version: 66.06
glider: 148
mission: 9
dive: 348
start: 12 23 110 18 14 10
data:
$ID,148
$MISSION,9
$DIVE,348
$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,-865404.25
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,180555,2249.942,-15802.926,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.1
$GPS2,181313,2249.941,-15802.887,12,1.0,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,-0.031
$KALMAN_X,-46107.5,285.5,-54.1,57868.9,820.9
$KALMAN_Y,-10868.1,349.9,-171.4,140421.1,387.0
$MHEAD_RNG_PITCHd_Wd,87.1,10049,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.38,0.000,2,0.000,0.000,413,1880,3298,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.6,-4.6,10,125,11.50,2.38,-7.53,0.000,4,0.153,0.037,2599,3376,3717,0,0,0,0,0,0
$GC,244,-1.04,-146.0,34.3,-13.9,30,249,0.15,2.50,0.00,0.000,6,0.102,0.022,2632,1794,3719,0,0,0,0,0,0
$GC,513,-0.94,-146.0,68.3,-13.2,54,518,0.10,2.55,0.00,0.000,4,0.124,0.029,2653,3372,3719,0,0,0,0,0,0
$GC,557,-0.94,-146.0,74.3,-11.7,57,561,0.00,2.47,0.00,0.000,6,0.000,0.022,2653,1798,3719,0,0,0,0,0,0
$GC,823,-0.94,-146.0,103.4,-10.9,81,827,0.00,2.50,0.00,0.000,4,0.000,0.028,2653,3377,3720,0,0,0,0,0,0
$GC,893,-1.10,-146.0,111.2,-9.6,87,899,0.15,2.45,0.00,0.000,6,0.052,0.021,2554,1812,3720,0,0,0,0,0,0
$GC,1157,-0.92,-146.0,148.5,-14.5,112,1166,0.47,0.00,0.00,0.000,6,0.080,0.000,2660,1812,3721,0,0,0,0,0,0
$GC,1420,-1.08,-146.0,167.2,-6.0,137,1425,0.15,2.47,0.00,0.000,4,0.054,0.028,2567,3371,3722,0,0,0,0,0,0
$GC,1466,-1.08,-146.0,171.3,-9.1,141,1472,0.25,2.45,0.00,0.000,6,0.079,0.022,2624,1817,3722,0,0,0,0,0,0
$GC,1727,-1.08,-146.0,192.7,-8.2,165,1732,0.00,2.47,0.00,0.000,4,0.000,0.029,2625,3368,3722,0,0,0,0,0,0
$GC,1765,-1.20,-146.0,195.6,-8.3,168,1770,0.12,2.42,0.00,0.000,6,0.061,0.023,2545,1834,3723,0,0,0,0,0,0
$GC,2016,-0.99,-146.0,230.0,-14.8,177,2019,0.47,0.00,0.00,0.000,6,0.077,0.000,2644,1834,3722,0,0,0,0,0,0
$GC,2260,-1.13,-146.0,248.5,-7.2,183,2265,0.12,2.45,0.00,0.000,4,0.062,0.030,2555,3369,3723,0,0,0,0,0,0
$GC,2295,-1.05,-146.0,251.9,-10.0,183,2301,0.32,2.42,0.00,0.000,6,0.075,0.023,2630,1833,3723,0,0,0,0,0,0
$GC,2546,-1.15,-146.0,270.0,-7.0,189,2550,0.00,2.47,0.00,0.000,4,0.000,0.031,2630,3376,3723,0,0,0,0,0,0
$GC,2583,-1.30,-146.0,272.7,-7.6,189,2589,0.22,2.45,0.00,0.000,6,0.038,0.025,2526,1841,3723,0,0,0,0,0,0
$GC,2835,-1.10,-146.0,302.0,-12.0,196,2837,0.43,0.00,0.00,0.000,6,0.079,0.000,2621,1840,3722,0,0,0,0,0,0
$GC,3077,-1.21,-146.0,320.6,-7.2,202,3082,0.10,2.47,0.00,0.000,4,0.075,0.034,2559,3375,3721,0,0,0,0,0,0
$GC,3130,-1.21,-146.0,325.7,-10.6,203,3135,0.17,2.40,0.00,0.000,6,0.085,0.026,2599,1864,3721,0,0,0,0,0,0
$GC,3408,-1.21,-146.0,348.7,-8.0,210,3412,0.00,2.42,0.00,0.000,4,0.000,0.036,2600,3371,3720,0,0,0,0,0,0
$GC,3446,-1.30,-146.0,351.7,-7.7,210,3451,0.00,2.40,0.00,0.000,6,0.000,0.028,2600,1868,3720,0,0,0,0,0,0
$GC,3697,-1.30,-146.0,370.2,-7.4,217,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1868,3719,0,0,0,0,0,0
$GC,3940,-1.36,-146.0,388.4,-7.4,223,3945,0.15,2.47,0.00,0.000,4,0.054,0.039,2517,3370,3718,0,0,0,0,0,0
$GC,3978,-1.22,-146.0,392.1,-10.7,223,3984,0.35,2.40,0.00,0.000,6,0.083,0.027,2594,1875,3718,0,0,0,0,0,0
$GC,4229,-1.22,-146.0,410.5,-7.2,230,4234,0.00,2.42,0.00,0.000,4,0.000,0.041,2594,3363,3716,0,0,0,0,0,0
$GC,4248,-1.22,-146.0,412.1,-7.3,230,4252,0.00,2.40,0.00,0.000,6,0.000,0.028,2594,1875,3716,0,0,0,0,0,0
$GC,4512,-1.28,-146.0,430.7,-7.0,237,4516,0.00,2.42,0.00,0.000,4,0.000,0.042,2594,3360,3714,0,0,0,0,0,0
$GC,4542,-1.36,-146.0,432.8,-7.9,237,4547,0.12,2.38,0.00,0.000,6,0.062,0.029,2526,1887,3714,0,0,0,0,0,0
$GC,4797,-1.21,-146.0,458.7,-10.4,244,4804,0.28,2.83,0.00,0.000,4,0.085,0.061,2591,220,3712,0,0,0,0,0,0
$GC,4818,-1.21,-146.0,460.7,-8.2,244,4823,0.00,2.65,0.00,0.000,6,0.000,0.029,2590,1871,3712,0,0,0,0,0,0
$GC,5084,-1.28,-146.0,478.4,-6.9,251,5089,0.00,2.47,0.00,0.000,4,0.000,0.048,2591,3368,3710,0,0,0,0,0,0
$GC,5122,-1.38,-146.0,481.6,-7.5,251,5128,0.15,2.38,0.00,0.000,6,0.054,0.030,2517,1889,3710,0,0,0,0,0,0
$STATE,5288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5288,begin apogee
$GC,5296,-0.31,0.0,500.5,11.6,256,5417,1.23,0.00,117.55,0.866,6,0.081,0.000,2789,1676,3120,0,0,0,0,0,0
$STATE,5418,end apogee,CONTROL_FINISHED_OK
$STATE,5418,begin climb
$GC,5420,1.17,146.0,505.8,0.0,259,5551,1.33,2.72,120.90,0.850,4,0.025,0.047,3135,3247,2522,0,0,0,0,0,0
$GC,5575,0.86,182.0,507.0,7.5,262,5612,0.40,2.62,30.85,0.815,6,0.100,0.037,3050,1698,2378,0,0,0,0,0,0
$GC,5877,0.75,190.4,482.0,8.7,270,5890,0.12,2.72,7.70,0.690,4,0.117,0.074,3024,168,2342,0,0,0,0,0,0
$GC,5998,0.65,197.4,470.9,8.7,272,6012,0.00,2.40,7.28,0.680,6,0.000,0.028,3024,1659,2315,0,0,0,0,0,0
$GC,6257,0.69,228.7,450.8,7.7,279,6291,0.00,2.62,28.05,0.808,4,0.000,0.059,3024,160,2186,0,0,0,0,0,0
$GC,6334,0.63,228.7,443.7,10.8,280,6339,0.12,2.42,0.00,0.000,6,0.118,0.026,2999,1666,2184,0,0,0,0,0,0
$GC,6585,0.64,233.9,422.0,8.8,286,6592,0.00,0.00,5.00,0.588,6,0.000,0.000,3000,1666,2166,0,0,0,0,0,0
$GC,6828,0.72,248.1,401.2,8.4,292,6848,0.00,2.78,14.05,0.751,4,0.000,0.050,2999,3258,2107,0,0,0,0,0,0
$GC,6868,0.85,282.7,397.9,7.6,292,6906,0.20,2.67,31.62,0.785,6,0.046,0.035,3076,1662,1967,0,0,0,0,0,0
$GC,7158,0.74,282.7,365.9,10.9,300,7163,0.25,2.60,0.00,0.000,4,0.091,0.064,3018,167,1960,0,0,0,0,0,0
$GC,7177,0.74,282.7,364.0,9.5,300,7181,0.00,2.40,0.00,0.000,6,0.000,0.025,3017,1672,1959,0,0,0,0,0,0
$GC,7442,0.78,318.2,343.7,7.5,307,7480,0.00,0.00,32.30,0.757,6,0.000,0.000,3018,1672,1821,0,0,0,0,0,0
$GC,7725,0.87,335.3,320.6,8.3,314,7746,0.12,2.72,15.27,0.703,4,0.064,0.048,3083,3254,1752,0,0,0,0,0,0
$GC,7774,0.87,335.3,314.7,12.6,315,7779,0.15,2.65,0.00,0.000,6,0.100,0.033,3051,1671,1748,0,0,0,0,0,0
$GC,8054,0.87,335.3,283.1,11.6,322,8058,0.00,2.60,0.00,0.000,4,0.000,0.063,3051,160,1746,0,0,0,0,0,0
$GC,8072,0.87,335.3,280.5,12.4,322,8077,0.00,2.42,0.00,0.000,6,0.000,0.024,3050,1676,1746,0,0,0,0,0,0
$GC,8337,0.87,335.3,250.2,11.3,329,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1677,1745,0,0,0,0,0,0
$GC,8579,0.87,335.3,222.8,11.2,335,8584,0.00,2.58,0.00,0.000,4,0.000,0.039,3051,3253,1745,0,0,0,0,0,0
$GC,8607,0.87,335.3,219.6,10.9,335,8611,0.00,2.62,0.00,0.000,6,0.000,0.030,3051,1654,1743,0,0,0,0,0,0
$GC,8863,0.88,340.5,195.2,8.8,345,8876,0.00,0.00,4.28,0.445,6,0.000,0.000,3050,1654,1732,0,0,0,0,0,0
$GC,9135,0.89,350.6,172.1,8.6,370,9153,0.00,2.67,10.80,0.574,4,0.000,0.033,3050,3250,1689,0,0,0,0,0,0
$GC,9169,0.89,353.7,168.8,8.9,373,9179,0.00,2.60,4.15,0.423,6,0.000,0.028,3051,1662,1678,0,0,0,0,0,0
$GC,9433,0.89,353.7,141.7,10.5,398,9437,0.00,2.45,0.00,0.000,4,0.000,0.046,3051,171,1676,0,0,0,0,0,0
$GC,9451,0.89,353.7,140.1,11.0,399,9455,0.00,2.35,0.00,0.000,6,0.000,0.021,3050,1679,1676,0,0,0,0,0,0
$GC,9720,0.96,353.7,109.9,11.6,423,9724,0.00,2.55,0.00,0.000,4,0.000,0.034,3051,3257,1676,0,0,0,0,0,0
$GC,9755,1.08,353.7,104.8,12.3,426,9760,0.17,2.58,0.00,0.000,6,0.048,0.028,3141,1668,1675,0,0,0,0,0,0
$GC,10024,0.93,353.7,67.7,13.0,450,10033,0.35,0.00,0.00,0.000,6,0.087,0.000,3065,1668,1674,0,0,0,0,0,0
$GC,10290,1.04,384.8,45.1,7.7,475,10327,0.10,2.47,29.05,0.508,4,0.077,0.043,3125,172,1550,0,0,0,0,0,0
$GC,10345,0.96,384.8,38.9,12.4,479,10355,0.22,2.40,0.00,0.000,6,0.071,0.021,3070,1677,1550,0,0,0,0,0,0
$GC,10638,1.05,389.7,12.3,8.8,519,10655,0.00,2.58,5.40,0.377,4,0.000,0.031,3070,3251,1530,0,0,0,0,0,0
$GC,10685,1.19,389.7,8.0,9.7,525,10694,0.15,2.58,0.00,0.000,6,0.021,0.027,3170,1678,1528,0,0,0,0,0,0
$STATE,10720,end climb,SURFACE_DEPTH_REACHED
$STATE,10720,begin surface coast
$FINISH,0.7,1.019515
$STATE,10759,end surface coast,CONTROL_FINISHED_OK
$STATE,10759,begin surface
$SM_CCo,10781,22.33,0.294,1,0,1406,420.20
$SM_GC,1.45,0.00,0.00,22.33,0.000,0.000,0.294,411,1856,1406,-11.27,1.84,420.20
$IRIDIUM_FIX,2241.69,-15759.32,180300,151545
$TT8_MAMPS,0.026845
$HUMID,46.85
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.6,46.781
$10V_AH,10.3,40.179
$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,31.950,136.300,464.250,22.325,0.000,28.291,34.336,248.262,0.000,0.000,13.978,1109.769,7054.152,533.563,1938.617,614.218,33.380,1336.314,0.000,1948.224,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,74.399,865.943,293.761,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.772,328.946,413.809,618.588,1093.321,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,41488,536
$CAP_FILE_SIZE,124005,0
$CFSIZE,260165632,152678400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,231210,211528,2249.575,-15801.055,10,3.9,29,10.1