version: 66.06
glider: 148
mission: 9
dive: 650
start: 2 8 111 9 33 47
data:
$ID,148
$MISSION,9
$DIVE,650
$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,-872146.44
$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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,092430,2152.291,-15812.945,40,1.1,40,9.9
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.8
$GPS2,093249,2152.263,-15812.927,10,1.1,10,9.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.162,-0.061
$KALMAN_X,-132922.2,489.7,70.2,127068.3,-1186.4
$KALMAN_Y,-232419.5,-241.7,-248.7,255832.5,73.0
$MHEAD_RNG_PITCHd_Wd,239.3,2749,-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,-67.93,0.000,2,0.000,0.000,408,1868,3244,0,0,0,0,0,0
$GC,91,-1.82,-97.3,3.7,-5.0,9,116,10.90,2.45,-5.28,0.000,4,0.154,0.037,2452,3379,3518,0,0,0,0,0,0
$GC,187,-1.82,-97.3,28.7,-20.9,23,195,0.00,2.55,0.00,0.000,6,0.000,0.024,2452,1798,3520,0,0,0,0,0,0
$GC,452,-1.71,-97.3,86.6,-22.0,48,457,0.17,2.60,0.00,0.000,4,0.127,0.035,2486,205,3520,0,0,0,0,0,0
$GC,493,-1.71,-97.3,95.2,-20.8,51,497,0.00,2.50,0.00,0.000,6,0.000,0.019,2486,1811,3520,0,0,0,0,0,0
$GC,761,-1.71,-97.3,140.6,-16.6,75,765,0.00,2.62,0.00,0.000,4,0.000,0.034,2486,200,3522,0,0,0,0,0,0
$GC,793,-1.78,-97.3,146.0,-16.9,77,797,0.00,2.50,0.00,0.000,6,0.000,0.019,2486,1797,3522,0,0,0,0,0,0
$GC,1057,-1.90,-97.3,188.0,-15.0,101,1063,0.17,2.60,0.00,0.000,4,0.055,0.037,2427,210,3522,0,0,0,0,0,0
$GC,1073,-1.90,-97.3,191.4,-16.9,102,1078,0.00,2.45,0.00,0.000,6,0.000,0.018,2427,1788,3523,0,0,0,0,0,0
$GC,1325,-1.90,-97.3,235.9,-17.7,111,1329,0.00,2.58,0.00,0.000,4,0.000,0.037,2427,209,3524,0,0,0,0,0,0
$GC,1364,-1.90,-97.3,242.9,-18.9,111,1370,0.00,2.42,0.00,0.000,6,0.000,0.019,2428,1758,3524,0,0,0,0,0,0
$GC,1614,-1.90,-97.3,284.0,-16.2,118,1618,0.00,2.55,0.00,0.000,4,0.000,0.038,2427,204,3525,0,0,0,0,0,0
$GC,1633,-1.90,-97.3,287.4,-17.1,118,1637,0.00,2.47,0.00,0.000,6,0.000,0.020,2427,1781,3525,0,0,0,0,0,0
$GC,1898,-1.90,-97.3,325.4,-13.6,125,1903,0.00,2.60,0.00,0.000,4,0.000,0.044,2427,214,3525,0,0,0,0,0,0
$GC,2060,-1.90,-97.3,351.9,-16.1,128,2065,0.00,2.45,0.00,0.000,6,0.000,0.022,2427,1758,3526,0,0,0,0,0,0
$GC,2321,-1.90,-97.3,389.9,-14.8,135,2326,0.00,2.60,0.00,0.000,4,0.000,0.053,2427,214,3526,0,0,0,0,0,0
$GC,2420,-1.90,-97.3,406.8,-16.7,137,2425,0.00,2.47,0.00,0.000,6,0.000,0.028,2427,1748,3526,0,0,0,0,0,0
$GC,2698,-1.90,-97.3,449.6,-15.4,144,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1751,3524,0,0,0,0,0,0
$GC,2944,-1.96,-97.3,486.5,-15.1,150,2948,0.00,2.65,0.00,0.000,4,0.000,0.061,2427,214,3523,0,0,0,0,0,0
$GC,2981,-1.96,-97.3,493.1,-16.4,150,2987,0.00,2.53,0.00,0.000,6,0.000,0.034,2427,1752,3522,0,0,0,0,0,0
$GC,3231,-2.03,-97.3,527.4,-13.8,157,3236,0.00,2.62,0.00,0.000,4,0.000,0.061,2427,221,3520,0,0,0,0,0,0
$GC,3336,-2.03,-97.3,542.5,-13.9,159,3341,0.00,2.53,0.00,0.000,6,0.000,0.036,2427,1745,3519,0,0,0,0,0,0
$GC,3610,-2.11,-97.3,577.1,-12.4,166,3615,0.12,2.67,0.00,0.000,4,0.067,0.064,2382,219,3517,0,0,0,0,0,0
$GC,3730,-2.11,-97.3,596.0,-16.9,168,3734,0.00,2.53,0.00,0.000,6,0.000,0.038,2382,1742,3517,0,0,0,0,0,0
$GC,3989,-2.11,-97.3,633.8,-14.3,175,3993,0.00,2.65,0.00,0.000,4,0.000,0.064,2382,219,3514,0,0,0,0,0,0
$GC,4003,-2.11,-97.3,636.3,-14.8,175,4007,0.00,2.50,0.00,0.000,6,0.000,0.036,2382,1734,3514,0,0,0,0,0,0
$GC,4273,-2.11,-97.3,677.9,-15.4,182,4278,0.00,2.62,0.00,0.000,4,0.000,0.065,2381,216,3512,0,0,0,0,0,0
$GC,4324,-2.11,-97.3,687.1,-17.3,183,4328,0.00,2.53,0.00,0.000,6,0.000,0.040,2382,1729,3512,0,0,0,0,0,0
$GC,4602,-2.11,-97.3,730.3,-15.5,190,4606,0.00,2.62,0.00,0.000,4,0.000,0.067,2382,214,3510,0,0,0,0,0,0
$GC,4696,-2.11,-97.3,746.3,-17.6,192,4701,0.00,2.50,0.00,0.000,6,0.000,0.040,2382,1712,3509,0,0,0,0,0,0
$GC,4978,-2.11,-97.3,790.9,-15.6,199,4983,0.00,2.60,0.00,0.000,4,0.000,0.067,2382,212,3507,0,0,0,0,0,0
$GC,5036,-2.11,-97.3,800.8,-17.8,200,5040,0.00,2.47,0.00,0.000,6,0.000,0.039,2382,1708,3506,0,0,0,0,0,0
$GC,5309,-2.11,-97.3,844.7,-15.9,207,5313,0.00,2.58,0.00,0.000,4,0.000,0.067,2382,221,3504,0,0,0,0,0,0
$GC,5323,-2.11,-97.3,847.1,-15.7,207,5327,0.00,2.47,0.00,0.000,6,0.000,0.038,2382,1710,3504,0,0,0,0,0,0
$GC,5593,-2.11,-97.3,888.6,-15.1,214,5597,0.00,2.58,0.00,0.000,4,0.000,0.067,2382,221,3502,0,0,0,0,0,0
$STATE,5656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5656,begin apogee
$GC,5664,-0.31,0.0,900.1,17.6,215,5752,1.88,0.00,83.32,1.156,6,0.097,0.000,2787,1687,3120,0,0,0,0,0,0
$STATE,5753,end apogee,CONTROL_FINISHED_OK
$STATE,5753,begin climb
$GC,5757,1.82,97.3,903.2,0.0,217,5850,1.98,0.00,88.75,1.137,6,0.027,0.000,3262,1687,2723,0,0,0,0,0,0
$GC,6090,1.56,105.5,887.5,9.1,226,6101,0.30,0.00,7.97,0.927,6,0.124,0.000,3204,1688,2689,0,0,0,0,0,0
$GC,6334,1.44,114.5,865.4,9.0,232,6351,0.15,2.70,8.93,0.950,4,0.133,0.066,3175,181,2654,0,0,0,0,0,0
$GC,6619,1.25,114.5,835.0,10.0,238,6624,0.20,2.50,0.00,0.000,6,0.133,0.034,3136,1686,2650,0,0,0,0,0,0
$GC,6905,1.28,139.9,813.0,7.3,245,6936,0.00,2.72,24.42,1.061,4,0.000,0.066,3136,183,2548,0,0,0,0,0,0
$GC,7206,1.23,148.0,785.0,9.1,251,7219,0.00,2.47,8.40,0.909,6,0.000,0.034,3136,1671,2515,0,0,0,0,0,0
$GC,7470,1.31,159.2,761.1,8.8,258,7486,0.00,2.67,11.35,0.956,4,0.000,0.066,3136,184,2471,0,0,0,0,0,0
$GC,7755,1.31,159.2,728.7,12.3,264,7759,0.00,2.47,0.00,0.000,6,0.000,0.034,3136,1671,2467,0,0,0,0,0,0
$GC,8035,1.39,159.2,701.0,10.3,271,8040,0.12,2.62,0.00,0.000,4,0.071,0.066,3180,177,2466,0,0,0,0,0,0
$GC,8306,1.24,159.2,667.5,12.0,276,8312,0.25,2.42,0.00,0.000,6,0.133,0.032,3134,1663,2464,0,0,0,0,0,0
$GC,8556,1.35,171.1,644.8,8.7,283,8573,0.00,2.67,11.55,0.909,4,0.000,0.064,3134,175,2421,0,0,0,0,0,0
$GC,8838,1.35,171.1,612.9,11.4,289,8843,0.00,2.45,0.00,0.000,6,0.000,0.031,3134,1657,2419,0,0,0,0,0,0
$GC,9118,1.47,185.6,587.9,8.5,296,9140,0.20,2.67,14.52,0.903,4,0.051,0.061,3199,180,2362,0,0,0,0,0,0
$GC,9150,1.37,188.7,584.5,9.7,296,9164,0.20,2.45,4.72,0.666,6,0.127,0.031,3162,1650,2350,0,0,0,0,0,0
$GC,9409,1.37,188.7,558.8,10.1,303,9414,0.00,2.58,0.00,0.000,4,0.000,0.061,3162,177,2347,0,0,0,0,0,0
$GC,9678,1.31,188.7,526.4,11.8,308,9684,0.00,2.40,0.00,0.000,6,0.000,0.028,3161,1642,2346,0,0,0,0,0,0
$GC,9930,1.37,188.7,497.9,11.7,315,9935,0.00,2.53,0.00,0.000,4,0.000,0.058,3162,176,2345,0,0,0,0,0,0
$GC,10080,1.37,188.7,478.1,14.8,318,10084,0.00,2.38,0.00,0.000,6,0.000,0.027,3161,1635,2345,0,0,0,0,0,0
$GC,10359,1.44,188.7,448.0,10.5,325,10364,0.00,2.50,0.00,0.000,4,0.000,0.058,3162,182,2345,0,0,0,0,0,0
$GC,10373,1.44,188.7,445.4,11.3,325,10378,0.00,2.35,0.00,0.000,6,0.000,0.027,3162,1630,2345,0,0,0,0,0,0
$GC,10642,1.51,188.7,414.0,11.9,332,10644,0.12,0.00,0.00,0.000,6,0.070,0.000,3209,1632,2344,0,0,0,0,0,0
$GC,10887,1.51,188.7,384.4,11.9,338,10891,0.00,2.50,0.00,0.000,4,0.000,0.056,3209,176,2344,0,0,0,0,0,0
$GC,11157,1.37,188.7,349.4,12.3,343,11162,0.25,2.35,0.00,0.000,6,0.123,0.026,3161,1628,2343,0,0,0,0,0,0
$GC,11408,1.48,203.1,327.5,8.5,349,11424,0.10,0.00,13.60,0.734,6,0.082,0.000,3205,1629,2290,0,0,0,0,0,0
$GC,11651,1.48,203.1,300.0,11.5,355,11656,0.12,2.50,0.00,0.000,4,0.130,0.054,3181,181,2288,0,0,0,0,0,0
$GC,11773,1.48,203.1,285.7,10.5,357,11777,0.00,2.35,0.00,0.000,6,0.000,0.024,3181,1643,2288,0,0,0,0,0,0
$GC,12028,1.58,214.6,263.4,8.8,364,12045,0.10,2.78,11.18,0.668,4,0.083,0.050,3224,3246,2243,0,0,0,0,0,0
$GC,12079,1.58,214.6,257.4,11.5,365,12083,0.00,2.70,0.00,0.000,6,0.000,0.035,3224,1636,2242,0,0,0,0,0,0
$GC,12357,1.58,214.6,224.9,11.6,372,12361,0.00,2.53,0.00,0.000,4,0.000,0.061,3224,166,2241,0,0,0,0,0,0
$GC,12619,1.47,214.6,190.3,13.0,380,12625,0.22,2.33,0.00,0.000,6,0.127,0.022,3181,1631,2241,0,0,0,0,0,0
$GC,12880,1.59,220.0,163.4,9.4,405,12893,0.10,0.00,5.93,0.511,6,0.078,0.000,3228,1634,2222,0,0,0,0,0,0
$GC,13144,1.59,220.0,136.6,10.6,430,13149,0.10,2.67,0.00,0.000,4,0.142,0.035,3209,3259,2222,0,0,0,0,0,0
$GC,13166,1.59,220.0,134.8,10.4,431,13170,0.00,2.70,0.00,0.000,6,0.000,0.031,3209,1609,2221,0,0,0,0,0,0
$GC,13432,1.68,230.9,108.7,8.8,455,13451,0.00,0.00,11.80,0.537,6,0.000,0.000,3209,1609,2176,0,0,0,0,0,0
$GC,13712,1.79,230.9,82.3,11.1,481,13721,0.17,2.70,0.00,0.000,4,0.052,0.033,3286,3258,2175,0,0,0,0,0,0
$GC,13789,1.79,230.9,72.5,11.8,488,13801,0.17,2.67,0.00,0.000,6,0.118,0.028,3251,1614,2173,0,0,0,0,0,0
$GC,14055,1.79,230.9,45.6,10.2,513,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1614,2173,0,0,0,0,0,0
$GC,14341,1.79,232.4,13.7,9.8,549,14350,0.00,2.40,0.00,0.000,4,0.000,0.045,3251,171,2173,0,0,0,0,0,0
$GC,14359,1.79,232.4,11.5,10.7,551,14368,0.00,2.30,0.00,0.000,6,0.000,0.019,3251,1640,2174,0,0,0,0,0,0
$STATE,14431,end climb,SURFACE_DEPTH_REACHED
$STATE,14431,begin surface coast
$FINISH,1.0,1.011713
$STATE,14477,end surface coast,CONTROL_FINISHED_OK
$STATE,14477,begin surface
$SM_CCo,14499,77.50,0.066,0,0,1570,380.21
$SM_GC,1.97,0.00,0.00,77.50,0.000,0.000,0.066,413,1830,1570,-11.26,1.10,380.21
$IRIDIUM_FIX,2143.45,-15740.86,040500,050536
$TT8_MAMPS,0.027612
$HUMID,50.43
$INTERNAL_PRESSURE,9.71127
$TCM_TEMP,21.50
$XPDR_PINGS,2
$24V_AH,22.8,85.409
$10V_AH,9.7,75.732
$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,29.900,167.775,306.450,77.500,0.000,37.436,38.106,271.798,0.500,0.000,11.938,1368.842,9812.829,511.665,2609.193,772.704,33.370,1623.583,0.000,2606.470,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,66.729,1155.869,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.337,300.039,368.742,519.675,919.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,44736,569
$CAP_FILE_SIZE,156726,0
$CFSIZE,260165632,133246976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080211,133806,2152.025,-15814.182,38,1.3,38,9.9