version: 66.06
glider: 148
mission: 9
dive: 351
start: 12 24 110 3 43 57
data:
$ID,148
$MISSION,9
$DIVE,351
$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,-865472.5
$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,52
$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
$GPS1,033456,2249.782,-15758.786,37,99.0,56,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.4
$GPS2,034301,2249.688,-15758.740,10,1.2,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.235,0.086
$KALMAN_X,-45661.0,140.7,-117.8,64774.7,-219.2
$KALMAN_Y,-13665.7,-255.0,-576.5,143758.3,-491.9
$MHEAD_RNG_PITCHd_Wd,59.8,3027,-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,19,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.40,0.000,2,0.000,0.000,412,1860,3285,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.3,-3.7,10,125,11.57,2.70,-8.10,0.000,4,0.156,0.048,2595,208,3718,0,0,0,0,0,0
$GC,165,-0.95,-146.0,21.7,-19.3,19,174,0.20,2.50,0.00,0.000,6,0.069,0.021,2645,1781,3720,0,0,0,0,0,0
$GC,446,-0.89,-146.0,55.5,-11.7,49,450,0.00,2.53,0.00,0.000,4,0.000,0.029,2646,3373,3720,0,0,0,0,0,0
$GC,533,-0.99,-146.0,64.4,-9.2,56,537,0.00,2.53,0.00,0.000,6,0.000,0.022,2646,1786,3720,0,0,0,0,0,0
$GC,796,-0.99,-146.0,91.5,-9.6,80,800,0.00,2.53,0.00,0.000,4,0.000,0.039,2645,214,3721,0,0,0,0,0,0
$GC,824,-0.99,-146.0,94.7,-10.7,82,828,0.00,2.47,0.00,0.000,6,0.000,0.018,2646,1821,3721,0,0,0,0,0,0
$GC,1088,-0.99,-146.0,118.7,-8.9,106,1092,0.00,2.40,0.00,0.000,4,0.000,0.028,2646,3357,3721,0,0,0,0,0,0
$GC,1126,-1.08,-146.0,122.0,-8.7,109,1131,0.00,2.45,0.00,0.000,6,0.000,0.021,2645,1792,3721,0,0,0,0,0,0
$GC,1394,-1.18,-146.0,144.5,-8.3,133,1400,0.17,2.50,0.00,0.000,4,0.047,0.028,2554,3363,3722,0,0,0,0,0,0
$GC,1445,-1.06,-146.0,151.3,-12.1,137,1451,0.32,2.42,0.00,0.000,6,0.074,0.023,2629,1818,3722,0,0,0,0,0,0
$GC,1709,-1.06,-146.0,175.7,-10.1,162,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1818,3722,0,0,0,0,0,0
$GC,1961,-1.14,-146.0,198.1,-8.1,186,1965,0.00,2.42,0.00,0.000,4,0.000,0.029,2629,3356,3722,0,0,0,0,0,0
$GC,2011,-1.31,-146.0,201.8,-7.8,189,2016,0.22,2.40,0.00,0.000,6,0.038,0.023,2522,1827,3723,0,0,0,0,0,0
$GC,2295,-1.04,-146.0,241.7,-14.9,196,2302,0.52,2.60,0.00,0.000,4,0.084,0.038,2630,210,3723,0,0,0,0,0,0
$GC,2312,-0.94,-146.0,244.2,-12.8,196,2317,0.10,2.50,0.00,0.000,6,0.111,0.020,2654,1822,3723,0,0,0,0,0,0
$GC,2583,-1.14,-146.0,261.6,-6.4,203,2588,0.17,2.47,0.00,0.000,4,0.046,0.032,2559,3366,3722,0,0,0,0,0,0
$GC,2632,-1.07,-146.0,267.0,-11.9,204,2637,0.30,2.42,0.00,0.000,6,0.075,0.024,2629,1824,3722,0,0,0,0,0,0
$GC,2917,-1.20,-146.0,291.1,-8.4,211,2922,0.12,2.47,0.00,0.000,4,0.062,0.034,2554,3360,3722,0,0,0,0,0,0
$GC,2941,-1.20,-146.0,293.9,-11.3,211,2946,0.20,2.42,0.00,0.000,6,0.085,0.025,2600,1828,3722,0,0,0,0,0,0
$GC,3201,-1.20,-146.0,319.5,-9.7,218,3205,0.00,2.47,0.00,0.000,4,0.000,0.035,2600,3356,3721,0,0,0,0,0,0
$GC,3230,-1.26,-146.0,322.2,-9.2,218,3234,0.00,2.42,0.00,0.000,6,0.000,0.027,2600,1843,3721,0,0,0,0,0,0
$GC,3485,-1.26,-146.0,343.0,-8.0,225,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1843,3720,0,0,0,0,0,0
$GC,3728,-1.26,-146.0,362.5,-7.8,231,3732,0.00,2.47,0.00,0.000,4,0.000,0.038,2600,3357,3718,0,0,0,0,0,0
$GC,3768,-1.37,-146.0,365.2,-6.9,231,3774,0.17,2.42,0.00,0.000,6,0.048,0.028,2501,1840,3718,0,0,0,0,0,0
$GC,4020,-1.14,-146.0,398.2,-13.7,238,4022,0.50,0.00,0.00,0.000,6,0.082,0.000,2611,1840,3717,0,0,0,0,0,0
$GC,4262,-1.24,-146.0,416.5,-7.0,244,4266,0.00,2.47,0.00,0.000,4,0.000,0.043,2611,3352,3715,0,0,0,0,0,0
$GC,4307,-1.41,-146.0,419.7,-7.0,245,4312,0.25,2.40,0.00,0.000,6,0.035,0.029,2505,1853,3715,0,0,0,0,0,0
$GC,4594,-1.19,-146.0,456.8,-13.1,252,4602,0.40,2.78,0.00,0.000,4,0.086,0.060,2596,213,3713,0,0,0,0,0,0
$GC,4632,-1.30,-146.0,460.7,-9.5,252,4636,0.00,2.62,0.00,0.000,6,0.000,0.030,2596,1836,3713,0,0,0,0,0,0
$GC,4882,-1.38,-146.0,481.1,-8.2,258,4887,0.17,2.55,0.00,0.000,4,0.050,0.051,2524,3370,3711,0,0,0,0,0,0
$GC,4926,-1.30,-146.0,485.8,-11.3,259,4931,0.22,2.42,0.00,0.000,6,0.085,0.031,2576,1860,3711,0,0,0,0,0,0
$STATE,5089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5089,begin apogee
$GC,5096,-0.31,0.0,501.0,9.0,263,5217,0.95,0.00,117.55,0.860,6,0.077,0.000,2789,1675,3120,0,0,0,0,0,0
$STATE,5218,end apogee,CONTROL_FINISHED_OK
$STATE,5218,begin climb
$GC,5220,1.17,146.0,506.3,0.0,266,5354,1.38,2.80,121.35,0.844,4,0.031,0.052,3134,3254,2522,0,0,0,0,0,0
$GC,5406,0.84,153.1,505.1,8.7,270,5419,0.43,2.62,6.78,0.658,6,0.102,0.037,3046,1689,2495,0,0,0,0,0,0
$GC,5671,0.78,204.1,486.7,6.9,277,5723,0.00,2.72,44.22,0.821,4,0.000,0.074,3045,165,2287,0,0,0,0,0,0
$GC,5742,0.62,206.9,480.9,8.9,278,5755,0.22,2.47,4.03,0.512,6,0.097,0.029,2998,1680,2275,0,0,0,0,0,0
$GC,5996,0.69,263.6,463.3,6.6,285,6052,0.00,2.75,48.97,0.821,4,0.000,0.058,2997,3262,2045,0,0,0,0,0,0
$GC,6070,0.83,313.1,458.5,6.9,286,6125,0.17,2.70,45.58,0.808,6,0.050,0.037,3070,1668,1842,0,0,0,0,0,0
$GC,6368,0.73,313.1,425.1,11.4,294,6373,0.22,2.62,0.00,0.000,4,0.093,0.067,3019,165,1834,0,0,0,0,0,0
$GC,6406,0.73,313.1,421.1,9.7,294,6412,0.00,2.45,0.00,0.000,6,0.000,0.028,3019,1684,1833,0,0,0,0,0,0
$GC,6655,0.73,313.1,398.2,9.4,301,6660,0.00,2.65,0.00,0.000,4,0.000,0.054,3020,3255,1830,0,0,0,0,0,0
$GC,6694,0.83,313.1,394.3,10.5,301,6700,0.00,2.62,0.00,0.000,6,0.000,0.035,3019,1683,1827,0,0,0,0,0,0
$GC,6944,0.83,313.1,368.3,10.6,308,6948,0.00,2.67,0.00,0.000,4,0.000,0.048,3019,3259,1827,0,0,0,0,0,0
$GC,6967,0.89,313.1,365.8,10.3,308,6972,0.15,2.62,0.00,0.000,6,0.055,0.034,3084,1681,1826,0,0,0,0,0,0
$GC,7229,0.77,313.1,330.9,13.6,315,7234,0.25,2.60,0.00,0.000,4,0.094,0.064,3026,161,1825,0,0,0,0,0,0
$GC,7285,0.77,313.1,323.6,11.7,316,7290,0.00,2.45,0.00,0.000,6,0.000,0.025,3026,1686,1825,0,0,0,0,0,0
$GC,7558,0.77,313.1,296.4,10.0,323,7562,0.00,2.62,0.00,0.000,4,0.000,0.048,3026,3257,1825,0,0,0,0,0,0
$GC,7583,0.84,313.1,294.1,9.8,323,7587,0.00,2.60,0.00,0.000,6,0.000,0.031,3026,1680,1822,0,0,0,0,0,0
$GC,7842,0.92,323.3,270.7,8.6,330,7854,0.15,0.00,6.93,0.588,6,0.057,0.000,3097,1680,1801,0,0,0,0,0,0
$GC,8133,0.81,323.3,238.0,11.2,337,8135,0.28,0.00,0.00,0.000,6,0.091,0.000,3038,1680,1799,0,0,0,0,0,0
$GC,8375,0.81,323.3,215.7,9.2,343,8379,0.00,2.58,0.00,0.000,4,0.000,0.056,3037,168,1798,0,0,0,0,0,0
$GC,8398,0.81,323.3,213.4,10.1,343,8402,0.00,2.42,0.00,0.000,6,0.000,0.022,3037,1699,1798,0,0,0,0,0,0
$GC,8662,0.81,325.3,189.4,8.9,356,8666,0.00,2.53,0.00,0.000,4,0.000,0.035,3037,3256,1798,0,0,0,0,0,0
$GC,8683,0.89,334.2,187.6,8.6,357,8702,0.00,2.60,10.32,0.578,6,0.000,0.028,3037,1674,1756,0,0,0,0,0,0
$GC,8959,0.98,358.1,164.9,8.0,383,8989,0.15,2.58,22.33,0.600,4,0.056,0.048,3106,174,1659,0,0,0,0,0,0
$GC,9056,0.91,358.1,152.5,13.9,392,9063,0.22,2.40,0.00,0.000,6,0.090,0.024,3057,1677,1658,0,0,0,0,0,0
$GC,9323,0.91,358.1,124.9,10.5,417,9328,0.00,2.55,0.00,0.000,4,0.000,0.034,3057,3265,1656,0,0,0,0,0,0
$GC,9351,1.00,358.1,121.6,10.7,419,9356,0.00,2.58,0.00,0.000,6,0.000,0.028,3057,1671,1655,0,0,0,0,0,0
$GC,9619,1.09,358.1,93.2,10.2,443,9624,0.17,2.47,0.00,0.000,4,0.049,0.052,3141,167,1654,0,0,0,0,0,0
$GC,9647,0.96,358.1,89.2,13.3,445,9652,0.32,2.38,0.00,0.000,6,0.090,0.021,3070,1683,1655,0,0,0,0,0,0
$GC,9913,0.99,382.6,63.5,8.0,469,9943,0.00,2.58,22.65,0.507,4,0.000,0.044,3070,177,1559,0,0,0,0,0,0
$GC,9975,1.08,382.6,58.1,9.7,474,9980,0.10,2.33,0.00,0.000,6,0.075,0.020,3132,1672,1559,0,0,0,0,0,0
$GC,10248,0.98,382.6,25.0,12.9,501,10257,0.25,2.58,0.00,0.000,4,0.087,0.034,3074,3242,1557,0,0,0,0,0,0
$GC,10284,0.98,382.6,20.8,10.8,506,10293,0.00,2.58,0.00,0.000,6,0.000,0.027,3074,1662,1556,0,0,0,0,0,0
$STATE,10465,end climb,SURFACE_DEPTH_REACHED
$STATE,10465,begin surface coast
$FINISH,0.8,1.023393
$STATE,10510,end surface coast,CONTROL_FINISHED_OK
$STATE,10510,begin surface
$SM_CCo,10532,24.67,0.304,1,0,1406,420.20
$SM_GC,1.53,0.00,0.00,24.67,0.000,0.000,0.304,412,1874,1406,-11.26,2.37,420.20
$IRIDIUM_FIX,2241.69,-15759.32,190300,000021
$TT8_MAMPS,0.026845
$HUMID,47.24
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.6,47.150
$10V_AH,10.3,40.521
$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,31.925,147.375,450.700,24.675,0.000,27.696,33.965,274.998,0.750,0.000,17.320,1125.839,6712.117,543.367,2014.688,651.029,33.380,1341.837,0.000,2013.623,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,74.399,859.807,304.499,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.283,330.342,423.429,643.719,1138.816,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,41588,541
$CAP_FILE_SIZE,125170,0
$CFSIZE,260165632,152502272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241210,064113,2249.570,-15757.441,28,1.7,34,10.1