version: 66.06
glider: 148
mission: 9
dive: 363
start: 12 25 110 14 57 46
data:
$ID,148
$MISSION,9
$DIVE,363
$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,-865705
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,144900,2249.479,-15801.290,36,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.7
$GPS2,145650,2249.388,-15801.258,14,1.3,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.231,0.098
$KALMAN_X,-43172.7,-342.7,87.1,58233.6,427.6
$KALMAN_Y,-24319.1,-162.7,-413.5,153605.2,-624.0
$MHEAD_RNG_PITCHd_Wd,56.9,7356,-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,-75.35,0.000,2,0.000,0.000,412,1851,3263,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.2,-3.4,10,132,11.60,2.47,-8.60,0.000,4,0.156,0.039,2599,3368,3720,0,0,0,0,0,0
$GC,197,-1.04,-146.0,24.3,-13.3,24,206,0.12,2.55,0.00,0.000,6,0.077,0.024,2632,1789,3721,0,0,0,0,0,0
$GC,470,-0.96,-146.0,59.1,-12.2,52,474,0.00,2.53,0.00,0.000,4,0.000,0.029,2632,3368,3721,0,0,0,0,0,0
$GC,524,-0.96,-146.0,65.3,-11.5,56,528,0.00,2.47,0.00,0.000,6,0.000,0.023,2632,1800,3721,0,0,0,0,0,0
$GC,788,-0.96,-146.0,94.8,-10.0,80,792,0.00,2.50,0.00,0.000,4,0.000,0.028,2632,3365,3722,0,0,0,0,0,0
$GC,827,-0.96,-146.0,98.8,-9.8,83,832,0.00,2.47,0.00,0.000,6,0.000,0.023,2632,1803,3722,0,0,0,0,0,0
$GC,1094,-0.96,-146.0,125.8,-10.2,107,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1802,3722,0,0,0,0,0,0
$GC,1355,-1.04,-146.0,154.2,-10.2,132,1360,0.00,2.47,0.00,0.000,4,0.000,0.028,2632,3368,3723,0,0,0,0,0,0
$GC,1403,-1.20,-146.0,158.5,-9.6,136,1408,0.15,2.47,0.00,0.000,6,0.053,0.023,2542,1806,3723,0,0,0,0,0,0
$GC,1671,-0.99,-146.0,192.8,-12.7,160,1680,0.45,2.58,0.00,0.000,4,0.082,0.038,2639,203,3724,0,0,0,0,0,0
$GC,1704,-1.09,-146.0,196.2,-8.7,163,1709,0.00,2.47,0.00,0.000,6,0.000,0.019,2639,1822,3724,0,0,0,0,0,0
$GC,1969,-1.22,-146.0,212.4,-6.2,173,1973,0.20,2.42,0.00,0.000,4,0.044,0.027,2542,3357,3724,0,0,0,0,0,0
$GC,2039,-1.12,-146.0,220.8,-12.8,174,2044,0.32,2.45,0.00,0.000,6,0.080,0.023,2614,1815,3724,0,0,0,0,0,0
$GC,2300,-1.18,-146.0,245.6,-9.7,181,2305,0.00,2.45,0.00,0.000,4,0.000,0.029,2614,3361,3724,0,0,0,0,0,0
$GC,2319,-1.26,-146.0,247.6,-9.9,181,2324,0.12,2.45,0.00,0.000,6,0.061,0.023,2551,1820,3724,0,0,0,0,0,0
$GC,2584,-1.14,-146.0,278.8,-11.7,188,2589,0.25,2.47,0.00,0.000,4,0.086,0.030,2610,3356,3725,0,0,0,0,0,0
$GC,2629,-1.24,-146.0,282.9,-8.6,189,2634,0.00,2.40,0.00,0.000,6,0.000,0.025,2611,1837,3725,0,0,0,0,0,0
$GC,2917,-1.32,-146.0,305.2,-7.8,196,2922,0.15,2.47,0.00,0.000,4,0.055,0.035,2528,3357,3724,0,0,0,0,0,0
$GC,2975,-1.19,-146.0,311.7,-11.3,197,2980,0.32,2.42,0.00,0.000,6,0.079,0.026,2600,1834,3723,0,0,0,0,0,0
$GC,3249,-1.19,-146.0,334.0,-7.8,204,3253,0.00,2.45,0.00,0.000,4,0.000,0.035,2600,3358,3722,0,0,0,0,0,0
$GC,3284,-1.27,-146.0,336.6,-7.6,204,3288,0.00,2.40,0.00,0.000,6,0.000,0.027,2600,1852,3722,0,0,0,0,0,0
$GC,3533,-1.27,-146.0,356.8,-8.3,210,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1851,3721,0,0,0,0,0,0
$GC,3777,-1.34,-146.0,379.1,-9.2,216,3782,0.12,2.45,0.00,0.000,4,0.064,0.038,2532,3354,3720,0,0,0,0,0,0
$GC,3822,-1.25,-146.0,384.0,-11.8,217,3827,0.25,2.40,0.00,0.000,6,0.082,0.028,2588,1851,3719,0,0,0,0,0,0
$GC,4110,-1.25,-146.0,411.0,-8.9,224,4114,0.00,2.45,0.00,0.000,4,0.000,0.040,2588,3354,3717,0,0,0,0,0,0
$GC,4143,-1.31,-146.0,414.0,-8.6,224,4147,0.00,2.40,0.00,0.000,6,0.000,0.029,2588,1858,3718,0,0,0,0,0,0
$GC,4394,-1.31,-146.0,432.3,-7.1,230,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1858,3715,0,0,0,0,0,0
$GC,4636,-1.31,-146.0,449.5,-7.1,236,4641,0.00,2.45,0.00,0.000,4,0.000,0.043,2588,3352,3714,0,0,0,0,0,0
$GC,4665,-1.38,-146.0,451.6,-7.2,236,4670,0.12,2.40,0.00,0.000,6,0.063,0.030,2518,1866,3714,0,0,0,0,0,0
$GC,4921,-1.22,-146.0,480.2,-11.6,243,4924,0.35,0.00,0.00,0.000,6,0.081,0.000,2595,1866,3712,0,0,0,0,0,0
$GC,5164,-1.30,-146.0,498.1,-7.1,249,5168,0.00,2.45,0.00,0.000,4,0.000,0.048,2595,3346,3711,0,0,0,0,0,0
$STATE,5189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5189,begin apogee
$GC,5197,-0.31,0.0,500.2,7.4,249,5319,0.85,0.00,118.32,0.867,6,0.072,0.000,2793,1688,3120,0,0,0,0,0,0
$STATE,5320,end apogee,CONTROL_FINISHED_OK
$STATE,5320,begin climb
$GC,5324,1.17,146.0,504.4,0.0,252,5454,1.33,2.75,120.85,0.851,4,0.033,0.071,3120,175,2523,0,0,0,0,0,0
$GC,5533,0.73,149.8,503.8,8.9,256,5543,0.47,2.42,3.88,0.502,6,0.101,0.028,3021,1660,2509,0,0,0,0,0,0
$GC,5827,0.85,246.9,488.8,5.0,264,5918,0.10,2.65,84.62,0.841,4,0.080,0.061,3066,167,2113,0,0,0,0,0,0
$GC,5934,0.66,246.9,480.3,10.0,266,5939,0.30,2.47,0.00,0.000,6,0.094,0.028,3004,1677,2111,0,0,0,0,0,0
$GC,6189,0.67,251.0,457.8,8.8,273,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1677,2103,0,0,0,0,0,0
$GC,6435,0.73,251.0,435.1,9.3,279,6439,0.00,2.58,0.00,0.000,4,0.000,0.058,3003,171,2101,0,0,0,0,0,0
$GC,6467,0.73,251.0,431.7,10.1,279,6472,0.00,2.45,0.00,0.000,6,0.000,0.026,3003,1686,2101,0,0,0,0,0,0
$GC,6717,0.82,277.1,411.1,7.9,285,6750,0.15,2.70,25.70,0.792,4,0.057,0.059,3070,175,1989,0,0,0,0,0,0
$GC,6786,0.66,277.1,404.0,10.9,286,6792,0.30,2.42,0.00,0.000,6,0.103,0.026,3006,1668,1987,0,0,0,0,0,0
$GC,7051,0.78,315.4,383.2,7.4,293,7094,0.10,2.75,35.17,0.783,4,0.076,0.050,3053,3254,1832,0,0,0,0,0,0
$GC,7112,0.78,315.4,377.3,10.2,294,7117,0.12,2.67,0.00,0.000,6,0.102,0.035,3026,1662,1829,0,0,0,0,0,0
$GC,7386,0.80,331.4,353.2,8.3,301,7402,0.00,0.00,14.68,0.724,6,0.000,0.000,3026,1662,1768,0,0,0,0,0,0
$GC,7631,0.83,356.5,333.7,8.0,307,7659,0.00,2.70,23.08,0.736,4,0.000,0.040,3026,3252,1665,0,0,0,0,0,0
$GC,7703,0.96,361.7,327.3,8.8,308,7716,0.17,2.62,6.07,0.587,6,0.051,0.033,3098,1665,1644,0,0,0,0,0,0
$GC,7968,0.84,361.7,292.0,14.1,315,7970,0.25,0.00,0.00,0.000,6,0.094,0.000,3044,1665,1641,0,0,0,0,0,0
$GC,8209,0.84,361.7,264.5,11.0,321,8214,0.00,2.65,0.00,0.000,4,0.000,0.038,3044,3258,1639,0,0,0,0,0,0
$GC,8256,0.96,361.7,259.4,11.6,322,8261,0.10,2.62,0.00,0.000,6,0.076,0.032,3097,1673,1637,0,0,0,0,0,0
$GC,8541,0.86,361.7,221.1,13.5,329,8546,0.22,2.55,0.00,0.000,4,0.094,0.054,3048,169,1637,0,0,0,0,0,0
$GC,8579,0.93,361.7,216.4,11.1,329,8585,0.00,2.40,0.00,0.000,6,0.000,0.023,3048,1682,1637,0,0,0,0,0,0
$GC,8832,0.93,361.7,191.9,9.8,342,8836,0.00,2.55,0.00,0.000,4,0.000,0.034,3048,3254,1637,0,0,0,0,0,0
$GC,8860,1.00,361.7,189.4,10.0,344,8865,0.12,2.60,0.00,0.000,6,0.064,0.028,3109,1658,1635,0,0,0,0,0,0
$GC,9121,0.89,361.7,155.1,13.4,368,9126,0.25,2.45,0.00,0.000,4,0.091,0.045,3049,167,1635,0,0,0,0,0,0
$GC,9181,0.96,361.7,148.7,11.3,373,9185,0.00,2.38,0.00,0.000,6,0.000,0.021,3049,1681,1635,0,0,0,0,0,0
$GC,9447,1.08,386.5,123.8,8.0,397,9477,0.17,2.60,22.10,0.569,4,0.049,0.034,3136,3244,1543,0,0,0,0,0,0
$GC,9495,0.95,386.5,117.8,12.4,401,9502,0.32,2.58,0.00,0.000,6,0.090,0.027,3066,1669,1541,0,0,0,0,0,0
$GC,9758,1.03,386.5,92.1,10.1,426,9762,0.00,2.45,0.00,0.000,4,0.000,0.051,3066,171,1539,0,0,0,0,0,0
$GC,9780,1.09,386.5,89.7,10.4,427,9786,0.12,2.35,0.00,0.000,6,0.064,0.020,3126,1689,1539,0,0,0,0,0,0
$GC,10047,1.01,386.5,56.9,12.7,452,10052,0.22,2.53,0.00,0.000,4,0.100,0.041,3080,167,1539,0,0,0,0,0,0
$GC,10103,1.09,386.5,50.4,10.7,456,10107,0.00,2.33,0.00,0.000,6,0.000,0.020,3080,1677,1539,0,0,0,0,0,0
$GC,10378,1.09,386.5,22.5,9.9,486,10387,0.00,2.53,0.00,0.000,4,0.000,0.032,3080,3240,1539,0,0,0,0,0,0
$GC,10423,1.19,392.1,18.6,8.8,492,10440,0.12,2.55,5.93,0.387,6,0.025,0.027,3175,1674,1520,0,0,0,0,0,0
$STATE,10521,end climb,SURFACE_DEPTH_REACHED
$STATE,10521,begin surface coast
$FINISH,0.6,1.015810
$STATE,10553,end surface coast,CONTROL_FINISHED_OK
$STATE,10553,begin surface
$SM_CCo,10573,20.33,0.272,1,0,1407,420.20
$SM_GC,1.51,0.00,0.00,20.33,0.000,0.000,0.272,410,1867,1407,-11.27,2.18,420.20
$IRIDIUM_FIX,2241.69,-15746.73,200300,111136
$TT8_MAMPS,0.026845
$HUMID,47.04
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,23.5,48.478
$10V_AH,10.3,41.816
$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,31.525,140.600,460.400,20.325,0.000,25.486,33.168,274.342,0.750,0.000,15.785,1081.038,6901.566,539.580,1912.320,637.798,33.370,1321.788,0.000,1913.772,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,71.331,866.710,271.518,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.060,308.193,389.350,588.007,1040.205,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,41537,511
$CAP_FILE_SIZE,123536,0
$CFSIZE,260165632,151838720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251210,175534,2249.439,-15759.820,8,99.0,27,10.1