version: 66.06
glider: 148
mission: 9
dive: 375
start: 12 27 110 3 28 38
data:
$ID,148
$MISSION,9
$DIVE,375
$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,-866027.31
$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,27
$R_STBD_OVSHOOT,99
$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
$GPS1,031901,2247.935,-15803.347,12,1.7,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.7
$GPS2,032743,2247.787,-15803.264,34,1.7,46,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.011,0.250
$KALMAN_X,-34346.9,492.1,201.7,45004.7,254.4
$KALMAN_Y,-34098.6,-1.4,-53.2,159894.4,-1535.3
$MHEAD_RNG_PITCHd_Wd,347.5,4124,-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,-74.75,0.000,2,0.000,0.000,411,1839,3263,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.6,-5.0,10,124,11.52,2.42,-8.43,0.000,4,0.153,0.040,2599,3325,3719,0,0,0,0,0,0
$GC,258,-1.06,-146.0,34.1,-14.0,32,263,0.12,2.45,0.00,0.000,6,0.107,0.024,2625,1773,3721,0,0,0,0,0,0
$GC,525,-0.98,-146.0,69.7,-13.8,56,530,0.10,2.47,0.00,0.000,4,0.130,0.029,2645,3322,3721,0,0,0,0,0,0
$GC,559,-0.98,-146.0,74.8,-11.6,58,568,0.00,2.45,0.00,0.000,6,0.000,0.023,2645,1786,3721,0,0,0,0,0,0
$GC,826,-0.98,-146.0,101.9,-9.7,83,830,0.00,2.45,0.00,0.000,4,0.000,0.028,2645,3325,3721,0,0,0,0,0,0
$GC,881,-1.12,-146.0,107.6,-9.5,88,886,0.12,2.42,0.00,0.000,6,0.061,0.022,2559,1792,3722,0,0,0,0,0,0
$GC,1141,-0.87,-146.0,146.1,-16.0,112,1154,0.60,2.40,0.00,0.000,4,0.082,0.025,2666,3317,3722,0,0,0,0,0,0
$GC,1159,-0.76,-146.0,148.6,-14.2,113,1165,0.12,2.35,0.00,0.000,6,0.095,0.021,2698,1806,3722,0,0,0,0,0,0
$GC,1424,-1.08,-146.0,164.0,-5.6,138,1429,0.28,2.40,0.00,0.000,4,0.031,0.026,2550,3325,3723,0,0,0,0,0,0
$GC,1484,-1.00,-146.0,170.8,-11.8,143,1490,0.40,2.38,0.00,0.000,6,0.074,0.022,2641,1818,3723,0,0,0,0,0,0
$GC,1748,-1.13,-146.0,192.2,-7.4,168,1753,0.12,2.38,0.00,0.000,4,0.062,0.028,2557,3323,3723,0,0,0,0,0,0
$GC,1778,-1.05,-146.0,195.6,-11.0,170,1784,0.32,2.38,0.00,0.000,6,0.077,0.025,2631,1823,3723,0,0,0,0,0,0
$GC,2043,-1.16,-146.0,217.7,-8.2,181,2048,0.10,2.38,0.00,0.000,4,0.076,0.029,2566,3316,3724,0,0,0,0,0,0
$GC,2094,-1.16,-146.0,223.4,-10.6,182,2099,0.17,2.35,0.00,0.000,6,0.086,0.029,2607,1834,3723,0,0,0,0,0,0
$GC,2374,-1.16,-146.0,247.3,-8.5,189,2378,0.00,2.38,0.00,0.000,4,0.000,0.030,2607,3322,3724,0,0,0,0,0,0
$GC,2444,-1.28,-146.0,253.6,-7.8,190,2449,0.12,2.35,0.00,0.000,6,0.062,0.025,2531,1844,3723,0,0,0,0,0,0
$GC,2704,-1.08,-146.0,288.4,-14.0,197,2706,0.43,0.00,0.00,0.000,6,0.081,0.000,2624,1842,3723,0,0,0,0,0,0
$GC,2950,-1.20,-146.0,308.3,-7.8,203,2955,0.10,2.38,0.00,0.000,4,0.074,0.033,2555,3322,3722,0,0,0,0,0,0
$GC,2993,-1.20,-146.0,312.8,-10.2,204,2998,0.20,2.35,0.00,0.000,6,0.082,0.026,2602,1854,3722,0,0,0,0,0,0
$GC,3282,-1.20,-146.0,335.1,-7.4,211,3286,0.00,2.33,0.00,0.000,4,0.000,0.035,2602,3312,3721,0,0,0,0,0,0
$GC,3329,-1.32,-146.0,338.8,-7.0,212,3334,0.12,2.30,0.00,0.000,6,0.063,0.028,2531,1865,3720,0,0,0,0,0,0
$GC,3611,-1.16,-146.0,368.7,-10.7,219,3614,0.32,0.00,0.00,0.000,6,0.081,0.000,2603,1864,3719,0,0,0,0,0,0
$GC,3858,-1.23,-146.0,386.3,-7.2,225,3862,0.00,2.33,0.00,0.000,4,0.000,0.038,2603,3309,3718,0,0,0,0,0,0
$GC,3881,-1.32,-146.0,388.4,-7.8,225,3886,0.12,2.33,0.00,0.000,6,0.061,0.028,2551,1861,3718,0,0,0,0,0,0
$GC,4147,-1.17,-146.0,418.9,-11.9,232,4149,0.32,0.00,0.00,0.000,6,0.081,0.000,2602,1861,3716,0,0,0,0,0,0
$GC,4389,-1.25,-146.0,437.2,-7.1,238,4393,0.00,2.38,0.00,0.000,4,0.000,0.043,2602,3304,3715,0,0,0,0,0,0
$GC,4413,-1.34,-146.0,438.9,-6.7,238,4418,0.15,2.30,0.00,0.000,6,0.052,0.028,2523,1864,3715,0,0,0,0,0,0
$GC,4674,-1.19,-146.0,467.6,-11.3,245,4679,0.32,2.38,0.00,0.000,4,0.084,0.044,2597,3305,3713,0,0,0,0,0,0
$GC,4695,-1.19,-146.0,469.7,-9.4,245,4699,0.00,2.30,0.00,0.000,6,0.000,0.028,2597,1867,3713,0,0,0,0,0,0
$GC,4959,-1.28,-146.0,487.4,-6.7,252,4963,0.00,2.38,0.00,0.000,4,0.000,0.046,2598,3302,3711,0,0,0,0,0,0
$GC,4994,-1.39,-146.0,489.9,-6.7,252,4998,0.17,2.28,0.00,0.000,6,0.045,0.030,2526,1881,3711,0,0,0,0,0,0
$STATE,5124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5124,begin apogee
$GC,5130,-0.31,0.0,503.0,10.0,256,5252,1.20,0.00,117.93,0.867,6,0.081,0.000,2790,1683,3120,0,0,0,0,0,0
$STATE,5252,end apogee,CONTROL_FINISHED_OK
$STATE,5252,begin climb
$GC,5255,1.17,146.0,507.3,0.0,259,5384,1.33,2.62,120.57,0.851,4,0.028,0.049,3132,3191,2523,0,0,0,0,0,0
$GC,5417,0.83,146.0,506.6,9.4,262,5423,0.43,2.53,0.00,0.000,6,0.099,0.038,3042,1691,2520,0,0,0,0,0,0
$GC,5669,0.78,205.2,489.5,6.5,269,5725,0.00,2.78,49.80,0.829,4,0.000,0.076,3042,177,2283,0,0,0,0,0,0
$GC,5862,0.65,205.2,471.4,10.7,273,5866,0.20,2.30,0.00,0.000,6,0.098,0.027,3000,1599,2278,0,0,0,0,0,0
$GC,6135,0.72,266.9,453.1,6.4,280,6194,0.00,2.78,54.00,0.818,4,0.000,0.051,3000,3198,2030,0,0,0,0,0,0
$GC,6211,0.82,294.0,447.4,7.9,281,6244,0.17,2.58,25.00,0.783,6,0.050,0.035,3068,1656,1921,0,0,0,0,0,0
$GC,6505,0.72,294.0,411.9,12.5,289,6510,0.25,2.60,0.00,0.000,4,0.094,0.066,3009,166,1913,0,0,0,0,0,0
$GC,6524,0.72,294.0,409.4,11.0,289,6528,0.00,2.30,0.00,0.000,6,0.000,0.025,3009,1600,1913,0,0,0,0,0,0
$GC,6789,0.80,306.3,386.4,8.5,296,6806,0.10,2.72,10.90,0.710,4,0.078,0.049,3056,3189,1871,0,0,0,0,0,0
$GC,6830,0.80,306.3,381.7,12.4,296,6836,0.10,2.55,0.00,0.000,6,0.118,0.035,3035,1655,1868,0,0,0,0,0,0
$GC,7081,0.80,306.3,355.5,10.6,303,7085,0.00,2.55,0.00,0.000,4,0.000,0.064,3035,171,1867,0,0,0,0,0,0
$GC,7113,0.80,306.3,351.4,11.8,303,7117,0.00,2.28,0.00,0.000,6,0.000,0.025,3035,1608,1866,0,0,0,0,0,0
$GC,7363,0.80,306.3,323.8,11.2,309,7367,0.00,2.65,0.00,0.000,4,0.000,0.045,3036,3194,1865,0,0,0,0,0,0
$GC,7415,0.88,306.3,318.3,10.6,310,7420,0.00,2.53,0.00,0.000,6,0.000,0.034,3035,1657,1863,0,0,0,0,0,0
$GC,7695,0.89,313.5,292.9,8.7,317,7707,0.00,2.60,6.65,0.599,4,0.000,0.063,3035,172,1841,0,0,0,0,0,0
$GC,7741,0.89,313.5,288.7,9.5,318,7745,0.00,2.28,0.00,0.000,6,0.000,0.023,3035,1610,1842,0,0,0,0,0,0
$GC,8029,0.92,341.3,265.8,7.8,325,8062,0.10,2.70,26.00,0.695,4,0.077,0.043,3095,3185,1727,0,0,0,0,0,0
$GC,8076,0.81,341.3,260.6,11.2,326,8081,0.28,2.53,0.00,0.000,6,0.088,0.032,3035,1657,1724,0,0,0,0,0,0
$GC,8361,0.88,351.3,235.8,8.6,333,8377,0.00,2.55,9.50,0.606,4,0.000,0.033,3035,3197,1686,0,0,0,0,0,0
$GC,8401,0.98,351.3,231.8,9.6,333,8407,0.17,2.53,0.00,0.000,6,0.050,0.030,3114,1651,1684,0,0,0,0,0,0
$GC,8653,0.84,351.3,197.7,14.1,340,8658,0.30,2.47,0.00,0.000,4,0.094,0.051,3045,176,1684,0,0,0,0,0,0
$GC,8690,0.84,351.3,193.3,11.8,343,8694,0.00,2.25,0.00,0.000,6,0.000,0.021,3045,1620,1683,0,0,0,0,0,0
$GC,8956,0.84,351.4,169.0,9.0,367,8960,0.00,2.55,0.00,0.000,4,0.000,0.031,3045,3202,1682,0,0,0,0,0,0
$GC,8976,0.85,356.9,166.8,8.8,368,8994,0.00,2.53,5.62,0.488,6,0.000,0.028,3045,1648,1665,0,0,0,0,0,0
$GC,9245,0.91,356.9,142.7,9.3,394,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1648,1664,0,0,0,0,0,0
$GC,9502,1.01,363.0,120.2,8.8,418,9513,0.15,0.00,7.38,0.494,6,0.056,0.000,3123,1648,1639,0,0,0,0,0,0
$GC,9770,0.92,363.0,86.0,13.3,443,9775,0.28,2.42,0.00,0.000,4,0.150,0.044,3060,168,1638,0,0,0,0,0,0
$GC,9832,1.01,363.0,78.5,10.7,448,9840,0.00,2.28,0.00,0.000,6,0.000,0.021,3060,1618,1638,0,0,0,0,0,0
$GC,10097,1.11,365.0,54.5,8.9,473,10102,0.17,2.55,0.00,0.000,4,0.050,0.030,3139,3211,1638,0,0,0,0,0,0
$GC,10118,1.11,365.0,52.5,9.2,474,10123,0.17,2.50,0.00,0.000,6,0.100,0.027,3102,1657,1637,0,0,0,0,0,0
$GC,10392,1.11,365.0,23.2,9.5,503,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1657,1637,0,0,0,0,0,0
$STATE,10592,end climb,SURFACE_DEPTH_REACHED
$STATE,10592,begin surface coast
$FINISH,0.6,1.022260
$STATE,10649,end surface coast,CONTROL_FINISHED_OK
$STATE,10649,begin surface
$SM_CCo,10670,34.50,0.359,1,0,1406,420.20
$SM_GC,1.75,0.00,0.00,34.50,0.000,0.000,0.359,413,1814,1406,-11.26,0.68,420.20
$IRIDIUM_FIX,2237.01,-15802.37,220300,000019
$TT8_MAMPS,0.026845
$HUMID,47.32
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,23.5,49.885
$10V_AH,10.2,43.159
$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,32.675,137.275,433.350,34.500,0.000,22.941,34.080,294.759,0.750,0.000,48.066,1141.852,6822.505,520.879,2085.023,663.823,33.380,1345.132,0.000,2055.950,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,77.467,866.710,358.956,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.533,336.999,423.488,634.750,1119.781,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,41418,543
$CAP_FILE_SIZE,127170,0
$CFSIZE,260165632,151138304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271210,062913,2248.193,-15803.185,78,1.4,84,10.1