version: 66.06
glider: 148
mission: 9
dive: 400
start: 12 30 110 8 6 54
data:
$ID,148
$MISSION,9
$DIVE,400
$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,-866522.56
$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,29
$R_STBD_OVSHOOT,87
$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
$GPS1,075455,2247.131,-15759.900,39,1.4,39,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.2
$GPS2,080556,2247.122,-15759.942,15,1.1,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.242,0.066
$KALMAN_X,-37142.1,-549.3,157.3,54606.5,-684.8
$KALMAN_Y,-65909.3,214.0,-328.4,190529.2,-880.3
$MHEAD_RNG_PITCHd_Wd,275.3,5226,-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,-75.20,0.000,2,0.000,0.000,411,1838,3333,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.8,-5.4,10,124,11.48,2.65,-6.93,0.000,4,0.152,0.045,2594,202,3718,0,0,0,0,0,0
$GC,228,-1.17,-146.0,30.5,-12.5,29,237,0.00,2.42,0.00,0.000,6,0.000,0.019,2595,1743,3720,0,0,0,0,0,0
$GC,494,-1.04,-146.0,67.1,-13.5,54,499,0.17,2.60,0.00,0.000,4,0.102,0.031,2632,3365,3720,0,0,0,0,0,0
$GC,594,-1.10,-146.0,78.7,-10.2,62,598,0.00,2.50,0.00,0.000,6,0.000,0.022,2632,1793,3721,0,0,0,0,0,0
$GC,856,-1.10,-146.0,108.1,-11.6,86,860,0.00,2.53,0.00,0.000,4,0.000,0.030,2632,3364,3721,0,0,0,0,0,0
$GC,903,-1.18,-146.0,112.9,-9.8,90,908,0.12,2.45,0.00,0.000,6,0.243,0.022,2546,1816,3721,0,0,0,0,0,0
$GC,1166,-0.93,-146.0,151.7,-15.4,114,1178,0.55,2.47,0.00,0.000,4,0.084,0.029,2649,3368,3722,0,0,0,0,0,0
$GC,1184,-0.80,-146.0,154.4,-14.0,115,1190,0.15,2.42,0.00,0.000,6,0.094,0.020,2685,1823,3722,0,0,0,0,0,0
$GC,1448,-1.06,-146.0,170.0,-5.9,140,1453,0.22,2.45,0.00,0.000,4,0.038,0.028,2561,3367,3722,0,0,0,0,0,0
$GC,1497,-0.98,-146.0,175.2,-11.6,144,1507,0.35,2.45,0.00,0.000,6,0.064,0.021,2646,1833,3722,0,0,0,0,0,0
$GC,1761,-1.12,-146.0,194.4,-7.6,169,1766,0.12,2.47,0.00,0.000,4,0.061,0.030,2565,3367,3722,0,0,0,0,0,0
$GC,1806,-1.12,-146.0,199.4,-11.2,173,1811,0.22,2.40,0.00,0.000,6,0.084,0.021,2616,1845,3722,0,0,0,0,0,0
$GC,2068,-1.12,-146.0,223.6,-9.3,180,2072,0.00,2.42,0.00,0.000,4,0.000,0.031,2616,3367,3722,0,0,0,0,0,0
$GC,2129,-1.25,-146.0,229.4,-8.2,181,2134,0.12,2.40,0.00,0.000,6,0.061,0.023,2539,1854,3722,0,0,0,0,0,0
$GC,2400,-1.09,-146.0,262.3,-12.4,188,2405,0.35,2.45,0.00,0.000,4,0.081,0.031,2619,3373,3722,0,0,0,0,0,0
$GC,2429,-1.17,-146.0,265.7,-9.0,188,2433,0.00,2.38,0.00,0.000,6,0.000,0.022,2618,1864,3722,0,0,0,0,0,0
$GC,2688,-1.27,-146.0,286.8,-8.3,195,2693,0.15,2.45,0.00,0.000,4,0.054,0.033,2529,3371,3722,0,0,0,0,0,0
$GC,2734,-1.15,-146.0,291.9,-12.5,196,2739,0.35,2.40,0.00,0.000,6,0.074,0.024,2608,1864,3722,0,0,0,0,0,0
$GC,3023,-1.24,-146.0,319.1,-8.9,203,3027,0.00,2.42,0.00,0.000,4,0.000,0.036,2608,3364,3721,0,0,0,0,0,0
$GC,3081,-1.39,-146.0,323.9,-7.5,204,3086,0.20,2.35,0.00,0.000,6,0.041,0.026,2522,1882,3721,0,0,0,0,0,0
$GC,3355,-1.22,-146.0,356.0,-11.7,211,3360,0.30,2.40,0.00,0.000,4,0.082,0.039,2593,3359,3719,0,0,0,0,0,0
$GC,3376,-1.15,-146.0,358.2,-10.1,211,3380,0.00,2.35,0.00,0.000,6,0.000,0.025,2593,1885,3719,0,0,0,0,0,0
$GC,3644,-1.15,-146.0,379.9,-8.4,218,3648,0.00,2.42,0.00,0.000,4,0.000,0.041,2593,3362,3718,0,0,0,0,0,0
$GC,3662,-1.15,-146.0,381.7,-9.3,218,3666,0.00,2.35,0.00,0.000,6,0.000,0.026,2593,1894,3718,0,0,0,0,0,0
$GC,3928,-1.21,-146.0,407.2,-9.7,225,3932,0.00,2.40,0.00,0.000,4,0.000,0.043,2593,3354,3716,0,0,0,0,0,0
$GC,3965,-1.31,-146.0,411.0,-9.2,225,3969,0.00,2.35,0.00,0.000,6,0.000,0.028,2593,1898,3716,0,0,0,0,0,0
$GC,4215,-1.38,-146.0,433.0,-8.7,231,4217,0.15,0.00,0.00,0.000,6,0.055,0.000,2521,1898,3714,0,0,0,0,0,0
$GC,4460,-1.24,-146.0,460.2,-11.1,237,4462,0.30,0.00,0.00,0.000,6,0.082,0.000,2587,1898,3713,0,0,0,0,0,0
$GC,4702,-1.30,-146.0,479.5,-7.8,243,4706,0.00,2.42,0.00,0.000,4,0.000,0.051,2587,3353,3711,0,0,0,0,0,0
$GC,4744,-1.41,-146.0,482.8,-7.2,243,4750,0.15,2.35,0.00,0.000,6,0.054,0.030,2514,1906,3711,0,0,0,0,0,0
$STATE,4910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4917,-0.31,0.0,502.1,11.8,248,5039,1.25,0.00,117.65,0.866,6,0.079,0.000,2793,1677,3120,0,0,0,0,0,0
$STATE,5040,end apogee,CONTROL_FINISHED_OK
$STATE,5040,begin climb
$GC,5042,1.17,146.0,507.0,0.0,251,5175,1.30,2.72,120.93,0.849,4,0.027,0.072,3126,184,2524,0,0,0,0,0,0
$GC,5254,0.72,146.0,501.4,10.5,255,5260,0.50,2.40,0.00,0.000,6,0.100,0.028,3021,1670,2518,0,0,0,0,0,0
$GC,5504,0.81,220.7,485.9,5.9,262,5573,0.00,2.65,63.00,0.833,4,0.000,0.060,3020,180,2219,0,0,0,0,0,0
$GC,5613,0.74,220.7,477.4,9.1,264,5617,0.00,2.45,0.00,0.000,6,0.000,0.028,3020,1686,2217,0,0,0,0,0,0
$GC,5876,0.74,220.7,452.7,9.6,271,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1686,2212,0,0,0,0,0,0
$GC,6122,0.74,220.7,429.3,9.4,277,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1685,2209,0,0,0,0,0,0
$GC,6364,0.79,262.7,410.6,7.3,283,6406,0.00,2.65,35.67,0.799,4,0.000,0.058,3020,183,2048,0,0,0,0,0,0
$GC,6478,0.80,266.4,401.5,8.9,285,6489,0.00,2.42,4.68,0.554,6,0.000,0.026,3021,1688,2033,0,0,0,0,0,0
$GC,6744,0.84,303.8,381.4,7.5,292,6787,0.10,2.75,34.28,0.778,4,0.078,0.052,3068,3255,1880,0,0,0,0,0,0
$GC,6803,0.78,303.8,375.9,10.5,293,6808,0.17,2.62,0.00,0.000,6,0.094,0.034,3031,1694,1877,0,0,0,0,0,0
$GC,7078,0.78,303.8,350.4,9.5,300,7082,0.00,2.65,0.00,0.000,4,0.000,0.065,3030,164,1874,0,0,0,0,0,0
$GC,7140,0.78,303.8,343.4,11.3,301,7144,0.00,2.45,0.00,0.000,6,0.000,0.026,3030,1688,1873,0,0,0,0,0,0
$GC,7409,0.78,303.8,316.5,10.1,308,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1688,1871,0,0,0,0,0,0
$GC,7651,0.80,315.6,294.8,8.5,314,7668,0.00,2.70,10.32,0.660,4,0.000,0.045,3031,3257,1832,0,0,0,0,0,0
$GC,7682,0.90,346.2,292.2,7.7,314,7719,0.10,2.65,28.17,0.716,6,0.078,0.032,3080,1668,1707,0,0,0,0,0,0
$GC,7982,0.90,346.2,256.1,12.8,322,7988,0.12,2.60,0.00,0.000,4,0.110,0.062,3053,167,1701,0,0,0,0,0,0
$GC,8029,0.90,346.2,249.9,12.9,323,8034,0.00,2.42,0.00,0.000,6,0.000,0.024,3053,1683,1701,0,0,0,0,0,0
$GC,8313,0.90,346.2,220.1,10.4,330,8317,0.00,2.58,0.00,0.000,4,0.000,0.039,3054,3250,1699,0,0,0,0,0,0
$GC,8341,0.90,346.2,216.9,10.8,330,8345,0.00,2.60,0.00,0.000,6,0.000,0.030,3053,1667,1697,0,0,0,0,0,0
$GC,8602,0.90,346.2,189.5,11.0,343,8606,0.00,2.50,0.00,0.000,4,0.000,0.051,3053,172,1697,0,0,0,0,0,0
$GC,8642,0.90,346.2,185.3,11.3,346,8646,0.00,2.35,0.00,0.000,6,0.000,0.023,3054,1676,1697,0,0,0,0,0,0
$GC,8908,0.90,346.2,159.3,9.2,370,8912,0.00,2.53,0.00,0.000,4,0.000,0.033,3053,3251,1697,0,0,0,0,0,0
$GC,8926,0.90,346.2,157.0,9.2,371,8932,0.00,2.58,0.00,0.000,6,0.000,0.027,3053,1660,1696,0,0,0,0,0,0
$GC,9190,1.00,373.1,134.9,7.9,396,9220,0.10,2.65,23.62,0.584,4,0.077,0.035,3123,3250,1598,0,0,0,0,0,0
$GC,9234,0.90,373.1,129.8,11.9,400,9244,0.28,2.62,0.00,0.000,6,0.070,0.028,3056,1666,1595,0,0,0,0,0,0
$GC,9501,1.01,373.1,104.4,9.6,425,9507,0.10,2.60,0.00,0.000,4,0.077,0.034,3109,3262,1594,0,0,0,0,0,0
$GC,9530,1.01,373.1,100.9,11.5,427,9535,0.15,2.58,0.00,0.000,6,0.097,0.028,3075,1676,1592,0,0,0,0,0,0
$GC,9793,1.01,373.1,75.0,9.8,451,9797,0.00,2.47,0.00,0.000,4,0.000,0.045,3075,171,1592,0,0,0,0,0,0
$GC,9835,1.01,373.1,71.0,10.5,454,9839,0.00,2.38,0.00,0.000,6,0.000,0.020,3075,1688,1592,0,0,0,0,0,0
$GC,10103,1.01,373.1,43.4,10.9,478,10111,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1689,1592,0,0,0,0,0,0
$GC,10393,1.08,375.4,14.3,8.9,516,10402,0.00,2.53,0.00,0.000,4,0.000,0.042,3075,170,1592,0,0,0,0,0,0
$GC,10444,1.19,375.4,9.6,9.6,523,10452,0.15,2.35,0.00,0.000,6,0.025,0.020,3156,1671,1592,0,0,0,0,0,0
$STATE,10496,end climb,SURFACE_DEPTH_REACHED
$STATE,10496,begin surface coast
$FINISH,0.6,1.014653
$STATE,10536,end surface coast,CONTROL_FINISHED_OK
$STATE,10537,begin surface
$SM_CCo,10557,29.27,0.334,1,0,1406,420.20
$SM_GC,1.85,0.00,0.00,29.27,0.000,0.000,0.334,413,1870,1406,-11.26,2.29,420.20
$IRIDIUM_FIX,2239.35,-15757.16,250300,080857
$TT8_MAMPS,0.026845
$HUMID,47.55
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.60
$XPDR_PINGS,3
$24V_AH,23.5,52.854
$10V_AH,10.2,45.980
$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,30.825,140.100,438.325,29.275,0.000,52.887,113.007,287.935,0.750,0.000,16.520,1115.023,6824.678,518.822,2022.536,776.458,33.376,1335.877,0.000,2021.280,0.000,0.537,0.000
$DEVICE_MAMPS,243.139,72.098,865.943,334.412,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.432,325.409,418.723,625.826,1106.330,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,41616,537
$CAP_FILE_SIZE,123989,0
$CFSIZE,260165632,149696512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301210,110436,2247.658,-15801.812,29,1.0,29,10.1