version: 66.06
glider: 148
mission: 9
dive: 297
start: 12 17 110 6 44 15
data:
$ID,148
$MISSION,9
$DIVE,297
$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,-864294.94
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,063506,2248.784,-15802.808,33,0.8,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-69.7
$GPS2,064320,2248.776,-15802.719,12,1.1,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.050,0.245
$KALMAN_X,-52270.7,-113.8,273.5,64396.0,128.1
$KALMAN_Y,699.9,-79.6,298.5,126652.5,-686.8
$MHEAD_RNG_PITCHd_Wd,338.3,2317,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-74.97,0.000,2,0.000,0.000,410,1893,3264,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.2,-3.8,10,131,12.00,2.80,-8.62,0.000,4,0.170,0.050,2597,208,3719,0,0,0,0,0,0
$GC,237,-1.17,-146.0,29.3,-12.7,30,246,0.00,2.50,0.00,0.000,6,0.000,0.019,2597,1792,3720,0,0,0,0,0,0
$GC,502,-0.96,-146.0,70.6,-15.8,55,508,0.22,2.50,0.00,0.000,4,0.099,0.030,2647,3359,3720,0,0,0,0,0,0
$GC,580,-1.05,-146.0,80.6,-10.0,61,586,0.00,2.47,0.00,0.000,6,0.000,0.022,2646,1786,3721,0,0,0,0,0,0
$GC,842,-1.05,-146.0,109.3,-9.9,86,847,0.00,2.53,0.00,0.000,4,0.000,0.030,2646,3369,3721,0,0,0,0,0,0
$GC,881,-1.15,-146.0,113.1,-10.2,89,886,0.17,2.47,0.00,0.000,6,0.044,0.022,2557,1803,3721,0,0,0,0,0,0
$GC,1145,-0.94,-146.0,152.6,-15.1,113,1154,0.43,2.47,0.00,0.000,4,0.086,0.028,2648,3361,3722,0,0,0,0,0,0
$GC,1170,-0.87,-146.0,155.5,-12.4,115,1175,0.10,2.45,0.00,0.000,6,0.109,0.021,2672,1808,3722,0,0,0,0,0,0
$GC,1435,-1.08,-146.0,173.4,-7.6,139,1440,0.20,0.00,0.00,0.000,6,0.042,0.000,2548,1808,3723,0,0,0,0,0,0
$GC,1713,-0.89,-146.0,212.6,-13.9,160,1720,0.47,2.47,0.00,0.000,4,0.081,0.030,2659,3360,3723,0,0,0,0,0,0
$GC,1761,-1.11,-146.0,216.8,-6.5,161,1766,0.17,2.45,0.00,0.000,6,0.047,0.023,2589,1815,3724,0,0,0,0,0,0
$GC,2049,-1.11,-146.0,244.6,-9.6,168,2054,0.12,2.50,0.00,0.000,4,0.103,0.031,2618,3368,3723,0,0,0,0,0,0
$GC,2084,-1.17,-146.0,247.7,-8.5,168,2088,0.00,2.42,0.00,0.000,6,0.000,0.023,2618,1826,3723,0,0,0,0,0,0
$GC,2334,-1.25,-146.0,266.5,-7.7,174,2339,0.12,2.47,0.00,0.000,4,0.064,0.032,2542,3367,3723,0,0,0,0,0,0
$GC,2353,-1.25,-146.0,268.7,-10.4,174,2358,0.20,2.45,0.00,0.000,6,0.086,0.023,2587,1822,3724,0,0,0,0,0,0
$GC,2619,-1.25,-146.0,296.1,-10.6,181,2623,0.00,2.45,0.00,0.000,4,0.000,0.033,2587,3359,3723,0,0,0,0,0,0
$GC,2656,-1.25,-146.0,299.9,-9.2,181,2661,0.00,2.42,0.00,0.000,6,0.000,0.026,2587,1842,3723,0,0,0,0,0,0
$GC,2906,-1.25,-146.0,322.8,-9.0,188,2910,0.00,2.67,0.00,0.000,4,0.000,0.049,2587,219,3723,0,0,0,0,0,0
$GC,2926,-1.25,-146.0,324.8,-10.0,188,2930,0.00,2.53,0.00,0.000,6,0.000,0.023,2587,1830,3723,0,0,0,0,0,0
$GC,3189,-1.25,-146.0,348.5,-9.0,195,3194,0.00,2.47,0.00,0.000,4,0.000,0.038,2587,3374,3721,0,0,0,0,0,0
$GC,3221,-1.25,-146.0,351.4,-9.2,195,3226,0.00,2.47,0.00,0.000,6,0.000,0.028,2587,1837,3721,0,0,0,0,0,0
$GC,3473,-1.25,-146.0,372.1,-8.3,201,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1837,3720,0,0,0,0,0,0
$GC,3715,-1.25,-146.0,391.7,-8.1,207,3719,0.00,2.50,0.00,0.000,4,0.000,0.040,2587,3372,3718,0,0,0,0,0,0
$GC,3743,-1.25,-146.0,394.0,-8.4,207,3747,0.00,2.47,0.00,0.000,6,0.000,0.029,2587,1836,3718,0,0,0,0,0,0
$GC,3999,-1.25,-146.0,414.3,-8.1,214,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1836,3717,0,0,0,0,0,0
$GC,4241,-1.25,-146.0,435.3,-8.6,220,4245,0.00,2.53,0.00,0.000,4,0.000,0.043,2587,3367,3715,0,0,0,0,0,0
$GC,4292,-1.35,-146.0,439.9,-8.8,221,4297,0.00,2.47,0.00,0.000,6,0.000,0.029,2587,1842,3715,0,0,0,0,0,0
$GC,4571,-1.35,-146.0,463.0,-8.3,228,4576,0.00,2.78,0.00,0.000,4,0.000,0.063,2587,214,3713,0,0,0,0,0,0
$GC,4595,-1.41,-146.0,465.0,-8.4,228,4601,0.15,2.62,0.00,0.000,6,0.054,0.029,2521,1844,3713,0,0,0,0,0,0
$GC,4855,-1.27,-146.0,494.0,-11.7,235,4857,0.28,0.00,0.00,0.000,6,0.087,0.000,2582,1844,3711,0,0,0,0,0,0
$STATE,4934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4934,begin apogee
$GC,4941,-0.31,0.0,501.2,10.4,237,5062,0.93,0.00,117.60,0.872,6,0.070,0.000,2795,1668,3120,0,0,0,0,0,0
$STATE,5063,end apogee,CONTROL_FINISHED_OK
$STATE,5063,begin climb
$GC,5066,1.17,146.0,506.8,0.0,240,5197,1.30,2.62,120.93,0.855,4,0.026,0.068,3131,190,2523,0,0,0,0,0,0
$GC,5383,0.71,146.0,491.9,10.7,247,5390,0.55,2.42,0.00,0.000,6,0.103,0.029,3016,1674,2516,0,0,0,0,0,0
$GC,5664,0.80,220.1,475.5,5.9,254,5733,0.00,2.65,62.20,0.838,4,0.000,0.058,3016,192,2221,0,0,0,0,0,0
$GC,5754,0.73,220.1,468.6,9.8,256,5758,0.00,2.45,0.00,0.000,6,0.000,0.028,3016,1683,2219,0,0,0,0,0,0
$GC,6037,0.75,236.8,444.1,8.3,263,6057,0.00,2.65,14.65,0.768,4,0.000,0.058,3016,191,2154,0,0,0,0,0,0
$GC,6090,0.75,236.8,439.3,9.5,264,6094,0.00,2.42,0.00,0.000,6,0.000,0.028,3016,1677,2152,0,0,0,0,0,0
$GC,6369,0.79,267.1,417.7,7.7,271,6402,0.00,2.78,27.02,0.796,4,0.000,0.056,3016,3260,2030,0,0,0,0,0,0
$GC,6432,0.88,291.8,412.6,8.0,272,6461,0.15,2.62,23.38,0.780,6,0.055,0.035,3075,1696,1930,0,0,0,0,0,0
$GC,6741,0.76,291.8,375.3,12.3,280,6749,0.22,2.67,0.00,0.000,4,0.097,0.065,3026,161,1922,0,0,0,0,0,0
$GC,6788,0.76,291.8,369.9,11.0,281,6793,0.00,2.45,0.00,0.000,6,0.000,0.028,3026,1672,1922,0,0,0,0,0,0
$GC,7076,0.76,291.8,343.1,9.4,288,7081,0.00,2.67,0.00,0.000,4,0.000,0.051,3026,3254,1919,0,0,0,0,0,0
$GC,7101,0.76,291.8,340.4,9.5,288,7105,0.00,2.62,0.00,0.000,6,0.000,0.033,3027,1668,1918,0,0,0,0,0,0
$GC,7360,0.76,294.3,317.1,8.9,295,7364,0.00,2.58,0.00,0.000,4,0.000,0.064,3027,164,1917,0,0,0,0,0,0
$GC,7380,0.78,311.9,315.4,8.3,295,7405,0.00,2.42,17.73,0.722,6,0.000,0.025,3027,1676,1847,0,0,0,0,0,0
$GC,7693,0.78,311.9,287.6,9.0,303,7697,0.00,2.62,0.00,0.000,4,0.000,0.048,3027,3250,1842,0,0,0,0,0,0
$GC,7716,0.84,311.9,285.3,9.1,303,7721,0.00,2.62,0.00,0.000,6,0.000,0.031,3026,1662,1840,0,0,0,0,0,0
$GC,7977,0.84,311.9,261.5,9.2,310,7981,0.00,2.65,0.00,0.000,4,0.000,0.040,3026,3254,1840,0,0,0,0,0,0
$GC,8005,0.93,311.9,258.7,9.7,310,8010,0.15,2.60,0.00,0.000,6,0.054,0.031,3080,1677,1839,0,0,0,0,0,0
$GC,8260,0.85,311.9,230.1,11.1,317,8265,0.17,2.53,0.00,0.000,4,0.098,0.056,3044,172,1839,0,0,0,0,0,0
$GC,8308,0.85,311.9,225.0,11.3,318,8313,0.00,2.40,0.00,0.000,6,0.000,0.023,3043,1683,1839,0,0,0,0,0,0
$GC,8591,0.85,315.4,200.2,8.9,325,8595,0.00,2.55,0.00,0.000,4,0.000,0.036,3043,3257,1838,0,0,0,0,0,0
$GC,8611,0.86,321.6,198.4,8.7,325,8626,0.00,2.58,8.32,0.574,6,0.000,0.028,3044,1677,1807,0,0,0,0,0,0
$GC,8887,0.86,321.6,171.1,10.9,350,8891,0.00,2.50,0.00,0.000,4,0.000,0.050,3044,171,1806,0,0,0,0,0,0
$GC,8905,0.86,321.6,168.9,11.6,351,8914,0.00,2.42,0.00,0.000,6,0.000,0.022,3044,1689,1806,0,0,0,0,0,0
$GC,9169,0.86,321.6,142.2,9.1,376,9173,0.00,2.53,0.00,0.000,4,0.000,0.046,3044,173,1806,0,0,0,0,0,0
$GC,9209,0.86,321.6,137.8,10.7,379,9215,0.00,2.38,0.00,0.000,6,0.000,0.021,3044,1681,1806,0,0,0,0,0,0
$GC,9473,0.95,322.9,115.2,9.0,404,9478,0.10,2.55,0.00,0.000,4,0.077,0.034,3099,3253,1805,0,0,0,0,0,0
$GC,9533,0.95,322.9,108.9,11.1,409,9538,0.15,2.50,0.00,0.000,6,0.100,0.026,3066,1685,1804,0,0,0,0,0,0
$GC,9797,1.08,362.2,87.0,7.4,433,9843,0.12,2.53,36.38,0.549,4,0.064,0.044,3135,171,1641,0,0,0,0,0,0
$GC,9861,0.93,362.2,79.5,13.3,439,9868,0.32,2.40,0.00,0.000,6,0.090,0.021,3064,1685,1641,0,0,0,0,0,0
$GC,10130,1.01,366.8,55.7,8.8,464,10144,0.00,2.58,4.80,0.384,4,0.000,0.032,3064,3254,1623,0,0,0,0,0,0
$GC,10160,1.12,379.0,53.0,8.5,466,10185,0.15,2.55,12.50,0.481,6,0.051,0.025,3156,1677,1573,0,0,0,0,0,0
$GC,10459,0.93,379.0,10.7,14.9,502,10468,0.40,2.50,0.00,0.000,4,0.090,0.044,3064,171,1572,0,0,0,0,0,0
$STATE,10513,end climb,SURFACE_DEPTH_REACHED
$STATE,10513,begin surface coast
$FINISH,0.7,1.023515
$STATE,10575,end surface coast,CONTROL_FINISHED_OK
$STATE,10575,begin surface
$SM_CCo,10597,25.77,0.318,1,0,1406,420.20
$SM_GC,1.62,0.00,0.00,25.77,0.000,0.000,0.318,409,1821,1406,-11.28,0.88,420.20
$IRIDIUM_FIX,2239.35,-15805.41,120300,030334
$TT8_MAMPS,0.027612
$HUMID,45.62
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.6,40.637
$10V_AH,10.4,34.464
$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,30.150,152.250,445.500,25.775,0.000,28.941,32.189,296.797,0.750,0.000,14.256,1095.141,6855.381,511.855,2000.710,660.035,33.368,1368.755,0.000,1996.185,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,68.263,872.079,318.305,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.852,305.242,396.231,580.535,1026.746,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41630,519
$CAP_FILE_SIZE,125585,0
$CFSIZE,260165632,155586560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171210,094231,2249.840,-15802.877,11,1.7,28,10.1