version: 66.06
glider: 148
mission: 9
dive: 595
start: 1 28 111 10 54 20
data:
$ID,148
$MISSION,9
$DIVE,595
$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,-871079
$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,45
$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
$GPS1,104307,2250.540,-15758.585,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-69.0
$GPS2,105326,2250.618,-15758.648,11,1.3,11,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.168,0.042
$KALMAN_X,-109998.5,-162.1,-202.9,129665.1,863.5
$KALMAN_Y,-231533.1,484.8,165.1,361859.7,-1633.9
$MHEAD_RNG_PITCHd_Wd,65.7,3038,-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,-63.0,0.0,0.0,0,87,0.00,0.00,-66.32,0.000,2,0.000,0.000,411,1872,3185,0,0,0,0,0,0
$GC,90,-1.82,-97.3,3.3,-4.2,9,113,10.85,2.75,-6.90,0.000,4,0.153,0.051,2453,200,3517,0,0,0,0,0,0
$GC,198,-1.82,-97.3,29.0,-20.6,25,207,0.00,2.55,0.00,0.000,6,0.000,0.022,2453,1785,3519,0,0,0,0,0,0
$GC,462,-1.82,-97.3,80.9,-18.7,50,467,0.00,2.58,0.00,0.000,4,0.000,0.044,2454,206,3520,0,0,0,0,0,0
$GC,505,-1.82,-97.3,88.7,-19.5,53,509,0.00,2.47,0.00,0.000,6,0.000,0.020,2453,1791,3520,0,0,0,0,0,0
$GC,772,-1.82,-97.3,135.4,-17.9,77,777,0.00,2.53,0.00,0.000,4,0.000,0.028,2453,3370,3522,0,0,0,0,0,0
$GC,800,-1.82,-97.3,140.8,-17.6,79,804,0.00,2.53,0.00,0.000,6,0.000,0.022,2453,1775,3522,0,0,0,0,0,0
$GC,1068,-1.82,-97.3,185.7,-17.0,103,1072,0.00,2.53,0.00,0.000,4,0.000,0.038,2453,208,3523,0,0,0,0,0,0
$GC,1134,-1.82,-97.3,198.2,-17.8,109,1138,0.00,2.45,0.00,0.000,6,0.000,0.019,2454,1793,3523,0,0,0,0,0,0
$GC,1394,-1.89,-97.3,239.1,-15.3,116,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1796,3524,0,0,0,0,0,0
$GC,1638,-1.96,-97.3,275.9,-15.1,122,1642,0.00,2.60,0.00,0.000,4,0.000,0.039,2453,211,3524,0,0,0,0,0,0
$GC,1652,-2.03,-97.3,278.2,-14.5,122,1657,0.15,2.45,0.00,0.000,6,0.061,0.020,2400,1791,3524,0,0,0,0,0,0
$GC,1923,-2.03,-97.3,321.7,-16.7,129,1927,0.00,2.60,0.00,0.000,4,0.000,0.042,2400,210,3524,0,0,0,0,0,0
$GC,2060,-1.96,-97.3,346.8,-18.6,132,2065,0.15,2.47,0.00,0.000,6,0.119,0.023,2429,1772,3524,0,0,0,0,0,0
$GC,2349,-1.96,-97.3,390.4,-14.8,139,2354,0.00,2.60,0.00,0.000,4,0.000,0.050,2430,220,3524,0,0,0,0,0,0
$GC,2414,-1.96,-97.3,401.5,-16.7,140,2419,0.00,2.50,0.00,0.000,6,0.000,0.025,2429,1776,3524,0,0,0,0,0,0
$GC,2678,-1.96,-97.3,439.0,-14.1,147,2682,0.00,2.65,0.00,0.000,4,0.000,0.055,2429,221,3523,0,0,0,0,0,0
$GC,2698,-1.96,-97.3,442.0,-15.2,147,2702,0.00,2.47,0.00,0.000,6,0.000,0.027,2429,1771,3523,0,0,0,0,0,0
$GC,2962,-2.02,-97.3,480.4,-14.9,154,2967,0.00,2.65,0.00,0.000,4,0.000,0.058,2429,215,3522,0,0,0,0,0,0
$GC,3074,-2.02,-97.3,498.1,-17.0,156,3078,0.00,2.50,0.00,0.000,6,0.000,0.033,2430,1747,3522,0,0,0,0,0,0
$GC,3340,-2.11,-97.3,534.5,-13.7,163,3347,0.12,2.72,0.00,0.000,4,0.071,0.048,2387,3376,3520,0,0,0,0,0,0
$GC,3357,-2.11,-97.3,537.5,-14.3,163,3361,0.00,2.65,0.00,0.000,6,0.000,0.033,2387,1767,3520,0,0,0,0,0,0
$GC,3627,-2.11,-97.3,580.3,-16.0,170,3631,0.00,2.70,0.00,0.000,4,0.000,0.065,2387,206,3518,0,0,0,0,0,0
$GC,3678,-2.11,-97.3,589.3,-17.5,171,3682,0.00,2.55,0.00,0.000,6,0.000,0.035,2387,1763,3518,0,0,0,0,0,0
$GC,3955,-2.11,-97.3,630.9,-15.1,178,3960,0.00,2.70,0.00,0.000,4,0.000,0.065,2387,211,3516,0,0,0,0,0,0
$GC,4019,-2.11,-97.3,641.2,-17.4,179,4024,0.00,2.55,0.00,0.000,6,0.000,0.041,2387,1753,3515,0,0,0,0,0,0
$GC,4287,-2.11,-97.3,680.6,-14.3,186,4292,0.00,2.70,0.00,0.000,4,0.000,0.067,2387,210,3513,0,0,0,0,0,0
$GC,4389,-2.11,-97.3,696.8,-15.7,188,4394,0.00,2.55,0.00,0.000,6,0.000,0.041,2387,1748,3512,0,0,0,0,0,0
$GC,4664,-2.11,-97.3,735.6,-14.0,195,4668,0.00,2.70,0.00,0.000,4,0.000,0.067,2386,203,3510,0,0,0,0,0,0
$GC,4692,-2.11,-97.3,740.2,-15.6,195,4696,0.00,2.58,0.00,0.000,6,0.000,0.039,2387,1748,3510,0,0,0,0,0,0
$GC,4946,-2.11,-97.3,775.5,-13.9,202,4950,0.00,2.67,0.00,0.000,4,0.000,0.067,2387,212,3509,0,0,0,0,0,0
$GC,5040,-2.11,-97.3,790.3,-15.3,204,5045,0.00,2.53,0.00,0.000,6,0.000,0.038,2387,1739,3507,0,0,0,0,0,0
$GC,5322,-2.11,-97.3,830.3,-14.0,211,5327,0.00,2.67,0.00,0.000,4,0.000,0.067,2387,212,3505,0,0,0,0,0,0
$GC,5394,-2.11,-97.3,841.5,-15.9,212,5398,0.00,2.53,0.00,0.000,6,0.000,0.039,2387,1737,3505,0,0,0,0,0,0
$GC,5653,-2.11,-97.3,877.8,-13.6,219,5657,0.00,2.67,0.00,0.000,4,0.000,0.067,2387,210,3503,0,0,0,0,0,0
$GC,5742,-2.11,-97.3,891.4,-15.4,221,5746,0.00,2.53,0.00,0.000,6,0.000,0.039,2387,1723,3502,0,0,0,0,0,0
$STATE,5823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5823,begin apogee
$GC,5831,-0.31,0.0,903.2,13.7,223,5918,1.88,0.00,83.25,1.177,6,0.094,0.000,2790,1671,3120,0,0,0,0,0,0
$STATE,5919,end apogee,CONTROL_FINISHED_OK
$STATE,5919,begin climb
$GC,5922,1.82,97.3,905.8,0.0,225,6015,1.95,0.00,88.55,1.151,6,0.022,0.000,3294,1671,2722,0,0,0,0,0,0
$GC,6231,1.49,97.3,889.1,10.4,233,6239,0.52,2.62,0.00,0.000,4,0.162,0.068,3188,180,2716,0,0,0,0,0,0
$GC,6505,1.26,102.9,862.6,9.4,238,6517,0.28,2.47,4.62,0.756,6,0.133,0.031,3137,1675,2700,0,0,0,0,0,0
$GC,6803,1.29,126.7,840.0,7.5,246,6832,0.00,2.72,23.20,1.082,4,0.000,0.067,3136,177,2603,0,0,0,0,0,0
$GC,7100,1.22,126.7,810.0,10.6,252,7104,0.00,2.47,0.00,0.000,6,0.000,0.031,3137,1671,2598,0,0,0,0,0,0
$GC,7366,1.24,143.1,787.0,8.3,259,7387,0.00,2.70,15.55,1.020,4,0.000,0.067,3137,181,2536,0,0,0,0,0,0
$GC,7654,1.24,143.1,755.3,11.6,265,7658,0.00,2.45,0.00,0.000,6,0.000,0.031,3137,1660,2533,0,0,0,0,0,0
$GC,7927,1.31,143.1,728.1,10.1,272,7931,0.00,2.58,0.00,0.000,4,0.000,0.066,3136,184,2531,0,0,0,0,0,0
$GC,8197,1.31,143.1,697.4,11.6,277,8202,0.00,2.42,0.00,0.000,6,0.000,0.031,3137,1653,2530,0,0,0,0,0,0
$GC,8449,1.39,150.1,673.9,9.3,284,8462,0.10,2.60,6.75,0.832,4,0.084,0.065,3171,183,2508,0,0,0,0,0,0
$GC,8729,1.27,150.1,642.2,10.4,290,8734,0.17,2.38,0.00,0.000,6,0.137,0.030,3140,1641,2505,0,0,0,0,0,0
$GC,9021,1.37,169.6,618.5,7.9,297,9045,0.00,2.62,18.98,0.954,4,0.000,0.064,3140,183,2427,0,0,0,0,0,0
$GC,9241,1.37,169.6,594.3,11.5,301,9246,0.00,2.40,0.00,0.000,6,0.000,0.029,3140,1638,2424,0,0,0,0,0,0
$GC,9492,1.49,180.3,571.5,8.9,307,9508,0.17,2.60,11.07,0.871,4,0.058,0.061,3193,181,2384,0,0,0,0,0,0
$GC,9546,1.34,180.3,565.1,13.6,308,9551,0.20,2.40,0.00,0.000,6,0.131,0.028,3157,1638,2382,0,0,0,0,0,0
$GC,9827,1.41,180.3,535.7,10.7,315,9831,0.00,2.53,0.00,0.000,4,0.000,0.061,3156,177,2380,0,0,0,0,0,0
$GC,9892,1.41,180.3,527.4,12.5,316,9896,0.00,2.38,0.00,0.000,6,0.000,0.028,3156,1631,2380,0,0,0,0,0,0
$GC,10161,1.50,180.3,499.4,10.4,323,10166,0.12,2.53,0.00,0.000,4,0.073,0.060,3196,183,2380,0,0,0,0,0,0
$GC,10301,1.36,180.3,480.6,13.5,326,10306,0.20,2.35,0.00,0.000,6,0.132,0.027,3160,1629,2379,0,0,0,0,0,0
$GC,10586,1.44,180.3,451.3,10.2,333,10590,0.00,2.50,0.00,0.000,4,0.000,0.058,3159,182,2378,0,0,0,0,0,0
$GC,10842,1.44,180.3,422.2,11.1,338,10846,0.00,2.35,0.00,0.000,6,0.000,0.026,3159,1629,2378,0,0,0,0,0,0
$GC,11101,1.54,188.5,398.4,9.1,345,11115,0.15,2.53,7.93,0.720,4,0.064,0.055,3208,181,2351,0,0,0,0,0,0
$GC,11145,1.40,188.5,393.3,12.5,346,11150,0.22,2.35,0.00,0.000,6,0.129,0.026,3166,1627,2350,0,0,0,0,0,0
$GC,11436,1.49,192.4,365.1,9.6,353,11448,0.00,2.50,5.15,0.607,4,0.000,0.055,3166,177,2335,0,0,0,0,0,0
$GC,11560,1.49,192.4,350.4,11.6,355,11564,0.00,2.35,0.00,0.000,6,0.000,0.025,3166,1629,2334,0,0,0,0,0,0
$GC,11815,1.58,192.6,324.4,10.0,362,11820,0.15,2.50,0.00,0.000,4,0.064,0.056,3216,173,2333,0,0,0,0,0,0
$GC,11922,1.44,192.6,311.6,12.2,364,11927,0.20,2.33,0.00,0.000,6,0.130,0.024,3177,1624,2332,0,0,0,0,0,0
$GC,12196,1.52,192.9,283.2,10.0,371,12200,0.00,2.45,0.00,0.000,4,0.000,0.057,3176,181,2332,0,0,0,0,0,0
$GC,12461,1.52,192.9,250.1,12.0,376,12465,0.00,2.28,0.00,0.000,6,0.000,0.023,3177,1608,2332,0,0,0,0,0,0
$GC,12716,1.61,208.1,227.3,8.4,383,12737,0.15,2.83,14.98,0.664,4,0.063,0.044,3227,3263,2271,0,0,0,0,0,0
$GC,12749,1.62,213.2,224.2,9.5,383,12761,0.00,2.78,6.45,0.565,6,0.000,0.034,3227,1612,2248,0,0,0,0,0,0
$GC,13021,1.62,213.2,195.5,10.6,391,13026,0.00,2.42,0.00,0.000,4,0.000,0.059,3228,178,2247,0,0,0,0,0,0
$GC,13068,1.50,213.2,189.5,12.2,395,13073,0.20,2.28,0.00,0.000,6,0.129,0.022,3190,1614,2247,0,0,0,0,0,0
$GC,13330,1.59,213.2,160.2,10.5,419,13334,0.00,2.42,0.00,0.000,4,0.000,0.056,3190,178,2246,0,0,0,0,0,0
$GC,13420,1.59,213.2,150.1,11.0,427,13425,0.00,2.28,0.00,0.000,6,0.000,0.022,3190,1612,2245,0,0,0,0,0,0
$GC,13683,1.72,233.2,125.7,7.9,452,13708,0.17,2.50,18.50,0.588,4,0.056,0.049,3248,176,2168,0,0,0,0,0,0
$GC,13793,1.60,233.2,111.4,13.6,462,13803,0.15,2.28,0.00,0.000,6,0.110,0.021,3214,1592,2166,0,0,0,0,0,0
$GC,14061,1.69,233.2,83.3,10.5,487,14066,0.00,2.72,0.00,0.000,4,0.000,0.033,3214,3270,2165,0,0,0,0,0,0
$GC,14230,1.80,233.2,64.8,10.1,502,14242,0.15,2.75,0.00,0.000,6,0.061,0.029,3269,1589,2164,0,0,0,0,0,0
$GC,14496,1.80,233.2,34.2,11.8,527,14500,0.00,2.72,0.00,0.000,4,0.000,0.031,3269,3273,2164,0,0,0,0,0,0
$GC,14526,1.80,233.2,30.5,11.5,529,14530,0.00,2.72,0.00,0.000,6,0.000,0.028,3269,1598,2164,0,0,0,0,0,0
$STATE,14731,end climb,SURFACE_DEPTH_REACHED
$STATE,14731,begin surface coast
$FINISH,1.0,1.011611
$STATE,14764,end surface coast,CONTROL_FINISHED_OK
$STATE,14764,begin surface
$SM_CCo,14787,71.12,0.066,0,0,1569,380.21
$SM_GC,1.99,0.00,0.00,71.12,0.000,0.000,0.066,408,1885,1569,-11.28,2.69,380.21
$IRIDIUM_FIX,2244.02,-15801.49,230400,060646
$TT8_MAMPS,0.026845
$HUMID,51.77
$INTERNAL_PRESSURE,9.69174
$TCM_TEMP,20.60
$XPDR_PINGS,6
$24V_AH,22.9,78.224
$10V_AH,9.8,69.026
$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,30.075,188.325,304.975,71.125,0.000,29.850,33.883,393.886,1.500,0.000,12.607,1412.322,9948.238,491.925,2739.996,874.891,33.365,1666.221,0.000,2722.216,0.000,0.535,0.000
$DEVICE_MAMPS,161.837,112.749,1177.345,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.167,284.009,355.249,500.558,880.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44681,566
$CAP_FILE_SIZE,166462,0
$CFSIZE,260165632,137289728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280111,150337,2250.886,-15757.069,57,1.3,57,10.1