version: 66.06
glider: 148
mission: 9
dive: 333
start: 12 21 110 21 28 45
data:
$ID,148
$MISSION,9
$DIVE,333
$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,-865076.62
$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,32
$R_STBD_OVSHOOT,56
$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
$GPS1,212114,2247.310,-15802.899,11,1.9,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.4
$GPS2,212750,2247.261,-15802.899,34,1.9,34,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.031,0.248
$KALMAN_X,-47237.2,178.4,221.7,58814.4,-391.7
$KALMAN_Y,-4127.6,727.6,567.0,127595.8,-1435.9
$MHEAD_RNG_PITCHd_Wd,357.1,5075,-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,-145.8,0.0,0.0,0,95,0.00,0.00,-74.95,0.000,2,0.000,0.000,410,1876,3266,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.3,-3.8,10,125,11.62,2.42,-8.25,0.000,4,0.158,0.041,2594,3359,3719,0,0,0,0,0,0
$GC,160,-0.82,-146.0,20.6,-21.3,18,169,0.35,2.53,0.00,0.000,6,0.077,0.022,2677,1786,3720,0,0,0,0,0,0
$GC,441,-0.82,-146.0,50.9,-10.6,49,446,0.00,2.53,0.00,0.000,4,0.000,0.030,2677,3366,3722,0,0,0,0,0,0
$GC,496,-0.96,-146.0,56.2,-9.9,53,501,0.12,2.47,0.00,0.000,6,0.061,0.022,2601,1792,3721,0,0,0,0,0,0
$GC,765,-0.79,-146.0,98.2,-17.0,77,770,0.38,0.00,0.00,0.000,6,0.085,0.000,2685,1792,3722,0,0,0,0,0,0
$GC,1028,-1.00,-146.0,116.5,-6.0,102,1033,0.17,2.53,0.00,0.000,4,0.047,0.028,2580,3366,3722,0,0,0,0,0,0
$GC,1066,-1.00,-146.0,119.8,-10.1,105,1072,0.28,2.47,0.00,0.000,6,0.078,0.022,2643,1794,3722,0,0,0,0,0,0
$GC,1334,-1.08,-146.0,142.6,-8.5,129,1339,0.00,2.47,0.00,0.000,4,0.000,0.029,2643,3359,3724,0,0,0,0,0,0
$GC,1363,-1.18,-146.0,145.1,-8.4,131,1368,0.17,2.45,0.00,0.000,6,0.047,0.022,2550,1800,3724,0,0,0,0,0,0
$GC,1623,-0.99,-146.0,180.1,-13.1,155,1634,0.40,2.47,0.00,0.000,4,0.084,0.028,2640,3360,3724,0,0,0,0,0,0
$GC,1659,-1.13,-146.0,183.4,-7.5,158,1666,0.10,2.45,0.00,0.000,6,0.074,0.022,2568,1797,3724,0,0,0,0,0,0
$GC,1938,-1.02,-146.0,214.3,-11.3,176,1943,0.28,2.50,0.00,0.000,4,0.084,0.029,2635,3363,3724,0,0,0,0,0,0
$GC,1967,-1.11,-146.0,217.2,-8.0,176,1972,0.00,2.45,0.00,0.000,6,0.000,0.023,2635,1797,3724,0,0,0,0,0,0
$GC,2224,-1.23,-146.0,235.5,-7.2,183,2229,0.17,2.50,0.00,0.000,4,0.047,0.031,2546,3356,3725,0,0,0,0,0,0
$GC,2280,-1.23,-146.0,241.7,-10.8,184,2285,0.20,2.42,0.00,0.000,6,0.084,0.025,2592,1813,3724,0,0,0,0,0,0
$GC,2555,-1.23,-146.0,266.8,-9.1,191,2559,0.00,2.45,0.00,0.000,4,0.000,0.031,2592,3360,3724,0,0,0,0,0,0
$GC,2583,-1.23,-146.0,269.5,-8.7,191,2587,0.00,2.40,0.00,0.000,6,0.000,0.024,2591,1827,3724,0,0,0,0,0,0
$GC,2837,-1.23,-146.0,292.7,-9.2,198,2841,0.00,2.45,0.00,0.000,4,0.000,0.035,2592,3354,3724,0,0,0,0,0,0
$GC,2875,-1.23,-146.0,296.0,-8.3,198,2881,0.00,2.40,0.00,0.000,6,0.000,0.026,2592,1837,3724,0,0,0,0,0,0
$GC,3125,-1.23,-146.0,317.1,-8.7,205,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1837,3723,0,0,0,0,0,0
$GC,3369,-1.23,-146.0,339.4,-9.0,211,3373,0.00,2.45,0.00,0.000,4,0.000,0.038,2592,3359,3722,0,0,0,0,0,0
$GC,3412,-1.31,-146.0,343.5,-8.7,212,3416,0.00,2.42,0.00,0.000,6,0.000,0.028,2591,1835,3722,0,0,0,0,0,0
$GC,3700,-1.31,-146.0,368.4,-8.6,219,3705,0.00,2.45,0.00,0.000,4,0.000,0.038,2592,3350,3720,0,0,0,0,0,0
$GC,3733,-1.31,-146.0,371.4,-8.9,219,3737,0.00,2.40,0.00,0.000,6,0.000,0.029,2592,1847,3720,0,0,0,0,0,0
$GC,3984,-1.31,-146.0,391.6,-8.2,225,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1847,3719,0,0,0,0,0,0
$GC,4226,-1.31,-146.0,412.0,-8.4,231,4231,0.00,2.47,0.00,0.000,4,0.000,0.043,2591,3353,3717,0,0,0,0,0,0
$GC,4261,-1.38,-146.0,414.8,-8.6,231,4266,0.15,2.40,0.00,0.000,6,0.054,0.029,2511,1850,3717,0,0,0,0,0,0
$GC,4513,-1.18,-146.0,445.8,-12.5,237,4520,0.43,2.75,0.00,0.000,4,0.085,0.059,2600,211,3715,0,0,0,0,0,0
$GC,4544,-1.31,-146.0,449.1,-8.6,237,4549,0.10,2.60,0.00,0.000,6,0.075,0.030,2539,1826,3715,0,0,0,0,0,0
$GC,4800,-1.21,-146.0,474.5,-10.1,244,4805,0.25,2.55,0.00,0.000,4,0.087,0.049,2597,3371,3713,0,0,0,0,0,0
$GC,4863,-1.36,-146.0,479.7,-7.4,245,4868,0.15,2.45,0.00,0.000,6,0.054,0.030,2510,1854,3713,0,0,0,0,0,0
$STATE,5048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5048,begin apogee
$GC,5054,-0.31,0.0,502.0,12.3,250,5176,1.33,0.00,118.60,0.865,6,0.083,0.000,2793,1670,3120,0,0,0,0,0,0
$STATE,5177,end apogee,CONTROL_FINISHED_OK
$STATE,5177,begin climb
$GC,5181,1.17,146.0,506.9,0.0,253,5311,1.33,2.80,121.30,0.849,4,0.027,0.052,3121,3256,2523,0,0,0,0,0,0
$GC,5380,0.87,146.0,504.0,9.5,257,5387,0.35,2.60,0.00,0.000,6,0.104,0.038,3048,1698,2518,0,0,0,0,0,0
$GC,5642,0.79,195.3,485.2,6.9,264,5691,0.00,2.78,41.65,0.832,4,0.000,0.074,3048,173,2322,0,0,0,0,0,0
$GC,5713,0.60,197.0,479.8,8.9,265,5718,0.28,2.45,0.00,0.000,6,0.095,0.028,2990,1687,2321,0,0,0,0,0,0
$GC,5973,0.67,253.5,461.7,6.7,272,6026,0.00,0.00,51.30,0.828,6,0.000,0.000,2990,1687,2086,0,0,0,0,0,0
$GC,6259,0.76,265.1,438.2,8.5,279,6276,0.15,2.75,10.25,0.728,4,0.056,0.057,3059,3256,2039,0,0,0,0,0,0
$GC,6287,0.67,265.1,435.2,11.0,279,6294,0.25,2.65,0.00,0.000,6,0.090,0.035,3006,1671,2037,0,0,0,0,0,0
$GC,6549,0.68,277.5,411.9,8.5,286,6566,0.00,2.62,12.07,0.742,4,0.000,0.067,3006,167,1988,0,0,0,0,0,0
$GC,6578,0.71,299.2,409.6,8.1,286,6606,0.00,2.45,21.40,0.775,6,0.000,0.027,3006,1690,1900,0,0,0,0,0,0
$GC,6881,0.80,311.4,384.4,8.5,294,6899,0.12,2.67,11.45,0.721,4,0.065,0.052,3055,3258,1850,0,0,0,0,0,0
$GC,6911,0.80,311.4,381.3,10.3,294,6916,0.00,2.65,0.00,0.000,6,0.000,0.033,3055,1674,1848,0,0,0,0,0,0
$GC,7166,0.80,311.4,351.4,11.8,301,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1674,1845,0,0,0,0,0,0
$GC,7409,0.80,311.4,322.7,11.7,307,7414,0.00,2.60,0.00,0.000,4,0.000,0.064,3055,163,1844,0,0,0,0,0,0
$GC,7430,0.73,311.4,320.3,12.1,307,7435,0.17,2.42,0.00,0.000,6,0.098,0.026,3018,1687,1843,0,0,0,0,0,0
$GC,7695,0.81,320.8,296.9,8.6,314,7711,0.00,2.62,8.88,0.650,4,0.000,0.046,3018,3251,1810,0,0,0,0,0,0
$GC,7726,0.91,325.9,294.0,8.8,314,7740,0.17,2.60,6.10,0.584,6,0.048,0.031,3097,1682,1790,0,0,0,0,0,0
$GC,7985,0.79,325.9,263.1,12.1,321,7990,0.28,2.60,0.00,0.000,4,0.093,0.060,3034,165,1787,0,0,0,0,0,0
$GC,8000,0.72,325.9,261.2,11.4,321,8005,0.00,2.40,0.00,0.000,6,0.000,0.024,3033,1690,1787,0,0,0,0,0,0
$GC,8270,0.74,345.3,239.3,8.2,328,8294,0.00,2.65,17.70,0.666,4,0.000,0.051,3034,173,1711,0,0,0,0,0,0
$GC,8332,0.84,345.3,233.2,10.3,329,8336,0.00,2.40,0.00,0.000,6,0.000,0.023,3034,1676,1711,0,0,0,0,0,0
$GC,8601,0.91,348.3,210.0,8.9,336,8606,0.10,2.60,0.00,0.000,4,0.077,0.039,3086,3250,1708,0,0,0,0,0,0
$GC,8640,0.91,348.3,205.7,12.4,336,8646,0.12,2.60,0.00,0.000,6,0.105,0.036,3059,1665,1706,0,0,0,0,0,0
$GC,8900,0.91,348.3,177.6,11.1,355,8905,0.00,2.60,0.00,0.000,4,0.000,0.035,3059,3253,1706,0,0,0,0,0,0
$GC,8949,0.98,348.3,172.4,9.9,359,8953,0.00,2.55,0.00,0.000,6,0.000,0.028,3059,1684,1704,0,0,0,0,0,0
$GC,9214,0.98,348.3,144.9,9.9,383,9219,0.00,2.50,0.00,0.000,4,0.000,0.047,3059,172,1704,0,0,0,0,0,0
$GC,9229,0.98,348.3,143.0,10.1,384,9233,0.00,2.38,0.00,0.000,6,0.000,0.021,3059,1698,1704,0,0,0,0,0,0
$GC,9493,0.98,348.3,116.8,9.7,408,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1699,1704,0,0,0,0,0,0
$GC,9746,1.10,378.5,93.7,7.7,432,9783,0.17,2.62,30.35,0.551,4,0.048,0.047,3124,177,1575,0,0,0,0,0,0
$GC,9806,0.99,378.5,87.4,12.0,437,9812,0.22,2.38,0.00,0.000,6,0.091,0.021,3076,1692,1575,0,0,0,0,0,0
$GC,10075,1.06,382.3,63.8,8.9,462,10088,0.00,2.55,4.53,0.377,4,0.000,0.033,3076,3248,1559,0,0,0,0,0,0
$GC,10104,1.13,382.3,60.8,9.2,464,10110,0.12,2.53,0.00,0.000,6,0.061,0.026,3156,1688,1558,0,0,0,0,0,0
$GC,10379,0.96,382.3,21.3,14.1,492,10388,0.40,2.50,0.00,0.000,4,0.089,0.041,3072,178,1557,0,0,0,0,0,0
$GC,10447,1.08,382.3,13.2,10.3,502,10455,0.00,2.38,0.00,0.000,6,0.000,0.019,3072,1692,1557,0,0,0,0,0,0
$STATE,10557,end climb,SURFACE_DEPTH_REACHED
$STATE,10557,begin surface coast
$FINISH,0.7,1.021399
$STATE,10609,end surface coast,CONTROL_FINISHED_OK
$STATE,10610,begin surface
$SM_CCo,10631,25.10,0.312,1,0,1406,420.20
$SM_GC,1.36,0.00,0.00,25.10,0.000,0.000,0.312,411,1854,1406,-11.27,1.84,420.20
$IRIDIUM_FIX,2239.35,-15800.20,160300,181849
$TT8_MAMPS,0.026845
$HUMID,46.73
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.6,45.059
$10V_AH,10.3,38.538
$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,31.675,146.625,455.575,25.100,0.000,26.559,36.034,166.253,0.250,0.000,37.533,1105.602,6905.763,538.009,1960.591,547.624,33.384,1332.145,0.000,1945.183,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,74.399,865.176,312.169,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.637,323.136,406.037,615.886,1089.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355276
$DATA_FILE_SIZE,41651,527
$CAP_FILE_SIZE,124847,0
$CFSIZE,260165632,153522176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221210,002737,2248.275,-15802.581,31,1.6,31,10.1