version: 66.06
glider: 148
mission: 9
dive: 651
start: 2 8 111 13 46 38
data:
$ID,148
$MISSION,9
$DIVE,651
$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,-872162.69
$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,93
$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
$GPS1,133806,2152.025,-15814.182,38,1.3,38,9.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.3
$GPS2,134543,2151.975,-15814.231,9,2.0,14,9.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,0.030
$KALMAN_X,-132895.0,907.7,356.2,124091.1,-1897.6
$KALMAN_Y,-232368.8,-227.1,259.7,254710.0,-201.9
$MHEAD_RNG_PITCHd_Wd,70.3,463,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.78,-63.0,0.0,0.0,0,88,0.00,0.00,-66.47,0.000,2,0.000,0.000,413,1830,3185,0,0,0,0,0,0
$GC,92,-1.82,-97.3,3.4,-3.8,9,115,11.02,2.70,-6.72,0.000,4,0.160,0.046,2455,191,3518,0,0,0,0,0,0
$GC,180,-1.74,-97.3,26.8,-22.9,22,190,0.08,2.47,0.00,0.000,6,0.104,0.020,2474,1746,3520,0,0,0,0,0,0
$GC,454,-1.74,-97.3,84.5,-19.9,48,459,0.00,2.50,0.00,0.000,4,0.000,0.035,2474,197,3521,0,0,0,0,0,0
$GC,474,-1.74,-97.3,88.3,-18.6,49,479,0.00,2.47,0.00,0.000,6,0.000,0.019,2474,1791,3521,0,0,0,0,0,0
$GC,744,-1.81,-97.3,129.6,-14.0,73,749,0.00,2.60,0.00,0.000,4,0.000,0.037,2474,190,3522,0,0,0,0,0,0
$GC,846,-1.87,-97.3,147.2,-15.4,82,856,0.08,2.50,0.00,0.000,6,0.042,0.018,2435,1777,3523,0,0,0,0,0,0
$GC,1110,-1.87,-97.3,189.0,-16.8,107,1115,0.00,2.55,0.00,0.000,4,0.000,0.036,2435,198,3524,0,0,0,0,0,0
$GC,1235,-1.87,-97.3,211.8,-16.6,114,1240,0.00,2.45,0.00,0.000,6,0.000,0.018,2435,1766,3524,0,0,0,0,0,0
$GC,1492,-1.87,-97.3,249.9,-14.3,121,1496,0.00,2.58,0.00,0.000,4,0.000,0.038,2434,196,3525,0,0,0,0,0,0
$GC,1525,-1.87,-97.3,255.4,-16.6,121,1529,0.00,2.45,0.00,0.000,6,0.000,0.019,2434,1774,3525,0,0,0,0,0,0
$GC,1774,-1.87,-97.3,290.7,-13.8,127,1779,0.00,2.58,0.00,0.000,4,0.000,0.040,2435,198,3525,0,0,0,0,0,0
$GC,1836,-1.87,-97.3,300.1,-15.2,128,1840,0.00,2.45,0.00,0.000,6,0.000,0.020,2434,1768,3525,0,0,0,0,0,0
$GC,2109,-1.94,-97.3,340.0,-15.2,135,2114,0.00,2.62,0.00,0.000,4,0.000,0.045,2435,194,3526,0,0,0,0,0,0
$GC,2123,-1.94,-97.3,342.4,-14.3,135,2128,0.00,2.45,0.00,0.000,6,0.000,0.021,2434,1757,3525,0,0,0,0,0,0
$GC,2394,-2.00,-97.3,382.8,-14.7,142,2399,0.00,2.62,0.00,0.000,4,0.000,0.038,2435,3363,3526,0,0,0,0,0,0
$GC,2422,-2.08,-97.3,387.2,-13.9,142,2428,0.12,2.58,0.00,0.000,6,0.064,0.028,2387,1761,3525,0,0,0,0,0,0
$GC,2678,-2.02,-97.3,427.1,-16.1,149,2683,0.15,2.67,0.00,0.000,4,0.119,0.061,2417,204,3525,0,0,0,0,0,0
$GC,2819,-2.02,-97.3,448.5,-15.3,152,2823,0.00,2.47,0.00,0.000,6,0.000,0.030,2417,1736,3523,0,0,0,0,0,0
$GC,3101,-2.02,-97.3,488.1,-14.6,159,3105,0.00,2.62,0.00,0.000,4,0.000,0.061,2418,214,3522,0,0,0,0,0,0
$GC,3186,-2.02,-97.3,500.8,-14.9,160,3192,0.00,2.45,0.00,0.000,6,0.000,0.034,2417,1723,3521,0,0,0,0,0,0
$GC,3436,-2.02,-97.3,535.6,-13.6,167,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1723,3519,0,0,0,0,0,0
$GC,3680,-2.08,-97.3,569.0,-13.3,173,3685,0.00,2.78,0.00,0.000,4,0.000,0.054,2418,3357,3518,0,0,0,0,0,0
$GC,3706,-2.08,-97.3,572.6,-14.8,173,3711,0.00,2.67,0.00,0.000,6,0.000,0.037,2417,1748,3518,0,0,0,0,0,0
$GC,3966,-2.14,-97.3,605.4,-12.5,180,3971,0.10,2.70,0.00,0.000,4,0.082,0.071,2379,203,3516,0,0,0,0,0,0
$GC,4061,-2.07,-97.3,620.5,-17.1,182,4066,0.15,2.53,0.00,0.000,6,0.119,0.037,2408,1730,3515,0,0,0,0,0,0
$GC,4346,-2.07,-97.3,659.5,-13.5,189,4350,0.00,2.65,0.00,0.000,4,0.000,0.066,2409,211,3513,0,0,0,0,0,0
$GC,4406,-2.07,-97.3,669.0,-15.1,190,4411,0.00,2.50,0.00,0.000,6,0.000,0.038,2408,1718,3512,0,0,0,0,0,0
$GC,4676,-2.07,-97.3,706.9,-14.0,197,4681,0.00,2.62,0.00,0.000,4,0.000,0.066,2409,213,3511,0,0,0,0,0,0
$GC,4742,-2.07,-97.3,717.2,-14.9,198,4746,0.00,2.50,0.00,0.000,6,0.000,0.038,2408,1716,3510,0,0,0,0,0,0
$GC,5005,-2.07,-97.3,752.9,-13.5,205,5010,0.00,2.62,0.00,0.000,4,0.000,0.067,2409,211,3508,0,0,0,0,0,0
$GC,5044,-2.07,-97.3,758.3,-14.0,205,5050,0.00,2.47,0.00,0.000,6,0.000,0.037,2409,1705,3508,0,0,0,0,0,0
$GC,5294,-2.07,-97.3,791.8,-13.2,212,5298,0.00,2.62,0.00,0.000,4,0.000,0.067,2408,204,3506,0,0,0,0,0,0
$GC,5356,-2.07,-97.3,800.9,-15.1,213,5360,0.00,2.47,0.00,0.000,6,0.000,0.039,2409,1694,3505,0,0,0,0,0,0
$GC,5626,-2.14,-97.3,835.1,-12.3,220,5631,0.00,2.58,0.00,0.000,4,0.000,0.067,2409,211,3504,0,0,0,0,0,0
$GC,5700,-2.14,-97.3,845.5,-13.9,221,5705,0.00,2.45,0.00,0.000,6,0.000,0.038,2409,1686,3503,0,0,0,0,0,0
$GC,5955,-2.21,-97.3,877.9,-12.7,228,5957,0.12,0.00,0.00,0.000,6,0.071,0.000,2367,1686,3501,0,0,0,0,0,0
$STATE,6155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6155,begin apogee
$GC,6163,-0.31,0.0,905.4,13.5,233,6251,1.98,0.00,83.57,1.164,6,0.097,0.000,2789,1685,3120,0,0,0,0,0,0
$STATE,6252,end apogee,CONTROL_FINISHED_OK
$STATE,6252,begin climb
$GC,6254,1.82,97.3,907.3,0.0,235,6348,1.98,0.00,89.15,1.145,6,0.028,0.000,3271,1686,2723,0,0,0,0,0,0
$GC,6562,1.54,97.3,887.3,11.2,243,6569,0.35,2.70,0.00,0.000,4,0.126,0.067,3199,172,2715,0,0,0,0,0,0
$GC,6806,1.26,97.3,858.6,11.5,248,6812,0.32,2.47,0.00,0.000,6,0.128,0.033,3137,1665,2712,0,0,0,0,0,0
$GC,7082,1.28,113.0,835.1,8.3,255,7103,0.00,2.72,13.52,1.017,4,0.000,0.067,3137,176,2659,0,0,0,0,0,0
$GC,7109,1.29,118.3,832.7,9.4,255,7121,0.00,2.53,6.47,0.858,6,0.000,0.034,3137,1681,2639,0,0,0,0,0,0
$GC,7375,1.30,127.7,808.7,9.0,262,7392,0.00,2.75,10.02,0.960,4,0.000,0.067,3137,176,2599,0,0,0,0,0,0
$GC,7657,1.23,127.7,778.9,11.1,268,7662,0.00,2.47,0.00,0.000,6,0.000,0.035,3138,1671,2595,0,0,0,0,0,0
$GC,7940,1.25,143.8,754.7,8.3,275,7961,0.00,2.72,15.85,1.004,4,0.000,0.067,3137,167,2532,0,0,0,0,0,0
$GC,8229,1.18,143.8,723.9,10.6,281,8233,0.00,2.47,0.00,0.000,6,0.000,0.034,3137,1666,2530,0,0,0,0,0,0
$GC,8502,1.19,151.6,698.2,9.2,288,8517,0.00,2.65,8.40,0.886,4,0.000,0.064,3137,171,2500,0,0,0,0,0,0
$GC,8609,1.19,151.6,686.7,12.0,290,8613,0.00,2.47,0.00,0.000,6,0.000,0.034,3138,1659,2498,0,0,0,0,0,0
$GC,8882,1.27,156.2,660.1,9.5,297,8895,0.00,2.65,5.20,0.742,4,0.000,0.064,3137,167,2482,0,0,0,0,0,0
$GC,9162,1.27,156.2,629.3,11.3,303,9166,0.00,2.45,0.00,0.000,6,0.000,0.032,3137,1651,2481,0,0,0,0,0,0
$GC,9451,1.35,161.4,601.9,9.4,310,9464,0.00,2.65,6.07,0.769,4,0.000,0.063,3137,177,2461,0,0,0,0,0,0
$GC,9732,1.35,161.4,572.2,11.7,316,9736,0.00,2.42,0.00,0.000,6,0.000,0.031,3137,1653,2459,0,0,0,0,0,0
$GC,10019,1.45,173.4,546.8,8.7,323,10039,0.17,2.60,12.38,0.870,4,0.058,0.059,3191,175,2412,0,0,0,0,0,0
$GC,10052,1.34,173.4,543.6,10.6,323,10057,0.20,2.42,0.00,0.000,6,0.127,0.029,3155,1640,2411,0,0,0,0,0,0
$GC,10307,1.40,173.4,517.9,10.1,330,10312,0.00,2.55,0.00,0.000,4,0.000,0.060,3154,164,2410,0,0,0,0,0,0
$GC,10509,1.40,173.4,493.4,12.2,334,10513,0.00,2.40,0.00,0.000,6,0.000,0.028,3154,1634,2409,0,0,0,0,0,0
$GC,10778,1.47,174.6,466.0,9.9,341,10783,0.10,2.55,0.00,0.000,4,0.084,0.060,3191,164,2409,0,0,0,0,0,0
$GC,10909,1.33,174.6,449.8,13.5,343,10915,0.20,2.38,0.00,0.000,6,0.126,0.028,3153,1638,2409,0,0,0,0,0,0
$GC,11159,1.41,174.6,424.6,10.1,350,11163,0.00,2.50,0.00,0.000,4,0.000,0.057,3153,170,2408,0,0,0,0,0,0
$GC,11428,1.41,174.6,392.9,11.0,355,11434,0.00,2.35,0.00,0.000,6,0.000,0.025,3153,1627,2408,0,0,0,0,0,0
$GC,11678,1.50,174.6,367.5,10.2,362,11683,0.15,2.53,0.00,0.000,4,0.063,0.058,3204,168,2407,0,0,0,0,0,0
$GC,11949,1.35,174.6,334.9,11.6,367,11955,0.25,2.30,0.00,0.000,6,0.123,0.026,3156,1610,2407,0,0,0,0,0,0
$GC,12201,1.47,188.5,312.7,8.5,374,12222,0.10,2.55,14.38,0.733,4,0.084,0.057,3191,176,2351,0,0,0,0,0,0
$GC,12373,1.39,193.1,293.6,9.5,377,12388,0.15,2.33,5.72,0.595,6,0.130,0.024,3164,1621,2331,0,0,0,0,0,0
$GC,12631,1.52,206.9,271.8,8.5,384,12652,0.12,2.58,13.48,0.693,4,0.071,0.055,3209,171,2276,0,0,0,0,0,0
$GC,12751,1.43,206.9,259.2,10.4,386,12756,0.17,2.33,0.00,0.000,6,0.127,0.023,3174,1620,2275,0,0,0,0,0,0
$GC,13011,1.55,215.3,235.9,9.1,393,13028,0.10,2.50,8.77,0.620,4,0.082,0.052,3213,172,2241,0,0,0,0,0,0
$GC,13133,1.47,215.3,220.8,12.7,395,13137,0.15,2.30,0.00,0.000,6,0.133,0.022,3183,1614,2239,0,0,0,0,0,0
$GC,13395,1.59,228.2,195.2,8.6,405,13417,0.10,2.47,12.88,0.621,4,0.081,0.048,3224,170,2188,0,0,0,0,0,0
$GC,13425,1.59,235.1,192.4,9.3,407,13443,0.00,2.33,7.97,0.568,6,0.000,0.022,3224,1618,2159,0,0,0,0,0,0
$GC,13698,1.59,235.1,160.2,12.0,433,13702,0.00,2.45,0.00,0.000,4,0.000,0.048,3224,166,2157,0,0,0,0,0,0
$GC,13982,1.59,235.1,121.0,12.5,460,13991,0.00,2.30,0.00,0.000,6,0.000,0.021,3224,1604,2157,0,0,0,0,0,0
$GC,14250,1.71,255.5,99.2,7.8,485,14275,0.00,2.50,18.90,0.548,4,0.000,0.053,3224,163,2078,0,0,0,0,0,0
$GC,14294,1.71,256.5,94.8,9.9,489,14298,0.00,2.30,0.00,0.000,6,0.000,0.021,3224,1614,2077,0,0,0,0,0,0
$GC,14564,1.79,256.5,67.5,10.2,513,14569,0.10,2.42,0.00,0.000,4,0.077,0.045,3271,161,2075,0,0,0,0,0,0
$GC,14727,1.66,256.5,44.7,13.2,527,14737,0.20,2.28,0.00,0.000,6,0.098,0.020,3226,1599,2075,0,0,0,0,0,0
$GC,15016,1.73,256.5,9.5,13.1,564,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1603,2075,0,0,0,0,0,0
$STATE,15062,end climb,SURFACE_DEPTH_REACHED
$STATE,15062,begin surface coast
$FINISH,1.2,1.023803
$STATE,15107,end surface coast,CONTROL_FINISHED_OK
$STATE,15107,begin surface
$SM_CCo,15130,62.20,0.066,0,0,1569,380.21
$SM_GC,1.82,0.00,0.00,62.20,0.000,0.000,0.066,415,1898,1569,-11.25,3.02,380.21
$IRIDIUM_FIX,2143.45,-15811.92,040500,090957
$TT8_MAMPS,0.026845
$HUMID,50.35
$INTERNAL_PRESSURE,9.72104
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,22.8,85.519
$10V_AH,9.7,75.850
$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,30.175,181.625,332.750,62.200,0.000,28.876,33.436,224.818,0.250,0.000,15.598,1424.808,10232.021,512.157,2763.293,709.412,33.378,1710.897,0.000,2729.578,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,70.564,1164.306,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.951,284.074,357.523,493.934,872.390,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,44897,578
$CAP_FILE_SIZE,166204,0
$CFSIZE,260165632,133165056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080211,180106,2151.923,-15812.802,33,1.3,33,9.9