version: 66.06
glider: 148
mission: 9
dive: 592
start: 1 27 111 20 50 32
data:
$ID,148
$MISSION,9
$DIVE,592
$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,-871033.69
$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,29
$R_STBD_OVSHOOT,49
$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
$GPS1,203907,2248.708,-15802.470,30,1.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.0
$GPS2,204938,2248.644,-15802.518,13,1.7,13,10.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.036,0.181
$KALMAN_X,-110419.8,278.5,-28.1,122802.2,-175.7
$KALMAN_Y,-228976.5,-362.2,-1.2,356669.4,-742.9
$MHEAD_RNG_PITCHd_Wd,338.5,2643,-25.6,-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,-1.69,-71.0,0.0,0.0,0,96,0.00,0.00,-74.38,0.000,6,0.000,0.000,412,1802,3411,0,0,0,0,0,0
$GC,99,-1.72,-97.3,4.2,-6.2,10,124,10.95,2.55,-1.98,0.000,4,0.152,0.039,2477,3364,3520,0,0,0,0,0,0
$GC,223,-1.72,-97.3,34.9,-17.7,27,232,0.00,2.58,0.00,0.000,6,0.000,0.025,2477,1779,3522,0,0,0,0,0,0
$GC,486,-1.63,-97.3,86.8,-19.9,52,488,0.12,0.00,0.00,0.000,6,0.129,0.000,2502,1779,3523,0,0,0,0,0,0
$GC,744,-1.71,-97.3,128.8,-14.8,76,748,0.00,2.58,0.00,0.000,4,0.000,0.040,2502,204,3524,0,0,0,0,0,0
$GC,766,-1.81,-97.3,133.0,-15.8,77,773,0.15,2.45,0.00,0.000,6,0.059,0.018,2449,1789,3524,0,0,0,0,0,0
$GC,1030,-1.81,-97.3,175.8,-16.0,102,1035,0.00,2.50,0.00,0.000,4,0.000,0.030,2449,3366,3526,0,0,0,0,0,0
$GC,1049,-1.81,-97.3,178.7,-15.7,103,1053,0.00,2.53,0.00,0.000,6,0.000,0.021,2449,1768,3526,0,0,0,0,0,0
$GC,1304,-1.81,-97.3,218.0,-14.4,118,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1768,3527,0,0,0,0,0,0
$GC,1549,-1.81,-97.3,254.8,-15.2,124,1554,0.00,2.58,0.00,0.000,4,0.000,0.030,2449,3363,3527,0,0,0,0,0,0
$GC,1563,-1.81,-97.3,257.4,-14.9,124,1567,0.00,2.53,0.00,0.000,6,0.000,0.022,2449,1786,3527,0,0,0,0,0,0
$GC,1831,-1.81,-97.3,296.9,-14.7,131,1836,0.00,2.60,0.00,0.000,4,0.000,0.044,2449,210,3527,0,0,0,0,0,0
$GC,1924,-1.81,-97.3,311.4,-15.9,133,1928,0.00,2.47,0.00,0.000,6,0.000,0.021,2449,1774,3527,0,0,0,0,0,0
$GC,2210,-1.81,-97.3,354.4,-14.1,140,2215,0.00,2.62,0.00,0.000,4,0.000,0.047,2449,206,3527,0,0,0,0,0,0
$GC,2301,-1.81,-97.3,367.3,-13.9,142,2306,0.00,2.50,0.00,0.000,6,0.000,0.024,2449,1775,3527,0,0,0,0,0,0
$GC,2588,-1.81,-97.3,406.5,-13.3,149,2593,0.00,2.65,0.00,0.000,4,0.000,0.051,2449,208,3525,0,0,0,0,0,0
$GC,2607,-1.81,-97.3,409.5,-14.8,149,2611,0.00,2.50,0.00,0.000,6,0.000,0.025,2449,1776,3526,0,0,0,0,0,0
$GC,2876,-1.81,-97.3,444.5,-13.0,156,2880,0.00,2.67,0.00,0.000,4,0.000,0.056,2448,212,3524,0,0,0,0,0,0
$GC,2932,-1.81,-97.3,453.6,-15.1,157,2936,0.00,2.50,0.00,0.000,6,0.000,0.029,2449,1764,3524,0,0,0,0,0,0
$GC,3204,-1.81,-97.3,490.0,-13.2,164,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1764,3522,0,0,0,0,0,0
$GC,3450,-1.81,-97.3,523.5,-13.9,170,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1764,3521,0,0,0,0,0,0
$GC,3692,-1.81,-97.3,556.8,-13.9,176,3696,0.00,2.67,0.00,0.000,4,0.000,0.062,2448,221,3520,0,0,0,0,0,0
$GC,3706,-1.81,-97.3,558.9,-13.3,176,3710,0.00,2.53,0.00,0.000,6,0.000,0.032,2448,1760,3520,0,0,0,0,0,0
$GC,3974,-1.87,-97.3,593.6,-12.9,183,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1760,3518,0,0,0,0,0,0
$GC,4220,-1.95,-97.3,625.4,-13.2,189,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1761,3517,0,0,0,0,0,0
$GC,4462,-2.02,-97.3,658.2,-13.4,195,4463,0.12,0.00,0.00,0.000,6,0.072,0.000,2403,1761,3515,0,0,0,0,0,0
$GC,4705,-2.02,-97.3,694.6,-15.1,201,4709,0.00,2.70,0.00,0.000,4,0.000,0.068,2403,221,3513,0,0,0,0,0,0
$GC,4769,-1.94,-97.3,704.7,-16.0,202,4774,0.15,2.55,0.00,0.000,6,0.120,0.041,2433,1758,3513,0,0,0,0,0,0
$GC,5038,-1.94,-97.3,740.4,-12.6,209,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1758,3511,0,0,0,0,0,0
$GC,5282,-1.94,-97.3,770.1,-12.3,215,5286,0.00,2.70,0.00,0.000,4,0.000,0.068,2433,220,3510,0,0,0,0,0,0
$GC,5316,-1.94,-97.3,774.4,-12.9,215,5321,0.00,2.60,0.00,0.000,6,0.000,0.041,2433,1771,3509,0,0,0,0,0,0
$GC,5566,-1.94,-97.3,805.1,-12.3,221,5570,0.00,2.72,0.00,0.000,4,0.000,0.067,2433,214,3507,0,0,0,0,0,0
$GC,5603,-1.94,-97.3,810.2,-13.7,221,5608,0.00,2.60,0.00,0.000,6,0.000,0.041,2433,1763,3506,0,0,0,0,0,0
$GC,5855,-2.00,-97.3,840.1,-11.8,228,5859,0.00,2.70,0.00,0.000,4,0.000,0.067,2433,221,3505,0,0,0,0,0,0
$GC,5887,-2.00,-97.3,844.6,-13.0,228,5892,0.00,2.58,0.00,0.000,6,0.000,0.040,2433,1758,3505,0,0,0,0,0,0
$GC,6137,-2.07,-97.3,874.2,-11.9,234,6142,0.10,2.70,0.00,0.000,4,0.084,0.067,2395,218,3503,0,0,0,0,0,0
$GC,6173,-1.99,-97.3,879.1,-15.8,234,6178,0.15,2.58,0.00,0.000,6,0.121,0.041,2424,1759,3503,0,0,0,0,0,0
$STATE,6379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6379,begin apogee
$GC,6385,-0.31,0.0,904.6,11.9,239,6473,1.67,0.00,83.62,1.179,6,0.089,0.000,2790,1680,3120,0,0,0,0,0,0
$STATE,6474,end apogee,CONTROL_FINISHED_OK
$STATE,6474,begin climb
$GC,6476,1.72,97.3,906.4,0.0,241,6570,1.88,0.00,89.12,1.154,6,0.025,0.000,3254,1680,2723,0,0,0,0,0,0
$GC,6788,1.41,97.3,889.0,10.1,249,6790,0.43,0.00,0.00,0.000,6,0.125,0.000,3171,1680,2716,0,0,0,0,0,0
$GC,7030,1.31,116.1,868.5,8.2,255,7055,0.12,2.72,17.30,1.067,4,0.138,0.071,3148,191,2645,0,0,0,0,0,0
$GC,7144,1.13,116.1,857.2,10.2,257,7149,0.20,2.47,0.00,0.000,6,0.130,0.033,3109,1675,2641,0,0,0,0,0,0
$GC,7409,1.16,140.2,836.5,7.7,264,7437,0.00,2.72,22.80,1.080,4,0.000,0.069,3109,184,2548,0,0,0,0,0,0
$GC,7686,1.16,140.2,808.2,10.7,270,7690,0.00,2.45,0.00,0.000,6,0.000,0.034,3109,1657,2543,0,0,0,0,0,0
$GC,7975,1.23,149.5,781.9,9.1,277,7991,0.00,2.62,9.12,0.944,4,0.000,0.067,3109,184,2510,0,0,0,0,0,0
$GC,8134,1.23,149.5,763.5,11.5,280,8139,0.00,2.45,0.00,0.000,6,0.000,0.035,3109,1650,2508,0,0,0,0,0,0
$GC,8400,1.31,150.6,737.1,9.9,287,8406,0.15,2.60,0.00,0.000,4,0.062,0.068,3157,178,2506,0,0,0,0,0,0
$GC,8671,1.14,150.6,704.2,11.1,292,8677,0.25,2.45,0.00,0.000,6,0.127,0.034,3110,1653,2506,0,0,0,0,0,0
$GC,8921,1.26,172.5,683.3,7.9,299,8950,0.10,2.67,21.77,1.003,4,0.084,0.066,3146,188,2415,0,0,0,0,0,0
$GC,9127,1.16,172.5,659.7,11.4,303,9132,0.17,2.42,0.00,0.000,6,0.130,0.033,3114,1643,2412,0,0,0,0,0,0
$GC,9392,1.27,184.4,635.8,8.9,310,9410,0.10,2.62,11.98,0.917,4,0.084,0.064,3151,181,2368,0,0,0,0,0,0
$GC,9505,1.17,184.4,622.1,13.6,312,9510,0.17,2.40,0.00,0.000,6,0.133,0.032,3119,1634,2366,0,0,0,0,0,0
$GC,9770,1.26,184.4,595.1,10.1,319,9774,0.00,2.55,0.00,0.000,4,0.000,0.065,3119,183,2364,0,0,0,0,0,0
$GC,10040,1.26,184.4,564.3,11.8,324,10048,0.00,2.35,0.00,0.000,6,0.000,0.030,3119,1621,2363,0,0,0,0,0,0
$GC,10292,1.37,185.8,538.9,9.9,331,10297,0.15,2.50,0.00,0.000,4,0.064,0.062,3168,181,2363,0,0,0,0,0,0
$GC,10396,1.24,185.8,526.0,12.2,333,10401,0.20,2.35,0.00,0.000,6,0.135,0.028,3132,1625,2362,0,0,0,0,0,0
$GC,10672,1.33,199.2,501.1,8.7,340,10693,0.00,2.60,14.18,0.861,4,0.000,0.061,3131,184,2307,0,0,0,0,0,0
$GC,10832,1.33,199.2,484.1,11.7,343,10836,0.00,2.35,0.00,0.000,6,0.000,0.028,3132,1623,2305,0,0,0,0,0,0
$GC,11097,1.44,210.3,460.8,9.0,350,11115,0.17,2.58,11.25,0.808,4,0.058,0.061,3188,180,2262,0,0,0,0,0,0
$GC,11143,1.30,210.3,455.0,13.7,351,11148,0.22,2.35,0.00,0.000,6,0.129,0.026,3147,1618,2261,0,0,0,0,0,0
$GC,11428,1.36,210.3,424.2,10.9,358,11433,0.00,2.50,0.00,0.000,4,0.000,0.059,3147,177,2258,0,0,0,0,0,0
$GC,11507,1.36,210.3,413.8,13.0,359,11511,0.00,2.33,0.00,0.000,6,0.000,0.025,3147,1615,2259,0,0,0,0,0,0
$GC,11759,1.45,210.3,386.4,10.6,365,11766,0.12,2.83,0.00,0.000,4,0.072,0.051,3190,3265,2257,0,0,0,0,0,0
$GC,11776,1.45,210.3,384.0,11.5,365,11781,0.00,2.78,0.00,0.000,6,0.000,0.038,3190,1619,2256,0,0,0,0,0,0
$GC,12044,1.45,210.3,352.3,11.8,372,12049,0.00,2.50,0.00,0.000,4,0.000,0.069,3190,181,2256,0,0,0,0,0,0
$GC,12235,1.32,210.3,325.9,12.5,376,12240,0.20,2.30,0.00,0.000,6,0.130,0.025,3151,1617,2256,0,0,0,0,0,0
$GC,12513,1.40,210.3,296.5,10.4,383,12518,0.00,2.45,0.00,0.000,4,0.000,0.058,3151,181,2256,0,0,0,0,0,0
$GC,12646,1.40,210.3,281.8,11.3,385,12651,0.00,2.30,0.00,0.000,6,0.000,0.024,3151,1625,2256,0,0,0,0,0,0
$GC,12896,1.50,211.6,257.0,9.9,392,12898,0.15,0.00,0.00,0.000,6,0.062,0.000,3203,1628,2256,0,0,0,0,0,0
$GC,13141,1.50,211.6,230.5,11.0,398,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1628,2256,0,0,0,0,0,0
$GC,13383,1.50,211.6,203.2,11.0,404,13387,0.00,2.72,0.00,0.000,4,0.000,0.041,3203,3268,2256,0,0,0,0,0,0
$GC,13401,1.50,211.6,201.0,11.3,404,13406,0.00,2.75,0.00,0.000,6,0.000,0.031,3203,1603,2256,0,0,0,0,0,0
$GC,13669,1.50,211.6,171.7,10.3,428,13674,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1603,2256,0,0,0,0,0,0
$GC,13934,1.51,221.8,147.1,9.0,453,13953,0.00,0.00,10.80,0.570,6,0.000,0.000,3202,1603,2216,0,0,0,0,0,0
$GC,14213,1.51,221.8,118.2,10.4,479,14218,0.00,2.40,0.00,0.000,4,0.000,0.051,3203,171,2215,0,0,0,0,0,0
$GC,14509,1.51,221.8,80.3,12.8,507,14514,0.00,2.28,0.00,0.000,6,0.000,0.021,3203,1621,2215,0,0,0,0,0,0
$GC,14774,1.51,223.6,54.5,9.8,532,14779,0.00,2.40,0.00,0.000,4,0.000,0.046,3202,177,2215,0,0,0,0,0,0
$GC,14980,1.45,223.6,33.0,10.3,550,14984,0.12,2.25,0.00,0.000,6,0.126,0.020,3179,1619,2215,0,0,0,0,0,0
$GC,15283,1.57,249.6,7.4,7.5,595,15318,0.10,2.47,25.80,0.485,4,0.080,0.044,3224,178,2102,0,0,0,0,0,0
$STATE,15325,end climb,SURFACE_DEPTH_REACHED
$STATE,15325,begin surface coast
$FINISH,1.0,1.011106
$STATE,15345,end surface coast,CONTROL_FINISHED_OK
$STATE,15347,begin surface
$SM_CCo,15371,67.47,0.426,1,0,1569,380.21
$SM_GC,1.84,0.00,0.00,67.47,0.000,0.000,0.426,415,1828,1569,-11.25,1.07,380.21
$IRIDIUM_FIX,2239.35,-15800.20,220400,161610
$TT8_MAMPS,0.026078
$HUMID,49.64
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,22.9,77.834
$10V_AH,9.8,68.656
$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,30.000,162.675,317.750,67.475,0.000,28.868,34.961,405.239,0.000,0.000,14.526,1386.293,10779.093,499.838,2545.718,856.573,33.372,1567.851,0.000,2523.643,0.000,0.535,0.000
$DEVICE_MAMPS,151.866,79.768,1178.879,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.279,303.290,380.770,547.573,968.430,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,48009,603
$CAP_FILE_SIZE,156514,0
$CFSIZE,260165632,137510912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280111,010907,2249.896,-15802.874,28,1.0,28,10.1