version: 66.06
glider: 148
mission: 9
dive: 385
start: 12 28 110 10 10 35
data:
$ID,148
$MISSION,9
$DIVE,385
$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,-866218.75
$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,23
$R_STBD_OVSHOOT,57
$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
$GPS1,100207,2250.135,-15757.023,24,1.6,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.1
$GPS2,100938,2250.081,-15757.097,13,1.6,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.061,-0.243
$KALMAN_X,-33434.9,-0.4,-393.3,55794.8,-132.8
$KALMAN_Y,-50236.5,-14.6,-69.1,180307.8,-1120.2
$MHEAD_RNG_PITCHd_Wd,184.0,5831,-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,-75.38,0.000,2,0.000,0.000,415,1813,3305,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.7,-4.9,10,124,11.40,2.47,-7.35,0.000,4,0.150,0.041,2596,3355,3714,0,0,0,0,0,0
$GC,243,-1.07,-146.0,35.2,-13.5,30,252,0.10,2.55,0.00,0.000,6,0.080,0.025,2624,1775,3716,0,0,0,0,0,0
$GC,511,-0.98,-146.0,67.0,-12.4,55,516,0.10,2.58,0.00,0.000,4,0.129,0.030,2644,3364,3717,0,0,0,0,0,0
$GC,577,-0.98,-146.0,74.8,-10.0,60,582,0.00,2.47,0.00,0.000,6,0.000,0.023,2644,1796,3717,0,0,0,0,0,0
$GC,841,-0.98,-146.0,100.8,-9.0,84,846,0.00,2.58,0.00,0.000,4,0.000,0.040,2644,212,3718,0,0,0,0,0,0
$GC,860,-1.04,-146.0,102.4,-8.6,85,865,0.00,2.45,0.00,0.000,6,0.000,0.018,2644,1806,3718,0,0,0,0,0,0
$GC,1130,-1.13,-146.0,123.5,-7.8,109,1135,0.12,2.45,0.00,0.000,4,0.062,0.028,2556,3358,3718,0,0,0,0,0,0
$GC,1200,-1.03,-146.0,132.2,-11.3,115,1209,0.30,2.40,0.00,0.000,6,0.069,0.022,2630,1815,3719,0,0,0,0,0,0
$GC,1465,-1.09,-146.0,153.4,-7.8,140,1469,0.00,2.47,0.00,0.000,4,0.000,0.029,2630,3363,3720,0,0,0,0,0,0
$GC,1522,-1.25,-146.0,157.8,-7.4,145,1527,0.17,2.40,0.00,0.000,6,0.048,0.022,2534,1831,3720,0,0,0,0,0,0
$GC,1787,-0.99,-146.0,194.8,-14.8,169,1796,0.52,2.42,0.00,0.000,4,0.083,0.029,2641,3356,3720,0,0,0,0,0,0
$GC,1821,-0.99,-146.0,198.6,-9.8,172,1825,0.00,2.38,0.00,0.000,6,0.000,0.022,2641,1840,3720,0,0,0,0,0,0
$GC,2081,-1.11,-146.0,217.8,-7.4,179,2086,0.10,2.42,0.00,0.000,4,0.075,0.030,2577,3359,3720,0,0,0,0,0,0
$GC,2107,-1.11,-146.0,220.2,-10.7,179,2112,0.17,2.38,0.00,0.000,6,0.087,0.022,2618,1846,3720,0,0,0,0,0,0
$GC,2367,-1.11,-146.0,243.4,-9.0,186,2371,0.00,2.42,0.00,0.000,4,0.000,0.030,2618,3360,3720,0,0,0,0,0,0
$GC,2391,-1.11,-146.0,245.5,-8.9,186,2396,0.00,2.38,0.00,0.000,6,0.000,0.022,2618,1860,3720,0,0,0,0,0,0
$GC,2651,-1.18,-146.0,265.7,-8.0,193,2655,0.00,2.40,0.00,0.000,4,0.000,0.031,2618,3354,3720,0,0,0,0,0,0
$GC,2674,-1.27,-146.0,267.8,-8.5,193,2679,0.15,2.35,0.00,0.000,6,0.052,0.024,2531,1864,3720,0,0,0,0,0,0
$GC,2936,-1.08,-146.0,300.7,-13.2,200,2941,0.40,2.40,0.00,0.000,4,0.079,0.032,2623,3354,3720,0,0,0,0,0,0
$GC,2965,-1.16,-146.0,303.9,-8.5,200,2969,0.00,2.38,0.00,0.000,6,0.000,0.025,2623,1867,3720,0,0,0,0,0,0
$GC,3220,-1.28,-146.0,322.2,-7.4,207,3225,0.17,2.42,0.00,0.000,4,0.048,0.035,2535,3353,3719,0,0,0,0,0,0
$GC,3246,-1.19,-146.0,324.9,-10.9,207,3251,0.30,2.35,0.00,0.000,6,0.076,0.025,2603,1867,3719,0,0,0,0,0,0
$GC,3505,-1.19,-146.0,349.2,-9.4,214,3509,0.00,2.40,0.00,0.000,4,0.000,0.037,2603,3353,3718,0,0,0,0,0,0
$GC,3533,-1.27,-146.0,352.0,-9.1,214,3537,0.00,2.35,0.00,0.000,6,0.000,0.027,2603,1876,3718,0,0,0,0,0,0
$GC,3794,-1.33,-146.0,371.3,-7.2,221,3799,0.15,2.42,0.00,0.000,4,0.054,0.039,2529,3351,3717,0,0,0,0,0,0
$GC,3827,-1.21,-146.0,374.7,-10.7,221,3832,0.30,2.35,0.00,0.000,6,0.081,0.026,2596,1885,3717,0,0,0,0,0,0
$GC,4079,-1.21,-146.0,393.4,-7.2,227,4083,0.00,2.40,0.00,0.000,4,0.000,0.041,2595,3349,3716,0,0,0,0,0,0
$GC,4112,-1.28,-146.0,395.9,-6.8,227,4116,0.00,2.33,0.00,0.000,6,0.000,0.027,2596,1902,3715,0,0,0,0,0,0
$GC,4361,-1.28,-146.0,412.8,-6.9,233,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1902,3714,0,0,0,0,0,0
$GC,4607,-1.28,-146.0,432.8,-8.4,239,4611,0.00,2.40,0.00,0.000,4,0.000,0.044,2597,3346,3713,0,0,0,0,0,0
$GC,4635,-1.35,-146.0,435.6,-8.8,239,4640,0.12,2.30,0.00,0.000,6,0.064,0.028,2523,1909,3713,0,0,0,0,0,0
$GC,4890,-1.18,-146.0,464.6,-11.4,246,4898,0.32,2.88,0.00,0.000,4,0.084,0.062,2596,218,3711,0,0,0,0,0,0
$GC,4909,-1.18,-146.0,466.4,-9.9,246,4913,0.00,2.65,0.00,0.000,6,0.000,0.029,2597,1872,3710,0,0,0,0,0,0
$GC,5178,-1.26,-146.0,485.5,-7.3,253,5182,0.00,2.45,0.00,0.000,4,0.000,0.051,2596,3346,3709,0,0,0,0,0,0
$GC,5206,-1.36,-146.0,487.7,-7.8,253,5211,0.15,2.33,0.00,0.000,6,0.053,0.029,2517,1904,3709,0,0,0,0,0,0
$STATE,5336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5337,begin apogee
$GC,5344,-0.31,0.0,502.5,11.4,257,5465,1.23,0.00,117.60,0.867,6,0.079,0.000,2790,1676,3120,0,0,0,0,0,0
$STATE,5466,end apogee,CONTROL_FINISHED_OK
$STATE,5466,begin climb
$GC,5468,1.17,146.0,507.5,0.0,260,5602,1.35,2.67,120.97,0.849,4,0.027,0.051,3130,3226,2522,0,0,0,0,0,0
$GC,5640,0.85,156.5,506.1,8.6,264,5657,0.40,2.55,9.48,0.719,6,0.107,0.037,3048,1698,2481,0,0,0,0,0,0
$GC,5920,0.77,190.5,485.4,7.6,271,5956,0.00,2.72,29.30,0.815,4,0.000,0.075,3048,167,2344,0,0,0,0,0,0
$GC,6026,0.58,190.5,475.6,9.8,273,6031,0.28,2.42,0.00,0.000,6,0.098,0.028,2989,1647,2341,0,0,0,0,0,0
$GC,6295,0.76,277.5,459.6,5.4,280,6379,0.15,2.65,76.03,0.830,4,0.057,0.060,3051,168,1987,0,0,0,0,0,0
$GC,6398,0.64,277.5,450.0,11.5,282,6403,0.22,2.45,0.00,0.000,6,0.093,0.028,3002,1675,1985,0,0,0,0,0,0
$GC,6666,0.74,298.5,427.7,8.1,289,6687,0.00,0.00,19.10,0.772,6,0.000,0.000,3002,1676,1902,0,0,0,0,0,0
$GC,6908,0.83,303.8,406.6,8.8,295,6916,0.17,0.00,5.38,0.596,6,0.051,0.000,3079,1676,1880,0,0,0,0,0,0
$GC,7151,0.72,303.8,374.6,13.4,301,7157,0.25,2.60,0.00,0.000,4,0.093,0.057,3021,157,1878,0,0,0,0,0,0
$GC,7200,0.72,303.8,369.0,10.6,302,7205,0.00,2.45,0.00,0.000,6,0.000,0.026,3021,1675,1878,0,0,0,0,0,0
$GC,7482,0.73,308.1,343.1,8.8,309,7494,0.00,2.65,4.70,0.546,4,0.000,0.048,3021,3249,1864,0,0,0,0,0,0
$GC,7505,0.73,308.1,341.1,9.0,309,7510,0.00,2.65,0.00,0.000,6,0.000,0.033,3021,1661,1863,0,0,0,0,0,0
$GC,7769,0.80,308.1,315.8,9.8,316,7774,0.00,2.67,0.00,0.000,4,0.000,0.041,3021,3258,1863,0,0,0,0,0,0
$GC,7788,0.86,308.1,313.9,9.9,316,7794,0.12,2.65,0.00,0.000,6,0.067,0.033,3073,1661,1860,0,0,0,0,0,0
$GC,8055,0.79,308.1,283.7,11.4,323,8060,0.17,2.58,0.00,0.000,4,0.097,0.064,3034,170,1860,0,0,0,0,0,0
$GC,8093,0.79,308.1,279.2,10.5,323,8098,0.00,2.40,0.00,0.000,6,0.000,0.023,3034,1679,1860,0,0,0,0,0,0
$GC,8342,0.79,308.1,253.1,10.7,330,8346,0.00,2.58,0.00,0.000,4,0.000,0.042,3034,3247,1859,0,0,0,0,0,0
$GC,8372,0.87,308.1,250.3,10.0,330,8376,0.00,2.60,0.00,0.000,6,0.000,0.032,3034,1662,1858,0,0,0,0,0,0
$GC,8627,0.96,328.7,228.7,8.1,337,8652,0.15,2.60,19.27,0.660,4,0.056,0.059,3105,168,1778,0,0,0,0,0,0
$GC,8713,0.81,328.7,218.6,13.1,338,8719,0.32,2.38,0.00,0.000,6,0.092,0.023,3036,1656,1777,0,0,0,0,0,0
$GC,8965,0.88,328.7,194.8,9.1,348,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1660,1774,0,0,0,0,0,0
$GC,9222,0.96,331.4,172.2,8.9,372,9227,0.12,2.60,0.00,0.000,4,0.065,0.034,3099,3258,1774,0,0,0,0,0,0
$GC,9257,0.96,331.4,168.0,12.2,375,9263,0.15,2.62,0.00,0.000,6,0.102,0.029,3067,1647,1771,0,0,0,0,0,0
$GC,9522,0.96,331.4,138.1,11.1,399,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1647,1771,0,0,0,0,0,0
$GC,9784,0.97,343.8,113.6,8.5,424,9806,0.00,2.67,13.57,0.542,4,0.000,0.033,3067,3251,1716,0,0,0,0,0,0
$GC,9822,0.99,362.7,110.8,8.2,427,9846,0.00,2.58,18.20,0.549,6,0.000,0.028,3067,1660,1640,0,0,0,0,0,0
$GC,10107,1.06,362.7,82.5,10.2,454,10112,0.10,2.47,0.00,0.000,4,0.077,0.051,3123,173,1637,0,0,0,0,0,0
$GC,10180,0.95,362.7,72.5,13.7,460,10189,0.22,2.35,0.00,0.000,6,0.079,0.021,3069,1657,1636,0,0,0,0,0,0
$GC,10444,1.03,381.7,48.4,8.2,485,10469,0.00,2.60,17.73,0.490,4,0.000,0.031,3070,3257,1562,0,0,0,0,0,0
$GC,10509,1.21,399.0,42.7,8.3,490,10531,0.17,2.62,15.77,0.482,6,0.021,0.028,3166,1659,1493,0,0,0,0,0,0
$STATE,10778,end climb,SURFACE_DEPTH_REACHED
$STATE,10778,begin surface coast
$FINISH,0.7,1.023623
$STATE,10811,end surface coast,CONTROL_FINISHED_OK
$STATE,10811,begin surface
$SM_CCo,10833,20.05,0.275,1,0,1405,420.20
$SM_GC,1.49,0.00,0.00,20.05,0.000,0.000,0.275,412,1880,1405,-11.26,2.54,420.20
$IRIDIUM_FIX,2244.02,-15756.28,230300,070757
$TT8_MAMPS,0.026845
$HUMID,48.66
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,23.5,51.074
$10V_AH,10.3,44.277
$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,31.850,150.125,467.100,20.050,0.000,29.133,35.433,257.416,0.500,0.000,14.495,1130.540,7074.958,543.693,1936.110,629.392,33.375,1347.079,0.000,1938.689,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,75.166,867.477,274.586,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.310,320.112,405.796,597.494,1056.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,41573,532
$CAP_FILE_SIZE,128785,0
$CFSIZE,260165632,150556672
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281210,131237,2248.558,-15757.624,24,1.5,24,10.1