version: 66.06
glider: 148
mission: 10
dive: 9
start: 8 13 111 6 36 54
data:
$ID,148
$MISSION,10
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,200
$D_BOOST,0
$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,200
$T_MISSION,400
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,-876776.5
$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,2950
$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,1890
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3095
$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,-11.834597
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,062455,2144.305,-15812.385,11,1.8,28,9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.4
$GPS2,063558,2144.252,-15812.526,12,1.7,14,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SECOND
$TGT_LATLONG,2151.500,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.134,0.192
$KALMAN_X,218.4,-436.3,-163.3,-5111.3,-1228.6
$KALMAN_Y,-225.2,-184.8,12.8,6034.2,-363.3
$MHEAD_RNG_PITCHd_Wd,25.0,13677,-19.8,-10.000
$D_GRID,600
$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,19,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-67.30,0.000,2,0.000,0.000,414,1815,3233,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.2,-5.7,9,116,11.95,2.62,-6.03,0.000,4,0.159,0.039,2643,3451,3573,0,0,0,0,0,0
$GC,153,-1.07,-116.8,22.1,-22.6,17,164,0.30,2.53,0.00,0.000,6,0.088,0.023,2711,1881,3574,0,0,0,0,0,0
$GC,433,-0.95,-116.8,70.6,-17.0,44,443,0.15,0.00,0.00,0.000,6,0.122,0.000,2741,1880,3575,0,0,0,0,0,0
$GC,699,-0.95,-116.8,110.2,-14.0,69,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1880,3575,0,0,0,0,0,0
$GC,961,-1.07,-116.8,139.5,-10.1,94,966,0.10,2.53,0.00,0.000,4,0.084,0.031,2697,3461,3575,0,0,0,0,0,0
$GC,981,-1.14,-116.8,141.4,-10.7,95,985,0.00,2.47,0.00,0.000,6,0.000,0.021,2696,1888,3575,0,0,0,0,0,0
$GC,1243,-1.14,-116.8,172.2,-11.7,119,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1888,3576,0,0,0,0,0,0
$GC,1498,-1.14,-116.8,196.8,-9.4,143,1502,0.00,2.53,0.00,0.000,4,0.000,0.040,2696,316,3576,0,0,0,0,0,0
$GC,1528,-1.14,-116.8,199.5,-11.0,145,1532,0.00,2.42,0.00,0.000,6,0.000,0.021,2696,1887,3577,0,0,0,0,0,0
$GC,1779,-1.20,-116.8,228.5,-11.4,151,1783,0.00,2.53,0.00,0.000,4,0.000,0.034,2697,3465,3577,0,0,0,0,0,0
$GC,1830,-1.35,-116.8,235.2,-11.8,152,1836,0.12,2.50,0.00,0.000,6,0.028,0.025,2633,1907,3577,0,0,0,0,0,0
$GC,2115,-1.26,-116.8,272.1,-12.5,159,2120,0.20,2.60,0.00,0.000,4,0.104,0.041,2675,315,3577,0,0,0,0,0,0
$GC,2236,-1.34,-116.8,287.3,-12.4,161,2241,0.00,2.50,0.00,0.000,6,0.000,0.025,2675,1875,3577,0,0,0,0,0,0
$GC,2495,-1.34,-116.8,318.7,-12.0,168,2500,0.00,2.60,0.00,0.000,4,0.000,0.040,2675,3474,3576,0,0,0,0,0,0
$GC,2519,-1.34,-116.8,321.7,-12.7,168,2524,0.00,2.53,0.00,0.000,6,0.000,0.026,2675,1882,3576,0,0,0,0,0,0
$GC,2780,-1.41,-116.8,350.3,-10.5,175,2785,0.15,2.62,0.00,0.000,4,0.064,0.054,2625,311,3575,0,0,0,0,0,0
$GC,2845,-1.41,-116.8,357.9,-11.5,176,2850,0.00,2.53,0.00,0.000,6,0.000,0.028,2625,1888,3575,0,0,0,0,0,0
$GC,3109,-1.34,-116.8,386.9,-11.4,183,3111,0.15,0.00,0.00,0.000,6,0.113,0.000,2656,1888,3573,0,0,0,0,0,0
$GC,3352,-1.34,-116.8,411.0,-9.7,189,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1888,3572,0,0,0,0,0,0
$GC,3597,-1.34,-116.8,434.1,-9.2,195,3602,0.00,2.70,0.00,0.000,4,0.000,0.064,2656,321,3570,0,0,0,0,0,0
$GC,3641,-1.41,-116.8,438.3,-9.7,196,3645,0.00,2.55,0.00,0.000,6,0.000,0.034,2656,1887,3569,0,0,0,0,0,0
$GC,3928,-1.41,-116.8,466.1,-10.0,203,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1887,3567,0,0,0,0,0,0
$GC,4172,-1.41,-116.8,489.7,-9.7,209,4177,0.00,2.75,0.00,0.000,4,0.000,0.068,2656,323,3565,0,0,0,0,0,0
$GC,4201,-1.41,-116.8,492.9,-10.6,209,4205,0.00,2.55,0.00,0.000,6,0.000,0.040,2656,1880,3565,0,0,0,0,0,0
$GC,4460,-1.41,-116.8,518.4,-9.7,216,4465,0.00,2.70,0.00,0.000,4,0.000,0.058,2655,3475,3562,0,0,0,0,0,0
$GC,4484,-1.41,-116.8,520.9,-9.9,216,4488,0.00,2.60,0.00,0.000,6,0.000,0.036,2656,1893,3562,0,0,0,0,0,0
$GC,4744,-1.41,-116.8,547.4,-10.6,223,4749,0.00,2.78,0.00,0.000,4,0.000,0.073,2656,313,3560,0,0,0,0,0,0
$GC,4768,-1.41,-116.8,550.3,-11.3,223,4772,0.00,2.58,0.00,0.000,6,0.000,0.039,2656,1885,3560,0,0,0,0,0,0
$GC,5031,-1.47,-116.8,577.7,-10.4,230,5033,0.12,0.00,0.00,0.000,6,0.079,0.000,2617,1885,3558,0,0,0,0,0,0
$STATE,5232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5232,begin apogee
$GC,5239,-0.31,0.0,602.0,12.1,235,5335,1.20,0.00,92.32,0.960,6,0.094,0.000,2878,1687,3095,0,0,0,0,0,0
$STATE,5335,end apogee,CONTROL_FINISHED_OK
$STATE,5335,begin climb
$GC,5338,1.38,116.8,605.2,0.0,237,5448,1.60,2.80,97.97,0.937,4,0.043,0.081,3257,185,2617,0,0,0,0,0,0
$GC,5590,1.05,151.3,602.5,8.0,243,5627,0.35,2.58,30.00,0.904,6,0.108,0.037,3182,1704,2477,0,0,0,0,0,0
$GC,5909,1.10,196.9,579.8,7.4,251,5957,0.00,2.75,40.28,0.911,4,0.000,0.072,3182,184,2292,0,0,0,0,0,0
$GC,5971,1.05,209.3,574.5,9.3,252,5993,0.00,2.53,12.45,0.825,6,0.000,0.037,3182,1698,2240,0,0,0,0,0,0
$GC,6237,1.05,209.3,545.9,11.1,259,6242,0.00,2.70,0.00,0.000,4,0.000,0.070,3181,180,2233,0,0,0,0,0,0
$GC,6256,1.05,209.3,543.3,12.0,259,6261,0.00,2.55,0.00,0.000,6,0.000,0.035,3181,1700,2233,0,0,0,0,0,0
$GC,6525,1.05,209.3,512.2,11.4,266,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1700,2231,0,0,0,0,0,0
$GC,6770,1.05,210.6,487.6,9.9,272,6774,0.00,2.72,0.00,0.000,4,0.000,0.058,3182,3286,2230,0,0,0,0,0,0
$GC,6795,1.08,236.5,485.3,8.5,272,6825,0.00,2.67,23.67,0.862,6,0.000,0.038,3182,1706,2130,0,0,0,0,0,0
$GC,7099,1.08,236.5,454.3,10.6,280,7104,0.00,2.70,0.00,0.000,4,0.000,0.072,3181,173,2125,0,0,0,0,0,0
$GC,7170,1.08,236.5,445.6,12.8,281,7174,0.00,2.53,0.00,0.000,6,0.000,0.030,3182,1711,2124,0,0,0,0,0,0
$GC,7429,1.08,236.5,418.7,10.3,288,7434,0.00,2.70,0.00,0.000,4,0.000,0.064,3181,178,2123,0,0,0,0,0,0
$GC,7475,1.08,236.5,413.8,11.0,288,7480,0.00,2.47,0.00,0.000,6,0.000,0.030,3182,1693,2122,0,0,0,0,0,0
$GC,7725,1.08,236.5,387.0,10.4,295,7729,0.00,2.67,0.00,0.000,4,0.000,0.053,3181,3281,2121,0,0,0,0,0,0
$GC,7776,1.16,236.5,381.3,10.4,296,7781,0.00,2.67,0.00,0.000,6,0.000,0.036,3181,1689,2120,0,0,0,0,0,0
$GC,8061,1.23,239.9,353.1,9.8,303,8066,0.15,2.67,0.00,0.000,4,0.063,0.069,3233,166,2120,0,0,0,0,0,0
$GC,8109,1.10,239.9,346.8,13.3,304,8114,0.20,2.47,0.00,0.000,6,0.117,0.028,3192,1693,2120,0,0,0,0,0,0
$GC,8391,1.12,251.9,319.6,9.3,311,8411,0.00,2.65,13.07,0.733,4,0.000,0.060,3192,173,2067,0,0,0,0,0,0
$GC,8437,1.12,251.9,315.1,11.1,312,8441,0.00,2.47,0.00,0.000,6,0.000,0.032,3191,1696,2067,0,0,0,0,0,0
$GC,8724,1.18,251.9,283.3,11.5,319,8728,0.00,2.65,0.00,0.000,4,0.000,0.045,3192,3281,2063,0,0,0,0,0,0
$GC,8816,1.29,251.9,272.4,11.1,321,8822,0.15,2.60,0.00,0.000,6,0.061,0.034,3244,1690,2062,0,0,0,0,0,0
$GC,9099,1.22,251.9,241.1,10.5,328,9104,0.15,2.60,0.00,0.000,4,0.115,0.059,3213,176,2062,0,0,0,0,0,0
$GC,9146,1.22,251.9,235.7,11.0,329,9150,0.00,2.42,0.00,0.000,6,0.000,0.024,3213,1696,2061,0,0,0,0,0,0
$GC,9428,1.22,251.9,206.7,10.6,336,9433,0.00,2.60,0.00,0.000,4,0.000,0.053,3213,177,2062,0,0,0,0,0,0
$GC,9507,1.22,251.9,196.9,12.2,337,9511,0.00,2.38,0.00,0.000,6,0.000,0.025,3213,1679,2061,0,0,0,0,0,0
$GC,9775,1.23,258.7,169.6,9.6,362,9788,0.00,2.65,6.55,0.530,4,0.000,0.037,3213,3273,2039,0,0,0,0,0,0
$GC,9845,1.33,258.7,162.3,10.7,369,9850,0.10,2.62,0.00,0.000,6,0.081,0.029,3256,1664,2038,0,0,0,0,0,0
$GC,10110,1.33,258.7,130.6,11.8,393,10114,0.00,2.62,0.00,0.000,4,0.000,0.035,3256,3287,2039,0,0,0,0,0,0
$GC,10139,1.33,258.7,127.3,11.4,395,10143,0.00,2.60,0.00,0.000,6,0.000,0.028,3256,1681,2038,0,0,0,0,0,0
$GC,10407,1.34,266.1,100.8,9.6,419,10420,0.00,2.50,8.38,0.502,4,0.000,0.048,3256,176,2009,0,0,0,0,0,0
$GC,10543,1.34,266.1,85.6,11.3,431,10547,0.00,2.35,0.00,0.000,6,0.000,0.021,3256,1685,2008,0,0,0,0,0,0
$GC,10812,1.38,302.1,63.7,7.9,455,10853,0.00,2.60,32.67,0.527,4,0.000,0.048,3256,177,1861,0,0,0,0,0,0
$GC,10988,1.38,302.1,45.2,11.0,470,10993,0.00,2.35,0.00,0.000,6,0.000,0.021,3256,1672,1860,0,0,0,0,0,0
$GC,11274,1.38,302.1,16.6,10.9,504,11284,0.00,2.60,0.00,0.000,4,0.000,0.034,3256,3269,1858,0,0,0,0,0,0
$GC,11348,1.38,302.1,9.5,11.2,514,11358,0.00,2.62,0.00,0.000,6,0.000,0.028,3256,1657,1857,0,0,0,0,0,0
$STATE,11400,end climb,SURFACE_DEPTH_REACHED
$STATE,11400,begin surface coast
$FINISH,0.5,1.023318
$STATE,11448,end surface coast,CONTROL_FINISHED_OK
$STATE,11448,begin surface
$SM_CCo,11470,59.65,0.468,0,0,1464,400.08
$SM_GC,1.25,0.00,0.00,59.65,0.000,0.000,0.468,416,1923,1464,-11.66,0.93,400.08
$IRIDIUM_FIX,2136.49,-15810.62,061100,060639
$TT8_MAMPS,0.027612
$HUMID,59.84
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,23.4,1.274
$10V_AH,10.4,1.824
$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,28.650,145.475,357.375,59.650,0.000,49.205,68.665,346.992,0.500,0.000,15.518,1134.358,7543.932,464.797,1901.574,1153.508,33.341,1336.499,0.000,2202.534,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,81.302,960.284,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.466,449.633,533.035,540.684,1011.747,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356240
$DATA_FILE_SIZE,41630,528
$CAP_FILE_SIZE,126454,0
$CFSIZE,260165632,130662400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,095030,2145.630,-15811.874,38,1.4,44,9.9