version: 66.06
glider: 148
mission: 9
dive: 302
start: 12 17 110 22 4 15
data:
$ID,148
$MISSION,9
$DIVE,302
$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,-864366.56
$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,21
$R_STBD_OVSHOOT,46
$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
$GPS1,215131,2249.884,-15756.866,13,1.8,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.4
$GPS2,220320,2249.809,-15756.834,9,1.2,9,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.077,-0.238
$KALMAN_X,-50767.1,-70.2,100.1,73151.7,-60.8
$KALMAN_Y,-1010.9,-208.5,-549.1,131255.9,-235.0
$MHEAD_RNG_PITCHd_Wd,187.9,5457,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.68,0.000,2,0.000,0.000,414,1846,3246,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.0,-3.5,10,131,11.45,2.75,-9.20,0.000,4,0.151,0.049,2595,194,3720,0,0,0,0,0,0
$GC,141,-0.03,-146.0,15.3,-27.9,15,150,1.10,2.53,0.00,0.000,6,0.074,0.020,2847,1789,3721,0,0,0,0,0,0
$GC,435,-0.79,-146.0,41.9,-10.1,54,447,0.65,2.50,0.00,0.000,4,0.053,0.027,2686,3369,3722,0,0,0,0,0,0
$GC,508,-1.32,-146.0,48.3,-8.1,60,521,0.47,2.50,0.00,0.000,6,0.042,0.021,2557,1773,3722,0,0,0,0,0,0
$GC,779,-0.97,-146.0,96.7,-20.2,85,784,0.38,0.00,0.00,0.000,6,0.096,0.000,2641,1773,3722,0,0,0,0,0,0
$GC,1042,-1.06,-146.0,124.6,-10.0,110,1047,0.00,2.55,0.00,0.000,4,0.000,0.027,2641,3370,3722,0,0,0,0,0,0
$GC,1129,-1.23,-146.0,133.7,-9.6,118,1134,0.20,2.45,0.00,0.000,6,0.041,0.022,2546,1806,3723,0,0,0,0,0,0
$GC,1396,-1.04,-146.0,168.1,-13.3,142,1404,0.38,2.50,0.00,0.000,4,0.086,0.028,2632,3366,3723,0,0,0,0,0,0
$GC,1419,-1.04,-146.0,171.6,-10.7,144,1427,0.00,2.47,0.00,0.000,6,0.000,0.021,2632,1812,3723,0,0,0,0,0,0
$GC,1687,-1.12,-146.0,192.5,-8.3,169,1691,0.00,2.50,0.00,0.000,4,0.000,0.030,2632,3374,3724,0,0,0,0,0,0
$GC,1712,-1.22,-146.0,195.1,-8.5,171,1717,0.17,2.42,0.00,0.000,6,0.046,0.022,2540,1822,3724,0,0,0,0,0,0
$GC,1963,-1.03,-146.0,228.0,-13.6,180,1970,0.40,2.50,0.00,0.000,4,0.085,0.030,2631,3372,3724,0,0,0,0,0,0
$GC,2028,-1.23,-146.0,234.2,-8.2,181,2033,0.17,2.40,0.00,0.000,6,0.046,0.024,2548,1844,3724,0,0,0,0,0,0
$GC,2298,-1.09,-146.0,267.8,-13.1,188,2305,0.30,2.65,0.00,0.000,4,0.087,0.041,2617,210,3724,0,0,0,0,0,0
$GC,2325,-1.15,-146.0,271.0,-10.4,188,2330,0.00,2.58,0.00,0.000,6,0.000,0.021,2617,1849,3724,0,0,0,0,0,0
$GC,2585,-1.25,-146.0,290.9,-7.3,195,2590,0.12,2.45,0.00,0.000,4,0.064,0.034,2549,3368,3724,0,0,0,0,0,0
$GC,2636,-1.25,-146.0,296.1,-9.9,196,2641,0.17,2.40,0.00,0.000,6,0.088,0.025,2589,1849,3724,0,0,0,0,0,0
$GC,2916,-1.25,-146.0,320.4,-8.7,203,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1848,3723,0,0,0,0,0,0
$GC,3158,-1.25,-146.0,341.5,-8.6,209,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1847,3722,0,0,0,0,0,0
$GC,3402,-1.25,-146.0,362.4,-8.4,215,3406,0.00,2.45,0.00,0.000,4,0.000,0.038,2589,3359,3721,0,0,0,0,0,0
$GC,3431,-1.25,-146.0,364.7,-7.8,215,3435,0.00,2.40,0.00,0.000,6,0.000,0.028,2589,1858,3721,0,0,0,0,0,0
$GC,3690,-1.25,-146.0,386.4,-8.3,222,3694,0.00,2.47,0.00,0.000,4,0.000,0.039,2589,3367,3719,0,0,0,0,0,0
$GC,3714,-1.25,-146.0,388.6,-9.8,222,3719,0.00,2.40,0.00,0.000,6,0.000,0.028,2590,1865,3719,0,0,0,0,0,0
$GC,3975,-1.25,-146.0,412.4,-9.4,229,3979,0.00,2.47,0.00,0.000,4,0.000,0.041,2589,3366,3717,0,0,0,0,0,0
$GC,4002,-1.25,-146.0,415.3,-9.6,229,4006,0.00,2.42,0.00,0.000,6,0.000,0.028,2589,1868,3717,0,0,0,0,0,0
$GC,4256,-1.25,-146.0,437.2,-8.5,236,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1868,3715,0,0,0,0,0,0
$GC,4500,-1.25,-146.0,455.0,-7.1,242,4504,0.00,2.47,0.00,0.000,4,0.000,0.045,2590,3356,3713,0,0,0,0,0,0
$GC,4535,-1.32,-146.0,457.5,-6.9,242,4539,0.00,2.38,0.00,0.000,6,0.000,0.029,2589,1879,3713,0,0,0,0,0,0
$GC,4785,-1.39,-146.0,476.7,-7.7,248,4792,0.15,2.85,0.00,0.000,4,0.055,0.063,2523,221,3711,0,0,0,0,0,0
$GC,4802,-1.39,-146.0,478.5,-10.0,248,4807,0.15,2.65,0.00,0.000,6,0.101,0.030,2556,1860,3711,0,0,0,0,0,0
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5035,-0.31,0.0,500.2,9.5,254,5156,1.02,0.00,117.30,0.871,6,0.073,0.000,2790,1679,3120,0,0,0,0,0,0
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5159,1.17,146.0,505.0,0.0,257,5285,1.33,0.00,121.47,0.852,6,0.025,0.000,3130,1679,2524,0,0,0,0,0,0
$GC,5528,0.82,146.0,486.4,9.4,266,5535,0.40,2.60,0.00,0.000,4,0.098,0.063,3041,189,2515,0,0,0,0,0,0
$GC,5625,0.62,154.2,478.1,8.7,268,5638,0.22,2.38,6.88,0.674,6,0.100,0.027,2994,1649,2490,0,0,0,0,0,0
$GC,5914,0.73,238.6,461.3,5.5,275,5999,0.10,2.55,72.95,0.835,4,0.077,0.057,3041,190,2144,0,0,0,0,0,0
$GC,6052,0.61,238.6,450.3,10.0,278,6057,0.22,2.40,0.00,0.000,6,0.094,0.028,2994,1663,2142,0,0,0,0,0,0
$GC,6335,0.74,284.4,430.5,7.1,285,6381,0.12,2.78,39.45,0.808,4,0.064,0.054,3055,3260,1959,0,0,0,0,0,0
$GC,6400,0.68,284.4,423.6,11.5,286,6408,0.22,2.65,0.00,0.000,6,0.087,0.035,3006,1672,1956,0,0,0,0,0,0
$GC,6663,0.75,284.4,398.5,9.5,293,6667,0.00,2.65,0.00,0.000,4,0.000,0.044,3006,3254,1952,0,0,0,0,0,0
$GC,6697,0.84,284.4,395.3,9.5,293,6706,0.15,2.67,0.00,0.000,6,0.058,0.035,3071,1655,1950,0,0,0,0,0,0
$GC,6950,0.73,284.4,365.4,11.6,300,6955,0.22,2.58,0.00,0.000,4,0.094,0.064,3021,168,1949,0,0,0,0,0,0
$GC,6974,0.73,284.4,362.7,11.0,300,6978,0.00,2.42,0.00,0.000,6,0.000,0.025,3020,1673,1948,0,0,0,0,0,0
$GC,7236,0.76,310.0,341.7,7.9,307,7264,0.00,2.75,22.48,0.749,4,0.000,0.048,3021,3253,1855,0,0,0,0,0,0
$GC,7293,0.86,316.5,336.6,8.7,308,7306,0.12,2.65,7.12,0.628,6,0.066,0.034,3078,1667,1828,0,0,0,0,0,0
$GC,7569,0.77,316.5,301.5,13.6,315,7574,0.22,2.60,0.00,0.000,4,0.094,0.062,3028,162,1825,0,0,0,0,0,0
$GC,7625,0.77,316.5,294.8,10.9,316,7629,0.00,2.42,0.00,0.000,6,0.000,0.025,3028,1669,1825,0,0,0,0,0,0
$GC,7898,0.77,317.8,270.2,9.0,323,7902,0.00,2.62,0.00,0.000,4,0.000,0.044,3027,3258,1822,0,0,0,0,0,0
$GC,7923,0.85,323.4,267.9,8.8,323,7935,0.00,2.65,6.35,0.580,6,0.000,0.031,3028,1652,1801,0,0,0,0,0,0
$GC,8186,0.92,323.4,241.8,10.0,330,8188,0.12,0.00,0.00,0.000,6,0.064,0.000,3089,1652,1800,0,0,0,0,0,0
$GC,8431,0.84,323.4,215.2,10.5,336,8438,0.22,2.67,0.00,0.000,4,0.092,0.037,3039,3264,1799,0,0,0,0,0,0
$GC,8462,0.91,323.4,212.0,9.5,336,8467,0.00,2.60,0.00,0.000,6,0.000,0.030,3039,1662,1797,0,0,0,0,0,0
$GC,8724,0.91,323.4,188.2,9.8,349,8728,0.00,2.47,0.00,0.000,4,0.000,0.049,3039,171,1797,0,0,0,0,0,0
$GC,8764,0.91,323.4,184.2,10.9,352,8768,0.00,2.35,0.00,0.000,6,0.000,0.022,3039,1677,1797,0,0,0,0,0,0
$GC,9029,0.91,323.4,158.9,9.3,376,9034,0.00,2.58,0.00,0.000,4,0.000,0.034,3039,3252,1797,0,0,0,0,0,0
$GC,9085,1.01,323.4,153.4,9.4,381,9090,0.17,2.58,0.00,0.000,6,0.048,0.028,3102,1661,1795,0,0,0,0,0,0
$GC,9349,0.92,323.4,123.8,12.3,405,9354,0.20,2.45,0.00,0.000,4,0.095,0.044,3059,174,1795,0,0,0,0,0,0
$GC,9420,0.93,328.1,117.1,8.8,411,9430,0.00,2.33,5.05,0.439,6,0.000,0.021,3059,1661,1782,0,0,0,0,0,0
$GC,9685,1.08,372.2,98.2,7.2,436,9738,0.15,2.60,40.10,0.560,4,0.054,0.032,3120,3247,1599,0,0,0,0,0,0
$GC,9772,1.08,372.2,89.5,10.7,444,9777,0.12,2.58,0.00,0.000,6,0.107,0.028,3094,1666,1597,0,0,0,0,0,0
$GC,10039,1.08,372.2,62.5,9.8,468,10043,0.00,2.47,0.00,0.000,4,0.000,0.044,3094,164,1595,0,0,0,0,0,0
$GC,10070,1.08,372.2,59.1,10.9,470,10075,0.00,2.33,0.00,0.000,6,0.000,0.020,3094,1666,1595,0,0,0,0,0,0
$GC,10337,1.08,372.2,30.8,11.1,494,10342,0.00,2.55,0.00,0.000,4,0.000,0.032,3094,3250,1595,0,0,0,0,0,0
$GC,10364,1.08,372.2,27.4,11.1,497,10372,0.00,2.58,0.00,0.000,6,0.000,0.026,3094,1666,1594,0,0,0,0,0,0
$STATE,10575,end climb,SURFACE_DEPTH_REACHED
$STATE,10575,begin surface coast
$FINISH,0.7,1.009908
$STATE,10620,end surface coast,CONTROL_FINISHED_OK
$STATE,10620,begin surface
$SM_CCo,10640,29.15,0.334,1,0,1406,420.20
$SM_GC,1.61,0.00,0.00,29.15,0.000,0.000,0.334,409,1851,1406,-11.27,1.72,420.20
$IRIDIUM_FIX,2239.35,-15757.16,120300,222225
$TT8_MAMPS,0.026845
$HUMID,45.62
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.6,41.240
$10V_AH,10.3,35.029
$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,32.375,142.075,439.150,29.150,0.000,53.645,66.630,385.922,0.000,0.000,11.202,1117.029,6896.365,542.051,1999.992,831.695,33.374,1351.918,0.000,2014.421,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,64.428,870.545,334.412,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.673,334.459,419.358,638.843,1129.892,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41578,537
$CAP_FILE_SIZE,127573,0
$CFSIZE,260165632,155299840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181210,010331,2248.382,-15757.473,40,0.9,40,10.1