version: 66.06
glider: 148
mission: 9
dive: 306
start: 12 18 110 10 33 58
data:
$ID,148
$MISSION,9
$DIVE,306
$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,-864445.5
$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,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
$GPS1,102400,2247.453,-15801.131,37,1.8,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.1
$GPS2,103304,2247.443,-15801.132,10,99.0,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.242,-0.065
$KALMAN_X,-51014.2,-88.7,49.2,66078.5,-118.8
$KALMAN_Y,-2084.7,298.6,-430.8,127316.0,9.2
$MHEAD_RNG_PITCHd_Wd,244.9,3294,-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,-75.22,0.000,2,0.000,0.000,414,1867,3283,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-4.0,10,124,11.38,2.70,-8.18,0.000,4,0.148,0.049,2598,198,3718,0,0,0,0,0,0
$GC,228,-1.17,-146.0,29.9,-13.5,29,237,0.00,2.53,0.00,0.000,6,0.000,0.020,2598,1791,3719,0,0,0,0,0,0
$GC,493,-0.96,-146.0,70.5,-16.5,54,498,0.22,2.53,0.00,0.000,4,0.103,0.030,2646,3370,3719,0,0,0,0,0,0
$GC,571,-0.96,-146.0,81.0,-12.0,60,576,0.00,2.50,0.00,0.000,6,0.000,0.022,2646,1793,3720,0,0,0,0,0,0
$GC,833,-0.96,-146.0,110.9,-10.3,84,838,0.00,2.53,0.00,0.000,4,0.000,0.029,2646,3366,3720,0,0,0,0,0,0
$GC,894,-1.09,-146.0,117.1,-9.2,89,900,0.10,2.45,0.00,0.000,6,0.072,0.022,2545,1813,3720,0,0,0,0,0,0
$GC,1158,-0.86,-146.0,155.7,-14.7,114,1170,0.52,2.47,0.00,0.000,4,0.084,0.028,2665,3368,3721,0,0,0,0,0,0
$GC,1185,-0.94,-146.0,158.9,-8.8,116,1193,0.00,2.42,0.00,0.000,6,0.000,0.021,2665,1821,3722,0,0,0,0,0,0
$GC,1449,-1.11,-146.0,175.6,-6.9,141,1454,0.20,2.45,0.00,0.000,4,0.042,0.028,2561,3366,3722,0,0,0,0,0,0
$GC,1489,-1.01,-146.0,180.4,-12.0,144,1499,0.32,2.45,0.00,0.000,6,0.067,0.023,2640,1832,3722,0,0,0,0,0,0
$GC,1753,-1.12,-146.0,200.1,-6.9,169,1758,0.10,2.47,0.00,0.000,4,0.076,0.031,2576,3373,3722,0,0,0,0,0,0
$GC,1773,-1.12,-146.0,202.2,-8.5,169,1778,0.17,2.45,0.00,0.000,6,0.091,0.022,2616,1824,3722,0,0,0,0,0,0
$GC,2038,-1.12,-146.0,226.7,-9.5,176,2043,0.00,2.47,0.00,0.000,4,0.000,0.031,2616,3366,3722,0,0,0,0,0,0
$GC,2090,-1.22,-146.0,231.6,-9.0,177,2094,0.00,2.42,0.00,0.000,6,0.000,0.024,2616,1840,3722,0,0,0,0,0,0
$GC,2370,-1.28,-146.0,254.2,-8.1,184,2375,0.15,2.47,0.00,0.000,4,0.054,0.031,2540,3368,3722,0,0,0,0,0,0
$GC,2389,-1.21,-146.0,256.8,-11.5,184,2394,0.25,2.42,0.00,0.000,6,0.082,0.022,2596,1835,3722,0,0,0,0,0,0
$GC,2653,-1.21,-146.0,283.9,-9.5,191,2658,0.00,2.47,0.00,0.000,4,0.000,0.032,2596,3371,3722,0,0,0,0,0,0
$GC,2683,-1.21,-146.0,286.4,-8.5,191,2687,0.00,2.40,0.00,0.000,6,0.000,0.024,2596,1858,3722,0,0,0,0,0,0
$GC,2941,-1.21,-146.0,310.2,-10.0,198,2946,0.00,2.70,0.00,0.000,4,0.000,0.047,2597,220,3721,0,0,0,0,0,0
$GC,2960,-1.21,-146.0,312.5,-11.3,198,2964,0.00,2.58,0.00,0.000,6,0.000,0.022,2596,1851,3722,0,0,0,0,0,0
$GC,3224,-1.21,-146.0,339.4,-9.7,205,3228,0.00,2.42,0.00,0.000,4,0.000,0.037,2596,3365,3721,0,0,0,0,0,0
$GC,3256,-1.21,-146.0,342.5,-8.6,205,3261,0.00,2.42,0.00,0.000,6,0.000,0.026,2596,1855,3721,0,0,0,0,0,0
$GC,3511,-1.21,-146.0,364.0,-8.5,212,3515,0.00,2.45,0.00,0.000,4,0.000,0.038,2596,3366,3719,0,0,0,0,0,0
$GC,3550,-1.29,-146.0,367.1,-8.0,212,3555,0.00,2.40,0.00,0.000,6,0.000,0.028,2597,1870,3719,0,0,0,0,0,0
$GC,3800,-1.29,-146.0,385.1,-7.0,219,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1870,3718,0,0,0,0,0,0
$GC,4043,-1.29,-146.0,402.8,-7.6,225,4047,0.00,2.42,0.00,0.000,4,0.000,0.041,2596,3358,3716,0,0,0,0,0,0
$GC,4080,-1.40,-146.0,406.2,-8.4,225,4085,0.17,2.40,0.00,0.000,6,0.048,0.029,2504,1873,3716,0,0,0,0,0,0
$GC,4332,-1.18,-146.0,439.3,-13.4,231,4339,0.45,2.78,0.00,0.000,4,0.086,0.057,2599,224,3714,0,0,0,0,0,0
$GC,4387,-1.34,-146.0,444.9,-8.5,232,4392,0.15,2.62,0.00,0.000,6,0.053,0.028,2518,1849,3714,0,0,0,0,0,0
$GC,4667,-1.18,-146.0,479.1,-12.5,239,4669,0.40,0.00,0.00,0.000,6,0.087,0.000,2600,1849,3712,0,0,0,0,0,0
$GC,4909,-1.27,-146.0,497.1,-6.9,245,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1849,3710,0,0,0,0,0,0
$STATE,4987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4987,begin apogee
$GC,4993,-0.31,0.0,501.8,6.1,247,5114,0.85,0.00,117.40,0.861,6,0.079,0.000,2792,1672,3120,0,0,0,0,0,0
$STATE,5115,end apogee,CONTROL_FINISHED_OK
$STATE,5115,begin climb
$GC,5118,1.17,146.0,504.6,0.0,250,5249,1.33,2.67,120.68,0.844,4,0.026,0.067,3134,193,2523,0,0,0,0,0,0
$GC,5275,0.66,146.0,503.5,9.6,253,5282,0.62,2.42,0.00,0.000,6,0.101,0.029,3004,1662,2520,0,0,0,0,0,0
$GC,5532,0.77,233.3,488.1,5.4,260,5617,0.10,2.65,73.72,0.830,4,0.078,0.060,3053,185,2167,0,0,0,0,0,0
$GC,5666,0.62,233.3,477.6,10.2,263,5672,0.28,2.45,0.00,0.000,6,0.093,0.028,2995,1680,2164,0,0,0,0,0,0
$GC,5954,0.74,275.5,456.4,7.2,270,5997,0.10,0.00,36.78,0.808,6,0.078,0.000,3045,1680,1996,0,0,0,0,0,0
$GC,6242,0.74,275.5,427.0,10.1,277,6247,0.12,2.60,0.00,0.000,4,0.109,0.057,3019,182,1989,0,0,0,0,0,0
$GC,6272,0.74,275.5,423.9,10.0,277,6276,0.00,2.45,0.00,0.000,6,0.000,0.028,3019,1686,1988,0,0,0,0,0,0
$GC,6526,0.74,275.5,400.7,9.2,284,6530,0.00,2.58,0.00,0.000,4,0.000,0.056,3020,188,1986,0,0,0,0,0,0
$GC,6550,0.74,275.5,398.3,10.8,284,6555,0.00,2.42,0.00,0.000,6,0.000,0.027,3019,1684,1986,0,0,0,0,0,0
$GC,6809,0.74,275.5,374.1,9.1,291,6813,0.00,2.65,0.00,0.000,4,0.000,0.051,3020,3254,1984,0,0,0,0,0,0
$GC,6844,0.83,276.8,371.1,9.0,291,6848,0.00,2.60,0.00,0.000,6,0.000,0.034,3020,1686,1982,0,0,0,0,0,0
$GC,7095,0.85,293.4,349.8,8.3,297,7117,0.10,2.70,15.38,0.730,4,0.078,0.047,3071,3254,1922,0,0,0,0,0,0
$GC,7154,0.85,293.4,343.4,11.2,298,7159,0.12,2.62,0.00,0.000,6,0.105,0.034,3044,1682,1919,0,0,0,0,0,0
$GC,7424,0.85,293.4,317.4,9.6,305,7429,0.00,2.60,0.00,0.000,4,0.000,0.062,3044,166,1917,0,0,0,0,0,0
$GC,7467,0.85,293.4,312.5,11.3,306,7471,0.00,2.45,0.00,0.000,6,0.000,0.025,3044,1691,1916,0,0,0,0,0,0
$GC,7754,0.85,293.4,285.5,9.4,313,7758,0.00,2.58,0.00,0.000,4,0.000,0.056,3044,169,1916,0,0,0,0,0,0
$GC,7798,0.85,293.4,280.7,11.6,314,7802,0.00,2.42,0.00,0.000,6,0.000,0.025,3044,1688,1916,0,0,0,0,0,0
$GC,8090,0.85,293.4,252.2,9.8,321,8095,0.00,2.60,0.00,0.000,4,0.000,0.042,3044,3259,1915,0,0,0,0,0,0
$GC,8114,0.86,305.4,249.9,8.5,321,8132,0.00,2.60,10.90,0.635,6,0.000,0.031,3045,1664,1874,0,0,0,0,0,0
$GC,8377,0.86,305.4,226.3,9.0,328,8381,0.00,2.53,0.00,0.000,4,0.000,0.055,3044,167,1872,0,0,0,0,0,0
$GC,8404,0.86,305.4,223.3,9.6,328,8408,0.00,2.40,0.00,0.000,6,0.000,0.022,3044,1687,1872,0,0,0,0,0,0
$GC,8658,0.86,305.4,198.2,10.3,335,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1691,1871,0,0,0,0,0,0
$GC,8915,0.91,345.6,175.9,7.3,359,8956,0.00,2.62,35.67,0.624,4,0.000,0.048,3044,163,1711,0,0,0,0,0,0
$GC,8982,0.91,345.6,169.6,10.9,366,8986,0.00,2.40,0.00,0.000,6,0.000,0.022,3044,1673,1710,0,0,0,0,0,0
$GC,9246,0.99,345.6,142.6,9.7,390,9251,0.12,2.55,0.00,0.000,4,0.064,0.034,3121,3253,1706,0,0,0,0,0,0
$GC,9348,0.92,345.6,129.8,13.0,399,9353,0.28,2.55,0.00,0.000,6,0.085,0.028,3060,1682,1704,0,0,0,0,0,0
$GC,9612,0.93,352.2,105.3,8.7,423,9624,0.00,2.55,6.40,0.456,4,0.000,0.045,3060,171,1683,0,0,0,0,0,0
$GC,9662,1.03,352.2,99.9,10.0,428,9667,0.10,2.40,0.00,0.000,6,0.075,0.021,3120,1698,1683,0,0,0,0,0,0
$GC,9926,0.94,352.2,70.5,11.2,452,9935,0.25,0.00,0.00,0.000,6,0.091,0.000,3066,1699,1683,0,0,0,0,0,0
$GC,10192,1.01,355.0,46.4,8.9,477,10201,0.00,0.00,4.22,0.354,6,0.000,0.000,3066,1701,1673,0,0,0,0,0,0
$GC,10472,1.13,387.4,22.3,7.7,509,10514,0.15,2.60,30.23,0.480,4,0.055,0.044,3137,176,1539,0,0,0,0,0,0
$GC,10550,0.98,387.4,11.9,15.1,519,10559,0.25,2.40,0.00,0.000,6,0.074,0.021,3076,1678,1539,0,0,0,0,0,0
$STATE,10615,end climb,SURFACE_DEPTH_REACHED
$STATE,10616,begin surface coast
$FINISH,0.6,1.013973
$STATE,10664,end surface coast,CONTROL_FINISHED_OK
$STATE,10664,begin surface
$SM_CCo,10684,24.73,0.308,1,0,1406,420.20
$SM_GC,1.28,0.00,0.00,24.73,0.000,0.000,0.308,408,1871,1406,-11.28,2.29,420.20
$IRIDIUM_FIX,2239.35,-15802.37,130300,070729
$TT8_MAMPS,0.026845
$HUMID,44.72
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,41.757
$10V_AH,10.4,35.469
$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,30.050,141.325,451.375,24.725,0.000,22.559,34.482,329.850,0.250,0.000,32.217,1101.446,6950.154,521.256,1993.071,694.133,33.378,1344.924,0.000,1980.357,0.000,0.539,0.000
$DEVICE_MAMPS,148.031,66.729,861.341,307.567,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.710,326.230,413.981,619.234,1092.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,41482,536
$CAP_FILE_SIZE,123443,0
$CFSIZE,260165632,155074560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181210,133354,2247.514,-15802.480,24,1.1,41,10.1