version: 66.06
glider: 148
mission: 9
dive: 415
start: 1 1 111 5 3 5
data:
$ID,148
$MISSION,9
$DIVE,415
$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,-866891.81
$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,35
$R_STBD_OVSHOOT,90
$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
$GPS1,045406,2247.145,-15800.281,27,0.8,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.3
$GPS2,050208,2247.130,-15800.222,9,1.7,9,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.212,0.133
$KALMAN_X,-38627.1,75.1,279.8,54855.5,-350.4
$KALMAN_Y,-76476.5,-452.8,642.2,200808.3,-1616.7
$MHEAD_RNG_PITCHd_Wd,292.1,4751,-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,-75.25,0.000,2,0.000,0.000,415,1838,3289,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.6,-4.7,10,123,11.50,2.38,-7.85,0.000,4,0.153,0.041,2596,3323,3717,0,0,0,0,0,0
$GC,255,-1.05,-146.0,36.3,-13.2,31,264,0.12,2.47,0.00,0.000,6,0.077,0.023,2629,1783,3720,0,0,0,0,0,0
$GC,523,-1.05,-146.0,66.7,-11.4,56,527,0.00,2.47,0.00,0.000,4,0.000,0.030,2629,3322,3720,0,0,0,0,0,0
$GC,578,-1.05,-146.0,74.0,-11.2,60,587,0.00,2.45,0.00,0.000,6,0.000,0.023,2629,1793,3720,0,0,0,0,0,0
$GC,844,-1.05,-146.0,101.8,-9.4,85,848,0.00,2.45,0.00,0.000,4,0.000,0.028,2629,3324,3721,0,0,0,0,0,0
$GC,892,-1.12,-146.0,106.2,-8.1,89,896,0.00,2.40,0.00,0.000,6,0.000,0.022,2629,1808,3721,0,0,0,0,0,0
$GC,1160,-1.20,-146.0,130.3,-9.2,114,1165,0.12,2.45,0.00,0.000,4,0.063,0.030,2555,3328,3721,0,0,0,0,0,0
$GC,1200,-1.09,-146.0,134.9,-12.6,117,1205,0.30,2.40,0.00,0.000,6,0.076,0.023,2623,1810,3721,0,0,0,0,0,0
$GC,1461,-1.16,-146.0,158.0,-8.1,141,1466,0.00,2.42,0.00,0.000,4,0.000,0.029,2624,3327,3722,0,0,0,0,0,0
$GC,1501,-1.28,-146.0,161.2,-8.3,144,1510,0.15,2.40,0.00,0.000,6,0.021,0.023,2519,1827,3722,0,0,0,0,0,0
$GC,1768,-1.04,-146.0,198.4,-14.7,169,1773,0.47,2.38,0.00,0.000,4,0.082,0.028,2628,3322,3722,0,0,0,0,0,0
$GC,1797,-1.04,-146.0,202.5,-8.9,169,1801,0.00,2.35,0.00,0.000,6,0.000,0.021,2628,1822,3722,0,0,0,0,0,0
$GC,2052,-1.15,-146.0,222.6,-8.0,176,2056,0.00,2.38,0.00,0.000,4,0.000,0.030,2628,3322,3722,0,0,0,0,0,0
$GC,2105,-1.33,-146.0,226.5,-7.4,177,2110,0.25,2.33,0.00,0.000,6,0.033,0.024,2517,1847,3722,0,0,0,0,0,0
$GC,2383,-1.11,-146.0,264.8,-14.6,184,2391,0.43,2.65,0.00,0.000,4,0.084,0.038,2613,214,3722,0,0,0,0,0,0
$GC,2402,-1.05,-146.0,267.1,-12.1,184,2407,0.00,2.50,0.00,0.000,6,0.000,0.021,2613,1813,3722,0,0,0,0,0,0
$GC,2671,-1.14,-146.0,287.7,-7.3,191,2675,0.00,2.45,0.00,0.000,4,0.000,0.033,2613,3361,3722,0,0,0,0,0,0
$GC,2743,-1.30,-146.0,293.1,-6.7,192,2748,0.15,2.38,0.00,0.000,6,0.053,0.025,2529,1860,3722,0,0,0,0,0,0
$GC,3003,-1.13,-146.0,324.2,-12.4,199,3010,0.35,2.70,0.00,0.000,4,0.083,0.045,2608,215,3721,0,0,0,0,0,0
$GC,3020,-1.13,-146.0,326.3,-11.0,199,3024,0.00,2.60,0.00,0.000,6,0.000,0.023,2607,1857,3721,0,0,0,0,0,0
$GC,3290,-1.22,-146.0,345.5,-6.8,206,3294,0.00,2.42,0.00,0.000,4,0.000,0.038,2607,3368,3720,0,0,0,0,0,0
$GC,3351,-1.37,-146.0,349.7,-6.5,207,3356,0.20,2.38,0.00,0.000,6,0.042,0.026,2523,1875,3720,0,0,0,0,0,0
$GC,3622,-1.23,-146.0,378.2,-11.1,214,3627,0.28,2.42,0.00,0.000,4,0.087,0.039,2588,3359,3719,0,0,0,0,0,0
$GC,3646,-1.23,-146.0,380.7,-8.6,214,3650,0.00,2.38,0.00,0.000,6,0.000,0.027,2588,1869,3718,0,0,0,0,0,0
$GC,3905,-1.23,-146.0,400.6,-8.0,221,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1870,3717,0,0,0,0,0,0
$GC,4148,-1.23,-146.0,423.3,-9.5,227,4152,0.00,2.47,0.00,0.000,4,0.000,0.044,2588,3359,3715,0,0,0,0,0,0
$GC,4197,-1.31,-146.0,427.8,-8.8,228,4201,0.00,2.38,0.00,0.000,6,0.000,0.028,2588,1888,3715,0,0,0,0,0,0
$GC,4479,-1.31,-146.0,451.6,-8.1,235,4483,0.00,2.42,0.00,0.000,4,0.000,0.048,2588,3351,3713,0,0,0,0,0,0
$GC,4504,-1.31,-146.0,453.5,-8.0,235,4508,0.00,2.35,0.00,0.000,6,0.000,0.028,2588,1895,3713,0,0,0,0,0,0
$GC,4763,-1.31,-146.0,471.0,-6.6,242,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1894,3711,0,0,0,0,0,0
$GC,5006,-1.31,-146.0,487.3,-6.7,248,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1895,3710,0,0,0,0,0,0
$STATE,5207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5207,begin apogee
$GC,5214,-0.31,0.0,500.8,6.7,253,5335,0.90,0.00,117.78,0.874,6,0.077,0.000,2790,1681,3120,0,0,0,0,0,0
$STATE,5336,end apogee,CONTROL_FINISHED_OK
$STATE,5336,begin climb
$GC,5338,1.17,146.0,504.4,0.0,256,5469,1.33,2.72,121.07,0.854,4,0.028,0.074,3126,186,2524,0,0,0,0,0,0
$GC,5659,0.73,146.0,485.8,11.5,263,5666,0.50,2.40,0.00,0.000,6,0.100,0.027,3020,1672,2517,0,0,0,0,0,0
$GC,5937,0.82,218.1,468.4,6.0,270,6005,0.00,2.62,60.90,0.834,4,0.000,0.058,3020,184,2229,0,0,0,0,0,0
$GC,6133,0.82,218.1,451.1,10.3,274,6138,0.00,2.40,0.00,0.000,6,0.000,0.026,3020,1674,2225,0,0,0,0,0,0
$GC,6402,0.83,228.2,427.5,8.6,281,6417,0.00,2.60,8.80,0.704,4,0.000,0.056,3019,183,2189,0,0,0,0,0,0
$GC,6432,0.84,238.8,424.8,8.6,281,6449,0.10,2.42,11.12,0.729,6,0.080,0.025,3067,1677,2146,0,0,0,0,0,0
$GC,6741,0.74,238.8,393.2,10.4,289,6746,0.22,2.58,0.00,0.000,4,0.094,0.056,3018,185,2141,0,0,0,0,0,0
$GC,6776,0.74,238.8,389.2,9.8,289,6780,0.00,2.40,0.00,0.000,6,0.000,0.025,3018,1675,2140,0,0,0,0,0,0
$GC,7027,0.76,252.3,367.8,8.4,295,7047,0.00,2.60,12.62,0.729,4,0.000,0.058,3018,187,2090,0,0,0,0,0,0
$GC,7071,0.76,252.3,363.6,9.6,296,7075,0.00,2.38,0.00,0.000,6,0.000,0.025,3019,1671,2089,0,0,0,0,0,0
$GC,7360,0.79,277.4,340.5,8.0,303,7388,0.00,2.72,22.70,0.750,4,0.000,0.048,3018,3250,1988,0,0,0,0,0,0
$GC,7409,0.89,305.2,336.6,7.8,304,7442,0.15,2.62,26.67,0.744,6,0.057,0.032,3080,1679,1875,0,0,0,0,0,0
$GC,7694,0.80,305.2,304.2,11.5,311,7699,0.20,2.62,0.00,0.000,4,0.096,0.063,3036,167,1868,0,0,0,0,0,0
$GC,7743,0.80,305.2,298.7,11.1,312,7747,0.00,2.40,0.00,0.000,6,0.000,0.025,3036,1657,1868,0,0,0,0,0,0
$GC,8024,0.80,305.2,271.6,9.3,319,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1657,1865,0,0,0,0,0,0
$GC,8268,0.82,320.4,251.0,8.4,325,8288,0.00,2.72,13.48,0.658,4,0.000,0.044,3036,3243,1812,0,0,0,0,0,0
$GC,8319,0.93,325.3,246.9,8.8,326,8332,0.12,2.67,5.53,0.537,6,0.065,0.033,3092,1637,1792,0,0,0,0,0,0
$GC,8607,0.85,325.3,213.1,12.0,333,8612,0.22,2.47,0.00,0.000,4,0.094,0.055,3043,171,1790,0,0,0,0,0,0
$GC,8702,0.85,325.3,202.6,10.6,335,8706,0.00,2.35,0.00,0.000,6,0.000,0.022,3043,1653,1789,0,0,0,0,0,0
$GC,8979,0.85,325.3,177.3,9.2,358,8983,0.00,2.60,0.00,0.000,4,0.000,0.035,3043,3248,1788,0,0,0,0,0,0
$GC,9005,0.93,325.3,174.6,9.7,360,9009,0.00,2.62,0.00,0.000,6,0.000,0.030,3043,1640,1786,0,0,0,0,0,0
$GC,9268,1.00,333.0,150.4,8.7,384,9282,0.15,2.65,7.62,0.528,4,0.056,0.035,3117,3248,1761,0,0,0,0,0,0
$GC,9309,0.89,333.0,145.6,11.6,387,9316,0.28,2.62,0.00,0.000,6,0.087,0.029,3055,1645,1759,0,0,0,0,0,0
$GC,9571,0.90,342.8,121.1,8.6,412,9588,0.00,2.50,9.80,0.529,4,0.000,0.048,3055,175,1721,0,0,0,0,0,0
$GC,9629,0.97,342.8,116.0,10.1,417,9633,0.00,2.33,0.00,0.000,6,0.000,0.021,3055,1650,1721,0,0,0,0,0,0
$GC,9895,1.13,385.4,95.7,7.2,441,9940,0.20,2.67,39.12,0.560,4,0.044,0.036,3156,3251,1548,0,0,0,0,0,0
$GC,9985,1.04,385.4,84.0,14.6,449,9994,0.32,2.62,0.00,0.000,6,0.085,0.028,3084,1644,1543,0,0,0,0,0,0
$GC,10252,1.04,385.4,54.5,11.1,474,10256,0.00,2.42,0.00,0.000,4,0.000,0.044,3084,174,1542,0,0,0,0,0,0
$GC,10270,1.04,385.4,52.5,11.2,475,10274,0.00,2.28,0.00,0.000,6,0.000,0.020,3084,1648,1542,0,0,0,0,0,0
$GC,10544,1.04,385.4,23.2,10.3,504,10552,0.00,2.62,0.00,0.000,4,0.000,0.035,3084,3250,1541,0,0,0,0,0,0
$GC,10571,1.04,385.4,20.6,9.8,507,10580,0.00,2.62,0.00,0.000,6,0.000,0.027,3084,1642,1540,0,0,0,0,0,0
$STATE,10736,end climb,SURFACE_DEPTH_REACHED
$STATE,10736,begin surface coast
$FINISH,0.6,1.012929
$STATE,10781,end surface coast,CONTROL_FINISHED_OK
$STATE,10781,begin surface
$SM_CCo,10803,16.62,0.063,0,0,1407,420.20
$SM_GC,1.92,0.00,0.00,16.62,0.000,0.000,0.063,418,1863,1407,-11.23,2.06,420.20
$IRIDIUM_FIX,2239.35,-15759.32,270300,020234
$TT8_MAMPS,0.026845
$HUMID,48.46
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,54.608
$10V_AH,10.2,47.674
$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,29.875,145.050,457.225,16.625,0.000,29.226,39.724,276.095,0.250,0.000,11.399,1149.484,6843.611,491.606,2148.844,669.514,33.368,1381.948,0.000,2153.027,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,73.632,874.380,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.589,327.708,417.904,633.797,1120.884,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,41437,540
$CAP_FILE_SIZE,128414,0
$CFSIZE,260165632,148828160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010111,080437,2247.215,-15801.601,33,1.0,33,10.1