version: 66.06
glider: 148
mission: 9
dive: 648
start: 2 8 111 1 6 15
data:
$ID,148
$MISSION,9
$DIVE,648
$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,-872118.44
$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,23
$R_STBD_OVSHOOT,60
$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
$GPS1,004836,2152.312,-15814.393,55,1.4,55,9.9
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.6
$GPS2,010522,2152.270,-15814.527,14,2.9,33,9.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.150,-0.086
$KALMAN_X,-131219.2,-276.0,46.1,123413.0,-1521.4
$KALMAN_Y,-231471.3,-71.9,86.9,254376.4,397.8
$MHEAD_RNG_PITCHd_Wd,109.8,503,-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,-63.0,0.0,0.0,0,88,0.00,0.00,-66.62,0.000,2,0.000,0.000,411,1811,3233,0,0,0,0,0,0
$GC,91,-1.82,-97.3,3.7,-5.0,9,115,10.75,2.65,-5.68,0.000,4,0.148,0.045,2455,197,3518,0,0,0,0,0,0
$GC,161,-1.82,-97.3,22.2,-20.8,19,170,0.00,2.50,0.00,0.000,6,0.000,0.020,2455,1776,3520,0,0,0,0,0,0
$GC,443,-1.71,-97.3,79.9,-21.0,47,448,0.15,2.60,0.00,0.000,4,0.129,0.035,2485,194,3520,0,0,0,0,0,0
$GC,456,-1.62,-97.3,84.6,-21.2,47,462,0.10,2.50,0.00,0.000,6,0.144,0.018,2504,1801,3520,0,0,0,0,0,0
$GC,721,-1.72,-97.3,129.1,-14.5,72,725,0.00,2.62,0.00,0.000,4,0.000,0.037,2503,200,3521,0,0,0,0,0,0
$GC,767,-1.85,-97.3,136.2,-14.0,76,772,0.20,2.45,0.00,0.000,6,0.051,0.018,2439,1793,3521,0,0,0,0,0,0
$GC,1035,-1.85,-97.3,178.1,-16.2,100,1039,0.00,2.60,0.00,0.000,4,0.000,0.035,2439,196,3522,0,0,0,0,0,0
$GC,1190,-1.85,-97.3,206.1,-18.1,114,1194,0.00,2.45,0.00,0.000,6,0.000,0.018,2439,1766,3523,0,0,0,0,0,0
$GC,1465,-1.85,-97.3,250.5,-16.4,121,1469,0.00,2.58,0.00,0.000,4,0.000,0.038,2439,194,3523,0,0,0,0,0,0
$GC,1548,-1.85,-97.3,265.5,-15.9,122,1554,0.00,2.45,0.00,0.000,6,0.000,0.018,2438,1764,3523,0,0,0,0,0,0
$GC,1798,-1.85,-97.3,300.0,-13.5,129,1802,0.00,2.60,0.00,0.000,4,0.000,0.041,2439,191,3523,0,0,0,0,0,0
$GC,1869,-1.85,-97.3,310.6,-15.7,130,1874,0.00,2.42,0.00,0.000,6,0.000,0.020,2438,1738,3524,0,0,0,0,0,0
$GC,2129,-1.92,-97.3,348.0,-14.5,137,2133,0.00,2.58,0.00,0.000,4,0.000,0.047,2439,197,3524,0,0,0,0,0,0
$GC,2157,-1.92,-97.3,352.8,-16.4,137,2161,0.00,2.42,0.00,0.000,6,0.000,0.021,2439,1729,3524,0,0,0,0,0,0
$GC,2413,-1.98,-97.3,390.8,-14.6,144,2417,0.00,2.58,0.00,0.000,4,0.000,0.050,2439,203,3523,0,0,0,0,0,0
$GC,2483,-1.98,-97.3,402.8,-15.5,145,2487,0.00,2.40,0.00,0.000,6,0.000,0.024,2439,1714,3522,0,0,0,0,0,0
$GC,2746,-2.06,-97.3,443.2,-15.2,152,2751,0.12,2.58,0.00,0.000,4,0.068,0.057,2387,207,3521,0,0,0,0,0,0
$GC,2800,-1.98,-97.3,453.0,-19.0,153,2805,0.17,2.42,0.00,0.000,6,0.114,0.030,2424,1706,3521,0,0,0,0,0,0
$GC,3080,-1.98,-97.3,495.3,-14.3,160,3085,0.00,2.58,0.00,0.000,4,0.000,0.061,2424,200,3519,0,0,0,0,0,0
$GC,3129,-1.98,-97.3,503.1,-17.0,161,3133,0.00,2.45,0.00,0.000,6,0.000,0.035,2424,1693,3519,0,0,0,0,0,0
$GC,3411,-2.04,-97.3,544.2,-13.9,168,3415,0.00,2.55,0.00,0.000,4,0.000,0.063,2424,207,3516,0,0,0,0,0,0
$GC,3540,-2.04,-97.3,563.0,-15.0,170,3544,0.00,2.42,0.00,0.000,6,0.000,0.034,2424,1686,3516,0,0,0,0,0,0
$GC,3790,-2.11,-97.3,596.0,-13.0,176,3795,0.10,2.58,0.00,0.000,4,0.081,0.064,2385,208,3514,0,0,0,0,0,0
$GC,3823,-2.11,-97.3,601.2,-15.8,176,3827,0.00,2.40,0.00,0.000,6,0.000,0.036,2385,1676,3513,0,0,0,0,0,0
$GC,4075,-2.11,-97.3,636.8,-14.0,182,4079,0.00,2.55,0.00,0.000,4,0.000,0.066,2385,199,3511,0,0,0,0,0,0
$GC,4104,-2.04,-97.3,641.4,-16.0,182,4109,0.15,2.42,0.00,0.000,6,0.121,0.036,2413,1670,3511,0,0,0,0,0,0
$GC,4360,-2.04,-97.3,674.3,-12.5,189,4364,0.00,2.55,0.00,0.000,4,0.000,0.067,2413,209,3509,0,0,0,0,0,0
$GC,4417,-2.04,-97.3,682.3,-14.3,190,4421,0.00,2.40,0.00,0.000,6,0.000,0.038,2414,1669,3508,0,0,0,0,0,0
$GC,4695,-2.11,-97.3,718.8,-12.9,197,4699,0.00,2.55,0.00,0.000,4,0.000,0.068,2413,202,3506,0,0,0,0,0,0
$GC,4732,-2.11,-97.3,724.3,-14.4,197,4738,0.00,2.38,0.00,0.000,6,0.000,0.037,2414,1652,3505,0,0,0,0,0,0
$GC,4984,-2.17,-97.3,756.9,-13.1,204,4986,0.12,0.00,0.00,0.000,6,0.071,0.000,2370,1652,3504,0,0,0,0,0,0
$GC,5225,-2.17,-97.3,791.7,-14.5,210,5229,0.00,2.53,0.00,0.000,4,0.000,0.067,2370,208,3502,0,0,0,0,0,0
$GC,5270,-2.07,-97.3,798.5,-16.3,211,5275,0.17,2.40,0.00,0.000,6,0.120,0.037,2405,1658,3501,0,0,0,0,0,0
$GC,5559,-2.07,-97.3,839.4,-14.0,218,5566,0.00,2.92,0.00,0.000,4,0.000,0.066,2405,3345,3499,0,0,0,0,0,0
$GC,5576,-2.07,-97.3,842.4,-15.8,218,5581,0.00,2.78,0.00,0.000,6,0.000,0.042,2405,1683,3499,0,0,0,0,0,0
$GC,5845,-2.13,-97.3,878.8,-13.4,225,5849,0.00,2.60,0.00,0.000,4,0.000,0.076,2405,200,3498,0,0,0,0,0,0
$GC,5866,-2.13,-97.3,881.6,-14.0,225,5870,0.00,2.40,0.00,0.000,6,0.000,0.036,2405,1653,3497,0,0,0,0,0,0
$STATE,6045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6045,begin apogee
$GC,6051,-0.31,0.0,904.2,12.3,230,6137,1.77,0.00,82.12,1.172,6,0.094,0.000,2789,1653,3120,0,0,0,0,0,0
$STATE,6138,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6141,1.82,97.3,905.9,0.0,232,6242,1.92,2.67,87.60,1.148,4,0.025,0.068,3268,174,2721,0,0,0,0,0,0
$GC,6252,1.52,146.6,906.6,4.8,234,6306,0.40,2.47,45.95,1.121,6,0.129,0.035,3191,1665,2521,0,0,0,0,0,0
$GC,6557,1.43,146.6,868.4,13.4,242,6561,0.00,2.65,0.00,0.000,4,0.000,0.067,3191,171,2512,0,0,0,0,0,0
$GC,6800,1.24,146.6,833.1,14.4,247,6805,0.30,2.50,0.00,0.000,6,0.127,0.034,3134,1674,2510,0,0,0,0,0,0
$GC,7075,1.24,146.6,802.0,10.9,254,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1676,2508,0,0,0,0,0,0
$GC,7319,1.31,146.6,776.5,10.4,260,7324,0.00,2.65,0.00,0.000,4,0.000,0.067,3134,171,2507,0,0,0,0,0,0
$GC,7591,1.31,146.6,743.8,11.5,265,7597,0.00,2.45,0.00,0.000,6,0.000,0.035,3134,1656,2504,0,0,0,0,0,0
$GC,7844,1.38,149.6,719.2,9.7,272,7849,0.10,2.62,0.00,0.000,4,0.081,0.067,3174,163,2503,0,0,0,0,0,0
$GC,8115,1.23,149.6,685.2,13.2,277,8121,0.22,2.45,0.00,0.000,6,0.134,0.034,3132,1644,2502,0,0,0,0,0,0
$GC,8365,1.33,160.0,661.8,8.9,284,8381,0.00,2.62,9.45,0.897,4,0.000,0.065,3131,163,2468,0,0,0,0,0,0
$GC,8647,1.33,160.0,629.5,11.9,290,8651,0.00,2.40,0.00,0.000,6,0.000,0.032,3131,1627,2466,0,0,0,0,0,0
$GC,8934,1.44,168.2,602.2,9.1,297,8951,0.17,2.60,9.07,0.858,4,0.054,0.061,3191,164,2433,0,0,0,0,0,0
$GC,9219,1.28,168.2,565.4,11.7,303,9224,0.25,2.38,0.00,0.000,6,0.130,0.030,3143,1622,2430,0,0,0,0,0,0
$GC,9505,1.37,168.2,536.5,10.2,310,9509,0.00,2.53,0.00,0.000,4,0.000,0.060,3143,167,2429,0,0,0,0,0,0
$GC,9775,1.37,168.2,505.8,10.9,315,9781,0.00,2.35,0.00,0.000,6,0.000,0.028,3143,1613,2429,0,0,0,0,0,0
$GC,10025,1.48,170.6,481.2,9.7,322,10030,0.15,2.53,0.00,0.000,4,0.061,0.059,3197,163,2428,0,0,0,0,0,0
$GC,10157,1.32,170.6,464.7,12.1,324,10164,0.25,2.35,0.00,0.000,6,0.130,0.027,3150,1608,2428,0,0,0,0,0,0
$GC,10408,1.40,170.6,439.8,10.1,331,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1608,2428,0,0,0,0,0,0
$GC,10651,1.51,175.4,415.9,9.5,337,10664,0.17,2.53,6.93,0.710,4,0.054,0.057,3209,164,2405,0,0,0,0,0,0
$GC,10686,1.36,175.4,412.0,12.8,337,10691,0.25,2.38,0.00,0.000,6,0.127,0.026,3160,1619,2405,0,0,0,0,0,0
$GC,10941,1.42,175.4,386.1,10.2,344,10946,0.00,2.50,0.00,0.000,4,0.000,0.057,3160,167,2404,0,0,0,0,0,0
$GC,11170,1.42,176.0,361.6,9.9,349,11174,0.00,2.33,0.00,0.000,6,0.000,0.025,3160,1611,2403,0,0,0,0,0,0
$GC,11459,1.53,192.5,337.4,8.2,356,11484,0.12,2.58,17.33,0.762,4,0.069,0.058,3208,173,2333,0,0,0,0,0,0
$GC,11660,1.40,192.5,312.7,10.7,360,11665,0.20,2.28,0.00,0.000,6,0.128,0.024,3170,1600,2330,0,0,0,0,0,0
$GC,11932,1.50,207.6,288.5,8.4,367,11952,0.00,2.55,14.27,0.710,4,0.000,0.058,3170,173,2273,0,0,0,0,0,0
$GC,12221,1.50,207.6,253.8,12.0,373,12225,0.00,2.25,0.00,0.000,6,0.000,0.023,3169,1582,2271,0,0,0,0,0,0
$GC,12499,1.64,215.0,227.5,9.2,380,12513,0.20,2.88,7.53,0.597,4,0.049,0.048,3238,3263,2242,0,0,0,0,0,0
$GC,12552,1.64,215.0,221.3,12.0,381,12560,0.10,2.83,0.00,0.000,6,0.136,0.031,3218,1564,2241,0,0,0,0,0,0
$GC,12815,1.64,215.0,192.5,11.2,392,12819,0.00,2.38,0.00,0.000,4,0.000,0.054,3218,160,2241,0,0,0,0,0,0
$GC,12862,1.54,215.0,187.1,12.5,396,12867,0.12,2.28,0.00,0.000,6,0.134,0.022,3195,1597,2240,0,0,0,0,0,0
$GC,13123,1.63,217.1,159.9,9.8,420,13128,0.00,2.75,0.00,0.000,4,0.000,0.037,3196,3268,2240,0,0,0,0,0,0
$GC,13152,1.75,222.9,157.0,9.4,422,13174,0.17,2.80,8.30,0.553,6,0.052,0.031,3257,1564,2211,0,0,0,0,0,0
$GC,13424,1.75,222.9,124.9,10.4,448,13428,0.00,2.33,0.00,0.000,4,0.000,0.048,3257,167,2210,0,0,0,0,0,0
$GC,13575,1.60,222.9,107.9,10.2,462,13580,0.22,2.25,0.00,0.000,6,0.123,0.021,3212,1598,2210,0,0,0,0,0,0
$GC,13839,1.73,248.6,88.3,7.3,486,13873,0.10,2.47,24.17,0.552,4,0.077,0.044,3259,166,2105,0,0,0,0,0,0
$GC,13962,1.63,248.6,74.3,13.1,497,13967,0.22,2.22,0.00,0.000,6,0.116,0.021,3215,1594,2104,0,0,0,0,0,0
$GC,14226,1.74,252.0,47.9,9.6,521,14240,0.10,2.78,4.45,0.374,4,0.077,0.033,3264,3271,2091,0,0,0,0,0,0
$GC,14255,1.74,252.0,44.5,11.3,523,14268,0.12,2.80,0.00,0.000,6,0.120,0.028,3240,1556,2090,0,0,0,0,0,0
$GC,14550,1.74,252.0,7.9,10.8,562,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1556,2090,0,0,0,0,0,0
$STATE,14589,end climb,SURFACE_DEPTH_REACHED
$STATE,14589,begin surface coast
$FINISH,1.0,1.012356
$STATE,14634,end surface coast,CONTROL_FINISHED_OK
$STATE,14634,begin surface
$SM_CCo,14656,61.60,0.065,0,0,1570,380.21
$SM_GC,1.90,0.00,0.00,61.60,0.000,0.000,0.065,413,1907,1570,-11.26,3.34,380.21
$IRIDIUM_FIX,2143.45,-15819.24,040500,010137
$TT8_MAMPS,0.026845
$HUMID,50.63
$INTERNAL_PRESSURE,9.72104
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,22.9,85.191
$10V_AH,9.8,75.496
$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,31.325,181.600,317.175,61.600,0.000,85.043,134.031,438.912,0.000,0.000,35.709,1400.660,9990.354,469.873,2728.823,1126.485,33.376,1649.033,0.000,2681.070,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,75.933,1171.976,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.633,292.056,366.807,513.472,909.010,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355824
$DATA_FILE_SIZE,44739,575
$CAP_FILE_SIZE,173207,0
$CFSIZE,260165632,133378048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080211,051307,2151.313,-15813.531,50,1.4,50,9.9