version: 66.06
glider: 148
mission: 9
dive: 85
start: 11 22 110 9 2 3
data:
$ID,148
$MISSION,9
$DIVE,85
$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,166
$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,450
$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,-859205.88
$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,2900
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,86
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3070
$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
$GPS1,084730,2252.884,-15741.961,38,1.1,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.3
$GPS2,090108,2252.895,-15741.994,13,1.1,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,0.539
$KALMAN_X,-47578.0,-22.2,330.8,95229.8,-459.5
$KALMAN_Y,21553.1,-577.0,830.6,113388.6,-497.0
$MHEAD_RNG_PITCHd_Wd,354.7,9455,-4.9,-10.040
$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,-0.48,-146.0,0.0,0.0,0,103,0.00,0.00,-82.80,0.000,2,0.000,0.000,412,1812,3315,0,0,0,0,0,0
$GC,106,-0.48,-146.0,3.2,-4.5,11,131,12.55,2.40,-6.65,0.000,4,0.156,0.039,2787,3319,3668,0,0,0,0,0,0
$GC,199,-0.55,-146.0,17.5,-5.0,24,207,0.00,2.50,0.00,0.000,6,0.000,0.022,2787,1756,3669,0,0,0,0,0,0
$GC,489,-0.88,-146.0,45.8,-8.1,59,494,0.32,2.53,0.00,0.000,4,0.072,0.041,2708,199,3670,0,0,0,0,0,0
$GC,753,-1.08,-146.0,65.3,-7.9,82,758,0.17,2.35,0.00,0.000,6,0.070,0.018,2653,1763,3670,0,0,0,0,0,0
$GC,1016,-0.63,-146.0,89.4,-10.7,106,1029,0.45,2.45,0.00,0.000,4,0.079,0.037,2759,3319,3670,0,0,0,0,0,0
$GC,1113,-0.63,-146.0,95.0,-6.3,115,1117,0.00,2.42,0.00,0.000,6,0.000,0.021,2759,1759,3670,0,0,0,0,0,0
$GC,1381,-0.88,-146.0,116.5,-7.7,139,1386,0.22,2.53,0.00,0.000,4,0.069,0.041,2705,201,3671,0,0,0,0,0,0
$GC,1676,-1.18,-146.0,136.8,-5.4,167,1683,0.28,2.38,0.00,0.000,6,0.067,0.018,2637,1763,3671,0,0,0,0,0,0
$GC,1941,-0.92,-146.0,154.0,-6.8,192,1946,0.25,2.55,0.00,0.000,4,0.081,0.039,2698,201,3671,0,0,0,0,0,0
$GC,2037,-0.84,-146.0,159.6,-5.4,201,2042,0.00,2.40,0.00,0.000,6,0.000,0.018,2698,1803,3672,0,0,0,0,0,0
$GC,2302,-0.92,-146.0,173.7,-5.4,225,2306,0.00,2.38,0.00,0.000,4,0.000,0.029,2698,3325,3672,0,0,0,0,0,0
$GC,2591,-1.18,-146.0,192.8,-7.2,253,2597,0.25,2.35,0.00,0.000,6,0.048,0.022,2626,1824,3672,0,0,0,0,0,0
$GC,2845,-1.04,-146.0,213.4,-8.1,266,2850,0.20,2.35,0.00,0.000,4,0.078,0.025,2675,3321,3672,0,0,0,0,0,0
$GC,2880,-1.04,-146.0,216.0,-7.0,266,2884,0.00,2.33,0.00,0.000,6,0.000,0.022,2675,1826,3672,0,0,0,0,0,0
$GC,3129,-1.04,-146.0,230.9,-5.9,272,3133,0.00,2.35,0.00,0.000,4,0.000,0.029,2676,3319,3672,0,0,0,0,0,0
$GC,3219,-1.13,-146.0,236.0,-6.8,274,3223,0.00,2.40,0.00,0.000,6,0.000,0.022,2675,1782,3672,0,0,0,0,0,0
$GC,3511,-1.13,-146.0,254.5,-6.7,281,3515,0.00,2.60,0.00,0.000,4,0.000,0.047,2675,197,3671,0,0,0,0,0,0
$GC,3781,-1.34,-146.0,272.6,-6.4,286,3787,0.30,2.42,0.00,0.000,6,0.044,0.019,2592,1788,3670,0,0,0,0,0,0
$GC,4031,-0.97,-146.0,291.8,-8.0,293,4036,0.40,2.42,0.00,0.000,4,0.077,0.031,2689,3322,3669,0,0,0,0,0,0
$GC,4104,-0.88,-146.0,295.5,-4.8,294,4108,0.00,2.40,0.00,0.000,6,0.000,0.024,2688,1794,3669,0,0,0,0,0,0
$GC,4363,-0.97,-146.0,311.6,-6.5,301,4367,0.00,2.42,0.00,0.000,4,0.000,0.033,2688,3316,3668,0,0,0,0,0,0
$GC,4632,-1.26,-146.0,330.2,-6.2,306,4638,0.28,2.35,0.00,0.000,6,0.042,0.027,2602,1828,3667,0,0,0,0,0,0
$GC,4883,-1.08,-146.0,347.5,-6.7,313,4890,0.25,2.70,0.00,0.000,4,0.073,0.050,2666,190,3666,0,0,0,0,0,0
$GC,4948,-1.02,-146.0,351.2,-5.3,314,4952,0.00,2.42,0.00,0.000,6,0.000,0.021,2666,1768,3665,0,0,0,0,0,0
$GC,5216,-1.02,-146.0,367.0,-6.0,321,5220,0.00,2.62,0.00,0.000,4,0.000,0.052,2666,198,3664,0,0,0,0,0,0
$GC,5297,-1.14,-146.0,372.1,-6.2,322,5301,0.00,2.53,0.00,0.000,6,0.000,0.021,2666,1822,3663,0,0,0,0,0,0
$GC,5547,-1.14,-146.0,389.3,-7.2,328,5551,0.00,2.42,0.00,0.000,4,0.000,0.037,2666,3330,3662,0,0,0,0,0,0
$GC,5816,-1.29,-146.0,406.4,-5.4,333,5822,0.20,2.38,0.00,0.000,6,0.053,0.027,2600,1841,3660,0,0,0,0,0,0
$GC,6067,-1.12,-146.0,420.9,-5.9,340,6071,0.25,2.42,0.00,0.000,4,0.076,0.035,2663,3331,3659,0,0,0,0,0,0
$GC,6172,-1.21,-146.0,426.8,-6.0,342,6177,0.12,2.42,0.00,0.000,6,0.072,0.028,2618,1800,3658,0,0,0,0,0,0
$GC,6446,-1.09,-146.0,444.5,-6.7,349,6454,0.20,2.70,0.00,0.000,4,0.080,0.059,2666,195,3657,0,0,0,0,0,0
$GC,6494,-1.09,-146.0,447.4,-6.0,350,6498,0.00,2.38,0.00,0.000,6,0.000,0.023,2666,1722,3657,0,0,0,0,0,0
$GC,6781,-1.09,-146.0,464.4,-5.7,357,6785,0.00,2.58,0.00,0.000,4,0.000,0.059,2666,198,3655,0,0,0,0,0,0
$GC,7050,-1.35,-146.0,479.2,-5.5,362,7057,0.25,2.50,0.00,0.000,6,0.048,0.026,2592,1772,3653,0,0,0,0,0,0
$GC,7302,-1.14,-146.0,493.8,-5.9,369,7309,0.25,2.70,0.00,0.000,4,0.075,0.062,2652,198,3651,0,0,0,0,0,0
$GC,7351,-1.14,-146.0,496.9,-5.7,370,7356,0.00,2.65,0.00,0.000,6,0.000,0.028,2652,1852,3651,0,0,0,0,0,0
$STATE,7428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7428,begin apogee
$GC,7435,-0.31,0.0,501.5,6.1,372,7555,0.75,0.00,116.50,0.896,6,0.045,0.000,2839,1647,3070,0,0,0,0,0,0
$STATE,7556,end apogee,CONTROL_FINISHED_OK
$STATE,7556,begin climb
$GC,7558,0.48,146.0,508.7,0.0,375,7688,0.68,2.60,122.20,0.877,4,0.032,0.066,3020,188,2473,0,0,0,0,0,0
$GC,7766,0.38,538.4,506.7,6.9,379,8115,0.17,2.35,337.17,0.861,6,0.110,0.029,2985,1640,874,0,0,0,0,0,0
$GC,8391,0.12,538.4,446.9,11.7,395,8396,0.25,2.47,0.00,0.000,4,0.087,0.053,2926,184,868,0,0,0,0,0,0
$GC,8424,0.39,754.3,443.3,8.3,395,8519,0.25,2.42,82.55,0.827,6,0.038,0.025,3012,1693,509,0,0,0,0,0,0
$GC,8759,0.07,754.3,396.3,14.4,404,8766,0.40,2.55,0.00,0.000,4,0.079,0.051,2920,184,495,0,0,0,0,0,0
$GC,8808,0.54,1070.9,392.1,7.5,405,8815,0.43,2.45,0.00,0.000,6,0.038,0.023,3030,1743,494,0,0,0,0,0,0
$GC,9097,0.54,1070.9,362.3,10.1,412,9101,0.00,2.42,0.00,0.000,4,0.000,0.037,3031,3223,490,0,0,0,0,0,0
$GC,9121,0.74,1093.5,360.0,9.9,412,9126,0.12,2.55,0.00,0.000,6,0.082,0.028,3066,1652,489,0,0,0,0,0,0
$GC,9382,0.74,1093.5,332.1,10.9,419,9386,0.00,2.60,0.00,0.000,4,0.000,0.035,3066,3230,488,0,0,0,0,0,0
$GC,9447,0.44,1093.5,323.1,14.5,420,9454,0.32,2.50,0.00,0.000,6,0.084,0.035,2996,1709,488,0,0,0,0,0,0
$GC,9715,0.20,1093.5,290.9,12.0,427,9720,0.25,2.50,0.00,0.000,4,0.097,0.038,2940,3223,486,0,0,0,0,0,0
$GC,9777,0.56,1386.3,285.9,7.7,428,9782,0.35,2.45,0.00,0.000,6,0.033,0.030,3042,1725,486,0,0,0,0,0,0
$GC,10046,0.19,1386.3,252.2,12.7,435,10053,0.43,2.47,0.00,0.000,4,0.081,0.040,2946,3217,485,0,0,0,0,0,0
$GC,10116,0.56,1686.3,246.4,7.6,436,10121,0.32,2.35,0.00,0.000,6,0.035,0.028,3040,1754,484,0,0,0,0,0,0
$GC,10380,0.20,1686.3,207.7,15.3,443,10385,0.40,2.40,0.00,0.000,4,0.081,0.038,2949,3220,484,0,0,0,0,0,0
$GC,10449,0.56,1978.1,201.1,7.7,444,10454,0.30,2.33,0.00,0.000,6,0.039,0.027,3026,1779,483,0,0,0,0,0,0
$GC,10714,0.25,1978.1,166.8,12.5,468,10719,0.30,2.35,0.00,0.000,4,0.081,0.035,2956,3227,483,0,0,0,0,0,0
$GC,10748,0.56,2232.3,163.8,8.0,470,10754,0.28,2.30,0.00,0.000,6,0.044,0.025,3027,1787,483,0,0,0,0,0,0
$GC,11014,0.56,2232.3,131.7,12.9,495,11018,0.00,2.35,0.00,0.000,4,0.000,0.035,3028,3233,483,0,0,0,0,0,0
$GC,11074,0.56,2232.3,124.1,11.4,500,11083,0.00,2.30,0.00,0.000,6,0.000,0.026,3028,1809,483,0,0,0,0,0,0
$GC,11339,0.56,2232.3,94.6,10.1,525,11344,0.00,2.28,0.00,0.000,4,0.000,0.032,3028,3227,483,0,0,0,0,0,0
$GC,11360,0.59,2259.3,92.2,9.8,526,11368,0.00,2.25,0.00,0.000,6,0.000,0.023,3028,1821,483,0,0,0,0,0,0
$GC,11627,0.59,2259.3,65.8,10.7,551,11631,0.00,2.22,0.00,0.000,4,0.000,0.031,3028,3228,482,0,0,0,0,0,0
$GC,11671,0.64,2297.4,61.2,9.7,554,11675,0.00,2.20,0.00,0.000,6,0.000,0.025,3028,1827,482,0,0,0,0,0,0
$GC,11938,0.70,2345.8,35.2,9.6,578,11943,0.10,2.67,0.00,0.000,4,0.082,0.041,3066,165,483,0,0,0,0,0,0
$GC,11959,0.70,2345.8,32.6,10.6,579,11964,0.00,2.60,0.00,0.000,6,0.000,0.021,3066,1849,483,0,0,0,0,0,0
$STATE,12177,end climb,SURFACE_DEPTH_REACHED
$STATE,12177,begin surface coast
$FINISH,0.6,1.010394
$STATE,12216,end surface coast,CONTROL_FINISHED_OK
$STATE,12216,begin surface
$SM_CCo,12298,0.00,0.000,0,0,483,634.59
$SM_GC,1.46,10.70,0.00,0.00,0.025,0.000,0.000,409,1726,483,-11.37,-1.24,634.59
$IRIDIUM_FIX,2244.02,-15741.52,160200,080815
$TT8_MAMPS,0.026845
$HUMID,41.73
$INTERNAL_PRESSURE,9.70151
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,15.096
$10V_AH,10.4,12.556
$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,34.000,152.100,658.425,0.000,0.000,53.048,66.360,495.406,0.250,0.000,15.329,1366.760,7282.053,615.495,2884.024,966.550,33.357,1804.376,0.000,2869.103,0.000,0.538,0.000
$DEVICE_MAMPS,155.701,72.865,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,416.699,375.837,484.135,730.242,1290.858,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,47812,618
$CAP_FILE_SIZE,160507,0
$CFSIZE,260165632,167092224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,122806,2253.391,-15742.324,28,1.0,28,10.1