version: 66.06
glider: 148
mission: 9
dive: 334
start: 12 22 110 0 35 3
data:
$ID,148
$MISSION,9
$DIVE,334
$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,-865091.94
$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,50
$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
$GPS1,002737,2248.275,-15802.581,31,1.6,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-65.0
$GPS2,003408,2248.170,-15802.609,13,1.8,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.004,0.251
$KALMAN_X,-47002.0,162.7,151.5,59160.5,-417.0
$KALMAN_Y,-4090.6,430.1,-246.6,130353.3,-875.7
$MHEAD_RNG_PITCHd_Wd,350.8,3455,-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,-75.47,0.000,2,0.000,0.000,411,1856,3295,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.5,-4.7,10,125,11.73,2.40,-7.60,0.000,4,0.160,0.041,2597,3362,3717,0,0,0,0,0,0
$GC,178,-0.93,-146.0,24.9,-18.3,21,187,0.22,2.55,0.00,0.000,6,0.075,0.022,2652,1777,3719,0,0,0,0,0,0
$GC,449,-0.93,-146.0,57.8,-11.4,48,453,0.00,2.53,0.00,0.000,4,0.000,0.030,2652,3361,3719,0,0,0,0,0,0
$GC,493,-0.93,-146.0,63.6,-11.3,51,501,0.00,2.50,0.00,0.000,6,0.000,0.022,2652,1798,3719,0,0,0,0,0,0
$GC,753,-0.93,-146.0,95.1,-12.6,76,758,0.00,2.47,0.00,0.000,4,0.000,0.030,2652,3360,3720,0,0,0,0,0,0
$GC,794,-0.93,-146.0,99.8,-12.6,79,798,0.00,2.47,0.00,0.000,6,0.000,0.022,2652,1795,3720,0,0,0,0,0,0
$GC,1060,-1.05,-146.0,124.0,-7.9,103,1064,0.00,2.47,0.00,0.000,4,0.000,0.028,2652,3361,3721,0,0,0,0,0,0
$GC,1101,-1.23,-146.0,127.7,-7.6,106,1111,0.22,2.47,0.00,0.000,6,0.018,0.022,2548,1812,3721,0,0,0,0,0,0
$GC,1363,-1.04,-146.0,163.9,-14.1,131,1368,0.35,2.47,0.00,0.000,4,0.085,0.028,2629,3368,3722,0,0,0,0,0,0
$GC,1385,-0.93,-146.0,166.9,-13.1,132,1394,0.10,2.47,0.00,0.000,6,0.074,0.021,2657,1813,3722,0,0,0,0,0,0
$GC,1651,-1.10,-146.0,185.5,-6.7,157,1656,0.15,2.47,0.00,0.000,4,0.054,0.029,2553,3367,3722,0,0,0,0,0,0
$GC,1707,-1.01,-146.0,191.6,-11.3,162,1712,0.38,2.40,0.00,0.000,6,0.076,0.022,2639,1832,3722,0,0,0,0,0,0
$GC,1973,-1.13,-146.0,212.3,-7.3,175,1978,0.10,2.45,0.00,0.000,4,0.075,0.030,2567,3367,3722,0,0,0,0,0,0
$GC,1996,-1.13,-146.0,214.7,-9.8,175,2002,0.20,2.40,0.00,0.000,6,0.084,0.022,2612,1833,3722,0,0,0,0,0,0
$GC,2258,-1.13,-146.0,237.0,-8.5,182,2262,0.00,2.42,0.00,0.000,4,0.000,0.031,2612,3361,3722,0,0,0,0,0,0
$GC,2291,-1.23,-146.0,239.9,-7.7,182,2295,0.00,2.40,0.00,0.000,6,0.000,0.024,2612,1836,3722,0,0,0,0,0,0
$GC,2543,-1.30,-146.0,260.3,-8.6,188,2548,0.15,2.67,0.00,0.000,4,0.056,0.044,2538,210,3722,0,0,0,0,0,0
$GC,2576,-1.21,-146.0,264.7,-13.5,188,2582,0.28,2.53,0.00,0.000,6,0.079,0.021,2600,1838,3722,0,0,0,0,0,0
$GC,2826,-1.21,-146.0,287.6,-8.8,194,2830,0.00,2.42,0.00,0.000,4,0.000,0.034,2601,3367,3722,0,0,0,0,0,0
$GC,2860,-1.21,-146.0,290.5,-8.3,194,2864,0.00,2.40,0.00,0.000,6,0.000,0.025,2601,1846,3722,0,0,0,0,0,0
$GC,3114,-1.21,-146.0,310.5,-7.6,201,3119,0.00,2.45,0.00,0.000,4,0.000,0.035,2601,3371,3721,0,0,0,0,0,0
$GC,3152,-1.31,-146.0,313.4,-7.5,201,3158,0.12,2.42,0.00,0.000,6,0.060,0.027,2520,1860,3721,0,0,0,0,0,0
$GC,3404,-1.13,-146.0,343.3,-12.6,208,3411,0.38,2.70,0.00,0.000,4,0.081,0.047,2608,217,3720,0,0,0,0,0,0
$GC,3445,-1.31,-146.0,347.6,-7.6,208,3451,0.15,2.60,0.00,0.000,6,0.054,0.025,2526,1850,3719,0,0,0,0,0,0
$GC,3696,-1.16,-146.0,377.7,-12.4,215,3701,0.32,2.45,0.00,0.000,4,0.082,0.038,2603,3367,3718,0,0,0,0,0,0
$GC,3730,-1.25,-146.0,381.2,-8.5,215,3734,0.00,2.40,0.00,0.000,6,0.000,0.028,2603,1860,3718,0,0,0,0,0,0
$GC,3980,-1.33,-146.0,400.8,-7.9,221,3982,0.15,0.00,0.00,0.000,6,0.054,0.000,2522,1860,3717,0,0,0,0,0,0
$GC,4225,-1.17,-146.0,431.7,-13.1,227,4231,0.35,2.47,0.00,0.000,4,0.083,0.044,2601,3360,3715,0,0,0,0,0,0
$GC,4245,-1.17,-146.0,434.2,-11.0,227,4249,0.00,2.40,0.00,0.000,6,0.000,0.027,2601,1858,3715,0,0,0,0,0,0
$GC,4509,-1.26,-146.0,454.2,-7.3,234,4513,0.00,2.47,0.00,0.000,4,0.000,0.046,2601,3358,3714,0,0,0,0,0,0
$GC,4539,-1.36,-146.0,456.4,-7.3,234,4544,0.15,2.40,0.00,0.000,6,0.052,0.029,2516,1860,3713,0,0,0,0,0,0
$GC,4794,-1.20,-146.0,487.0,-12.4,241,4801,0.35,2.80,0.00,0.000,4,0.085,0.063,2595,215,3711,0,0,0,0,0,0
$GC,4850,-1.36,-146.0,492.1,-7.9,242,4855,0.15,2.62,0.00,0.000,6,0.056,0.032,2528,1846,3711,0,0,0,0,0,0
$STATE,4964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4964,begin apogee
$GC,4969,-0.31,0.0,503.9,10.3,245,5091,1.17,0.00,118.05,0.865,6,0.074,0.000,2794,1667,3120,0,0,0,0,0,0
$STATE,5092,end apogee,CONTROL_FINISHED_OK
$STATE,5092,begin climb
$GC,5094,1.17,146.0,507.6,0.0,248,5226,1.30,2.60,121.05,0.848,4,0.024,0.065,3127,191,2522,0,0,0,0,0,0
$GC,5405,0.72,146.0,487.8,11.1,255,5412,0.52,2.40,0.00,0.000,6,0.100,0.030,3017,1668,2515,0,0,0,0,0,0
$GC,5695,0.80,215.6,468.7,6.1,262,5760,0.00,2.65,58.10,0.834,4,0.000,0.059,3017,187,2240,0,0,0,0,0,0
$GC,5770,0.87,272.7,463.8,6.6,263,5828,0.15,2.42,50.70,0.815,6,0.058,0.027,3082,1686,2007,0,0,0,0,0,0
$GC,6111,0.73,272.7,423.3,12.2,272,6117,0.25,2.58,0.00,0.000,4,0.094,0.055,3024,189,1997,0,0,0,0,0,0
$GC,6146,0.73,272.7,419.7,10.1,272,6151,0.00,2.40,0.00,0.000,6,0.000,0.027,3024,1683,1997,0,0,0,0,0,0
$GC,6403,0.74,277.7,397.0,8.8,279,6407,0.00,2.67,0.00,0.000,4,0.000,0.051,3024,3259,1994,0,0,0,0,0,0
$GC,6430,0.74,277.7,394.1,9.5,279,6435,0.00,2.58,0.00,0.000,6,0.000,0.035,3024,1700,1993,0,0,0,0,0,0
$GC,6688,0.74,277.7,370.2,9.5,286,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1700,1992,0,0,0,0,0,0
$GC,6930,0.74,277.7,346.7,9.6,292,6934,0.00,2.65,0.00,0.000,4,0.000,0.065,3024,163,1991,0,0,0,0,0,0
$GC,6953,0.74,277.7,344.3,9.7,292,6957,0.00,2.45,0.00,0.000,6,0.000,0.025,3024,1693,1991,0,0,0,0,0,0
$GC,7214,0.75,285.4,321.4,8.7,299,7230,0.00,2.62,9.30,0.666,4,0.000,0.055,3024,163,1956,0,0,0,0,0,0
$GC,7272,0.75,285.4,315.7,9.6,300,7276,0.00,2.42,0.00,0.000,6,0.000,0.027,3024,1682,1955,0,0,0,0,0,0
$GC,7544,0.77,304.7,293.3,8.2,307,7569,0.00,2.72,18.58,0.709,4,0.000,0.047,3024,3254,1877,0,0,0,0,0,0
$GC,7603,0.88,304.7,288.2,9.1,308,7609,0.12,2.62,0.00,0.000,6,0.063,0.032,3093,1678,1874,0,0,0,0,0,0
$GC,7877,0.75,304.7,257.7,11.1,315,7884,0.30,2.60,0.00,0.000,4,0.089,0.061,3024,163,1872,0,0,0,0,0,0
$GC,7952,0.83,308.9,251.2,8.8,316,7963,0.00,2.42,4.75,0.505,6,0.000,0.024,3023,1684,1860,0,0,0,0,0,0
$GC,8214,0.95,339.3,230.9,7.7,323,8250,0.17,2.65,28.08,0.669,4,0.048,0.041,3113,3247,1735,0,0,0,0,0,0
$GC,8263,0.80,339.3,225.2,14.3,324,8270,0.35,2.62,0.00,0.000,6,0.084,0.030,3037,1664,1732,0,0,0,0,0,0
$GC,8548,0.87,341.2,198.6,8.9,331,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1664,1729,0,0,0,0,0,0
$GC,8809,0.95,354.5,176.4,8.5,355,8830,0.12,2.70,13.82,0.587,4,0.063,0.034,3103,3265,1673,0,0,0,0,0,0
$GC,8850,0.87,354.5,171.1,12.3,359,8859,0.25,2.60,0.00,0.000,6,0.090,0.028,3049,1666,1670,0,0,0,0,0,0
$GC,9113,0.93,354.5,146.2,10.3,384,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,1666,1669,0,0,0,0,0,0
$GC,9368,1.00,354.5,122.3,9.1,408,9373,0.12,2.60,0.00,0.000,4,0.064,0.033,3107,3265,1669,0,0,0,0,0,0
$GC,9449,1.00,354.5,113.4,13.0,415,9455,0.15,2.55,0.00,0.000,6,0.104,0.028,3075,1679,1668,0,0,0,0,0,0
$GC,9714,1.06,354.5,87.1,9.1,439,9718,0.00,2.47,0.00,0.000,4,0.000,0.051,3075,171,1668,0,0,0,0,0,0
$GC,9771,1.06,354.5,81.4,9.9,444,9775,0.00,2.33,0.00,0.000,6,0.000,0.020,3075,1681,1667,0,0,0,0,0,0
$GC,10039,1.13,357.8,58.6,8.9,468,10044,0.12,2.53,0.00,0.000,4,0.062,0.032,3130,3257,1667,0,0,0,0,0,0
$GC,10097,1.13,357.8,52.0,12.7,472,10102,0.12,2.53,0.00,0.000,6,0.116,0.027,3105,1675,1667,0,0,0,0,0,0
$GC,10372,1.13,357.8,21.7,11.2,502,10380,0.00,2.47,0.00,0.000,4,0.000,0.044,3105,174,1667,0,0,0,0,0,0
$GC,10391,1.13,357.8,20.0,10.4,504,10400,0.00,2.35,0.00,0.000,6,0.000,0.020,3104,1675,1667,0,0,0,0,0,0
$STATE,10538,end climb,SURFACE_DEPTH_REACHED
$STATE,10538,begin surface coast
$FINISH,0.8,1.023372
$STATE,10585,end surface coast,CONTROL_FINISHED_OK
$STATE,10585,begin surface
$SM_CCo,10605,37.70,0.365,1,0,1406,420.20
$SM_GC,1.35,0.00,0.00,37.70,0.000,0.000,0.365,414,1836,1406,-11.25,1.27,420.20
$IRIDIUM_FIX,2239.35,-15804.53,160300,212117
$TT8_MAMPS,0.026845
$HUMID,45.98
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.70
$XPDR_PINGS,1
$24V_AH,23.6,45.175
$10V_AH,10.3,38.652
$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,32.175,151.250,422.425,37.700,0.000,31.412,36.134,185.821,0.250,0.000,14.694,1131.029,6761.110,511.220,2049.273,588.754,33.372,1362.697,0.000,2066.301,0.000,0.538,0.000
$DEVICE_MAMPS,160.303,65.195,865.176,365.092,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.089,332.756,421.506,625.828,1107.464,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355332
$DATA_FILE_SIZE,41612,534
$CAP_FILE_SIZE,127857,0
$CFSIZE,260165632,153460736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,221210,033343,2249.210,-15802.640,25,1.6,31,10.1