version: 66.06
glider: 148
mission: 9
dive: 427
start: 1 2 111 17 43 23
data:
$ID,148
$MISSION,9
$DIVE,427
$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,-867205.56
$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,30
$R_STBD_OVSHOOT,98
$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
$GPS1,173010,2247.305,-15759.785,35,1.4,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.5
$GPS2,174228,2247.348,-15759.768,14,2.2,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.241,0.068
$KALMAN_X,-42179.8,90.1,-56.9,59514.0,51.1
$KALMAN_Y,-84371.3,784.3,656.3,207854.2,-1060.2
$MHEAD_RNG_PITCHd_Wd,275.7,5557,-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,-75.18,0.000,2,0.000,0.000,413,1836,3290,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.4,-4.0,10,124,11.48,2.35,-8.07,0.000,4,0.152,0.038,2594,3319,3717,0,0,0,0,0,0
$GC,246,-1.06,-146.0,31.9,-13.5,31,251,0.15,2.45,0.00,0.000,6,0.103,0.022,2628,1779,3719,0,0,0,0,0,0
$GC,515,-1.06,-146.0,62.9,-11.8,55,519,0.00,2.45,0.00,0.000,4,0.000,0.030,2628,3318,3720,0,0,0,0,0,0
$GC,581,-1.06,-146.0,71.8,-11.8,60,589,0.00,2.42,0.00,0.000,6,0.000,0.022,2629,1801,3720,0,0,0,0,0,0
$GC,846,-1.06,-146.0,102.3,-10.2,85,851,0.00,2.42,0.00,0.000,4,0.000,0.029,2629,3317,3720,0,0,0,0,0,0
$GC,875,-1.06,-146.0,105.5,-9.1,87,881,0.00,2.40,0.00,0.000,6,0.000,0.021,2628,1797,3720,0,0,0,0,0,0
$GC,1139,-1.06,-146.0,126.5,-7.9,112,1144,0.00,2.40,0.00,0.000,4,0.000,0.028,2628,3318,3721,0,0,0,0,0,0
$GC,1178,-1.18,-146.0,129.6,-7.9,115,1183,0.10,2.38,0.00,0.000,6,0.073,0.023,2558,1814,3721,0,0,0,0,0,0
$GC,1443,-1.03,-146.0,162.6,-13.4,139,1448,0.32,2.42,0.00,0.000,4,0.082,0.029,2632,3323,3721,0,0,0,0,0,0
$GC,1498,-1.17,-146.0,168.5,-8.2,144,1503,0.12,2.38,0.00,0.000,6,0.060,0.022,2552,1822,3721,0,0,0,0,0,0
$GC,1759,-1.02,-146.0,201.1,-12.3,168,1764,0.35,2.38,0.00,0.000,4,0.080,0.028,2633,3315,3721,0,0,0,0,0,0
$GC,1793,-1.13,-146.0,204.5,-8.2,168,1797,0.00,2.33,0.00,0.000,6,0.000,0.022,2633,1832,3722,0,0,0,0,0,0
$GC,2043,-1.24,-146.0,222.3,-7.2,174,2048,0.17,2.38,0.00,0.000,4,0.048,0.031,2541,3318,3721,0,0,0,0,0,0
$GC,2097,-1.10,-146.0,228.1,-11.4,175,2102,0.35,2.33,0.00,0.000,6,0.077,0.022,2620,1846,3722,0,0,0,0,0,0
$GC,2376,-1.19,-146.0,250.2,-8.1,182,2380,0.00,2.33,0.00,0.000,4,0.000,0.030,2620,3313,3722,0,0,0,0,0,0
$GC,2438,-1.34,-146.0,255.4,-7.8,183,2443,0.22,2.33,0.00,0.000,6,0.038,0.025,2529,1853,3722,0,0,0,0,0,0
$GC,2707,-1.17,-146.0,289.5,-13.0,190,2712,0.30,2.35,0.00,0.000,4,0.084,0.033,2600,3316,3721,0,0,0,0,0,0
$GC,2742,-1.17,-146.0,292.9,-8.4,190,2746,0.00,2.30,0.00,0.000,6,0.000,0.025,2600,1863,3721,0,0,0,0,0,0
$GC,2992,-1.17,-146.0,311.7,-7.4,196,2996,0.00,2.35,0.00,0.000,4,0.000,0.035,2600,3318,3720,0,0,0,0,0,0
$GC,3025,-1.25,-146.0,314.2,-7.0,196,3029,0.00,2.30,0.00,0.000,6,0.000,0.027,2600,1884,3720,0,0,0,0,0,0
$GC,3281,-1.25,-146.0,332.5,-7.2,203,3285,0.00,2.33,0.00,0.000,4,0.000,0.036,2600,3316,3719,0,0,0,0,0,0
$GC,3314,-1.34,-146.0,335.0,-6.7,203,3319,0.15,2.28,0.00,0.000,6,0.053,0.027,2517,1898,3719,0,0,0,0,0,0
$GC,3564,-1.15,-146.0,363.4,-11.7,209,3569,0.38,2.33,0.00,0.000,4,0.083,0.038,2603,3312,3718,0,0,0,0,0,0
$GC,3594,-1.15,-146.0,366.2,-8.2,209,3598,0.00,2.28,0.00,0.000,6,0.000,0.028,2603,1901,3718,0,0,0,0,0,0
$GC,3849,-1.23,-146.0,383.2,-6.8,216,3853,0.00,2.83,0.00,0.000,4,0.000,0.056,2603,221,3716,0,0,0,0,0,0
$GC,3873,-1.33,-146.0,385.1,-7.6,216,3878,0.15,2.58,0.00,0.000,6,0.054,0.025,2530,1839,3716,0,0,0,0,0,0
$GC,4134,-1.20,-146.0,413.5,-11.2,223,4140,0.28,2.50,0.00,0.000,4,0.086,0.042,2593,3369,3714,0,0,0,0,0,0
$GC,4163,-1.20,-146.0,416.5,-8.4,223,4167,0.00,2.38,0.00,0.000,6,0.000,0.028,2593,1896,3714,0,0,0,0,0,0
$GC,4420,-1.27,-146.0,436.3,-7.8,230,4424,0.00,2.83,0.00,0.000,4,0.000,0.060,2593,221,3712,0,0,0,0,0,0
$GC,4448,-1.37,-146.0,438.9,-8.8,230,4455,0.15,2.67,0.00,0.000,6,0.055,0.028,2521,1893,3712,0,0,0,0,0,0
$GC,4705,-1.22,-146.0,467.8,-11.5,237,4711,0.30,2.45,0.00,0.000,4,0.087,0.048,2590,3361,3710,0,0,0,0,0,0
$GC,4732,-1.22,-146.0,470.2,-9.0,237,4736,0.00,2.33,0.00,0.000,6,0.000,0.027,2591,1904,3710,0,0,0,0,0,0
$GC,4991,-1.29,-146.0,490.3,-7.7,244,4995,0.00,2.42,0.00,0.000,4,0.000,0.048,2590,3364,3709,0,0,0,0,0,0
$GC,5014,-1.36,-146.0,492.4,-9.0,244,5019,0.12,2.33,0.00,0.000,6,0.063,0.035,2517,1910,3709,0,0,0,0,0,0
$STATE,5113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5113,begin apogee
$GC,5121,-0.31,0.0,503.5,11.3,247,5242,1.23,0.00,117.85,0.873,6,0.078,0.000,2788,1682,3120,0,0,0,0,0,0
$STATE,5243,end apogee,CONTROL_FINISHED_OK
$STATE,5243,begin climb
$GC,5245,1.17,146.0,508.2,0.0,250,5372,1.38,0.00,122.78,0.853,6,0.030,0.000,3122,1682,2524,0,0,0,0,0,0
$GC,5602,0.85,146.0,489.2,9.9,259,5604,0.35,0.00,0.00,0.000,6,0.106,0.000,3050,1681,2516,0,0,0,0,0,0
$GC,5844,0.79,188.5,470.7,7.2,265,5886,0.00,2.67,36.33,0.821,4,0.000,0.067,3049,194,2350,0,0,0,0,0,0
$GC,5915,0.61,196.8,465.2,8.7,266,5930,0.28,2.40,8.60,0.703,6,0.108,0.025,2994,1670,2316,0,0,0,0,0,0
$GC,6175,0.77,267.3,448.8,6.1,273,6245,0.12,2.65,61.72,0.823,4,0.064,0.058,3050,187,2029,0,0,0,0,0,0
$GC,6299,0.68,267.3,437.4,10.8,275,6304,0.20,2.40,0.00,0.000,6,0.097,0.026,3008,1672,2026,0,0,0,0,0,0
$GC,6549,0.78,297.3,417.6,7.8,281,6582,0.10,2.62,27.15,0.787,4,0.077,0.058,3058,183,1907,0,0,0,0,0,0
$GC,6660,0.78,297.3,404.5,12.7,283,6665,0.12,2.40,0.00,0.000,6,0.110,0.027,3033,1663,1904,0,0,0,0,0,0
$GC,6924,0.78,297.3,377.4,10.0,290,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1663,1900,0,0,0,0,0,0
$GC,7168,0.78,297.3,352.9,10.1,296,7172,0.00,2.53,0.00,0.000,4,0.000,0.055,3032,183,1898,0,0,0,0,0,0
$GC,7206,0.78,297.3,348.8,10.9,296,7212,0.00,2.35,0.00,0.000,6,0.000,0.025,3032,1652,1898,0,0,0,0,0,0
$GC,7456,0.78,297.3,324.7,9.5,303,7460,0.00,2.67,0.00,0.000,4,0.000,0.048,3032,3247,1897,0,0,0,0,0,0
$GC,7507,0.89,297.3,319.6,10.3,304,7511,0.00,2.62,0.00,0.000,6,0.000,0.034,3033,1666,1895,0,0,0,0,0,0
$GC,7786,0.89,297.3,290.7,10.5,311,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,1666,1894,0,0,0,0,0,0
$GC,8028,0.89,297.3,266.9,9.6,317,8032,0.00,2.58,0.00,0.000,4,0.000,0.062,3032,161,1894,0,0,0,0,0,0
$GC,8055,0.89,297.3,264.0,10.8,317,8060,0.00,2.40,0.00,0.000,6,0.000,0.023,3032,1674,1893,0,0,0,0,0,0
$GC,8310,0.98,323.3,242.9,7.9,324,8339,0.17,2.70,22.35,0.679,4,0.050,0.045,3098,3240,1800,0,0,0,0,0,0
$GC,8349,0.86,323.3,238.7,11.5,324,8356,0.22,2.62,0.00,0.000,6,0.094,0.031,3050,1662,1798,0,0,0,0,0,0
$GC,8599,0.86,323.3,213.4,9.9,331,8603,0.00,2.55,0.00,0.000,4,0.000,0.058,3049,162,1796,0,0,0,0,0,0
$GC,8637,0.86,323.3,209.5,10.9,331,8643,0.00,2.40,0.00,0.000,6,0.000,0.023,3049,1669,1795,0,0,0,0,0,0
$GC,8892,0.86,323.3,185.0,9.6,347,8897,0.00,2.58,0.00,0.000,4,0.000,0.035,3050,3253,1794,0,0,0,0,0,0
$GC,8911,0.86,323.3,182.9,10.9,348,8919,0.00,2.62,0.00,0.000,6,0.000,0.029,3049,1663,1792,0,0,0,0,0,0
$GC,9178,0.86,323.3,155.9,10.4,373,9182,0.00,2.47,0.00,0.000,4,0.000,0.048,3049,172,1792,0,0,0,0,0,0
$GC,9217,0.86,323.3,151.1,10.6,376,9222,0.00,2.35,0.00,0.000,6,0.000,0.022,3050,1669,1792,0,0,0,0,0,0
$GC,9484,0.86,326.1,128.8,8.9,401,9488,0.00,2.55,0.00,0.000,4,0.000,0.034,3049,3250,1792,0,0,0,0,0,0
$GC,9532,0.99,326.1,124.2,9.5,405,9538,0.10,2.58,0.00,0.000,6,0.076,0.028,3104,1665,1791,0,0,0,0,0,0
$GC,9796,0.91,326.1,94.7,10.9,429,9801,0.22,2.47,0.00,0.000,4,0.093,0.047,3055,165,1791,0,0,0,0,0,0
$GC,9856,1.00,326.1,88.4,9.4,434,9865,0.00,2.38,0.00,0.000,6,0.000,0.021,3055,1665,1791,0,0,0,0,0,0
$GC,10123,1.12,347.1,67.4,8.1,459,10152,0.20,2.55,20.58,0.521,4,0.044,0.045,3122,175,1704,0,0,0,0,0,0
$GC,10195,1.00,347.1,59.0,13.0,465,10200,0.20,2.35,0.00,0.000,6,0.094,0.021,3080,1661,1703,0,0,0,0,0,0
$GC,10458,1.00,347.1,33.0,9.3,489,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1662,1702,0,0,0,0,0,0
$GC,10763,1.00,347.1,4.6,9.4,535,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1665,1701,0,0,0,0,0,0
$STATE,10778,end climb,SURFACE_DEPTH_REACHED
$STATE,10778,begin surface coast
$FINISH,0.7,1.013640
$STATE,10823,end surface coast,CONTROL_FINISHED_OK
$STATE,10823,begin surface
$SM_CCo,10843,41.35,0.380,1,0,1406,420.20
$SM_GC,1.50,0.00,0.00,41.35,0.000,0.000,0.380,415,1884,1406,-11.25,2.66,420.20
$IRIDIUM_FIX,2237.01,-15800.20,280300,171711
$TT8_MAMPS,0.026845
$HUMID,48.66
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.5,56.020
$10V_AH,10.1,49.047
$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,30.800,147.925,417.350,41.350,0.000,60.948,70.684,378.156,0.750,0.000,35.319,1141.647,7073.620,560.450,2018.828,833.869,33.388,1335.031,0.000,2004.653,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,66.729,872.846,379.665,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.114,336.870,421.151,651.489,1152.240,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355364
$DATA_FILE_SIZE,41578,544
$CAP_FILE_SIZE,130245,0
$CFSIZE,260165632,148131840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020111,204654,2247.597,-15801.298,63,1.4,80,10.1