version: 66.06
glider: 148
mission: 9
dive: 332
start: 12 21 110 18 15 32
data:
$ID,148
$MISSION,9
$DIVE,332
$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,-865038.44
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,180757,2246.758,-15801.443,25,2.5,44,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.4
$GPS2,181437,2246.758,-15801.419,31,1.2,36,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.245,0.054
$KALMAN_X,-47068.4,155.4,-93.0,61531.0,153.2
$KALMAN_Y,-4127.6,631.3,327.5,127004.0,-174.0
$MHEAD_RNG_PITCHd_Wd,272.3,2737,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-67.68,0.000,2,0.000,0.000,412,1896,3107,0,0,0,0,0,0
$GC,92,-1.17,-146.0,3.3,-4.4,9,125,11.45,2.38,-12.12,0.000,4,0.152,0.041,2596,3363,3718,0,0,0,0,0,0
$GC,240,-1.03,-146.0,30.2,-13.8,31,246,0.17,2.50,0.00,0.000,6,0.098,0.023,2634,1783,3719,0,0,0,0,0,0
$GC,509,-0.94,-146.0,65.3,-12.7,55,514,0.10,2.58,0.00,0.000,4,0.126,0.031,2655,3371,3720,0,0,0,0,0,0
$GC,553,-0.94,-146.0,71.2,-11.6,58,558,0.00,2.50,0.00,0.000,6,0.000,0.022,2655,1795,3720,0,0,0,0,0,0
$GC,817,-0.94,-146.0,101.1,-11.1,82,821,0.00,2.53,0.00,0.000,4,0.000,0.029,2655,3370,3720,0,0,0,0,0,0
$GC,856,-1.00,-146.0,105.3,-11.2,85,860,0.00,2.47,0.00,0.000,6,0.000,0.021,2654,1797,3720,0,0,0,0,0,0
$GC,1125,-1.11,-146.0,129.3,-8.8,110,1130,0.15,2.50,0.00,0.000,4,0.054,0.028,2566,3368,3721,0,0,0,0,0,0
$GC,1166,-1.11,-146.0,134.1,-11.9,113,1172,0.22,2.45,0.00,0.000,6,0.084,0.022,2617,1816,3721,0,0,0,0,0,0
$GC,1430,-1.11,-146.0,160.1,-8.8,138,1434,0.00,2.47,0.00,0.000,4,0.000,0.030,2617,3367,3722,0,0,0,0,0,0
$GC,1479,-1.11,-146.0,164.8,-8.1,142,1485,0.00,2.42,0.00,0.000,6,0.000,0.022,2617,1827,3722,0,0,0,0,0,0
$GC,1742,-1.11,-146.0,187.5,-8.9,167,1746,0.00,2.47,0.00,0.000,4,0.000,0.030,2617,3376,3722,0,0,0,0,0,0
$GC,1779,-1.20,-146.0,190.7,-8.5,170,1783,0.00,2.42,0.00,0.000,6,0.000,0.023,2617,1840,3722,0,0,0,0,0,0
$GC,2043,-1.20,-146.0,215.3,-9.3,183,2047,0.00,2.45,0.00,0.000,4,0.000,0.030,2617,3370,3722,0,0,0,0,0,0
$GC,2061,-1.20,-146.0,217.1,-8.9,183,2066,0.00,2.38,0.00,0.000,6,0.000,0.022,2617,1850,3722,0,0,0,0,0,0
$GC,2327,-1.20,-146.0,238.4,-7.9,190,2331,0.00,2.42,0.00,0.000,4,0.000,0.031,2617,3367,3722,0,0,0,0,0,0
$GC,2378,-1.32,-146.0,242.5,-7.7,191,2383,0.17,2.40,0.00,0.000,6,0.047,0.024,2515,1854,3722,0,0,0,0,0,0
$GC,2658,-0.99,-146.0,282.7,-15.2,198,2660,0.70,0.00,0.00,0.000,6,0.082,0.000,2639,1852,3722,0,0,0,0,0,0
$GC,2900,-1.17,-146.0,298.2,-5.9,204,2905,0.15,2.42,0.00,0.000,4,0.054,0.033,2544,3365,3722,0,0,0,0,0,0
$GC,2952,-1.10,-146.0,303.2,-10.2,205,2957,0.32,2.40,0.00,0.000,6,0.081,0.025,2617,1859,3722,0,0,0,0,0,0
$GC,3233,-1.20,-146.0,323.7,-7.3,212,3237,0.00,2.72,0.00,0.000,4,0.000,0.051,2617,216,3721,0,0,0,0,0,0
$GC,3257,-1.33,-146.0,325.7,-7.9,212,3262,0.20,2.58,0.00,0.000,6,0.041,0.023,2517,1861,3721,0,0,0,0,0,0
$GC,3518,-1.07,-146.0,361.3,-14.2,219,3526,0.55,2.75,0.00,0.000,4,0.083,0.048,2622,211,3720,0,0,0,0,0,0
$GC,3545,-1.14,-146.0,364.5,-9.6,219,3549,0.00,2.60,0.00,0.000,6,0.000,0.025,2621,1853,3720,0,0,0,0,0,0
$GC,3804,-1.27,-146.0,381.4,-6.4,226,3809,0.17,2.47,0.00,0.000,4,0.049,0.042,2538,3360,3718,0,0,0,0,0,0
$GC,3863,-1.19,-146.0,387.0,-10.5,227,3868,0.28,2.40,0.00,0.000,6,0.081,0.028,2599,1866,3718,0,0,0,0,0,0
$GC,4137,-1.26,-146.0,407.7,-7.5,234,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1865,3716,0,0,0,0,0,0
$GC,4380,-1.33,-146.0,425.2,-7.1,240,4385,0.12,2.47,0.00,0.000,4,0.064,0.046,2529,3361,3714,0,0,0,0,0,0
$GC,4446,-1.23,-146.0,432.0,-10.3,241,4451,0.28,2.38,0.00,0.000,6,0.083,0.028,2590,1874,3714,0,0,0,0,0,0
$GC,4712,-1.23,-146.0,451.4,-7.1,248,4717,0.00,2.47,0.00,0.000,4,0.000,0.048,2590,3364,3712,0,0,0,0,0,0
$GC,4726,-1.23,-146.0,452.8,-7.6,248,4731,0.00,2.38,0.00,0.000,6,0.000,0.028,2590,1874,3712,0,0,0,0,0,0
$GC,4995,-1.23,-146.0,474.9,-8.6,255,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1874,3710,0,0,0,0,0,0
$GC,5239,-1.29,-146.0,495.8,-8.5,261,5243,0.00,2.45,0.00,0.000,4,0.000,0.049,2590,3354,3709,0,0,0,0,0,0
$GC,5259,-1.29,-146.0,497.6,-8.9,261,5263,0.00,2.38,0.00,0.000,6,0.000,0.029,2590,1887,3709,0,0,0,0,0,0
$STATE,5318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5319,begin apogee
$GC,5324,-0.31,0.0,502.6,8.2,263,5445,0.90,0.00,117.85,0.870,6,0.079,0.000,2792,1676,3120,0,0,0,0,0,0
$STATE,5446,end apogee,CONTROL_FINISHED_OK
$STATE,5446,begin climb
$GC,5448,1.17,146.0,507.6,0.0,266,5581,1.33,2.67,121.70,0.854,4,0.033,0.072,3125,187,2523,0,0,0,0,0,0
$GC,5614,0.70,146.0,506.2,10.3,269,5621,0.55,2.42,0.00,0.000,6,0.106,0.028,3012,1666,2519,0,0,0,0,0,0
$GC,5866,0.77,205.5,489.3,6.5,276,5922,0.00,2.65,50.20,0.833,4,0.000,0.060,3011,187,2281,0,0,0,0,0,0
$GC,6002,0.69,205.5,478.4,9.0,279,6006,0.00,2.42,0.00,0.000,6,0.000,0.028,3012,1672,2279,0,0,0,0,0,0
$GC,6285,0.74,247.1,457.4,7.3,286,6324,0.00,0.00,36.95,0.817,6,0.000,0.000,3012,1672,2112,0,0,0,0,0,0
$GC,6568,0.77,269.5,434.7,8.1,293,6593,0.00,2.60,19.90,0.782,4,0.000,0.058,3011,184,2021,0,0,0,0,0,0
$GC,6618,0.77,269.5,430.3,9.7,294,6622,0.00,2.42,0.00,0.000,6,0.000,0.027,3012,1668,2020,0,0,0,0,0,0
$GC,6895,0.78,273.1,405.8,8.9,301,6900,0.00,2.70,0.00,0.000,4,0.000,0.053,3011,3257,2015,0,0,0,0,0,0
$GC,6940,0.88,283.6,402.0,8.6,302,6961,0.17,2.62,13.43,0.742,6,0.051,0.035,3091,1681,1962,0,0,0,0,0,0
$GC,7233,0.73,283.6,366.1,12.5,309,7240,0.30,2.62,0.00,0.000,4,0.097,0.065,3022,169,1957,0,0,0,0,0,0
$GC,7297,0.73,283.6,359.2,10.4,310,7301,0.00,2.42,0.00,0.000,6,0.000,0.026,3022,1677,1956,0,0,0,0,0,0
$GC,7567,0.73,283.6,335.2,9.1,317,7571,0.00,2.58,0.00,0.000,4,0.000,0.056,3023,162,1955,0,0,0,0,0,0
$GC,7585,0.73,283.6,332.9,10.8,317,7590,0.00,2.40,0.00,0.000,6,0.000,0.025,3022,1672,1955,0,0,0,0,0,0
$GC,7849,0.73,283.6,307.0,9.8,324,7853,0.00,2.58,0.00,0.000,4,0.000,0.056,3022,161,1954,0,0,0,0,0,0
$GC,7901,0.73,283.6,301.6,11.1,325,7905,0.00,2.40,0.00,0.000,6,0.000,0.025,3022,1657,1954,0,0,0,0,0,0
$GC,8179,0.75,301.3,277.6,8.3,332,8200,0.00,2.70,16.02,0.691,4,0.000,0.044,3022,3251,1890,0,0,0,0,0,0
$GC,8248,0.88,301.3,271.3,10.4,333,8254,0.12,2.65,0.00,0.000,6,0.062,0.033,3074,1645,1886,0,0,0,0,0,0
$GC,8509,0.81,301.3,241.2,11.4,340,8511,0.17,0.00,0.00,0.000,6,0.103,0.000,3038,1645,1885,0,0,0,0,0,0
$GC,8752,0.81,304.6,218.5,8.9,346,8756,0.00,2.47,0.00,0.000,4,0.000,0.057,3037,173,1884,0,0,0,0,0,0
$GC,8772,0.81,305.2,216.7,9.0,346,8776,0.00,2.38,0.00,0.000,6,0.000,0.022,3037,1676,1884,0,0,0,0,0,0
$GC,9035,0.83,320.5,194.0,8.4,355,9067,0.00,2.60,17.55,0.626,4,0.000,0.035,3037,3252,1810,0,0,0,0,0,0
$GC,9081,0.92,320.5,189.5,9.2,359,9088,0.10,2.62,0.00,0.000,6,0.074,0.029,3077,1659,1808,0,0,0,0,0,0
$GC,9345,0.92,320.5,160.0,10.4,384,9349,0.00,2.45,0.00,0.000,4,0.000,0.048,3078,170,1808,0,0,0,0,0,0
$GC,9371,0.85,320.5,156.8,10.8,386,9376,0.15,2.35,0.00,0.000,6,0.113,0.022,3048,1662,1808,0,0,0,0,0,0
$GC,9632,0.85,320.5,133.7,9.2,410,9636,0.00,2.55,0.00,0.000,4,0.000,0.033,3047,3257,1807,0,0,0,0,0,0
$GC,9681,0.98,320.5,128.9,9.7,414,9691,0.05,2.62,0.00,0.000,6,0.044,0.029,3085,1657,1806,0,0,0,0,0,0
$GC,9948,0.98,320.5,100.0,11.2,439,9952,0.00,2.60,0.00,0.000,4,0.000,0.032,3085,3261,1806,0,0,0,0,0,0
$GC,9983,0.98,320.5,95.3,10.4,442,9987,0.00,2.58,0.00,0.000,6,0.000,0.035,3085,1658,1806,0,0,0,0,0,0
$GC,10251,0.98,320.5,71.8,9.1,466,10256,0.00,2.42,0.00,0.000,4,0.000,0.045,3085,166,1806,0,0,0,0,0,0
$GC,10350,0.98,320.5,61.8,9.6,474,10354,0.00,2.30,0.00,0.000,6,0.000,0.020,3085,1668,1806,0,0,0,0,0,0
$GC,10618,0.98,320.5,39.5,9.3,498,10623,0.00,2.53,0.00,0.000,4,0.000,0.031,3085,3249,1806,0,0,0,0,0,0
$GC,10639,0.98,320.5,36.7,9.5,499,10648,0.00,2.58,0.00,0.000,6,0.000,0.026,3085,1660,1806,0,0,0,0,0,0
$GC,10936,0.98,320.5,8.4,9.5,541,10944,0.00,2.45,0.00,0.000,4,0.000,0.043,3085,167,1805,0,0,0,0,0,0
$GC,10960,0.98,320.5,5.5,10.5,544,10968,0.00,2.33,0.00,0.000,6,0.000,0.019,3085,1663,1805,0,0,0,0,0,0
$STATE,10975,end climb,SURFACE_DEPTH_REACHED
$STATE,10975,begin surface coast
$FINISH,0.6,1.023514
$STATE,11021,end surface coast,CONTROL_FINISHED_OK
$STATE,11021,begin surface
$SM_CCo,11041,46.78,0.061,0,0,1406,420.20
$SM_GC,1.50,0.00,0.00,46.78,0.000,0.000,0.061,410,1875,1406,-11.27,2.40,420.20
$IRIDIUM_FIX,2237.01,-15758.03,160300,151500
$TT8_MAMPS,0.026845
$HUMID,46.33
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,44.941
$10V_AH,10.3,38.428
$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,29.600,155.400,393.600,46.775,0.000,25.708,32.730,181.204,0.500,0.000,38.972,1168.598,7128.269,521.833,2101.136,571.669,33.372,1343.197,0.000,2089.641,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,72.098,869.778,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.935,337.370,429.815,641.385,1134.358,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355296
$DATA_FILE_SIZE,44709,553
$CAP_FILE_SIZE,127496,0
$CFSIZE,260165632,153579520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211210,212114,2247.310,-15802.899,11,1.9,11,10.1