version: 66.06
glider: 148
mission: 9
dive: 606
start: 1 30 111 13 51 43
data:
$ID,148
$MISSION,9
$DIVE,606
$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,-871269.88
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,134050,2249.459,-15758.552,40,1.5,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.1
$GPS2,135049,2249.517,-15758.454,10,1.2,15,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,0.094
$KALMAN_X,-112947.3,311.7,17.9,132245.2,-84.5
$KALMAN_Y,-236170.5,52.6,-40.9,365105.8,-769.5
$MHEAD_RNG_PITCHd_Wd,47.2,2638,-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,19,-1.78,-63.0,0.0,0.0,0,89,0.00,0.00,-68.10,0.000,2,0.000,0.000,415,1868,3224,0,0,0,0,0,0
$GC,92,-1.82,-97.3,3.5,-4.9,9,116,10.77,2.42,-6.00,0.000,4,0.150,0.041,2457,3367,3518,0,0,0,0,0,0
$GC,246,-1.82,-97.3,38.3,-19.8,30,251,0.00,2.55,0.00,0.000,6,0.000,0.024,2457,1781,3520,0,0,0,0,0,0
$GC,509,-1.82,-97.3,92.6,-21.1,54,513,0.00,2.53,0.00,0.000,4,0.000,0.035,2457,202,3521,0,0,0,0,0,0
$GC,551,-1.73,-97.3,101.5,-23.0,57,556,0.12,2.47,0.00,0.000,6,0.131,0.020,2482,1788,3521,0,0,0,0,0,0
$GC,817,-1.83,-97.3,142.9,-15.8,81,822,0.00,2.58,0.00,0.000,4,0.000,0.038,2482,204,3522,0,0,0,0,0,0
$GC,855,-1.93,-97.3,149.5,-16.9,84,860,0.17,2.47,0.00,0.000,6,0.054,0.018,2423,1800,3522,0,0,0,0,0,0
$GC,1117,-1.93,-97.3,198.1,-17.2,108,1121,0.00,2.58,0.00,0.000,4,0.000,0.036,2423,208,3523,0,0,0,0,0,0
$GC,1227,-1.93,-97.3,219.0,-19.1,111,1231,0.00,2.42,0.00,0.000,6,0.000,0.020,2423,1767,3523,0,0,0,0,0,0
$GC,1495,-1.93,-97.3,262.9,-16.1,118,1499,0.00,2.55,0.00,0.000,4,0.000,0.038,2423,210,3524,0,0,0,0,0,0
$GC,1538,-1.93,-97.3,270.2,-17.2,119,1542,0.00,2.47,0.00,0.000,6,0.000,0.021,2423,1778,3524,0,0,0,0,0,0
$GC,1826,-1.93,-97.3,315.0,-15.7,126,1831,0.00,2.58,0.00,0.000,4,0.000,0.041,2423,208,3525,0,0,0,0,0,0
$GC,1840,-1.93,-97.3,317.9,-16.0,126,1844,0.00,2.45,0.00,0.000,6,0.000,0.020,2423,1764,3525,0,0,0,0,0,0
$GC,2108,-1.93,-97.3,360.5,-15.9,133,2113,0.00,2.60,0.00,0.000,4,0.000,0.047,2423,205,3525,0,0,0,0,0,0
$GC,2203,-1.93,-97.3,375.9,-16.6,135,2207,0.00,2.45,0.00,0.000,6,0.000,0.023,2423,1750,3525,0,0,0,0,0,0
$GC,2485,-1.93,-97.3,418.5,-14.7,142,2489,0.00,2.60,0.00,0.000,4,0.000,0.052,2423,212,3524,0,0,0,0,0,0
$GC,2575,-1.93,-97.3,433.5,-17.2,144,2580,0.00,2.45,0.00,0.000,6,0.000,0.028,2423,1749,3523,0,0,0,0,0,0
$GC,2862,-1.93,-97.3,477.0,-14.9,151,2867,0.00,2.62,0.00,0.000,4,0.000,0.059,2423,217,3522,0,0,0,0,0,0
$GC,2918,-1.93,-97.3,486.3,-16.7,152,2922,0.00,2.50,0.00,0.000,6,0.000,0.033,2423,1741,3522,0,0,0,0,0,0
$GC,3193,-1.99,-97.3,526.8,-14.5,159,3197,0.00,2.65,0.00,0.000,4,0.000,0.062,2423,210,3520,0,0,0,0,0,0
$GC,3223,-1.99,-97.3,531.4,-15.0,159,3227,0.00,2.53,0.00,0.000,6,0.000,0.035,2423,1743,3520,0,0,0,0,0,0
$GC,3477,-2.06,-97.3,567.5,-14.2,166,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1748,3518,0,0,0,0,0,0
$GC,3723,-2.14,-97.3,600.6,-13.3,172,3725,0.12,0.00,0.00,0.000,6,0.067,0.000,2380,1747,3517,0,0,0,0,0,0
$GC,3964,-2.14,-97.3,636.2,-14.8,178,3969,0.00,2.78,0.00,0.000,4,0.000,0.056,2380,3373,3515,0,0,0,0,0,0
$GC,3983,-2.14,-97.3,639.3,-15.4,178,3987,0.00,2.67,0.00,0.000,6,0.000,0.038,2381,1750,3515,0,0,0,0,0,0
$GC,4248,-2.14,-97.3,677.5,-14.5,185,4253,0.00,2.70,0.00,0.000,4,0.000,0.072,2380,209,3513,0,0,0,0,0,0
$GC,4323,-2.14,-97.3,690.2,-17.9,186,4327,0.00,2.53,0.00,0.000,6,0.000,0.039,2380,1731,3512,0,0,0,0,0,0
$GC,4577,-2.14,-97.3,729.3,-15.7,193,4581,0.00,2.65,0.00,0.000,4,0.000,0.066,2380,207,3511,0,0,0,0,0,0
$GC,4662,-2.14,-97.3,743.3,-16.7,194,4667,0.00,2.53,0.00,0.000,6,0.000,0.038,2380,1727,3509,0,0,0,0,0,0
$GC,4912,-2.14,-97.3,781.6,-14.9,201,4916,0.00,2.65,0.00,0.000,4,0.000,0.065,2380,210,3508,0,0,0,0,0,0
$GC,4935,-2.14,-97.3,785.7,-16.9,201,4939,0.00,2.50,0.00,0.000,6,0.000,0.037,2380,1719,3507,0,0,0,0,0,0
$GC,5196,-2.14,-97.3,823.9,-14.5,208,5200,0.00,2.62,0.00,0.000,4,0.000,0.065,2380,211,3506,0,0,0,0,0,0
$GC,5270,-2.14,-97.3,835.9,-16.1,209,5274,0.00,2.50,0.00,0.000,6,0.000,0.038,2380,1715,3505,0,0,0,0,0,0
$GC,5524,-2.14,-97.3,869.9,-13.1,216,5528,0.00,2.62,0.00,0.000,4,0.000,0.066,2380,203,3503,0,0,0,0,0,0
$GC,5544,-2.14,-97.3,872.6,-13.2,216,5548,0.00,2.53,0.00,0.000,6,0.000,0.037,2380,1725,3503,0,0,0,0,0,0
$STATE,5765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5765,begin apogee
$GC,5771,-0.31,0.0,901.7,12.9,222,5859,1.88,0.00,83.47,1.168,6,0.088,0.000,2788,1660,3120,0,0,0,0,0,0
$STATE,5859,end apogee,CONTROL_FINISHED_OK
$STATE,5859,begin climb
$GC,5862,1.82,97.3,903.3,0.0,224,5955,1.98,0.00,88.95,1.146,6,0.025,0.000,3301,1660,2723,0,0,0,0,0,0
$GC,6173,1.48,97.3,882.7,11.4,232,6180,0.55,2.60,0.00,0.000,4,0.130,0.067,3188,180,2715,0,0,0,0,0,0
$GC,6447,1.23,97.3,853.7,11.2,237,6453,0.30,2.42,0.00,0.000,6,0.138,0.031,3133,1666,2712,0,0,0,0,0,0
$GC,6696,1.26,122.5,834.6,7.3,244,6725,0.00,2.70,22.27,1.071,4,0.000,0.067,3133,194,2619,0,0,0,0,0,0
$GC,6993,1.20,122.5,805.8,10.2,250,6997,0.00,2.42,0.00,0.000,6,0.000,0.032,3133,1658,2615,0,0,0,0,0,0
$GC,7261,1.21,135.6,782.3,8.6,257,7281,0.00,2.62,12.70,0.993,4,0.000,0.067,3133,187,2566,0,0,0,0,0,0
$GC,7547,1.21,135.6,752.9,10.8,263,7551,0.00,2.42,0.00,0.000,6,0.000,0.032,3133,1653,2563,0,0,0,0,0,0
$GC,7829,1.30,149.4,728.3,8.5,270,7849,0.00,2.67,13.68,0.979,4,0.000,0.067,3133,190,2510,0,0,0,0,0,0
$GC,8050,1.30,149.4,704.5,11.5,274,8054,0.00,2.42,0.00,0.000,6,0.000,0.032,3133,1657,2507,0,0,0,0,0,0
$GC,8300,1.39,154.1,680.3,9.5,280,8313,0.12,2.60,5.22,0.755,4,0.071,0.064,3174,180,2491,0,0,0,0,0,0
$GC,8536,1.25,154.1,650.1,13.6,285,8541,0.20,2.42,0.00,0.000,6,0.133,0.031,3136,1651,2489,0,0,0,0,0,0
$GC,8820,1.34,157.6,622.4,9.6,292,8831,0.00,2.60,4.43,0.674,4,0.000,0.064,3136,182,2476,0,0,0,0,0,0
$GC,9026,1.34,157.7,600.7,10.0,296,9031,0.00,2.38,0.00,0.000,6,0.000,0.030,3136,1643,2475,0,0,0,0,0,0
$GC,9292,1.47,178.6,579.7,7.8,303,9321,0.17,2.65,21.27,0.938,4,0.058,0.062,3190,184,2390,0,0,0,0,0,0
$GC,9345,1.34,178.6,574.4,11.2,304,9350,0.20,2.40,0.00,0.000,6,0.132,0.030,3154,1635,2388,0,0,0,0,0,0
$GC,9626,1.43,187.4,549.0,9.1,311,9641,0.00,2.58,8.65,0.817,4,0.000,0.060,3153,177,2356,0,0,0,0,0,0
$GC,9665,1.43,187.4,544.0,12.7,311,9670,0.00,2.38,0.00,0.000,6,0.000,0.028,3153,1628,2355,0,0,0,0,0,0
$GC,9915,1.51,187.4,517.8,10.4,318,9920,0.15,2.53,0.00,0.000,4,0.064,0.060,3199,183,2353,0,0,0,0,0,0
$GC,10185,1.37,187.4,479.8,12.9,323,10192,0.20,2.33,0.00,0.000,6,0.150,0.026,3162,1616,2352,0,0,0,0,0,0
$GC,10437,1.45,187.4,451.7,11.2,330,10442,0.00,2.47,0.00,0.000,4,0.000,0.058,3162,181,2351,0,0,0,0,0,0
$GC,10619,1.45,187.4,428.2,13.0,334,10623,0.00,2.30,0.00,0.000,6,0.000,0.025,3162,1622,2351,0,0,0,0,0,0
$GC,10908,1.54,189.5,398.9,9.8,341,10913,0.12,2.50,0.00,0.000,4,0.072,0.060,3205,182,2350,0,0,0,0,0,0
$GC,11179,1.41,189.5,367.8,11.7,346,11185,0.17,2.30,0.00,0.000,6,0.132,0.025,3172,1612,2350,0,0,0,0,0,0
$GC,11429,1.49,194.3,344.3,9.5,353,11441,0.00,2.53,6.80,0.660,4,0.000,0.058,3172,184,2328,0,0,0,0,0,0
$GC,11708,1.49,194.3,310.6,11.6,359,11712,0.00,2.28,0.00,0.000,6,0.000,0.022,3172,1611,2327,0,0,0,0,0,0
$GC,11997,1.59,194.3,280.5,10.5,366,12002,0.12,2.45,0.00,0.000,4,0.071,0.057,3218,180,2326,0,0,0,0,0,0
$GC,12137,1.46,194.3,261.9,12.7,369,12142,0.20,2.25,0.00,0.000,6,0.129,0.022,3181,1604,2326,0,0,0,0,0,0
$GC,12422,1.54,194.3,233.1,10.2,376,12427,0.00,2.78,0.00,0.000,4,0.000,0.045,3181,3264,2326,0,0,0,0,0,0
$GC,12485,1.67,195.1,226.5,9.9,377,12492,0.17,2.72,0.00,0.000,6,0.053,0.034,3248,1603,2325,0,0,0,0,0,0
$GC,12758,1.59,195.1,196.7,10.5,384,12763,0.20,2.42,0.00,0.000,4,0.124,0.058,3209,182,2325,0,0,0,0,0,0
$GC,12946,1.52,195.4,176.6,10.0,402,12954,0.00,2.28,0.00,0.000,6,0.000,0.021,3209,1613,2326,0,0,0,0,0,0
$GC,13214,1.52,200.3,152.6,9.5,427,13226,0.00,2.47,7.00,0.531,4,0.000,0.048,3209,175,2303,0,0,0,0,0,0
$GC,13361,1.45,200.3,137.0,11.1,441,13366,0.17,2.28,0.00,0.000,6,0.141,0.022,3178,1617,2302,0,0,0,0,0,0
$GC,13626,1.59,211.1,112.9,8.8,465,13648,0.12,2.47,10.98,0.542,4,0.066,0.048,3227,181,2258,0,0,0,0,0,0
$GC,13674,1.49,211.1,107.6,12.3,469,13679,0.20,2.25,0.00,0.000,6,0.135,0.021,3189,1618,2258,0,0,0,0,0,0
$GC,13938,1.67,239.4,84.9,7.0,493,13971,0.15,2.50,25.92,0.555,4,0.058,0.047,3248,180,2143,0,0,0,0,0,0
$GC,14289,1.59,239.4,42.3,13.7,525,14294,0.20,2.22,0.00,0.000,6,0.133,0.021,3211,1591,2141,0,0,0,0,0,0
$GC,14581,1.70,239.4,9.5,11.8,563,14590,0.00,2.38,0.00,0.000,4,0.000,0.053,3211,182,2140,0,0,0,0,0,0
$STATE,14621,end climb,SURFACE_DEPTH_REACHED
$STATE,14621,begin surface coast
$FINISH,1.0,1.014892
$STATE,14672,end surface coast,CONTROL_FINISHED_OK
$STATE,14672,begin surface
$SM_CCo,14698,67.78,0.066,0,0,1569,380.21
$SM_GC,1.85,0.00,0.00,67.78,0.000,0.000,0.066,414,1821,1569,-11.25,0.85,380.21
$IRIDIUM_FIX,2241.69,-15759.32,250400,090917
$TT8_MAMPS,0.026845
$HUMID,51.49
$INTERNAL_PRESSURE,9.69174
$TCM_TEMP,20.50
$XPDR_PINGS,3
$24V_AH,22.9,79.689
$10V_AH,9.8,70.382
$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,30.475,175.450,311.350,67.775,0.000,30.536,35.872,368.224,0.750,0.000,17.440,1411.738,9829.072,495.523,2782.860,838.261,33.373,1663.640,0.000,2750.648,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,91.273,1168.141,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.767,284.276,368.434,516.198,913.511,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,44608,577
$CAP_FILE_SIZE,162313,0
$CFSIZE,260165632,136482816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300111,175945,2249.984,-15757.024,54,2.3,73,10.1