version: 66.06
glider: 148
mission: 9
dive: 549
start: 1 19 111 5 38 14
data:
$ID,148
$MISSION,9
$DIVE,549
$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,150
$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,-870168.94
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,053107,2250.357,-15756.435,30,0.9,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.7
$GPS2,053719,2250.313,-15756.409,11,1.5,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.065,0.160
$KALMAN_X,-120680.8,171.2,75.7,143577.4,-417.4
$KALMAN_Y,-174031.4,-1130.7,374.5,305203.7,-2041.7
$MHEAD_RNG_PITCHd_Wd,327.8,1163,-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,-68.05,0.000,2,0.000,0.000,415,1886,3186,0,0,0,0,0,0
$GC,93,-1.86,-125.0,3.1,-3.4,9,118,10.82,2.40,-8.90,0.000,4,0.156,0.038,2446,3387,3630,0,0,0,0,0,0
$GC,201,-1.86,-125.0,30.3,-20.8,25,205,0.00,2.55,0.00,0.000,6,0.000,0.025,2447,1792,3632,0,0,0,0,0,0
$GC,470,-1.76,-125.0,92.4,-23.2,49,475,0.15,2.58,0.00,0.000,4,0.123,0.032,2477,3378,3634,0,0,0,0,0,0
$GC,492,-1.68,-125.0,99.4,-22.6,50,500,0.00,2.55,0.00,0.000,6,0.000,0.020,2477,1783,3633,0,0,0,0,0,0
$GC,759,-1.75,-125.0,148.0,-18.3,75,763,0.00,2.53,0.00,0.000,4,0.000,0.038,2477,215,3634,0,0,0,0,0,0
$GC,848,-1.92,-125.0,164.3,-16.7,83,853,0.15,2.45,0.00,0.000,6,0.061,0.019,2424,1795,3634,0,0,0,0,0,0
$GC,1117,-1.92,-125.0,215.5,-19.4,102,1121,0.00,2.55,0.00,0.000,4,0.000,0.036,2424,215,3636,0,0,0,0,0,0
$GC,1188,-1.92,-125.0,228.8,-18.8,103,1193,0.00,2.42,0.00,0.000,6,0.000,0.020,2424,1757,3637,0,0,0,0,0,0
$GC,1447,-1.92,-125.0,273.0,-16.5,110,1452,0.00,2.50,0.00,0.000,4,0.000,0.040,2424,217,3637,0,0,0,0,0,0
$GC,1538,-1.92,-125.0,289.6,-19.8,112,1542,0.00,2.40,0.00,0.000,6,0.000,0.021,2424,1752,3638,0,0,0,0,0,0
$GC,1824,-1.92,-125.0,339.3,-17.2,119,1828,0.00,2.55,0.00,0.000,4,0.000,0.045,2424,214,3638,0,0,0,0,0,0
$GC,1842,-1.92,-125.0,343.0,-18.7,119,1847,0.00,2.42,0.00,0.000,6,0.000,0.022,2424,1755,3638,0,0,0,0,0,0
$GC,2108,-1.92,-125.0,390.8,-18.2,126,2112,0.00,2.58,0.00,0.000,4,0.000,0.050,2424,222,3638,0,0,0,0,0,0
$GC,2135,-1.92,-125.0,396.5,-19.1,126,2140,0.00,2.45,0.00,0.000,6,0.000,0.025,2424,1751,3638,0,0,0,0,0,0
$GC,2390,-1.92,-125.0,438.6,-16.3,133,2394,0.00,2.60,0.00,0.000,4,0.000,0.054,2424,221,3637,0,0,0,0,0,0
$GC,2429,-1.99,-125.0,445.1,-17.3,133,2434,0.00,2.47,0.00,0.000,6,0.000,0.029,2424,1744,3637,0,0,0,0,0,0
$GC,2679,-2.06,-125.0,483.2,-14.8,140,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1744,3636,0,0,0,0,0,0
$GC,2922,-2.14,-125.0,519.1,-14.6,146,2927,0.12,2.62,0.00,0.000,4,0.067,0.061,2380,223,3635,0,0,0,0,0,0
$GC,2937,-2.14,-125.0,521.7,-14.5,146,2941,0.00,2.50,0.00,0.000,6,0.000,0.032,2380,1757,3635,0,0,0,0,0,0
$GC,3207,-2.14,-125.0,566.6,-17.3,153,3211,0.00,2.65,0.00,0.000,4,0.000,0.061,2381,225,3633,0,0,0,0,0,0
$GC,3276,-2.14,-125.0,580.3,-19.8,154,3281,0.00,2.53,0.00,0.000,6,0.000,0.040,2380,1737,3633,0,0,0,0,0,0
$GC,3535,-2.14,-125.0,624.5,-16.9,161,3539,0.00,2.62,0.00,0.000,4,0.000,0.065,2380,224,3631,0,0,0,0,0,0
$GC,3578,-2.14,-125.0,631.8,-16.9,162,3582,0.00,2.53,0.00,0.000,6,0.000,0.042,2380,1734,3631,0,0,0,0,0,0
$GC,3864,-2.14,-125.0,678.6,-16.1,169,3869,0.00,2.65,0.00,0.000,4,0.000,0.067,2380,221,3629,0,0,0,0,0,0
$GC,3912,-2.14,-125.0,686.7,-17.2,170,3917,0.00,2.53,0.00,0.000,6,0.000,0.044,2380,1726,3628,0,0,0,0,0,0
$GC,4194,-2.14,-125.0,732.3,-16.1,177,4198,0.00,2.62,0.00,0.000,4,0.000,0.069,2380,226,3627,0,0,0,0,0,0
$GC,4217,-2.14,-125.0,736.5,-17.4,177,4221,0.00,2.53,0.00,0.000,6,0.000,0.044,2380,1726,3626,0,0,0,0,0,0
$GC,4478,-2.14,-125.0,779.2,-16.4,184,4482,0.00,2.62,0.00,0.000,4,0.000,0.068,2380,227,3624,0,0,0,0,0,0
$GC,4501,-2.14,-125.0,783.7,-18.8,184,4505,0.00,2.53,0.00,0.000,6,0.000,0.044,2380,1727,3624,0,0,0,0,0,0
$GC,4759,-2.14,-125.0,826.2,-16.3,191,4764,0.00,2.62,0.00,0.000,4,0.000,0.069,2380,226,3622,0,0,0,0,0,0
$GC,4796,-2.14,-125.0,833.0,-17.7,191,4802,0.00,2.53,0.00,0.000,6,0.000,0.045,2380,1725,3621,0,0,0,0,0,0
$GC,5048,-2.14,-125.0,872.4,-15.6,198,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1725,3620,0,0,0,0,0,0
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5247,begin apogee
$GC,5252,-0.31,0.0,903.8,15.3,203,5369,1.90,0.00,108.70,1.167,6,0.093,0.000,2790,1725,3120,0,0,0,0,0,0
$STATE,5369,end apogee,CONTROL_FINISHED_OK
$STATE,5369,begin climb
$GC,5372,1.86,125.0,908.4,0.0,206,5495,1.98,2.72,113.97,1.146,4,0.025,0.059,3278,3271,2609,0,0,0,0,0,0
$GC,5503,1.64,183.5,909.1,3.8,209,5567,0.32,2.70,55.20,1.120,6,0.137,0.040,3217,1693,2372,0,0,0,0,0,0
$GC,5819,1.52,183.5,860.6,16.2,217,5826,0.12,2.72,0.00,0.000,4,0.141,0.081,3194,169,2363,0,0,0,0,0,0
$GC,5988,1.36,183.5,831.3,17.3,220,5994,0.20,2.50,0.00,0.000,6,0.139,0.038,3158,1666,2360,0,0,0,0,0,0
$GC,6245,1.36,183.5,797.2,13.3,227,6250,0.00,2.65,0.00,0.000,4,0.000,0.068,3158,163,2358,0,0,0,0,0,0
$GC,6384,1.29,183.5,775.5,16.4,230,6388,0.00,2.53,0.00,0.000,6,0.000,0.038,3158,1665,2356,0,0,0,0,0,0
$GC,6668,1.29,183.5,737.5,13.3,237,6672,0.00,2.65,0.00,0.000,4,0.000,0.068,3158,168,2356,0,0,0,0,0,0
$GC,6757,1.22,183.5,724.1,14.8,239,6762,0.15,2.50,0.00,0.000,6,0.154,0.038,3130,1662,2355,0,0,0,0,0,0
$GC,7047,1.34,183.5,688.6,12.3,246,7051,0.00,2.62,0.00,0.000,4,0.000,0.069,3130,166,2354,0,0,0,0,0,0
$GC,7206,1.34,183.5,665.9,14.1,249,7210,0.00,2.50,0.00,0.000,6,0.000,0.037,3130,1661,2353,0,0,0,0,0,0
$GC,7471,1.46,183.5,634.6,11.7,256,7477,0.20,2.62,0.00,0.000,4,0.051,0.066,3193,170,2353,0,0,0,0,0,0
$GC,7556,1.33,183.5,621.1,15.8,257,7562,0.22,2.47,0.00,0.000,6,0.133,0.035,3151,1657,2352,0,0,0,0,0,0
$GC,7806,1.40,183.5,590.9,11.8,264,7810,0.00,2.62,0.00,0.000,4,0.000,0.065,3151,166,2351,0,0,0,0,0,0
$GC,7965,1.40,183.5,569.4,13.7,267,7969,0.00,2.45,0.00,0.000,6,0.000,0.033,3151,1657,2351,0,0,0,0,0,0
$GC,8229,1.48,183.5,539.7,11.2,274,8234,0.12,2.58,0.00,0.000,4,0.071,0.062,3194,167,2350,0,0,0,0,0,0
$GC,8500,1.36,183.5,501.2,14.6,279,8506,0.20,2.40,0.00,0.000,6,0.130,0.029,3158,1633,2349,0,0,0,0,0,0
$GC,8752,1.44,183.5,474.5,10.8,286,8756,0.00,2.55,0.00,0.000,4,0.000,0.061,3157,167,2349,0,0,0,0,0,0
$GC,8923,1.44,183.5,454.0,12.0,289,8927,0.00,2.38,0.00,0.000,6,0.000,0.028,3157,1631,2349,0,0,0,0,0,0
$GC,9175,1.53,183.5,427.5,10.6,295,9180,0.15,2.55,0.00,0.000,4,0.062,0.060,3208,160,2348,0,0,0,0,0,0
$GC,9290,1.38,183.5,412.6,14.2,297,9295,0.22,2.38,0.00,0.000,6,0.127,0.028,3164,1627,2349,0,0,0,0,0,0
$GC,9556,1.46,183.5,383.5,10.4,304,9560,0.00,2.50,0.00,0.000,4,0.000,0.058,3164,163,2348,0,0,0,0,0,0
$GC,9607,1.46,183.5,377.2,12.1,305,9611,0.00,2.35,0.00,0.000,6,0.000,0.026,3164,1624,2348,0,0,0,0,0,0
$GC,9886,1.55,183.5,348.9,10.2,312,9888,0.15,0.00,0.00,0.000,6,0.063,0.000,3214,1624,2348,0,0,0,0,0,0
$GC,10127,1.55,183.5,321.0,11.5,318,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1625,2348,0,0,0,0,0,0
$GC,10371,1.55,183.5,293.5,11.2,324,10375,0.00,2.50,0.00,0.000,4,0.000,0.055,3213,166,2348,0,0,0,0,0,0
$GC,10642,1.42,183.5,259.1,12.1,329,10648,0.22,2.33,0.00,0.000,6,0.125,0.024,3171,1627,2347,0,0,0,0,0,0
$GC,10892,1.54,195.7,235.7,8.7,336,10905,0.10,2.53,7.68,0.603,4,0.082,0.054,3212,166,2322,0,0,0,0,0,0
$GC,11134,1.43,195.7,206.8,11.5,341,11139,0.20,2.33,0.00,0.000,6,0.126,0.021,3173,1634,2320,0,0,0,0,0,0
$GC,11401,1.56,206.0,183.9,8.9,358,11420,0.10,2.55,10.85,0.597,4,0.082,0.051,3218,167,2280,0,0,0,0,0,0
$GC,11481,1.48,206.0,174.0,13.3,365,11487,0.17,2.30,0.00,0.000,6,0.128,0.022,3184,1610,2278,0,0,0,0,0,0
$GC,11743,1.60,218.6,149.7,8.7,390,11765,0.10,2.45,12.70,0.579,4,0.081,0.047,3228,164,2226,0,0,0,0,0,0
$GC,11783,1.60,218.6,146.2,10.8,393,11787,0.00,2.30,0.00,0.000,6,0.000,0.022,3228,1603,2226,0,0,0,0,0,0
$GC,12049,1.61,221.9,117.4,9.6,417,12059,0.00,2.45,3.85,0.387,4,0.000,0.048,3228,160,2215,0,0,0,0,0,0
$GC,12282,1.53,231.9,90.5,8.9,439,12304,0.17,2.25,11.00,0.518,6,0.126,0.021,3194,1590,2173,0,0,0,0,0,0
$GC,12561,1.67,239.1,63.8,9.2,465,12575,0.12,2.72,7.97,0.467,4,0.066,0.034,3247,3254,2143,0,0,0,0,0,0
$GC,12647,1.68,244.8,55.3,9.4,472,12661,0.10,2.72,6.40,0.436,6,0.129,0.030,3228,1576,2122,0,0,0,0,0,0
$GC,12926,1.68,244.8,21.5,12.4,502,12935,0.00,2.35,0.00,0.000,4,0.000,0.044,3228,166,2121,0,0,0,0,0,0
$STATE,13049,end climb,SURFACE_DEPTH_REACHED
$STATE,13049,begin surface coast
$FINISH,2.0,1.024038
$STATE,13066,end surface coast,CONTROL_FINISHED_OK
$STATE,13066,begin surface
$SM_CCo,13091,71.38,0.066,0,0,1570,380.21
$SM_GC,1.86,0.00,0.00,71.38,0.000,0.000,0.066,414,1807,1570,-11.25,0.48,380.21
$IRIDIUM_FIX,2244.02,-15756.28,140400,010119
$TT8_MAMPS,0.027612
$HUMID,49.44
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,20.80
$XPDR_PINGS,0
$24V_AH,23.0,70.962
$10V_AH,9.9,63.296
$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,29.925,166.400,338.325,71.375,0.000,25.000,35.788,162.177,0.000,0.000,17.656,1232.976,8917.794,532.294,2278.925,568.906,33.395,1503.133,0.000,2256.655,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,81.302,1167.374,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.595,271.543,337.567,474.251,838.075,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355288
$DATA_FILE_SIZE,41512,523
$CAP_FILE_SIZE,141015,0
$CFSIZE,260165632,140709888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190111,091855,2250.973,-15757.021,37,1.7,37,10.1