version: 66.06
glider: 148
mission: 9
dive: 597
start: 1 28 111 19 39 39
data:
$ID,148
$MISSION,9
$DIVE,597
$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,-871110.88
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,192607,2249.178,-15756.342,30,1.2,30,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.6
$GPS2,193843,2249.183,-15756.440,9,1.7,14,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.029,0.171
$KALMAN_X,-111619.7,-58.5,-129.3,134907.2,-584.7
$KALMAN_Y,-231880.8,-98.6,-41.2,360345.6,-717.4
$MHEAD_RNG_PITCHd_Wd,340.2,1789,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-68.00,0.000,2,0.000,0.000,412,1867,3219,0,0,0,0,0,0
$GC,93,-1.82,-97.3,3.3,-3.8,9,118,10.85,2.47,-5.90,0.000,4,0.153,0.038,2456,3383,3518,0,0,0,0,0,0
$GC,269,-1.82,-97.3,44.3,-19.0,31,278,0.00,2.58,0.00,0.000,6,0.000,0.024,2455,1793,3520,0,0,0,0,0,0
$GC,532,-1.82,-97.3,98.1,-20.3,56,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1794,3521,0,0,0,0,0,0
$GC,786,-1.88,-97.3,144.0,-15.0,80,790,0.00,2.58,0.00,0.000,4,0.000,0.039,2456,204,3523,0,0,0,0,0,0
$GC,867,-1.95,-97.3,156.6,-14.6,87,875,0.00,2.53,0.00,0.000,6,0.000,0.018,2456,1815,3523,0,0,0,0,0,0
$GC,1133,-2.02,-97.3,197.7,-15.4,112,1138,0.15,0.00,0.00,0.000,6,0.061,0.000,2404,1818,3524,0,0,0,0,0,0
$GC,1395,-2.02,-97.3,243.8,-17.3,120,1399,0.00,2.62,0.00,0.000,4,0.000,0.038,2403,205,3525,0,0,0,0,0,0
$GC,1494,-1.96,-97.3,262.0,-18.4,122,1499,0.15,2.50,0.00,0.000,6,0.118,0.021,2433,1790,3525,0,0,0,0,0,0
$GC,1774,-1.96,-97.3,305.9,-15.6,129,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1789,3525,0,0,0,0,0,0
$GC,2016,-1.96,-97.3,342.6,-14.9,135,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1790,3525,0,0,0,0,0,0
$GC,2260,-1.96,-97.3,379.0,-14.8,141,2264,0.00,2.67,0.00,0.000,4,0.000,0.050,2433,215,3525,0,0,0,0,0,0
$GC,2283,-1.96,-97.3,382.7,-15.9,141,2287,0.00,2.50,0.00,0.000,6,0.000,0.025,2433,1792,3524,0,0,0,0,0,0
$GC,2544,-2.03,-97.3,420.9,-14.8,148,2549,0.00,2.67,0.00,0.000,4,0.000,0.054,2433,207,3523,0,0,0,0,0,0
$GC,2572,-2.03,-97.3,426.1,-17.0,148,2577,0.00,2.55,0.00,0.000,6,0.000,0.029,2433,1795,3523,0,0,0,0,0,0
$GC,2827,-2.10,-97.3,467.3,-16.4,155,2829,0.12,0.00,0.00,0.000,6,0.071,0.000,2390,1795,3522,0,0,0,0,0,0
$GC,3072,-2.10,-97.3,511.6,-18.3,161,3077,0.00,2.75,0.00,0.000,4,0.000,0.064,2390,215,3521,0,0,0,0,0,0
$GC,3123,-2.10,-97.3,521.5,-18.6,162,3128,0.00,2.58,0.00,0.000,6,0.000,0.035,2390,1789,3521,0,0,0,0,0,0
$GC,3401,-2.10,-97.3,566.1,-15.4,169,3405,0.00,2.72,0.00,0.000,4,0.000,0.063,2390,220,3519,0,0,0,0,0,0
$GC,3435,-2.04,-97.3,571.4,-16.1,169,3441,0.12,2.58,0.00,0.000,6,0.128,0.037,2414,1786,3519,0,0,0,0,0,0
$GC,3685,-2.04,-97.3,602.2,-11.8,175,3690,0.00,2.75,0.00,0.000,4,0.000,0.066,2414,214,3517,0,0,0,0,0,0
$GC,3789,-2.04,-97.3,616.0,-13.7,177,3793,0.00,2.58,0.00,0.000,6,0.000,0.039,2414,1778,3516,0,0,0,0,0,0
$GC,4062,-2.11,-97.3,650.3,-12.8,184,4066,0.00,2.72,0.00,0.000,4,0.000,0.067,2414,221,3514,0,0,0,0,0,0
$GC,4085,-2.11,-97.3,653.9,-15.0,184,4090,0.00,2.58,0.00,0.000,6,0.000,0.041,2414,1780,3514,0,0,0,0,0,0
$GC,4347,-2.17,-97.3,689.8,-13.8,191,4348,0.12,0.00,0.00,0.000,6,0.072,0.000,2372,1780,3512,0,0,0,0,0,0
$GC,4588,-2.17,-97.3,729.1,-16.3,197,4593,0.00,2.75,0.00,0.000,4,0.000,0.068,2372,213,3510,0,0,0,0,0,0
$GC,4635,-2.09,-97.3,737.7,-18.3,198,4640,0.15,2.60,0.00,0.000,6,0.124,0.042,2401,1773,3510,0,0,0,0,0,0
$GC,4920,-2.09,-97.3,780.3,-14.7,205,4924,0.00,2.72,0.00,0.000,4,0.000,0.069,2401,221,3507,0,0,0,0,0,0
$GC,4975,-2.09,-97.3,789.4,-16.4,206,4980,0.00,2.60,0.00,0.000,6,0.000,0.042,2401,1776,3507,0,0,0,0,0,0
$GC,5248,-2.09,-97.3,827.9,-14.1,213,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1776,3505,0,0,0,0,0,0
$GC,5493,-2.09,-97.3,861.2,-13.6,219,5498,0.00,2.72,0.00,0.000,4,0.000,0.069,2401,222,3504,0,0,0,0,0,0
$GC,5522,-2.09,-97.3,865.5,-14.2,219,5526,0.00,2.58,0.00,0.000,6,0.000,0.041,2401,1772,3503,0,0,0,0,0,0
$STATE,5774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5774,begin apogee
$GC,5780,-0.31,0.0,901.0,13.9,226,5868,1.77,0.00,83.47,1.167,6,0.090,0.000,2789,1679,3120,0,0,0,0,0,0
$STATE,5868,end apogee,CONTROL_FINISHED_OK
$STATE,5869,begin climb
$GC,5873,1.82,97.3,903.6,0.0,228,5972,1.95,2.85,87.60,1.146,4,0.028,0.055,3296,3266,2722,0,0,0,0,0,0
$GC,6039,1.50,97.3,900.8,10.6,231,6049,0.55,2.65,0.00,0.000,6,0.143,0.038,3192,1696,2718,0,0,0,0,0,0
$GC,6293,1.41,109.7,878.5,8.7,238,6311,0.12,2.80,11.35,1.006,4,0.162,0.082,3170,164,2671,0,0,0,0,0,0
$GC,6361,1.22,109.7,872.0,10.8,239,6366,0.22,2.50,0.00,0.000,6,0.139,0.034,3129,1675,2669,0,0,0,0,0,0
$GC,6626,1.24,126.9,849.6,8.2,246,6649,0.00,2.72,16.55,1.050,4,0.000,0.070,3128,167,2602,0,0,0,0,0,0
$GC,6918,1.24,127.7,820.0,9.9,252,6922,0.00,2.47,0.00,0.000,6,0.000,0.035,3129,1664,2598,0,0,0,0,0,0
$GC,7191,1.34,144.8,797.3,8.2,259,7216,0.10,2.75,17.30,1.035,4,0.084,0.069,3164,170,2528,0,0,0,0,0,0
$GC,7371,1.21,144.8,776.9,11.9,262,7377,0.20,2.47,0.00,0.000,6,0.136,0.035,3128,1656,2525,0,0,0,0,0,0
$GC,7623,1.31,152.1,753.6,9.2,269,7636,0.00,2.70,7.57,0.887,4,0.000,0.071,3128,168,2499,0,0,0,0,0,0
$GC,7808,1.31,152.1,733.3,11.4,273,7812,0.00,2.45,0.00,0.000,6,0.000,0.035,3128,1651,2497,0,0,0,0,0,0
$GC,8099,1.40,152.7,704.4,9.9,280,8104,0.15,2.65,0.00,0.000,4,0.064,0.070,3175,164,2495,0,0,0,0,0,0
$GC,8343,1.26,152.7,673.2,12.6,285,8348,0.20,2.45,0.00,0.000,6,0.136,0.035,3139,1641,2494,0,0,0,0,0,0
$GC,8617,1.34,158.0,646.7,9.4,292,8630,0.00,2.67,5.70,0.771,4,0.000,0.067,3138,164,2476,0,0,0,0,0,0
$GC,8712,1.34,158.0,635.9,13.0,294,8716,0.00,2.45,0.00,0.000,6,0.000,0.034,3138,1641,2475,0,0,0,0,0,0
$GC,8999,1.43,158.0,604.3,10.9,301,9004,0.15,2.60,0.00,0.000,4,0.064,0.066,3184,169,2474,0,0,0,0,0,0
$GC,9269,1.28,158.0,568.7,13.4,306,9275,0.22,2.40,0.00,0.000,6,0.134,0.029,3142,1637,2473,0,0,0,0,0,0
$GC,9519,1.37,162.5,544.2,9.5,313,9532,0.00,2.58,5.38,0.713,4,0.000,0.061,3142,163,2458,0,0,0,0,0,0
$GC,9799,1.37,162.5,515.2,10.6,319,9803,0.00,2.38,0.00,0.000,6,0.000,0.026,3142,1626,2457,0,0,0,0,0,0
$GC,10088,1.50,185.1,492.8,7.6,326,10117,0.17,2.62,22.48,0.885,4,0.058,0.061,3196,170,2365,0,0,0,0,0,0
$GC,10384,1.37,185.1,453.4,13.8,332,10389,0.20,2.35,0.00,0.000,6,0.137,0.025,3161,1619,2361,0,0,0,0,0,0
$GC,10653,1.46,185.1,423.8,10.7,339,10657,0.00,2.50,0.00,0.000,4,0.000,0.058,3159,167,2359,0,0,0,0,0,0
$GC,10922,1.46,188.4,394.9,9.7,344,10927,0.00,2.33,0.00,0.000,6,0.000,0.025,3159,1624,2359,0,0,0,0,0,0
$GC,11174,1.58,208.6,374.7,7.8,351,11203,0.17,2.60,21.50,0.800,4,0.058,0.056,3214,166,2269,0,0,0,0,0,0
$GC,11468,1.45,208.6,336.5,13.3,357,11473,0.20,2.33,0.00,0.000,6,0.132,0.024,3178,1612,2265,0,0,0,0,0,0
$GC,11741,1.53,208.6,305.3,11.9,364,11745,0.00,2.47,0.00,0.000,4,0.000,0.054,3177,166,2264,0,0,0,0,0,0
$GC,11764,1.53,208.6,301.5,12.3,364,11768,0.00,2.33,0.00,0.000,6,0.000,0.024,3177,1617,2263,0,0,0,0,0,0
$GC,12025,1.61,208.6,268.8,12.6,371,12030,0.12,2.47,0.00,0.000,4,0.071,0.054,3223,166,2263,0,0,0,0,0,0
$GC,12049,1.51,208.6,265.3,13.0,371,12054,0.17,2.30,0.00,0.000,6,0.133,0.023,3191,1607,2263,0,0,0,0,0,0
$GC,12311,1.57,208.6,235.1,11.0,378,12315,0.00,2.45,0.00,0.000,4,0.000,0.053,3191,158,2263,0,0,0,0,0,0
$GC,12579,1.57,208.6,204.4,11.5,383,12583,0.00,2.28,0.00,0.000,6,0.000,0.022,3191,1589,2263,0,0,0,0,0,0
$GC,12842,1.65,211.4,179.5,9.7,404,12847,0.12,2.42,0.00,0.000,4,0.070,0.050,3237,162,2263,0,0,0,0,0,0
$GC,12900,1.50,211.4,172.9,11.9,409,12905,0.25,2.25,0.00,0.000,6,0.126,0.022,3189,1592,2263,0,0,0,0,0,0
$GC,13164,1.61,211.4,144.6,10.1,433,13169,0.00,2.75,0.00,0.000,4,0.000,0.037,3189,3271,2263,0,0,0,0,0,0
$GC,13180,1.71,211.4,142.7,10.0,434,13193,0.17,2.83,0.00,0.000,6,0.054,0.031,3249,1550,2263,0,0,0,0,0,0
$GC,13449,1.71,211.4,112.7,11.5,459,13453,0.00,2.33,0.00,0.000,4,0.000,0.051,3249,153,2263,0,0,0,0,0,0
$GC,13714,1.59,218.4,86.9,9.3,484,13733,0.17,2.25,9.32,0.509,6,0.104,0.021,3210,1573,2228,0,0,0,0,0,0
$GC,13993,1.69,230.8,61.8,8.7,510,14014,0.00,0.00,12.18,0.507,6,0.000,0.000,3210,1573,2178,0,0,0,0,0,0
$GC,14271,1.79,230.8,34.1,10.2,536,14276,0.17,2.35,0.00,0.000,4,0.054,0.045,3273,161,2177,0,0,0,0,0,0
$GC,14439,1.61,230.8,11.5,14.0,559,14448,0.28,2.22,0.00,0.000,6,0.102,0.021,3213,1569,2177,0,0,0,0,0,0
$STATE,14505,end climb,SURFACE_DEPTH_REACHED
$STATE,14505,begin surface coast
$FINISH,1.2,1.024219
$STATE,14553,end surface coast,CONTROL_FINISHED_OK
$STATE,14553,begin surface
$SM_CCo,14574,72.97,0.066,0,0,1569,380.21
$SM_GC,1.90,0.00,0.00,72.97,0.000,0.000,0.066,412,1848,1569,-11.26,1.64,380.21
$IRIDIUM_FIX,2241.69,-15757.16,230400,151556
$TT8_MAMPS,0.027612
$HUMID,49.96
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.80
$XPDR_PINGS,3
$24V_AH,22.9,78.475
$10V_AH,9.8,69.266
$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,30.950,158.375,300.400,72.975,0.000,31.575,35.412,523.745,0.750,0.000,16.171,1383.631,9867.534,459.521,2698.725,988.581,33.368,1610.117,0.000,2671.437,0.000,0.536,0.000
$DEVICE_MAMPS,161.837,82.069,1166.607,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.417,297.818,370.475,522.217,923.617,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,44700,576
$CAP_FILE_SIZE,160901,0
$CFSIZE,260165632,137146368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280111,234507,2250.393,-15756.878,37,1.3,37,10.1