515,0,0,0,0,0,0
$GC,4241,-1.92,-97.3,641.6,-14.3,186,4246,0.00,2.53,0.00,0.000,6,0.000,0.039,2426,1734,3515,0,0,0,0,0,0
$GC,4505,-1.98,-97.3,677.5,-13.5,193,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1734,3513,0,0,0,0,0,0
$GC,4749,-2.05,-97.3,709.1,-12.9,199,4753,0.00,2.65,0.00,0.000,4,0.000,0.067,2426,219,3511,0,0,0,0,0,0
$GC,4797,-2.05,-97.3,715.6,-13.8,200,4802,0.00,2.50,0.00,0.000,6,0.000,0.040,2426,1727,3511,0,0,0,0,0,0
$GC,5080,-2.12,-97.3,749.7,-11.8,207,5085,0.12,2.67,0.00,0.000,4,0.069,0.067,2383,210,3509,0,0,0,0,0,0
$GC,5106,-2.06,-97.3,753.3,-14.9,207,5111,0.12,2.53,0.00,0.000,6,0.127,0.038,2406,1725,3508,0,0,0,0,0,0
$GC,5366,-2.06,-97.3,788.0,-13.4,214,5370,0.00,2.65,0.00,0.000,4,0.000,0.067,2407,213,3507,0,0,0,0,0,0
$GC,5426,-2.06,-97.3,796.9,-15.1,215,5430,0.00,2.53,0.00,0.000,6,0.000,0.040,2407,1722,3507,0,0,0,0,0,0
$GC,5696,-2.06,-97.3,831.5,-12.7,222,5700,0.00,2.65,0.00,0.000,4,0.000,0.067,2407,211,3505,0,0,0,0,0,0
$GC,5747,-2.06,-97.3,839.2,-14.9,223,5751,0.00,2.53,0.00,0.000,6,0.000,0.041,2407,1716,3504,0,0,0,0,0,0
$GC,6024,-2.06,-97.3,875.7,-13.1,230,6029,0.00,2.62,0.00,0.000,4,0.000,0.067,2407,218,3503,0,0,0,0,0,0
$GC,6087,-2.06,-97.3,884.8,-15.0,231,6091,0.00,2.50,0.00,0.000,6,0.000,0.041,2407,1709,3502,0,0,0,0,0,0
$STATE,6230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6230,begin apogee
$GC,6236,-0.31,0.0,904.8,13.5,235,6323,1.75,0.00,83.32,1.172,6,0.089,0.000,2789,1709,3120,0,0,0,0,0,0
$STATE,6324,end apogee,CONTROL_FINISHED_OK
$STATE,6324,begin climb
$GC,6327,1.77,97.3,907.8,0.0,237,6424,1.92,2.83,89.07,1.153,4,0.028,0.071,3253,187,2722,0,0,0,0,0,0
$GC,6434,1.55,177.9,911.3,1.9,239,6521,0.25,2.47,75.12,1.141,6,0.127,0.035,3202,1675,2393,0,0,0,0,0,0
$GC,6771,1.43,177.9,867.8,14.4,248,6776,0.15,2.65,0.00,0.000,4,0.140,0.066,3174,180,2385,0,0,0,0,0,0
$GC,6913,1.27,177.9,846.4,15.1,251,6918,0.20,2.50,0.00,0.000,6,0.142,0.036,3139,1669,2383,0,0,0,0,0,0
$GC,7198,1.27,177.9,812.0,12.1,258,7202,0.00,2.65,0.00,0.000,4,0.000,0.069,3139,175,2380,0,0,0,0,0,0
$GC,7352,1.27,177.9,790.8,13.8,261,7356,0.00,2.50,0.00,0.000,6,0.000,0.036,3139,1664,2380,0,0,0,0,0,0
$GC,7620,1.27,177.9,757.6,12.4,268,7624,0.00,2.62,0.00,0.000,4,0.000,0.069,3139,181,2378,0,0,0,0,0,0
$GC,7867,1.27,177.9,721.9,14.9,273,7871,0.00,2.47,0.00,0.000,6,0.000,0.037,3139,1659,2377,0,0,0,0,0,0
$GC,8135,1.27,177.9,686.6,13.2,280,8139,0.00,2.60,0.00,0.000,4,0.000,0.067,3139,181,2377,0,0,0,0,0,0
$GC,8260,1.27,177.9,668.2,14.7,282,8265,0.00,2.45,0.00,0.000,6,0.000,0.035,3139,1650,2376,0,0,0,0,0,0
$GC,8515,1.34,177.9,636.0,12.0,289,8519,0.00,2.58,0.00,0.000,4,0.000,0.066,3139,181,2376,0,0,0,0,0,0
$GC,8646,1.34,177.9,618.4,13.6,291,8651,0.00,2.42,0.00,0.000,6,0.000,0.033,3139,1643,2375,0,0,0,0,0,0
$GC,8898,1.41,177.9,591.4,10.4,298,8903,0.12,2.55,0.00,0.000,4,0.073,0.064,3180,174,2375,0,0,0,0,0,0
$GC,9169,1.27,177.9,556.5,12.7,303,9175,0.22,2.38,0.00,0.000,6,0.130,0.031,3139,1622,2374,0,0,0,0,0,0
$GC,9419,1.36,187.3,533.4,9.0,310,9431,0.00,2.55,5.60,0.714,4,0.000,0.060,3138,184,2356,0,0,0,0,0,0
$GC,9651,1.36,187.3,506.4,12.4,315,9655,0.00,2.35,0.00,0.000,6,0.000,0.028,3138,1621,2356,0,0,0,0,0,0
$GC,9940,1.45,187.3,476.3,10.6,322,9941,0.15,0.00,0.00,0.000,6,0.064,0.000,3187,1621,2355,0,0,0,0,0,0
$GC,10183,1.45,187.3,448.0,11.5,328,10187,0.00,2.50,0.00,0.000,4,0.000,0.059,3186,173,2355,0,0,0,0,0,0
$GC,10448,1.32,187.3,412.6,12.7,333,10454,0.20,2.38,0.00,0.000,6,0.130,0.026,3150,1632,2354,0,0,0,0,0,0
$GC,10698,1.41,187.3,386.4,10.4,339,10703,0.00,2.50,0.00,0.000,4,0.000,0.058,3149,179,2354,0,0,0,0,0,0
$GC,10768,1.41,187.3,377.9,12.8,340,10772,0.00,2.30,0.00,0.000,6,0.000,0.025,3149,1620,2353,0,0,0,0,0,0
$GC,11029,1.50,187.3,348.8,11.4,347,11031,0.15,0.00,0.00,0.000,6,0.063,0.000,3198,1620,2353,0,0,0,0,0,0
$GC,11270,1.50,187.3,320.4,11.7,353,11274,0.00,2.47,0.00,0.000,4,0.000,0.057,3198,177,2353,0,0,0,0,0,0
$GC,11539,1.36,187.3,287.9,10.9,358,11545,0.20,2.33,0.00,0.000,6,0.126,0.025,3160,1623,2353,0,0,0,0,0,0
$GC,11789,1.45,200.5,265.9,8.7,365,11809,0.00,2.53,13.32,0.697,4,0.000,0.056,3160,180,2301,0,0,0,0,0,0
$GC,11892,1.45,200.5,255.1,12.2,367,11896,0.00,2.33,0.00,0.000,6,0.000,0.023,3160,1632,2300,0,0,0,0,0,0
$GC,12170,1.55,203.6,228.1,9.7,374,12182,0.15,2.50,4.22,0.486,4,0.064,0.054,3212,180,2288,0,0,0,0,0,0
$GC,12314,1.42,203.6,210.4,11.0,377,12319,0.20,2.30,0.00,0.000,6,0.125,0.022,3173,1620,2287,0,0,0,0,0,0
$GC,12590,1.50,204.2,184.7,9.9,394,12595,0.00,2.72,0.00,0.000,4,0.000,0.044,3173,3256,2287,0,0,0,0,0,0
$GC,12658,1.63,204.9,177.8,9.9,400,12666,0.17,2.67,0.00,0.000,6,0.054,0.031,3233,1623,2286,0,0,0,0,0,0
$GC,12925,1.63,204.9,147.7,11.2,425,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1622,2286,0,0,0,0,0,0
$GC,13185,1.63,204.9,121.0,11.3,450,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1623,2286,0,0,0,0,0,0
$GC,13443,1.66,231.3,99.1,7.3,474,13475,0.00,2.45,25.60,0.576,4,0.000,0.047,3234,177,2175,0,0,0,0,0,0
$GC,13486,1.66,236.1,95.1,9.5,478,13500,0.00,2.30,5.68,0.457,6,0.000,0.021,3233,1639,2157,0,0,0,0,0,0
$GC,13753,1.66,236.1,67.2,10.3,503,13757,0.00,2.45,0.00,0.000,4,0.000,0.045,3233,173,2154,0,0,0,0,0,0
$GC,13873,1.55,236.1,53.4,11.5,513,13878,0.17,2.25,0.00,0.000,6,0.123,0.020,3200,1623,2154,0,0,0,0,0,0
$GC,14144,1.65,236.1,26.3,10.1,539,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1623,2154,0,0,0,0,0,0
$STATE,14364,end climb,SURFACE_DEPTH_REACHED
$STATE,14364,begin surface coast
$FINISH,1.0,1.010549
$STATE,14403,end surface coast,CONTROL_FINISHED_OK
$STATE,14403,begin surface
$SM_CCo,14426,73.53,0.067,0,0,1569,380.21
$SM_GC,2.00,0.00,0.00,73.53,0.000,0.000,0.067,412,1828,1569,-11.27,1.07,380.21
$IRIDIUM_FIX,2237.01,-15758.03,220400,060606
$TT8_MAMPS,0.027612
$HUMID,50.66
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.90
$XPDR_PINGS,1
$24V_AH,22.9,77.554
$10V_AH,9.9,68.414
$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,29.100,171.800,301.950,73.525,0.000,28.807,36.132,378.438,0.250,0.000,31.915,1356.213,9856.906,480.737,2581.998,836.490,33.373,1556.180,0.000,2547.173,0.000,0.536,0.000
$DEVICE_MAMPS,170.274,71.331,1171.976,66.729,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.275,306.604,378.603,538.074,948.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,44603,580
$CAP_FILE_SIZE,154297,0
$CFSIZE,260165632,137662464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270111,154931,2247.394,-15802.268,37,1.0,37,10.1