version: 66.06
glider: 148
mission: 9
dive: 299
start: 12 17 110 13 0 27
data:
$ID,148
$MISSION,9
$DIVE,299
$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,-864326.62
$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,30
$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
$GPS1,125100,2249.742,-15801.164,36,1.3,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.3
$GPS2,125932,2249.776,-15801.138,11,1.2,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.243,-0.060
$KALMAN_X,-51591.4,211.2,-220.4,66609.1,473.2
$KALMAN_Y,579.2,2.5,-346.1,129189.4,850.4
$MHEAD_RNG_PITCHd_Wd,93.8,7076,-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,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,103,0.00,0.00,-82.00,0.000,2,0.000,0.000,413,1881,3505,0,0,0,0,0,0
$GC,106,-1.17,-146.0,4.4,-6.6,11,131,11.62,2.78,-3.62,0.000,4,0.158,0.048,2597,197,3720,0,0,0,0,0,0
$GC,214,-1.17,-146.0,33.2,-14.7,26,218,0.00,2.47,0.00,0.000,6,0.000,0.019,2597,1795,3722,0,0,0,0,0,0
$GC,481,-0.95,-146.0,77.4,-17.3,50,486,0.25,2.50,0.00,0.000,4,0.100,0.031,2653,3365,3722,0,0,0,0,0,0
$GC,554,-1.05,-146.0,88.4,-10.6,56,563,0.00,2.53,0.00,0.000,6,0.000,0.022,2653,1792,3722,0,0,0,0,0,0
$GC,821,-1.13,-146.0,112.1,-9.3,81,826,0.15,2.55,0.00,0.000,4,0.054,0.029,2569,3369,3723,0,0,0,0,0,0
$GC,870,-1.02,-146.0,118.0,-12.9,85,875,0.30,2.47,0.00,0.000,6,0.079,0.023,2637,1796,3723,0,0,0,0,0,0
$GC,1137,-1.09,-146.0,143.1,-8.6,109,1142,0.00,2.50,0.00,0.000,4,0.000,0.028,2637,3370,3724,0,0,0,0,0,0
$GC,1177,-1.22,-146.0,146.8,-7.4,112,1186,0.15,2.50,0.00,0.000,6,0.022,0.024,2546,1811,3724,0,0,0,0,0,0
$GC,1440,-1.04,-146.0,182.6,-14.0,137,1449,0.35,2.58,0.00,0.000,4,0.084,0.037,2629,207,3724,0,0,0,0,0,0
$GC,1474,-1.15,-146.0,187.1,-10.1,140,1480,0.00,2.53,0.00,0.000,6,0.000,0.019,2629,1836,3724,0,0,0,0,0,0
$GC,1741,-1.23,-146.0,212.0,-9.6,157,1746,0.15,2.42,0.00,0.000,4,0.055,0.031,2552,3365,3725,0,0,0,0,0,0
$GC,1784,-1.15,-146.0,217.6,-13.3,158,1789,0.25,2.42,0.00,0.000,6,0.083,0.022,2608,1830,3725,0,0,0,0,0,0
$GC,2073,-1.15,-146.0,247.1,-9.8,165,2077,0.00,2.42,0.00,0.000,4,0.000,0.030,2608,3356,3725,0,0,0,0,0,0
$GC,2138,-1.26,-146.0,253.0,-8.3,166,2143,0.10,2.40,0.00,0.000,6,0.074,0.024,2539,1844,3725,0,0,0,0,0,0
$GC,2404,-1.09,-146.0,282.0,-10.9,173,2407,0.38,0.00,0.00,0.000,6,0.080,0.000,2620,1844,3725,0,0,0,0,0,0
$GC,2647,-1.20,-146.0,296.2,-5.5,179,2651,0.00,2.42,0.00,0.000,4,0.000,0.032,2620,3363,3725,0,0,0,0,0,0
$GC,2675,-1.32,-146.0,298.1,-5.9,179,2680,0.20,2.42,0.00,0.000,6,0.040,0.025,2526,1847,3724,0,0,0,0,0,0
$GC,2932,-1.14,-146.0,328.9,-12.7,186,2939,0.35,2.67,0.00,0.000,4,0.084,0.045,2606,220,3724,0,0,0,0,0,0
$GC,2958,-1.14,-146.0,332.1,-9.9,186,2962,0.00,2.58,0.00,0.000,6,0.000,0.024,2606,1844,3724,0,0,0,0,0,0
$GC,3217,-1.22,-146.0,353.5,-8.4,193,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1844,3722,0,0,0,0,0,0
$GC,3462,-1.30,-146.0,373.3,-8.0,199,3467,0.12,2.47,0.00,0.000,4,0.063,0.039,2542,3357,3721,0,0,0,0,0,0
$GC,3506,-1.30,-146.0,377.9,-10.4,200,3511,0.15,2.40,0.00,0.000,6,0.094,0.028,2577,1852,3721,0,0,0,0,0,0
$GC,3793,-1.30,-146.0,404.4,-9.2,207,3797,0.00,2.47,0.00,0.000,4,0.000,0.041,2576,3353,3719,0,0,0,0,0,0
$GC,3822,-1.30,-146.0,407.0,-9.0,207,3826,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,1853,3719,0,0,0,0,0,0
$GC,4077,-1.30,-146.0,428.6,-8.4,214,4081,0.00,2.47,0.00,0.000,4,0.000,0.044,2577,3347,3717,0,0,0,0,0,0
$GC,4095,-1.30,-146.0,430.3,-8.8,214,4099,0.00,2.40,0.00,0.000,6,0.000,0.028,2577,1863,3717,0,0,0,0,0,0
$GC,4360,-1.30,-146.0,451.8,-8.0,221,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1863,3715,0,0,0,0,0,0
$GC,4602,-1.30,-146.0,470.8,-7.8,227,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1862,3714,0,0,0,0,0,0
$GC,4846,-1.30,-146.0,490.1,-7.7,233,4851,0.00,2.80,0.00,0.000,4,0.000,0.067,2576,222,3712,0,0,0,0,0,0
$GC,4871,-1.30,-146.0,492.3,-9.2,233,4875,0.00,2.62,0.00,0.000,6,0.000,0.032,2577,1844,3712,0,0,0,0,0,0
$STATE,5007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5007,begin apogee
$GC,5013,-0.31,0.0,503.2,8.0,237,5135,0.95,0.00,118.07,0.871,6,0.075,0.000,2791,1669,3119,0,0,0,0,0,0
$STATE,5135,end apogee,CONTROL_FINISHED_OK
$STATE,5135,begin climb
$GC,5138,1.17,146.0,508.2,0.0,240,5269,1.33,2.65,121.05,0.854,4,0.028,0.068,3120,190,2522,0,0,0,0,0,0
$GC,5313,0.71,146.0,508.0,9.0,244,5320,0.50,2.38,0.00,0.000,6,0.107,0.029,3017,1653,2519,0,0,0,0,0,0
$GC,5600,0.80,221.1,490.8,5.9,251,5669,0.00,2.58,63.10,0.841,4,0.000,0.060,3017,189,2218,0,0,0,0,0,0
$GC,5698,0.73,221.1,483.0,9.8,253,5702,0.00,2.42,0.00,0.000,6,0.000,0.028,3017,1677,2216,0,0,0,0,0,0
$GC,5972,0.73,221.1,458.6,9.1,260,5977,0.00,2.58,0.00,0.000,4,0.000,0.058,3017,187,2209,0,0,0,0,0,0
$GC,6051,0.73,221.1,450.6,9.4,261,6055,0.00,2.42,0.00,0.000,6,0.000,0.027,3017,1677,2208,0,0,0,0,0,0
$GC,6302,0.79,268.5,432.6,7.0,267,6345,0.00,0.00,41.12,0.816,6,0.000,0.000,3017,1678,2025,0,0,0,0,0,0
$GC,6584,0.79,269.8,408.2,9.0,274,6589,0.00,2.70,0.00,0.000,4,0.000,0.056,3017,3254,2018,0,0,0,0,0,0
$GC,6618,0.79,269.8,405.1,10.0,274,6623,0.00,2.60,0.00,0.000,6,0.000,0.034,3017,1685,2016,0,0,0,0,0,0
$GC,6870,0.80,278.9,383.3,8.6,280,6886,0.00,2.70,9.40,0.702,4,0.000,0.044,3017,3257,1981,0,0,0,0,0,0
$GC,6911,0.87,278.9,379.3,9.9,280,6918,0.12,2.65,0.00,0.000,6,0.064,0.035,3078,1672,1978,0,0,0,0,0,0
$GC,7161,0.75,278.9,348.4,12.8,287,7166,0.25,2.60,0.00,0.000,4,0.097,0.064,3021,169,1977,0,0,0,0,0,0
$GC,7206,0.75,278.9,343.2,10.8,288,7211,0.00,2.42,0.00,0.000,6,0.000,0.026,3021,1676,1977,0,0,0,0,0,0
$GC,7493,0.76,289.7,317.3,8.6,295,7510,0.00,2.65,10.43,0.683,4,0.000,0.058,3021,174,1938,0,0,0,0,0,0
$GC,7533,0.76,289.7,313.7,9.7,295,7539,0.00,2.42,0.00,0.000,6,0.000,0.025,3021,1674,1937,0,0,0,0,0,0
$GC,7784,0.79,316.1,293.8,7.9,302,7817,0.00,2.70,24.77,0.721,4,0.000,0.047,3021,3258,1829,0,0,0,0,0,0
$GC,7831,0.90,339.7,289.7,8.0,303,7860,0.15,2.67,21.77,0.704,6,0.055,0.032,3070,1657,1734,0,0,0,0,0,0
$GC,8118,0.90,339.7,255.4,12.7,310,8122,0.00,2.55,0.00,0.000,4,0.000,0.060,3070,167,1729,0,0,0,0,0,0
$GC,8146,0.83,339.7,250.9,15.2,310,8151,0.12,2.40,0.00,0.000,6,0.114,0.024,3045,1669,1728,0,0,0,0,0,0
$GC,8401,0.83,339.7,221.4,11.3,317,8405,0.00,2.62,0.00,0.000,4,0.000,0.042,3045,3250,1726,0,0,0,0,0,0
$GC,8454,0.93,339.7,215.7,10.9,318,8458,0.00,2.60,0.00,0.000,6,0.000,0.030,3044,1667,1723,0,0,0,0,0,0
$GC,8715,0.93,339.7,188.6,9.5,332,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1667,1723,0,0,0,0,0,0
$GC,8972,0.93,339.7,164.0,10.3,356,8977,0.00,2.58,0.00,0.000,4,0.000,0.034,3044,3255,1723,0,0,0,0,0,0
$GC,8993,0.99,339.7,162.0,9.0,357,9004,0.10,2.60,0.00,0.000,6,0.031,0.028,3086,1672,1722,0,0,0,0,0,0
$GC,9254,0.99,339.7,132.8,10.9,382,9258,0.00,2.47,0.00,0.000,4,0.000,0.047,3086,174,1722,0,0,0,0,0,0
$GC,9320,0.99,339.7,124.8,11.7,388,9324,0.00,2.35,0.00,0.000,6,0.000,0.022,3086,1679,1722,0,0,0,0,0,0
$GC,9583,0.99,339.7,97.5,9.1,412,9588,0.00,2.55,0.00,0.000,4,0.000,0.034,3086,3262,1721,0,0,0,0,0,0
$GC,9650,1.09,339.7,91.5,9.4,418,9655,0.00,2.53,0.00,0.000,6,0.000,0.028,3086,1686,1721,0,0,0,0,0,0
$GC,9916,1.10,350.2,68.6,8.6,442,9929,0.00,2.50,8.65,0.468,4,0.000,0.043,3086,174,1691,0,0,0,0,0,0
$GC,9968,1.10,350.2,64.0,10.0,446,9972,0.00,2.38,0.00,0.000,6,0.000,0.020,3086,1688,1691,0,0,0,0,0,0
$GC,10235,1.10,350.2,37.0,10.8,470,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1692,1690,0,0,0,0,0,0
$GC,10532,1.10,350.2,7.1,9.7,513,10541,0.00,2.53,0.00,0.000,4,0.000,0.042,3086,167,1691,0,0,0,0,0,0
$GC,10553,1.10,350.2,5.4,9.8,515,10562,0.00,2.38,0.00,0.000,6,0.000,0.020,3086,1680,1691,0,0,0,0,0,0
$STATE,10569,end climb,SURFACE_DEPTH_REACHED
$STATE,10569,begin surface coast
$FINISH,0.6,1.017765
$STATE,10620,end surface coast,CONTROL_FINISHED_OK
$STATE,10620,begin surface
$SM_CCo,10642,32.88,0.061,0,0,1406,420.20
$SM_GC,1.62,0.00,0.00,32.88,0.000,0.000,0.061,407,1841,1406,-11.28,1.44,420.20
$IRIDIUM_FIX,2239.35,-15802.37,120300,090924
$TT8_MAMPS,0.026845
$HUMID,45.66
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,40.880
$10V_AH,10.3,34.689
$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,28.950,141.800,418.375,32.875,0.000,24.724,35.675,316.360,0.250,0.000,13.227,1099.547,6945.021,503.378,1961.338,679.259,33.377,1319.248,0.000,1966.961,0.000,0.538,0.000
$DEVICE_MAMPS,158.002,68.263,870.545,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.501,310.970,403.198,600.759,1062.606,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,41664,525
$CAP_FILE_SIZE,121239,0
$CFSIZE,260165632,155475968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171210,155934,2249.507,-15759.387,12,99.0,31,10.1