version: 66.06
glider: 148
mission: 9
dive: 320
start: 12 20 110 6 19 30
data:
$ID,148
$MISSION,9
$DIVE,320
$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,-864701.62
$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,51
$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
$GPS1,060736,2247.067,-15802.737,32,0.9,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.7
$GPS2,061832,2247.095,-15802.632,14,1.5,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.045,0.247
$KALMAN_X,-47947.2,-120.6,107.1,60394.8,219.1
$KALMAN_Y,-2654.0,-475.1,587.7,126998.8,-383.3
$MHEAD_RNG_PITCHd_Wd,339.7,5417,-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,18,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.95,0.000,2,0.000,0.000,407,1857,3331,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.8,-5.4,10,124,12.05,2.40,-6.90,0.000,4,0.171,0.040,2598,3363,3718,0,0,0,0,0,0
$GC,254,-1.06,-146.0,35.3,-13.3,31,259,0.12,2.53,0.00,0.000,6,0.109,0.022,2627,1774,3719,0,0,0,0,0,0
$GC,523,-0.95,-146.0,73.0,-14.2,55,528,0.10,2.55,0.00,0.000,4,0.119,0.031,2650,3362,3720,0,0,0,0,0,0
$GC,557,-0.95,-146.0,78.8,-13.1,57,566,0.00,2.50,0.00,0.000,6,0.000,0.022,2649,1797,3719,0,0,0,0,0,0
$GC,817,-0.95,-146.0,107.9,-10.2,82,822,0.00,2.47,0.00,0.000,4,0.000,0.028,2650,3361,3720,0,0,0,0,0,0
$GC,848,-1.04,-146.0,111.0,-10.3,84,857,0.00,2.50,0.00,0.000,6,0.000,0.021,2649,1796,3720,0,0,0,0,0,0
$GC,1116,-1.14,-146.0,133.2,-8.0,109,1121,0.17,0.00,0.00,0.000,6,0.048,0.000,2532,1796,3721,0,0,0,0,0,0
$GC,1380,-0.92,-146.0,170.3,-15.1,134,1389,0.52,2.50,0.00,0.000,4,0.082,0.029,2653,3365,3722,0,0,0,0,0,0
$GC,1444,-1.15,-146.0,176.6,-7.4,140,1450,0.20,2.47,0.00,0.000,6,0.043,0.022,2567,1801,3722,0,0,0,0,0,0
$GC,1706,-1.04,-146.0,205.8,-11.7,162,1708,0.30,0.00,0.00,0.000,6,0.081,0.000,2635,1801,3722,0,0,0,0,0,0
$GC,1947,-1.14,-146.0,224.2,-7.3,168,1952,0.10,2.50,0.00,0.000,4,0.076,0.031,2568,3361,3722,0,0,0,0,0,0
$GC,2005,-1.14,-146.0,229.2,-8.6,169,2011,0.17,2.45,0.00,0.000,6,0.086,0.024,2610,1816,3722,0,0,0,0,0,0
$GC,2279,-1.14,-146.0,250.3,-7.6,176,2284,0.00,2.45,0.00,0.000,4,0.000,0.031,2610,3358,3722,0,0,0,0,0,0
$GC,2319,-1.26,-146.0,253.2,-7.4,176,2325,0.10,2.45,0.00,0.000,6,0.075,0.025,2536,1822,3722,0,0,0,0,0,0
$GC,2569,-1.10,-146.0,284.6,-13.1,183,2576,0.35,2.62,0.00,0.000,4,0.081,0.042,2616,207,3722,0,0,0,0,0,0
$GC,2590,-1.10,-146.0,287.3,-11.6,183,2595,0.00,2.53,0.00,0.000,6,0.000,0.022,2616,1824,3722,0,0,0,0,0,0
$GC,2856,-1.19,-146.0,306.9,-7.1,190,2860,0.00,2.45,0.00,0.000,4,0.000,0.035,2616,3365,3721,0,0,0,0,0,0
$GC,2908,-1.36,-146.0,310.6,-7.0,191,2913,0.22,2.45,0.00,0.000,6,0.037,0.027,2520,1824,3721,0,0,0,0,0,0
$GC,3191,-1.18,-146.0,345.3,-12.8,198,3196,0.35,2.50,0.00,0.000,4,0.084,0.036,2601,3366,3719,0,0,0,0,0,0
$GC,3228,-1.25,-146.0,348.8,-8.8,198,3233,0.00,2.45,0.00,0.000,6,0.000,0.028,2601,1831,3720,0,0,0,0,0,0
$GC,3479,-1.33,-146.0,369.5,-8.1,204,3484,0.12,2.53,0.00,0.000,4,0.064,0.040,2536,3364,3718,0,0,0,0,0,0
$GC,3518,-1.24,-146.0,373.6,-10.8,204,3524,0.25,2.45,0.00,0.000,6,0.081,0.028,2592,1842,3718,0,0,0,0,0,0
$GC,3768,-1.24,-146.0,395.5,-8.6,211,3772,0.00,2.47,0.00,0.000,4,0.000,0.040,2592,3363,3717,0,0,0,0,0,0
$GC,3806,-1.32,-146.0,398.9,-8.8,211,3811,0.00,2.45,0.00,0.000,6,0.000,0.028,2592,1844,3717,0,0,0,0,0,0
$GC,4057,-1.32,-146.0,420.3,-8.4,218,4062,0.00,2.75,0.00,0.000,4,0.000,0.058,2592,215,3715,0,0,0,0,0,0
$GC,4076,-1.32,-146.0,422.3,-9.1,218,4080,0.00,2.60,0.00,0.000,6,0.000,0.027,2592,1850,3714,0,0,0,0,0,0
$GC,4340,-1.32,-146.0,442.2,-7.3,225,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1850,3713,0,0,0,0,0,0
$GC,4586,-1.38,-146.0,459.2,-6.9,231,4588,0.15,0.00,0.00,0.000,6,0.057,0.000,2521,1850,3711,0,0,0,0,0,0
$GC,4829,-1.25,-146.0,485.6,-11.2,237,4834,0.28,2.50,0.00,0.000,4,0.087,0.047,2586,3366,3709,0,0,0,0,0,0
$GC,4848,-1.25,-146.0,487.9,-10.3,237,4853,0.00,2.45,0.00,0.000,6,0.000,0.028,2585,1849,3709,0,0,0,0,0,0
$STATE,5028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5028,begin apogee
$GC,5036,-0.31,0.0,503.4,8.5,242,5156,0.90,0.00,117.45,0.869,6,0.074,0.000,2790,1665,3120,0,0,0,0,0,0
$STATE,5157,end apogee,CONTROL_FINISHED_OK
$STATE,5157,begin climb
$GC,5160,1.17,146.0,509.0,0.0,245,5291,1.35,2.78,121.15,0.853,4,0.035,0.050,3128,3238,2523,0,0,0,0,0,0
$GC,5317,0.88,194.3,511.0,7.0,248,5366,0.38,2.58,41.70,0.827,6,0.109,0.036,3052,1698,2326,0,0,0,0,0,0
$GC,5616,0.76,199.3,485.7,8.8,256,5629,0.12,2.70,4.53,0.561,4,0.133,0.073,3028,168,2306,0,0,0,0,0,0
$GC,5689,0.65,199.3,479.3,9.1,257,5695,0.12,2.42,0.00,0.000,6,0.131,0.028,3004,1662,2304,0,0,0,0,0,0
$GC,5954,0.71,246.4,460.2,7.0,264,5998,0.00,0.00,41.58,0.823,6,0.000,0.000,3004,1662,2114,0,0,0,0,0,0
$GC,6241,0.72,252.0,436.2,8.8,271,6254,0.00,2.65,5.50,0.614,4,0.000,0.058,3003,164,2091,0,0,0,0,0,0
$GC,6300,0.72,252.0,430.3,9.7,272,6304,0.00,2.45,0.00,0.000,6,0.000,0.027,3003,1674,2091,0,0,0,0,0,0
$GC,6573,0.81,275.8,407.9,8.0,279,6602,0.12,2.67,21.85,0.782,4,0.066,0.058,3070,170,1995,0,0,0,0,0,0
$GC,6627,0.64,275.8,402.0,13.3,280,6633,0.32,2.45,0.00,0.000,6,0.091,0.027,3001,1674,1994,0,0,0,0,0,0
$GC,6908,0.75,303.6,379.0,7.8,287,6941,0.10,2.78,25.75,0.771,4,0.078,0.053,3049,3251,1881,0,0,0,0,0,0
$GC,6955,0.75,303.6,374.2,10.0,288,6960,0.12,2.67,0.00,0.000,6,0.105,0.033,3023,1655,1878,0,0,0,0,0,0
$GC,7241,0.75,303.6,347.5,9.3,295,7245,0.00,2.67,0.00,0.000,4,0.000,0.041,3023,3254,1876,0,0,0,0,0,0
$GC,7284,0.84,303.6,343.2,10.4,296,7288,0.00,2.62,0.00,0.000,6,0.000,0.034,3023,1671,1873,0,0,0,0,0,0
$GC,7571,0.84,303.6,315.2,9.9,303,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1671,1873,0,0,0,0,0,0
$GC,7816,0.84,303.6,289.8,10.2,309,7820,0.00,2.65,0.00,0.000,4,0.000,0.041,3023,3256,1872,0,0,0,0,0,0
$GC,7867,0.96,305.9,284.7,8.9,310,7872,0.17,2.60,0.00,0.000,6,0.051,0.032,3107,1668,1870,0,0,0,0,0,0
$GC,8148,0.80,305.9,248.5,13.1,317,8155,0.32,2.55,0.00,0.000,4,0.091,0.060,3036,163,1870,0,0,0,0,0,0
$GC,8214,0.80,305.9,241.5,10.6,318,8218,0.00,2.40,0.00,0.000,6,0.000,0.023,3035,1677,1870,0,0,0,0,0,0
$GC,8482,0.88,315.3,218.0,8.6,325,8499,0.00,2.65,9.93,0.607,4,0.000,0.038,3036,3252,1833,0,0,0,0,0,0
$GC,8538,1.00,315.3,213.1,9.1,326,8543,0.17,2.62,0.00,0.000,6,0.049,0.031,3112,1659,1830,0,0,0,0,0,0
$GC,8808,0.85,315.3,178.8,13.5,343,8813,0.28,2.47,0.00,0.000,4,0.095,0.048,3049,163,1830,0,0,0,0,0,0
$GC,8893,0.85,315.3,168.6,10.9,351,8897,0.00,2.38,0.00,0.000,6,0.000,0.022,3049,1673,1829,0,0,0,0,0,0
$GC,9159,0.85,315.3,143.4,10.4,375,9163,0.00,2.55,0.00,0.000,4,0.000,0.033,3049,3257,1829,0,0,0,0,0,0
$GC,9190,0.92,315.3,140.0,10.0,377,9196,0.00,2.60,0.00,0.000,6,0.000,0.028,3049,1653,1828,0,0,0,0,0,0
$GC,9452,1.02,332.2,116.7,8.3,402,9475,0.12,2.50,15.62,0.550,4,0.064,0.048,3116,171,1764,0,0,0,0,0,0
$GC,9533,0.87,332.2,107.9,13.1,409,9538,0.30,2.35,0.00,0.000,6,0.088,0.021,3050,1665,1764,0,0,0,0,0,0
$GC,9799,1.04,377.5,87.2,7.1,433,9849,0.15,2.60,40.90,0.546,4,0.054,0.033,3136,3249,1578,0,0,0,0,0,0
$GC,9921,1.04,377.5,73.3,12.6,444,9927,0.22,2.55,0.00,0.000,6,0.088,0.027,3085,1667,1574,0,0,0,0,0,0
$GC,10187,1.04,377.5,47.0,10.0,468,10191,0.00,2.47,0.00,0.000,4,0.000,0.044,3085,163,1574,0,0,0,0,0,0
$GC,10229,1.04,377.5,41.8,11.2,471,10238,0.00,2.35,0.00,0.000,6,0.000,0.020,3085,1651,1574,0,0,0,0,0,0
$GC,10520,1.04,377.5,12.0,10.4,509,10529,0.00,2.60,0.00,0.000,4,0.000,0.034,3085,3248,1574,0,0,0,0,0,0
$GC,10544,1.04,377.5,9.3,11.1,512,10553,0.00,2.58,0.00,0.000,6,0.000,0.026,3085,1662,1572,0,0,0,0,0,0
$STATE,10597,end climb,SURFACE_DEPTH_REACHED
$STATE,10597,begin surface coast
$FINISH,0.6,1.023329
$STATE,10642,end surface coast,CONTROL_FINISHED_OK
$STATE,10642,begin surface
$SM_CCo,10662,25.25,0.310,1,0,1405,420.20
$SM_GC,1.63,0.00,0.00,25.25,0.000,0.000,0.310,412,1867,1405,-11.26,2.18,420.20
$IRIDIUM_FIX,2237.01,-15802.37,150300,030341
$TT8_MAMPS,0.026845
$HUMID,46.25
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.6,43.600
$10V_AH,10.3,37.087
$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,31.725,142.350,445.950,25.250,0.000,24.847,35.338,458.712,0.000,0.000,16.047,1113.261,6884.519,527.667,1998.489,830.185,33.380,1350.549,0.000,1999.086,0.000,0.537,0.000
$DEVICE_MAMPS,171.041,72.865,869.011,309.868,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.367,321.152,403.752,603.379,1066.425,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41331,527
$CAP_FILE_SIZE,127767,0
$CFSIZE,260165632,154263552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201210,091852,2248.291,-15802.662,8,2.3,27,10.1