version: 66.06
glider: 148
mission: 9
dive: 447
start: 1 5 111 7 19 14
data:
$ID,148
$MISSION,9
$DIVE,447
$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,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,-867712.81
$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,34
$R_STBD_OVSHOOT,44
$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
$GPS1,071106,2249.633,-15801.995,9,1.8,25,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.9
$GPS2,071819,2249.642,-15802.030,15,1.8,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.248,0.037
$KALMAN_X,-62362.1,333.5,-34.5,75539.2,-1530.4
$KALMAN_Y,-90226.4,-826.7,252.8,219979.3,-315.8
$MHEAD_RNG_PITCHd_Wd,71.4,8613,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-67.85,0.000,2,0.000,0.000,409,1854,3247,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.4,-3.6,9,125,11.52,2.72,-9.12,0.000,4,0.152,0.054,2598,212,3719,0,0,0,0,0,0
$GC,135,-0.02,-146.0,14.6,-24.9,14,144,1.10,2.50,0.00,0.000,6,0.066,0.021,2853,1791,3720,0,0,0,0,0,0
$GC,435,-0.76,-146.0,36.6,-8.4,56,447,0.65,2.50,0.00,0.000,4,0.053,0.027,2693,3369,3721,0,0,0,0,0,0
$GC,530,-1.27,-146.0,44.1,-6.9,64,539,0.43,2.62,0.00,0.000,6,0.031,0.022,2576,1733,3721,0,0,0,0,0,0
$GC,799,-1.05,-146.0,80.3,-15.6,89,804,0.25,0.00,0.00,0.000,6,0.094,0.000,2629,1732,3721,0,0,0,0,0,0
$GC,1059,-1.05,-146.0,112.1,-11.2,114,1064,0.00,2.62,0.00,0.000,4,0.000,0.029,2629,3367,3721,0,0,0,0,0,0
$GC,1107,-1.16,-146.0,116.7,-9.2,118,1112,0.00,2.60,0.00,0.000,6,0.000,0.022,2629,1730,3722,0,0,0,0,0,0
$GC,1370,-1.22,-146.0,140.6,-9.2,142,1375,0.15,2.65,0.00,0.000,4,0.055,0.029,2550,3371,3722,0,0,0,0,0,0
$GC,1413,-1.12,-146.0,145.7,-12.6,145,1419,0.30,2.55,0.00,0.000,6,0.079,0.022,2617,1746,3723,0,0,0,0,0,0
$GC,1675,-1.12,-146.0,169.8,-8.4,170,1680,0.00,2.60,0.00,0.000,4,0.000,0.028,2617,3371,3723,0,0,0,0,0,0
$GC,1726,-1.25,-146.0,174.0,-7.6,174,1735,0.10,2.58,0.00,0.000,6,0.028,0.023,2543,1764,3723,0,0,0,0,0,0
$GC,1996,-1.10,-146.0,205.6,-11.7,197,1998,0.35,0.00,0.00,0.000,6,0.081,0.000,2621,1764,3724,0,0,0,0,0,0
$GC,2241,-1.18,-146.0,222.7,-6.6,203,2245,0.00,2.58,0.00,0.000,4,0.000,0.030,2621,3368,3723,0,0,0,0,0,0
$GC,2278,-1.34,-146.0,225.2,-6.1,203,2284,0.22,2.55,0.00,0.000,6,0.039,0.024,2545,1765,3724,0,0,0,0,0,0
$GC,2528,-1.20,-146.0,251.9,-11.3,210,2533,0.25,2.58,0.00,0.000,4,0.084,0.030,2604,3373,3724,0,0,0,0,0,0
$GC,2578,-1.30,-146.0,256.3,-7.7,211,2583,0.12,2.53,0.00,0.000,6,0.061,0.024,2542,1789,3724,0,0,0,0,0,0
$GC,2861,-1.17,-146.0,289.0,-11.7,218,2866,0.25,2.53,0.00,0.000,4,0.086,0.032,2602,3364,3723,0,0,0,0,0,0
$GC,2911,-1.29,-146.0,293.5,-8.4,219,2915,0.00,2.50,0.00,0.000,6,0.000,0.025,2601,1789,3723,0,0,0,0,0,0
$GC,3193,-1.29,-146.0,317.1,-8.6,226,3197,0.00,2.53,0.00,0.000,4,0.000,0.035,2601,3363,3723,0,0,0,0,0,0
$GC,3242,-1.42,-146.0,320.8,-7.4,227,3247,0.22,2.50,0.00,0.000,6,0.038,0.026,2530,1807,3723,0,0,0,0,0,0
$GC,3525,-1.27,-146.0,351.9,-11.1,234,3530,0.22,2.55,0.00,0.000,4,0.088,0.038,2580,3361,3722,0,0,0,0,0,0
$GC,3571,-1.34,-146.0,355.6,-7.6,235,3575,0.00,2.47,0.00,0.000,6,0.000,0.028,2579,1820,3721,0,0,0,0,0,0
$GC,3858,-1.34,-146.0,379.1,-8.3,242,3862,0.00,2.53,0.00,0.000,4,0.000,0.039,2580,3367,3720,0,0,0,0,0,0
$GC,3901,-1.41,-146.0,382.8,-8.3,243,3906,0.12,2.47,0.00,0.000,6,0.061,0.028,2521,1820,3720,0,0,0,0,0,0
$GC,4191,-1.26,-146.0,417.5,-12.5,250,4196,0.25,2.53,0.00,0.000,4,0.091,0.042,2580,3357,3718,0,0,0,0,0,0
$GC,4210,-1.18,-146.0,420.2,-12.0,250,4215,0.10,2.45,0.00,0.000,6,0.111,0.026,2602,1833,3718,0,0,0,0,0,0
$GC,4477,-1.27,-146.0,442.6,-8.4,257,4481,0.00,2.53,0.00,0.000,4,0.000,0.044,2602,3355,3716,0,0,0,0,0,0
$GC,4533,-1.41,-146.0,447.5,-8.2,258,4538,0.22,2.42,0.00,0.000,6,0.039,0.028,2532,1845,3716,0,0,0,0,0,0
$GC,4807,-1.30,-146.0,478.6,-11.5,265,4809,0.20,0.00,0.00,0.000,6,0.092,0.000,2576,1845,3714,0,0,0,0,0,0
$GC,5052,-1.30,-146.0,499.1,-8.1,271,5057,0.00,2.55,0.00,0.000,4,0.000,0.050,2576,3363,3713,0,0,0,0,0,0
$STATE,5059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5059,begin apogee
$GC,5068,-0.31,0.0,500.2,8.0,271,5190,0.93,0.00,118.07,0.863,6,0.077,0.000,2787,1676,3120,0,0,0,0,0,0
$STATE,5190,end apogee,CONTROL_FINISHED_OK
$STATE,5191,begin climb
$GC,5195,1.17,146.0,504.4,0.0,274,5320,1.33,0.00,120.22,0.851,6,0.028,0.000,3127,1676,2524,0,0,0,0,0,0
$GC,5561,0.84,146.0,486.4,9.4,283,5569,0.38,2.60,0.00,0.000,4,0.100,0.066,3044,177,2516,0,0,0,0,0,0
$GC,5665,0.64,153.1,477.4,8.7,285,5678,0.22,2.42,6.03,0.640,6,0.100,0.026,2997,1673,2494,0,0,0,0,0,0
$GC,5950,0.73,230.8,460.2,5.8,292,6025,0.10,2.65,66.95,0.834,4,0.077,0.058,3046,173,2178,0,0,0,0,0,0
$GC,6072,0.61,230.8,449.9,10.7,294,6077,0.25,2.45,0.00,0.000,6,0.092,0.026,2993,1672,2176,0,0,0,0,0,0
$GC,6323,0.76,284.5,432.7,6.8,300,6377,0.15,2.78,47.22,0.808,4,0.056,0.054,3057,3258,1958,0,0,0,0,0,0
$GC,6388,0.70,284.5,426.4,9.5,301,6396,0.20,2.65,0.00,0.000,6,0.091,0.035,3013,1679,1956,0,0,0,0,0,0
$GC,6653,0.77,289.6,403.0,8.8,308,6664,0.00,2.70,4.90,0.563,4,0.000,0.043,3013,3256,1938,0,0,0,0,0,0
$GC,6679,0.87,312.0,400.4,8.1,308,6708,0.15,2.65,22.15,0.765,6,0.058,0.034,3076,1677,1848,0,0,0,0,0,0
$GC,6986,0.81,312.0,363.6,12.2,316,6988,0.17,0.00,0.00,0.000,6,0.102,0.000,3037,1677,1842,0,0,0,0,0,0
$GC,7229,0.81,312.0,339.1,9.9,322,7234,0.00,2.67,0.00,0.000,4,0.000,0.043,3038,3262,1840,0,0,0,0,0,0
$GC,7274,0.88,312.0,334.7,10.0,323,7279,0.00,2.62,0.00,0.000,6,0.000,0.034,3037,1672,1838,0,0,0,0,0,0
$GC,7563,0.89,316.6,308.6,8.8,330,7572,0.00,2.67,3.83,0.466,4,0.000,0.043,3037,3257,1829,0,0,0,0,0,0
$GC,7601,0.96,318.4,305.1,8.9,330,7607,0.12,2.60,0.00,0.000,6,0.066,0.033,3096,1681,1827,0,0,0,0,0,0
$GC,7852,0.87,318.4,276.5,12.0,337,7854,0.22,0.00,0.00,0.000,6,0.095,0.000,3047,1681,1827,0,0,0,0,0,0
$GC,8094,0.87,318.4,250.2,10.8,343,8098,0.00,2.62,0.00,0.000,4,0.000,0.038,3047,3259,1826,0,0,0,0,0,0
$GC,8112,0.87,318.4,248.3,10.0,343,8116,0.00,2.60,0.00,0.000,6,0.000,0.031,3047,1681,1825,0,0,0,0,0,0
$GC,8376,0.87,318.4,223.1,9.3,350,8380,0.00,2.62,0.00,0.000,4,0.000,0.038,3047,3261,1825,0,0,0,0,0,0
$GC,8421,0.97,323.6,219.3,8.8,351,8434,0.10,2.55,7.45,0.575,6,0.077,0.031,3098,1696,1800,0,0,0,0,0,0
$GC,8691,0.97,323.6,189.8,11.2,362,8696,0.12,2.58,0.00,0.000,4,0.107,0.052,3072,171,1798,0,0,0,0,0,0
$GC,8750,0.97,323.6,184.0,10.6,367,8755,0.00,2.42,0.00,0.000,6,0.000,0.024,3072,1710,1798,0,0,0,0,0,0
$GC,9016,0.97,323.6,156.6,10.3,391,9020,0.00,2.53,0.00,0.000,4,0.000,0.034,3072,3267,1798,0,0,0,0,0,0
$GC,9036,0.97,323.6,154.1,10.1,392,9042,0.00,2.58,0.00,0.000,6,0.000,0.027,3072,1683,1796,0,0,0,0,0,0
$GC,9302,0.97,323.7,129.7,9.0,417,9306,0.00,2.50,0.00,0.000,4,0.000,0.047,3072,173,1796,0,0,0,0,0,0
$GC,9329,0.97,323.7,127.0,9.4,419,9334,0.00,2.40,0.00,0.000,6,0.000,0.021,3072,1711,1796,0,0,0,0,0,0
$GC,9599,1.10,356.8,103.7,7.6,443,9640,0.12,2.58,29.73,0.565,4,0.064,0.035,3140,3250,1663,0,0,0,0,0,0
$GC,9657,1.03,356.8,97.4,10.9,448,9666,0.22,2.58,0.00,0.000,6,0.074,0.027,3085,1689,1661,0,0,0,0,0,0
$GC,9923,1.04,359.3,74.6,8.9,473,9928,0.00,2.50,0.00,0.000,4,0.000,0.051,3085,164,1660,0,0,0,0,0,0
$GC,9942,1.04,359.3,72.5,9.7,474,9946,0.00,2.40,0.00,0.000,6,0.000,0.021,3085,1693,1660,0,0,0,0,0,0
$GC,10210,1.04,359.3,46.3,9.7,498,10215,0.00,2.50,0.00,0.000,4,0.000,0.034,3085,3253,1660,0,0,0,0,0,0
$GC,10263,1.11,359.3,40.8,10.3,502,10268,0.00,2.50,0.00,0.000,6,0.000,0.027,3085,1694,1659,0,0,0,0,0,0
$GC,10556,1.11,359.3,12.0,9.7,541,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1694,1659,0,0,0,0,0,0
$STATE,10633,end climb,SURFACE_DEPTH_REACHED
$STATE,10633,begin surface coast
$FINISH,0.7,1.023951
$STATE,10678,end surface coast,CONTROL_FINISHED_OK
$STATE,10678,begin surface
$SM_CCo,10700,10.85,0.063,0,0,1569,380.21
$SM_GC,1.34,0.00,0.00,10.85,0.000,0.000,0.063,415,1869,1569,-11.25,2.23,380.21
$IRIDIUM_FIX,2241.69,-15801.49,310300,040455
$TT8_MAMPS,0.026845
$HUMID,48.66
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.5,58.421
$10V_AH,10.1,51.342
$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,32.575,143.550,426.550,10.850,0.000,31.396,35.970,214.062,0.500,0.000,17.017,1165.207,6698.893,470.642,2193.833,616.230,33.385,1336.048,0.000,2193.397,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,65.962,862.875,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.048,352.208,444.357,699.444,1237.492,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355256
$DATA_FILE_SIZE,44702,560
$CAP_FILE_SIZE,128238,0
$CFSIZE,260165632,146964480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050111,101906,2249.596,-15800.931,36,0.9,41,10.1