version: 66.06
glider: 148
mission: 9
dive: 437
start: 1 4 111 0 23 9
data:
$ID,148
$MISSION,9
$DIVE,437
$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,-867469.56
$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,33
$R_STBD_OVSHOOT,50
$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
$GPS1,001536,2249.736,-15758.945,59,1.6,64,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.3
$GPS2,002214,2249.715,-15759.040,11,1.9,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.240,0.073
$KALMAN_X,-51107.3,199.9,312.8,69214.6,-1751.8
$KALMAN_Y,-86301.4,186.9,-430.7,215859.7,-675.9
$MHEAD_RNG_PITCHd_Wd,62.9,3522,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-82.75,0.000,2,0.000,0.000,414,1877,3497,0,0,0,0,0,0
$GC,108,-1.17,-146.0,4.3,-5.7,11,132,11.60,0.00,-3.65,0.000,6,0.156,0.000,2596,1877,3719,0,0,0,0,0,0
$GC,405,-1.00,-146.0,60.3,-14.7,44,410,0.20,2.38,0.00,0.000,4,0.098,0.028,2639,3364,3721,0,0,0,0,0,0
$GC,470,-1.00,-146.0,68.1,-11.0,49,475,0.00,2.53,0.00,0.000,6,0.000,0.023,2639,1782,3722,0,0,0,0,0,0
$GC,737,-1.00,-146.0,98.6,-11.5,73,742,0.00,2.53,0.00,0.000,4,0.000,0.028,2639,3362,3722,0,0,0,0,0,0
$GC,787,-1.11,-146.0,104.1,-10.1,77,791,0.00,2.45,0.00,0.000,6,0.000,0.022,2639,1805,3722,0,0,0,0,0,0
$GC,1053,-1.20,-146.0,126.9,-8.6,101,1058,0.17,2.50,0.00,0.000,4,0.048,0.029,2554,3370,3723,0,0,0,0,0,0
$GC,1124,-1.10,-146.0,134.8,-12.0,107,1129,0.30,2.42,0.00,0.000,6,0.081,0.021,2622,1820,3723,0,0,0,0,0,0
$GC,1385,-1.16,-146.0,157.9,-8.5,131,1389,0.00,2.47,0.00,0.000,4,0.000,0.028,2622,3371,3724,0,0,0,0,0,0
$GC,1432,-1.31,-146.0,161.7,-8.3,135,1437,0.20,2.42,0.00,0.000,6,0.041,0.022,2521,1826,3724,0,0,0,0,0,0
$GC,1692,-1.06,-146.0,200.6,-15.5,159,1700,0.50,2.58,0.00,0.000,4,0.083,0.035,2622,215,3724,0,0,0,0,0,0
$GC,1711,-0.95,-146.0,203.3,-14.9,159,1716,0.12,2.53,0.00,0.000,6,0.100,0.020,2652,1836,3724,0,0,0,0,0,0
$GC,1981,-1.14,-146.0,222.5,-6.8,166,1986,0.17,2.42,0.00,0.000,4,0.047,0.030,2543,3366,3724,0,0,0,0,0,0
$GC,2042,-1.06,-146.0,228.7,-10.5,167,2047,0.38,2.42,0.00,0.000,6,0.077,0.022,2628,1837,3724,0,0,0,0,0,0
$GC,2313,-1.19,-146.0,248.8,-7.3,174,2318,0.12,2.45,0.00,0.000,4,0.062,0.030,2553,3365,3724,0,0,0,0,0,0
$GC,2360,-1.19,-146.0,253.7,-10.2,175,2365,0.20,2.40,0.00,0.000,6,0.084,0.023,2598,1856,3724,0,0,0,0,0,0
$GC,2645,-1.19,-146.0,277.7,-8.6,182,2649,0.00,2.42,0.00,0.000,4,0.000,0.032,2598,3361,3724,0,0,0,0,0,0
$GC,2682,-1.29,-146.0,281.1,-7.8,182,2688,0.00,2.40,0.00,0.000,6,0.000,0.025,2598,1856,3724,0,0,0,0,0,0
$GC,2932,-1.29,-146.0,299.6,-7.3,189,2936,0.00,2.40,0.00,0.000,4,0.000,0.033,2598,3359,3723,0,0,0,0,0,0
$GC,2967,-1.37,-146.0,302.3,-8.1,189,2972,0.15,2.35,0.00,0.000,6,0.054,0.025,2510,1874,3723,0,0,0,0,0,0
$GC,3222,-1.14,-146.0,335.0,-13.1,196,3229,0.45,2.40,0.00,0.000,4,0.082,0.035,2604,3358,3722,0,0,0,0,0,0
$GC,3248,-1.14,-146.0,337.8,-9.4,196,3252,0.00,2.35,0.00,0.000,6,0.000,0.026,2604,1881,3722,0,0,0,0,0,0
$GC,3509,-1.23,-146.0,356.5,-7.2,203,3513,0.00,2.40,0.00,0.000,4,0.000,0.037,2604,3364,3721,0,0,0,0,0,0
$GC,3537,-1.33,-146.0,358.9,-8.3,203,3542,0.15,2.35,0.00,0.000,6,0.052,0.028,2516,1892,3720,0,0,0,0,0,0
$GC,3794,-1.12,-146.0,392.1,-13.5,210,3801,0.47,2.40,0.00,0.000,4,0.081,0.038,2611,3355,3719,0,0,0,0,0,0
$GC,3825,-1.23,-146.0,395.3,-8.0,210,3829,0.00,2.35,0.00,0.000,6,0.000,0.028,2611,1901,3719,0,0,0,0,0,0
$GC,4080,-1.35,-146.0,414.3,-7.5,217,4085,0.20,2.40,0.00,0.000,4,0.044,0.040,2522,3353,3718,0,0,0,0,0,0
$GC,4110,-1.22,-146.0,417.5,-11.6,217,4115,0.32,2.35,0.00,0.000,6,0.079,0.027,2594,1896,3718,0,0,0,0,0,0
$GC,4366,-1.29,-146.0,440.2,-8.6,224,4370,0.00,2.42,0.00,0.000,4,0.000,0.044,2594,3358,3716,0,0,0,0,0,0
$GC,4408,-1.40,-146.0,444.0,-8.7,224,4414,0.17,2.35,0.00,0.000,6,0.049,0.029,2497,1909,3716,0,0,0,0,0,0
$GC,4659,-1.19,-146.0,477.4,-13.8,231,4667,0.43,2.88,0.00,0.000,4,0.083,0.061,2595,217,3714,0,0,0,0,0,0
$GC,4686,-1.26,-146.0,481.0,-11.5,231,4690,0.00,2.70,0.00,0.000,6,0.000,0.031,2594,1889,3714,0,0,0,0,0,0
$STATE,4943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4943,begin apogee
$GC,4950,-0.31,0.0,502.6,8.2,238,5072,0.88,0.00,118.85,0.871,6,0.074,0.000,2794,1679,3120,0,0,0,0,0,0
$STATE,5073,end apogee,CONTROL_FINISHED_OK
$STATE,5073,begin climb
$GC,5075,1.17,146.0,507.5,0.0,241,5206,1.30,2.70,121.07,0.854,4,0.027,0.070,3129,193,2523,0,0,0,0,0,0
$GC,5473,0.72,146.0,482.9,10.6,249,5479,0.52,2.38,0.00,0.000,6,0.100,0.028,3019,1660,2516,0,0,0,0,0,0
$GC,5723,0.84,238.1,468.6,5.2,256,5810,0.10,2.62,77.75,0.838,4,0.078,0.058,3068,193,2148,0,0,0,0,0,0
$GC,5873,0.65,238.1,455.4,11.3,259,5878,0.32,2.42,0.00,0.000,6,0.094,0.026,3000,1679,2145,0,0,0,0,0,0
$GC,6142,0.77,280.6,435.6,7.2,266,6188,0.12,2.67,37.30,0.806,4,0.064,0.057,3060,185,1975,0,0,0,0,0,0
$GC,6226,0.66,280.6,426.3,13.5,267,6232,0.28,2.42,0.00,0.000,6,0.091,0.026,3002,1676,1974,0,0,0,0,0,0
$GC,6476,0.77,295.8,404.8,8.4,274,6497,0.10,2.75,14.45,0.747,4,0.076,0.051,3059,3250,1913,0,0,0,0,0,0
$GC,6513,0.77,295.8,401.0,11.0,274,6518,0.15,2.60,0.00,0.000,6,0.098,0.035,3027,1688,1910,0,0,0,0,0,0
$GC,6762,0.77,295.8,377.6,9.0,280,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1688,1908,0,0,0,0,0,0
$GC,7006,0.77,296.9,355.8,9.0,286,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1688,1906,0,0,0,0,0,0
$GC,7252,0.78,308.8,334.8,8.5,292,7269,0.00,2.67,12.02,0.704,4,0.000,0.039,3026,3264,1860,0,0,0,0,0,0
$GC,7288,0.78,308.8,331.1,9.2,292,7293,0.00,2.67,0.00,0.000,6,0.000,0.033,3026,1664,1858,0,0,0,0,0,0
$GC,7537,0.78,308.8,308.1,9.3,299,7541,0.00,2.58,0.00,0.000,4,0.000,0.064,3026,162,1856,0,0,0,0,0,0
$GC,7560,0.78,308.8,305.6,10.7,299,7564,0.00,2.42,0.00,0.000,6,0.000,0.024,3027,1680,1857,0,0,0,0,0,0
$GC,7821,0.85,310.1,281.4,9.0,306,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1680,1855,0,0,0,0,0,0
$GC,8063,0.96,336.1,261.8,7.9,312,8091,0.17,0.00,24.85,0.700,6,0.050,0.000,3120,1681,1749,0,0,0,0,0,0
$GC,8308,0.80,336.1,230.3,13.2,318,8310,0.40,0.00,0.00,0.000,6,0.086,0.000,3033,1683,1745,0,0,0,0,0,0
$GC,8551,0.89,341.2,208.0,8.8,324,8563,0.00,2.60,5.50,0.518,4,0.000,0.051,3033,163,1726,0,0,0,0,0,0
$GC,8587,0.98,341.2,204.4,10.6,324,8592,0.17,2.42,0.00,0.000,6,0.049,0.023,3110,1681,1727,0,0,0,0,0,0
$GC,8849,0.86,341.2,171.7,12.8,345,8854,0.25,2.55,0.00,0.000,4,0.092,0.047,3051,167,1726,0,0,0,0,0,0
$GC,8915,0.93,341.2,164.1,10.5,351,8919,0.00,2.35,0.00,0.000,6,0.000,0.023,3051,1661,1726,0,0,0,0,0,0
$GC,9182,0.93,341.2,141.3,9.3,375,9187,0.00,2.60,0.00,0.000,4,0.000,0.034,3051,3262,1725,0,0,0,0,0,0
$GC,9210,1.01,349.6,138.5,8.7,377,9232,0.12,2.62,8.50,0.534,6,0.063,0.028,3121,1646,1693,0,0,0,0,0,0
$GC,9487,0.90,349.6,104.2,11.8,403,9492,0.28,2.45,0.00,0.000,4,0.089,0.052,3056,175,1692,0,0,0,0,0,0
$GC,9563,1.03,349.6,96.4,9.0,410,9568,0.12,2.33,0.00,0.000,6,0.063,0.021,3120,1655,1691,0,0,0,0,0,0
$GC,9827,0.95,349.6,69.2,11.0,434,9832,0.22,2.47,0.00,0.000,4,0.091,0.044,3069,171,1691,0,0,0,0,0,0
$GC,9858,0.95,349.6,66.0,10.1,436,9862,0.00,2.30,0.00,0.000,6,0.000,0.021,3069,1645,1691,0,0,0,0,0,0
$GC,10126,0.95,349.6,41.8,10.0,460,10131,0.00,2.58,0.00,0.000,4,0.000,0.033,3069,3254,1691,0,0,0,0,0,0
$GC,10145,1.02,349.6,39.3,10.4,461,10150,0.00,2.60,0.00,0.000,6,0.000,0.025,3069,1637,1690,0,0,0,0,0,0
$GC,10440,1.16,390.6,13.8,7.3,500,10488,0.17,2.70,37.50,0.486,4,0.050,0.032,3148,3248,1525,0,0,0,0,0,0
$GC,10504,1.02,390.6,4.4,16.1,508,10513,0.28,2.62,0.00,0.000,6,0.074,0.033,3082,1655,1522,0,0,0,0,0,0
$STATE,10520,end climb,SURFACE_DEPTH_REACHED
$STATE,10520,begin surface coast
$FINISH,0.7,1.013121
$STATE,10549,end surface coast,CONTROL_FINISHED_OK
$STATE,10549,begin surface
$SM_CCo,10571,21.02,0.283,1,0,1407,420.20
$SM_GC,1.47,0.00,0.00,21.02,0.000,0.000,0.283,411,1852,1407,-11.27,1.75,420.20
$IRIDIUM_FIX,2241.69,-15759.32,290300,212140
$TT8_MAMPS,0.026845
$HUMID,48.54
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,23.5,57.218
$10V_AH,10.2,50.190
$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,33.175,140.075,457.800,21.025,0.000,29.312,37.561,183.383,0.500,0.000,13.403,1092.415,6845.370,511.028,1971.546,573.429,33.376,1340.517,0.000,1974.777,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,69.797,871.312,283.023,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.146,309.556,392.828,595.757,1053.699,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355340
$DATA_FILE_SIZE,41695,514
$CAP_FILE_SIZE,125485,0
$CFSIZE,260165632,147554304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040111,032058,2249.471,-15758.139,12,2.4,31,10.1