version: 66.06
glider: 148
mission: 9
dive: 431
start: 1 3 111 5 44 53
data:
$ID,148
$MISSION,9
$DIVE,431
$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,-867324.06
$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,25
$R_STBD_OVSHOOT,52
$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
$GPS1,052243,2247.689,-15802.656,9,2.0,26,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.6
$GPS2,054358,2247.843,-15802.900,31,2.3,50,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.026,0.249
$KALMAN_X,-44890.7,56.4,-276.2,57086.1,-390.4
$KALMAN_Y,-84287.6,-607.2,342.6,210398.8,-398.5
$MHEAD_RNG_PITCHd_Wd,355.9,3999,-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,16,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.50,0.000,2,0.000,0.000,410,1874,3292,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.4,-4.1,10,124,11.50,2.38,-8.12,0.000,4,0.152,0.040,2599,3363,3717,0,0,0,0,0,0
$GC,233,-1.03,-146.0,29.0,-13.7,30,242,0.12,2.55,0.00,0.000,6,0.074,0.024,2633,1782,3718,0,0,0,0,0,0
$GC,501,-1.03,-146.0,60.4,-11.9,55,505,0.00,2.53,0.00,0.000,4,0.000,0.029,2633,3367,3719,0,0,0,0,0,0
$GC,566,-1.03,-146.0,68.3,-11.2,60,571,0.00,2.47,0.00,0.000,6,0.000,0.022,2633,1795,3719,0,0,0,0,0,0
$GC,830,-1.03,-146.0,99.2,-11.5,84,834,0.00,2.53,0.00,0.000,4,0.000,0.029,2633,3369,3719,0,0,0,0,0,0
$GC,868,-1.03,-146.0,103.2,-9.9,87,872,0.00,2.47,0.00,0.000,6,0.000,0.022,2633,1804,3719,0,0,0,0,0,0
$GC,1136,-1.10,-146.0,127.9,-8.3,111,1141,0.00,2.50,0.00,0.000,4,0.000,0.028,2633,3369,3719,0,0,0,0,0,0
$GC,1172,-1.23,-146.0,131.5,-8.3,114,1177,0.17,2.42,0.00,0.000,6,0.046,0.022,2543,1818,3719,0,0,0,0,0,0
$GC,1433,-1.03,-146.0,166.2,-13.1,138,1445,0.43,2.45,0.00,0.000,4,0.082,0.028,2632,3360,3720,0,0,0,0,0,0
$GC,1465,-1.10,-146.0,169.4,-9.4,141,1469,0.00,2.40,0.00,0.000,6,0.000,0.021,2631,1826,3720,0,0,0,0,0,0
$GC,1730,-1.20,-146.0,188.5,-7.8,165,1735,0.15,2.45,0.00,0.000,4,0.054,0.030,2550,3361,3720,0,0,0,0,0,0
$GC,1766,-1.09,-146.0,192.7,-11.3,168,1771,0.32,2.40,0.00,0.000,6,0.077,0.022,2624,1828,3720,0,0,0,0,0,0
$GC,2050,-1.17,-146.0,218.1,-8.8,180,2054,0.00,2.42,0.00,0.000,4,0.000,0.030,2624,3359,3720,0,0,0,0,0,0
$GC,2070,-1.26,-146.0,219.9,-9.1,180,2075,0.17,2.40,0.00,0.000,6,0.047,0.023,2533,1834,3720,0,0,0,0,0,0
$GC,2335,-1.07,-146.0,257.2,-14.3,187,2342,0.45,2.45,0.00,0.000,4,0.081,0.031,2625,3364,3720,0,0,0,0,0,0
$GC,2373,-1.21,-146.0,260.6,-7.2,187,2378,0.12,2.42,0.00,0.000,6,0.058,0.025,2547,1836,3720,0,0,0,0,0,0
$GC,2622,-1.09,-146.0,288.7,-11.6,193,2625,0.35,0.00,0.00,0.000,6,0.079,0.000,2623,1836,3719,0,0,0,0,0,0
$GC,2866,-1.21,-146.0,306.1,-6.9,199,2871,0.12,2.50,0.00,0.000,4,0.063,0.036,2553,3365,3718,0,0,0,0,0,0
$GC,2929,-1.21,-146.0,312.0,-9.8,200,2934,0.17,2.42,0.00,0.000,6,0.087,0.025,2595,1845,3718,0,0,0,0,0,0
$GC,3198,-1.21,-146.0,332.9,-7.8,207,3202,0.00,2.45,0.00,0.000,4,0.000,0.037,2595,3363,3717,0,0,0,0,0,0
$GC,3256,-1.34,-146.0,337.6,-7.6,208,3261,0.12,2.40,0.00,0.000,6,0.063,0.028,2526,1861,3717,0,0,0,0,0,0
$GC,3530,-1.19,-146.0,371.1,-12.4,215,3537,0.30,2.75,0.00,0.000,4,0.083,0.051,2596,207,3715,0,0,0,0,0,0
$GC,3565,-1.32,-146.0,374.9,-9.1,215,3570,0.10,2.60,0.00,0.000,6,0.075,0.025,2535,1847,3715,0,0,0,0,0,0
$GC,3817,-1.21,-146.0,404.3,-12.2,221,3822,0.25,2.45,0.00,0.000,4,0.085,0.042,2594,3350,3713,0,0,0,0,0,0
$GC,3869,-1.33,-146.0,409.5,-8.4,222,3874,0.10,2.40,0.00,0.000,6,0.075,0.028,2526,1864,3713,0,0,0,0,0,0
$GC,4149,-1.20,-146.0,441.3,-11.5,229,4157,0.30,2.80,0.00,0.000,4,0.084,0.058,2596,216,3710,0,0,0,0,0,0
$GC,4181,-1.30,-146.0,444.5,-8.1,229,4185,0.00,2.65,0.00,0.000,6,0.000,0.028,2596,1858,3711,0,0,0,0,0,0
$GC,4436,-1.38,-146.0,462.4,-6.9,236,4441,0.15,2.47,0.00,0.000,4,0.057,0.051,2527,3347,3709,0,0,0,0,0,0
$GC,4471,-1.28,-146.0,465.4,-9.1,236,4476,0.25,2.38,0.00,0.000,6,0.082,0.028,2583,1874,3709,0,0,0,0,0,0
$GC,4721,-1.28,-146.0,484.5,-7.4,242,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1874,3707,0,0,0,0,0,0
$STATE,4962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4962,begin apogee
$GC,4970,-0.31,0.0,502.4,7.4,248,5090,0.93,0.00,117.15,0.872,6,0.072,0.000,2795,1676,3120,0,0,0,0,0,0
$STATE,5091,end apogee,CONTROL_FINISHED_OK
$STATE,5091,begin climb
$GC,5093,1.17,146.0,506.2,0.0,251,5219,1.30,0.00,120.47,0.854,6,0.026,0.000,3126,1676,2524,0,0,0,0,0,0
$GC,5462,0.85,146.0,484.9,10.0,260,5470,0.35,2.70,0.00,0.000,4,0.101,0.056,3049,3236,2516,0,0,0,0,0,0
$GC,5486,0.76,196.9,483.0,6.9,260,5535,0.12,2.58,42.92,0.826,6,0.114,0.038,3022,1694,2316,0,0,0,0,0,0
$GC,5795,0.79,223.5,458.5,7.9,268,5824,0.00,2.75,23.27,0.796,4,0.000,0.073,3022,164,2207,0,0,0,0,0,0
$GC,5876,0.79,223.5,451.1,9.8,269,5882,0.00,2.40,0.00,0.000,6,0.000,0.027,3022,1656,2205,0,0,0,0,0,0
$GC,6127,0.79,224.4,428.9,9.0,276,6132,0.00,2.58,0.00,0.000,4,0.000,0.058,3022,164,2201,0,0,0,0,0,0
$GC,6211,0.79,224.4,420.0,10.7,277,6218,0.00,2.38,0.00,0.000,6,0.000,0.025,3022,1664,2200,0,0,0,0,0,0
$GC,6460,0.79,224.4,397.0,9.1,284,6464,0.00,2.58,0.00,0.000,4,0.000,0.057,3022,163,2199,0,0,0,0,0,0
$GC,6504,0.79,224.4,392.9,10.3,285,6509,0.00,2.38,0.00,0.000,6,0.000,0.025,3022,1654,2199,0,0,0,0,0,0
$GC,6796,0.83,255.8,369.7,7.7,292,6829,0.00,2.60,27.73,0.771,4,0.000,0.057,3022,163,2076,0,0,0,0,0,0
$GC,6859,0.83,255.8,364.5,9.8,293,6863,0.00,2.38,0.00,0.000,6,0.000,0.026,3022,1644,2075,0,0,0,0,0,0
$GC,7124,0.87,290.7,343.7,7.6,300,7162,0.12,2.60,31.80,0.755,4,0.066,0.055,3078,160,1933,0,0,0,0,0,0
$GC,7200,0.73,290.7,335.7,12.8,300,7205,0.28,2.38,0.00,0.000,6,0.094,0.025,3019,1642,1931,0,0,0,0,0,0
$GC,7450,0.84,333.0,316.4,7.2,306,7495,0.10,2.80,37.85,0.739,4,0.077,0.049,3067,3243,1761,0,0,0,0,0,0
$GC,7513,0.84,333.0,310.6,9.5,307,7518,0.10,2.67,0.00,0.000,6,0.115,0.034,3044,1634,1757,0,0,0,0,0,0
$GC,7782,0.84,333.0,284.6,9.6,314,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1634,1754,0,0,0,0,0,0
$GC,8025,0.84,333.0,259.1,10.7,320,8030,0.00,2.70,0.00,0.000,4,0.000,0.038,3044,3254,1752,0,0,0,0,0,0
$GC,8048,0.84,333.0,256.5,10.8,320,8053,0.00,2.62,0.00,0.000,6,0.000,0.031,3044,1652,1751,0,0,0,0,0,0
$GC,8309,0.84,333.0,230.3,10.0,327,8314,0.00,2.50,0.00,0.000,4,0.000,0.058,3044,173,1750,0,0,0,0,0,0
$GC,8323,0.84,333.0,228.6,9.3,327,8327,0.00,2.38,0.00,0.000,6,0.000,0.022,3044,1678,1750,0,0,0,0,0,0
$GC,8591,0.90,333.0,203.3,9.4,334,8596,0.00,2.53,0.00,0.000,4,0.000,0.049,3044,168,1750,0,0,0,0,0,0
$GC,8630,0.90,333.0,199.5,10.6,334,8636,0.00,2.33,0.00,0.000,6,0.000,0.023,3044,1649,1749,0,0,0,0,0,0
$GC,8892,0.91,334.7,176.8,8.9,359,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1653,1749,0,0,0,0,0,0
$GC,9148,0.97,334.7,154.3,9.1,383,9149,0.10,0.00,0.00,0.000,6,0.077,0.000,3109,1653,1749,0,0,0,0,0,0
$GC,9406,0.87,334.7,121.4,13.2,407,9412,0.25,2.62,0.00,0.000,4,0.091,0.035,3053,3257,1748,0,0,0,0,0,0
$GC,9419,0.80,334.7,119.1,13.1,407,9424,0.00,2.60,0.00,0.000,6,0.000,0.026,3053,1645,1747,0,0,0,0,0,0
$GC,9681,0.92,351.6,94.6,8.3,432,9703,0.00,2.65,15.23,0.537,4,0.000,0.033,3053,3261,1685,0,0,0,0,0,0
$GC,9722,1.07,368.1,91.2,8.3,435,9744,0.17,2.62,16.17,0.534,6,0.048,0.034,3142,1658,1619,0,0,0,0,0,0
$GC,10003,0.93,368.1,53.8,13.5,461,10008,0.35,2.47,0.00,0.000,4,0.088,0.044,3061,164,1615,0,0,0,0,0,0
$GC,10048,1.02,368.1,49.0,10.3,464,10052,0.00,2.33,0.00,0.000,6,0.000,0.021,3061,1660,1615,0,0,0,0,0,0
$GC,10322,1.12,375.7,24.4,8.7,493,10340,0.17,2.60,7.75,0.430,4,0.048,0.032,3148,3243,1587,0,0,0,0,0,0
$GC,10376,1.00,375.7,18.4,12.7,500,10385,0.28,2.58,0.00,0.000,6,0.077,0.025,3082,1664,1586,0,0,0,0,0,0
$STATE,10526,end climb,SURFACE_DEPTH_REACHED
$STATE,10526,begin surface coast
$FINISH,0.8,1.011863
$STATE,10572,end surface coast,CONTROL_FINISHED_OK
$STATE,10572,begin surface
$SM_CCo,10594,26.33,0.323,1,0,1406,420.20
$SM_GC,1.77,0.00,0.00,26.33,0.000,0.000,0.323,414,1858,1406,-11.25,1.92,420.20
$IRIDIUM_FIX,2239.35,-15804.53,290300,050547
$TT8_MAMPS,0.026845
$HUMID,48.77
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,23.5,56.476
$10V_AH,10.2,49.506
$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,31.100,141.275,440.350,26.325,0.000,112.666,146.711,625.637,0.500,0.000,52.979,1109.873,7029.448,496.021,2015.791,1246.626,33.403,1315.033,0.000,1993.684,0.000,0.539,0.000
$DEVICE_MAMPS,151.866,72.865,872.079,322.907,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.168,338.470,419.026,623.601,1102.947,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,41533,530
$CAP_FILE_SIZE,136975,0
$CFSIZE,260165632,147898368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030111,084310,2249.028,-15802.950,31,1.5,32,10.1