version: 66.06
glider: 148
mission: 9
dive: 410
start: 12 31 110 14 42 34
data:
$ID,148
$MISSION,9
$DIVE,410
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,185
$T_MISSION,350
$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,420
$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,-866758.56
$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,40
$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
$GPS1,143350,2250.288,-15757.223,43,99.0,62,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.6
$GPS2,144137,2250.361,-15757.235,11,1.3,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.121,-0.220
$KALMAN_X,-37358.5,-237.0,-365.2,59694.1,716.1
$KALMAN_Y,-74134.4,441.4,713.0,203484.1,-1514.6
$MHEAD_RNG_PITCHd_Wd,198.7,6298,-15.9,-9.009
$D_GRID,500
$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,-1.17,-145.9,0.0,0.0,0,95,0.00,0.00,-74.95,0.000,2,0.000,0.000,410,1878,3275,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.4,-4.0,10,131,11.48,2.78,-8.40,0.000,4,0.152,0.048,2596,216,3721,0,0,0,0,0,0
$GC,208,-1.17,-146.0,25.9,-12.4,26,216,0.00,2.47,0.00,0.000,6,0.000,0.020,2596,1784,3722,0,0,0,0,0,0
$GC,481,-1.02,-146.0,62.5,-12.6,53,486,0.17,2.55,0.00,0.000,4,0.102,0.031,2634,3370,3722,0,0,0,0,0,0
$GC,536,-1.02,-146.0,68.7,-9.4,57,541,0.00,2.50,0.00,0.000,6,0.000,0.022,2634,1796,3722,0,0,0,0,0,0
$GC,805,-1.02,-146.0,99.2,-11.7,81,809,0.00,2.50,0.00,0.000,4,0.000,0.029,2634,3369,3723,0,0,0,0,0,0
$GC,853,-1.10,-146.0,104.2,-8.7,85,858,0.00,2.47,0.00,0.000,6,0.000,0.021,2634,1801,3723,0,0,0,0,0,0
$GC,1121,-1.18,-146.0,126.3,-8.2,109,1126,0.12,2.53,0.00,0.000,4,0.062,0.030,2555,3369,3723,0,0,0,0,0,0
$GC,1222,-1.11,-146.0,138.4,-11.5,118,1227,0.28,2.42,0.00,0.000,6,0.077,0.022,2619,1822,3724,0,0,0,0,0,0
$GC,1486,-1.11,-146.0,162.1,-8.0,142,1491,0.00,2.47,0.00,0.000,4,0.000,0.030,2619,3369,3724,0,0,0,0,0,0
$GC,1505,-1.11,-146.0,164.1,-8.2,143,1511,0.00,2.42,0.00,0.000,6,0.000,0.021,2618,1829,3724,0,0,0,0,0,0
$GC,1769,-1.18,-146.0,184.9,-9.0,168,1773,0.00,2.45,0.00,0.000,4,0.000,0.030,2619,3362,3725,0,0,0,0,0,0
$GC,1825,-1.31,-146.0,190.7,-9.2,173,1830,0.20,2.38,0.00,0.000,6,0.043,0.022,2519,1847,3725,0,0,0,0,0,0
$GC,2099,-1.07,-146.0,231.5,-15.0,184,2106,0.47,2.42,0.00,0.000,4,0.084,0.030,2621,3367,3725,0,0,0,0,0,0
$GC,2121,-1.07,-146.0,234.5,-11.3,184,2124,0.00,2.38,0.00,0.000,6,0.000,0.021,2620,1851,3725,0,0,0,0,0,0
$GC,2389,-1.16,-146.0,256.6,-8.6,191,2393,0.00,2.42,0.00,0.000,4,0.000,0.032,2620,3361,3725,0,0,0,0,0,0
$GC,2442,-1.33,-146.0,261.3,-8.4,192,2447,0.20,2.35,0.00,0.000,6,0.042,0.024,2533,1870,3725,0,0,0,0,0,0
$GC,2721,-1.19,-146.0,296.9,-12.6,199,2726,0.28,2.42,0.00,0.000,4,0.084,0.033,2598,3369,3725,0,0,0,0,0,0
$GC,2741,-1.19,-146.0,299.0,-10.3,199,2746,0.00,2.35,0.00,0.000,6,0.000,0.024,2598,1878,3725,0,0,0,0,0,0
$GC,3005,-1.25,-146.0,318.3,-7.2,206,3010,0.00,2.40,0.00,0.000,4,0.000,0.037,2598,3358,3724,0,0,0,0,0,0
$GC,3061,-1.36,-146.0,322.7,-7.6,207,3066,0.15,2.33,0.00,0.000,6,0.052,0.026,2504,1892,3724,0,0,0,0,0,0
$GC,3337,-1.13,-146.0,359.6,-13.8,214,3339,0.52,0.00,0.00,0.000,6,0.082,0.000,2610,1892,3722,0,0,0,0,0,0
$GC,3579,-1.24,-146.0,377.5,-6.9,220,3583,0.00,2.38,0.00,0.000,4,0.000,0.040,2610,3356,3721,0,0,0,0,0,0
$GC,3612,-1.36,-146.0,380.1,-8.0,220,3617,0.20,2.35,0.00,0.000,6,0.041,0.027,2515,1894,3722,0,0,0,0,0,0
$GC,3869,-1.18,-146.0,415.3,-14.6,227,3876,0.38,2.80,0.00,0.000,4,0.084,0.055,2598,222,3719,0,0,0,0,0,0
$GC,3886,-1.12,-146.0,417.8,-12.2,227,3890,0.00,2.62,0.00,0.000,6,0.000,0.026,2597,1876,3719,0,0,0,0,0,0
$GC,4157,-1.20,-146.0,437.9,-6.9,234,4161,0.00,2.42,0.00,0.000,4,0.000,0.048,2598,3354,3718,0,0,0,0,0,0
$GC,4208,-1.32,-146.0,441.6,-6.7,235,4213,0.12,2.33,0.00,0.000,6,0.060,0.027,2522,1899,3718,0,0,0,0,0,0
$GC,4491,-1.19,-146.0,471.7,-11.3,242,4496,0.32,2.45,0.00,0.000,4,0.085,0.049,2597,3355,3715,0,0,0,0,0,0
$GC,4517,-1.19,-146.0,474.4,-9.0,242,4522,0.00,2.30,0.00,0.000,6,0.000,0.027,2597,1911,3715,0,0,0,0,0,0
$GC,4777,-1.29,-146.0,494.2,-7.6,249,4783,0.00,2.90,0.00,0.000,4,0.000,0.064,2597,219,3714,0,0,0,0,0,0
$GC,4794,-1.38,-146.0,495.7,-8.5,249,4801,0.17,2.70,0.00,0.000,6,0.048,0.030,2514,1884,3713,0,0,0,0,0,0
$STATE,4859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4859,begin apogee
$GC,4866,-0.31,0.0,502.7,11.3,251,4989,1.25,0.00,118.50,0.865,6,0.081,0.000,2792,1675,3119,0,0,0,0,0,0
$STATE,4989,end apogee,CONTROL_FINISHED_OK
$STATE,4989,begin climb
$GC,4992,1.17,146.0,507.4,0.0,254,5125,1.35,2.67,120.75,0.848,4,0.025,0.067,3131,191,2523,0,0,0,0,0,0
$GC,5131,0.86,210.5,508.4,6.3,257,5192,0.40,2.42,55.12,0.825,6,0.107,0.030,3050,1665,2261,0,0,0,0,0,0
$GC,5482,0.77,210.5,474.3,9.9,266,5488,0.10,2.55,0.00,0.000,4,0.127,0.059,3029,189,2252,0,0,0,0,0,0
$GC,5584,0.68,210.5,464.3,9.3,268,5588,0.00,2.42,0.00,0.000,6,0.000,0.028,3029,1676,2250,0,0,0,0,0,0
$GC,5863,0.72,237.6,441.6,7.9,275,5891,0.00,2.75,22.73,0.789,4,0.000,0.055,3029,3259,2150,0,0,0,0,0,0
$GC,5910,0.76,276.1,437.8,7.4,276,5951,0.00,2.62,35.17,0.798,6,0.000,0.035,3029,1695,1994,0,0,0,0,0,0
$GC,6238,0.76,276.1,408.0,9.6,284,6242,0.00,2.65,0.00,0.000,4,0.000,0.067,3029,163,1986,0,0,0,0,0,0
$GC,6298,0.76,276.1,401.3,11.5,285,6302,0.00,2.45,0.00,0.000,6,0.000,0.027,3029,1677,1985,0,0,0,0,0,0
$GC,6567,0.76,276.1,374.7,9.7,292,6572,0.00,2.67,0.00,0.000,4,0.000,0.052,3029,3254,1983,0,0,0,0,0,0
$GC,6597,0.76,276.1,371.7,10.6,292,6601,0.00,2.65,0.00,0.000,6,0.000,0.035,3029,1662,1981,0,0,0,0,0,0
$GC,6853,0.76,276.1,346.9,9.7,299,6857,0.00,2.58,0.00,0.000,4,0.000,0.065,3029,164,1981,0,0,0,0,0,0
$GC,6887,0.76,276.1,343.5,10.8,299,6891,0.00,2.40,0.00,0.000,6,0.000,0.026,3029,1674,1981,0,0,0,0,0,0
$GC,7136,0.78,287.5,321.4,8.5,305,7148,0.00,0.00,9.43,0.666,6,0.000,0.000,3029,1674,1947,0,0,0,0,0,0
$GC,7380,0.81,317.3,302.4,7.8,311,7410,0.00,0.00,28.50,0.725,6,0.000,0.000,3029,1674,1825,0,0,0,0,0,0
$GC,7626,0.88,317.3,278.0,10.3,317,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1674,1821,0,0,0,0,0,0
$GC,7868,0.97,325.9,256.2,8.6,323,7882,0.17,2.65,7.95,0.600,4,0.051,0.045,3107,3251,1791,0,0,0,0,0,0
$GC,7915,0.89,325.9,250.6,12.8,324,7922,0.25,2.62,0.00,0.000,6,0.091,0.031,3053,1669,1789,0,0,0,0,0,0
$GC,8201,0.89,325.9,223.4,9.4,331,8205,0.00,2.55,0.00,0.000,4,0.000,0.058,3053,168,1787,0,0,0,0,0,0
$GC,8229,0.89,325.9,220.4,10.3,331,8233,0.00,2.38,0.00,0.000,6,0.000,0.022,3053,1679,1787,0,0,0,0,0,0
$GC,8485,0.89,325.9,194.4,10.9,341,8489,0.00,2.58,0.00,0.000,4,0.000,0.037,3053,3249,1786,0,0,0,0,0,0
$GC,8525,0.97,325.9,190.2,10.9,344,8531,0.00,2.60,0.00,0.000,6,0.000,0.029,3053,1661,1784,0,0,0,0,0,0
$GC,8787,0.99,338.1,165.6,8.5,369,8805,0.10,2.53,11.60,0.573,4,0.077,0.047,3112,161,1740,0,0,0,0,0,0
$GC,8821,0.84,338.1,161.4,13.4,371,8827,0.30,2.42,0.00,0.000,6,0.089,0.023,3046,1680,1740,0,0,0,0,0,0
$GC,9083,0.91,338.1,134.8,9.6,396,9088,0.00,2.55,0.00,0.000,4,0.000,0.035,3045,3264,1738,0,0,0,0,0,0
$GC,9104,0.98,338.1,133.3,9.3,397,9109,0.12,2.60,0.00,0.000,6,0.062,0.028,3124,1665,1736,0,0,0,0,0,0
$GC,9368,0.86,338.1,99.4,13.7,421,9373,0.35,2.47,0.00,0.000,4,0.084,0.044,3049,170,1736,0,0,0,0,0,0
$GC,9419,0.98,338.1,94.0,9.4,425,9424,0.10,2.38,0.00,0.000,6,0.080,0.021,3098,1687,1736,0,0,0,0,0,0
$GC,9683,0.98,338.1,66.8,9.8,449,9692,0.12,0.00,0.00,0.000,6,0.106,0.000,3072,1689,1736,0,0,0,0,0,0
$GC,9950,0.99,350.6,44.7,8.5,474,9974,0.00,2.55,12.00,0.470,4,0.000,0.043,3071,166,1688,0,0,0,0,0,0
$GC,9990,0.99,350.6,40.8,9.8,477,9994,0.00,2.35,0.00,0.000,6,0.000,0.021,3071,1676,1688,0,0,0,0,0,0
$GC,10283,1.07,352.8,15.1,8.9,515,10292,0.10,2.58,0.00,0.000,4,0.077,0.034,3141,3247,1688,0,0,0,0,0,0
$GC,10314,1.07,352.8,11.4,11.2,519,10324,0.17,2.58,3.17,0.269,6,0.074,0.028,3097,1669,1681,0,0,0,0,0,0
$STATE,10386,end climb,SURFACE_DEPTH_REACHED
$STATE,10387,begin surface coast
$FINISH,0.7,1.008472
$STATE,10435,end surface coast,CONTROL_FINISHED_OK
$STATE,10435,begin surface
$SM_CCo,10455,38.85,0.373,1,0,1405,420.20
$SM_GC,1.40,0.00,0.00,38.85,0.000,0.000,0.373,412,1874,1405,-11.26,2.37,420.20
$IRIDIUM_FIX,2241.69,-15759.32,260300,121236
$TT8_MAMPS,0.026845
$HUMID,47.83
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.5,54.052
$10V_AH,10.2,47.124
$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,30.850,146.000,424.925,38.850,0.000,23.455,35.879,270.573,0.250,0.000,15.771,1131.216,6628.024,528.394,2041.976,641.109,33.373,1343.775,0.000,2047.353,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,67.496,865.176,372.762,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.386,339.044,422.337,653.927,1156.738,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41554,537
$CAP_FILE_SIZE,125506,0
$CFSIZE,260165632,149102592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311210,173825,2249.048,-15757.882,7,1.7,12,10.1