version: 66.06
glider: 148
mission: 9
dive: 599
start: 1 29 111 4 48 26
data:
$ID,148
$MISSION,9
$DIVE,599
$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,-871141.25
$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,43
$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
$GPS1,043707,2248.276,-15757.416,32,0.9,32,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.1
$GPS2,044732,2248.267,-15757.518,11,1.3,11,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.012,-0.173
$KALMAN_X,-112693.6,-25.6,26.8,133932.4,-618.9
$KALMAN_Y,-232939.5,-84.7,90.2,359561.3,-449.4
$MHEAD_RNG_PITCHd_Wd,165.9,2395,-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,-63.0,0.0,0.0,0,95,0.00,0.00,-73.60,0.000,6,0.000,0.000,408,1851,3378,0,0,0,0,0,0
$GC,98,-1.82,-97.3,4.1,-6.0,10,123,10.85,2.72,-2.62,0.000,4,0.153,0.044,2452,205,3520,0,0,0,0,0,0
$GC,231,-1.82,-97.3,38.6,-21.4,27,235,0.00,2.50,0.00,0.000,6,0.000,0.020,2452,1801,3522,0,0,0,0,0,0
$GC,497,-1.82,-97.3,96.4,-19.5,51,501,0.00,2.62,0.00,0.000,4,0.000,0.038,2452,207,3523,0,0,0,0,0,0
$GC,600,-1.82,-97.3,117.3,-18.3,60,609,0.00,2.50,0.00,0.000,6,0.000,0.019,2451,1792,3524,0,0,0,0,0,0
$GC,866,-1.82,-97.3,158.6,-15.4,85,870,0.00,2.60,0.00,0.000,4,0.000,0.038,2452,198,3525,0,0,0,0,0,0
$GC,906,-1.82,-97.3,164.9,-17.0,88,910,0.00,2.45,0.00,0.000,6,0.000,0.018,2452,1785,3525,0,0,0,0,0,0
$GC,1197,-1.89,-97.3,212.4,-15.5,109,1201,0.00,2.58,0.00,0.000,4,0.000,0.038,2452,202,3526,0,0,0,0,0,0
$GC,1231,-1.89,-97.3,217.6,-14.7,109,1235,0.00,2.42,0.00,0.000,6,0.000,0.019,2452,1769,3526,0,0,0,0,0,0
$GC,1485,-1.96,-97.3,256.9,-15.7,115,1489,0.00,2.55,0.00,0.000,4,0.000,0.040,2452,208,3527,0,0,0,0,0,0
$GC,1578,-2.05,-97.3,273.8,-17.1,117,1583,0.17,2.40,0.00,0.000,6,0.054,0.020,2393,1746,3527,0,0,0,0,0,0
$GC,1863,-2.05,-97.3,321.0,-16.1,124,1867,0.00,2.55,0.00,0.000,4,0.000,0.042,2394,209,3526,0,0,0,0,0,0
$GC,1952,-1.98,-97.3,337.2,-18.9,126,1958,0.15,2.42,0.00,0.000,6,0.120,0.023,2425,1749,3527,0,0,0,0,0,0
$GC,2242,-1.98,-97.3,377.9,-13.8,133,2246,0.00,2.60,0.00,0.000,4,0.000,0.049,2424,205,3527,0,0,0,0,0,0
$GC,2274,-1.98,-97.3,383.8,-17.3,133,2279,0.00,2.42,0.00,0.000,6,0.000,0.025,2425,1740,3526,0,0,0,0,0,0
$GC,2524,-1.98,-97.3,422.3,-15.2,139,2528,0.00,2.60,0.00,0.000,4,0.000,0.054,2425,211,3525,0,0,0,0,0,0
$GC,2591,-1.98,-97.3,432.8,-15.5,140,2595,0.00,2.42,0.00,0.000,6,0.000,0.028,2425,1725,3524,0,0,0,0,0,0
$GC,2854,-1.98,-97.3,469.5,-13.7,147,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1725,3523,0,0,0,0,0,0
$GC,3098,-2.04,-97.3,508.2,-16.0,153,3103,0.00,2.62,0.00,0.000,4,0.000,0.061,2425,206,3522,0,0,0,0,0,0
$GC,3114,-2.04,-97.3,510.7,-15.8,153,3119,0.00,2.47,0.00,0.000,6,0.000,0.032,2425,1729,3522,0,0,0,0,0,0
$GC,3383,-2.12,-97.3,551.0,-14.4,160,3388,0.10,2.65,0.00,0.000,4,0.083,0.064,2387,212,3521,0,0,0,0,0,0
$GC,3453,-2.12,-97.3,562.7,-16.3,161,3457,0.00,2.47,0.00,0.000,6,0.000,0.038,2386,1719,3520,0,0,0,0,0,0
$GC,3714,-2.12,-97.3,601.7,-15.2,168,3718,0.00,2.60,0.00,0.000,4,0.000,0.066,2387,217,3518,0,0,0,0,0,0
$GC,3863,-2.12,-97.3,627.9,-17.6,171,3867,0.00,2.47,0.00,0.000,6,0.000,0.038,2386,1708,3517,0,0,0,0,0,0
$GC,4138,-2.12,-97.3,671.4,-15.6,178,4142,0.00,2.62,0.00,0.000,4,0.000,0.067,2386,210,3516,0,0,0,0,0,0
$GC,4181,-2.12,-97.3,679.0,-18.0,179,4185,0.00,2.50,0.00,0.000,6,0.000,0.041,2386,1706,3515,0,0,0,0,0,0
$GC,4467,-2.12,-97.3,721.5,-14.4,186,4472,0.00,2.62,0.00,0.000,4,0.000,0.069,2386,214,3513,0,0,0,0,0,0
$GC,4534,-2.12,-97.3,732.4,-16.5,187,4539,0.00,2.47,0.00,0.000,6,0.000,0.041,2386,1697,3512,0,0,0,0,0,0
$GC,4798,-2.12,-97.3,769.5,-13.6,194,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1697,3511,0,0,0,0,0,0
$GC,5041,-2.12,-97.3,802.0,-13.4,200,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1697,3509,0,0,0,0,0,0
$GC,5287,-2.12,-97.3,836.9,-14.6,206,5291,0.00,2.60,0.00,0.000,4,0.000,0.069,2386,213,3507,0,0,0,0,0,0
$GC,5342,-2.12,-97.3,846.5,-17.1,207,5347,0.00,2.47,0.00,0.000,6,0.000,0.041,2386,1706,3506,0,0,0,0,0,0
$GC,5615,-2.12,-97.3,885.9,-14.3,214,5620,0.00,2.62,0.00,0.000,4,0.000,0.068,2386,212,3505,0,0,0,0,0,0
$GC,5640,-2.12,-97.3,889.6,-15.9,214,5645,0.00,2.50,0.00,0.000,6,0.000,0.041,2386,1705,3505,0,0,0,0,0,0
$STATE,5734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5734,begin apogee
$GC,5740,-0.31,0.0,903.3,14.1,217,5828,1.85,0.00,83.88,1.173,6,0.092,0.000,2788,1705,3120,0,0,0,0,0,0
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5831,1.82,97.3,905.6,0.0,219,5932,1.92,2.78,87.72,1.149,4,0.027,0.056,3263,3254,2722,0,0,0,0,0,0
$GC,5938,1.65,169.6,908.1,2.3,221,6016,0.22,2.67,66.75,1.134,6,0.143,0.038,3223,1690,2428,0,0,0,0,0,0
$GC,6294,1.52,169.6,858.0,15.4,230,6301,0.15,2.72,0.00,0.000,4,0.145,0.079,3196,170,2418,0,0,0,0,0,0
$GC,6567,1.34,169.6,814.0,16.8,235,6573,0.22,2.47,0.00,0.000,6,0.135,0.037,3154,1652,2415,0,0,0,0,0,0
$GC,6818,1.34,169.6,780.4,13.3,242,6823,0.00,2.62,0.00,0.000,4,0.000,0.069,3154,167,2414,0,0,0,0,0,0
$GC,7090,1.27,169.6,739.8,15.2,247,7096,0.00,2.47,0.00,0.000,6,0.000,0.037,3154,1649,2413,0,0,0,0,0,0
$GC,7340,1.27,169.6,707.6,12.5,254,7344,0.00,2.60,0.00,0.000,4,0.000,0.067,3154,168,2412,0,0,0,0,0,0
$GC,7612,1.27,169.6,672.8,12.3,259,7617,0.00,2.47,0.00,0.000,6,0.000,0.037,3154,1653,2411,0,0,0,0,0,0
$GC,7863,1.27,169.6,644.7,11.1,266,7867,0.00,2.60,0.00,0.000,4,0.000,0.067,3154,169,2410,0,0,0,0,0,0
$GC,8114,1.27,169.6,612.2,12.5,271,8119,0.00,2.42,0.00,0.000,6,0.000,0.034,3154,1648,2409,0,0,0,0,0,0
$GC,8378,1.33,169.6,584.3,10.4,278,8383,0.00,2.58,0.00,0.000,4,0.000,0.064,3154,169,2409,0,0,0,0,0,0
$GC,8649,1.33,169.6,551.4,11.8,283,8655,0.00,2.38,0.00,0.000,6,0.000,0.030,3154,1634,2408,0,0,0,0,0,0
$GC,8899,1.42,180.1,528.5,8.9,290,8911,0.00,2.60,7.15,0.777,4,0.000,0.061,3154,166,2385,0,0,0,0,0,0
$GC,9107,1.42,180.1,504.8,12.2,294,9111,0.00,2.38,0.00,0.000,6,0.000,0.027,3154,1622,2383,0,0,0,0,0,0
$GC,9370,1.51,180.1,477.5,10.3,301,9375,0.15,2.53,0.00,0.000,4,0.064,0.061,3204,166,2382,0,0,0,0,0,0
$GC,9507,1.36,180.1,460.0,13.4,304,9512,0.22,2.35,0.00,0.000,6,0.128,0.026,3161,1618,2381,0,0,0,0,0,0
$GC,9795,1.44,180.1,430.1,10.0,311,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1618,2381,0,0,0,0,0,0
$GC,10041,1.52,184.5,406.6,9.5,317,10048,0.12,0.00,4.93,0.622,6,0.073,0.000,3205,1618,2368,0,0,0,0,0,0
$GC,10282,1.52,184.5,378.0,12.1,323,10286,0.00,2.50,0.00,0.000,4,0.000,0.058,3205,167,2367,0,0,0,0,0,0
$GC,10538,1.39,184.5,344.4,12.1,328,10543,0.20,2.35,0.00,0.000,6,0.129,0.025,3166,1625,2367,0,0,0,0,0,0
$GC,10798,1.48,188.3,319.2,9.6,335,10805,0.00,0.00,5.20,0.589,6,0.000,0.000,3166,1625,2352,0,0,0,0,0,0
$GC,11043,1.58,188.3,294.1,10.4,341,11048,0.15,2.53,0.00,0.000,4,0.063,0.056,3217,163,2351,0,0,0,0,0,0
$GC,11236,1.43,188.3,270.9,11.6,345,11241,0.22,2.30,0.00,0.000,6,0.126,0.024,3174,1614,2350,0,0,0,0,0,0
$GC,11515,1.53,201.6,246.2,8.6,352,11535,0.00,2.55,13.70,0.675,4,0.000,0.054,3174,170,2297,0,0,0,0,0,0
$GC,11625,1.53,201.6,234.7,11.2,354,11629,0.00,2.28,0.00,0.000,6,0.000,0.022,3174,1613,2294,0,0,0,0,0,0
$GC,11893,1.65,201.6,206.9,10.3,361,11898,0.17,2.47,0.00,0.000,4,0.056,0.051,3233,164,2293,0,0,0,0,0,0
$GC,12013,1.51,201.6,191.6,12.7,365,12019,0.20,2.30,0.00,0.000,6,0.124,0.022,3194,1610,2293,0,0,0,0,0,0
$GC,12276,1.60,209.0,166.1,9.2,390,12290,0.00,2.45,7.60,0.551,4,0.000,0.048,3193,164,2267,0,0,0,0,0,0
$GC,12361,1.60,209.0,157.7,10.1,398,12365,0.00,2.25,0.00,0.000,6,0.000,0.022,3193,1593,2266,0,0,0,0,0,0
$GC,12633,1.71,219.9,132.8,8.8,423,12653,0.17,0.00,10.98,0.559,6,0.054,0.000,3254,1594,2222,0,0,0,0,0,0
$GC,12908,1.71,219.9,102.8,10.1,449,12913,0.00,2.78,0.00,0.000,4,0.000,0.037,3254,3276,2221,0,0,0,0,0,0
$GC,12957,1.72,229.2,98.1,9.0,453,12978,0.00,2.80,9.82,0.519,6,0.000,0.029,3254,1566,2183,0,0,0,0,0,0
$GC,13232,1.72,229.2,69.4,11.4,479,13236,0.00,2.33,0.00,0.000,4,0.000,0.047,3254,163,2182,0,0,0,0,0,0
$GC,13507,1.61,229.2,32.8,13.1,504,13512,0.22,2.25,0.00,0.000,6,0.115,0.020,3210,1601,2182,0,0,0,0,0,0
$STATE,13791,end climb,SURFACE_DEPTH_REACHED
$STATE,13792,begin surface coast
$FINISH,1.0,1.024189
$STATE,13830,end surface coast,CONTROL_FINISHED_OK
$STATE,13831,begin surface
$SM_CCo,13853,75.70,0.066,0,0,1568,380.21
$SM_GC,1.99,0.00,0.00,75.70,0.000,0.000,0.066,411,1899,1568,-11.27,3.08,380.21
$IRIDIUM_FIX,2241.69,-15804.53,240400,000057
$TT8_MAMPS,0.026845
$HUMID,50.82
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.90
$XPDR_PINGS,1
$24V_AH,22.9,78.746
$10V_AH,9.8,69.504
$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,28.775,151.175,297.725,75.700,0.000,24.040,36.196,404.539,0.250,0.000,12.848,1321.816,9328.759,457.171,2592.897,844.383,33.384,1547.683,0.000,2564.149,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,79.001,1172.743,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.099,285.330,358.004,509.543,901.285,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,41656,553
$CAP_FILE_SIZE,149931,0
$CFSIZE,260165632,137011200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290111,084200,2246.550,-15757.427,37,1.2,42,10.1