version: 66.06
glider: 148
mission: 9
dive: 443
start: 1 4 111 19 14 33
data:
$ID,148
$MISSION,9
$DIVE,443
$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,-867594.25
$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,31
$R_STBD_OVSHOOT,51
$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
$GPS1,190537,2247.164,-15802.485,25,1.2,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.3
$GPS2,191337,2247.177,-15802.527,10,1.2,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.043,0.247
$KALMAN_X,-58889.7,-170.2,78.9,71598.1,-810.6
$KALMAN_Y,-89321.5,842.0,486.0,212601.5,-577.0
$MHEAD_RNG_PITCHd_Wd,359.7,5291,-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,-74.55,0.000,2,0.000,0.000,416,1873,3247,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.2,-3.7,10,132,11.55,2.42,-9.32,0.000,4,0.155,0.041,2599,3362,3719,0,0,0,0,0,0
$GC,197,-1.08,-146.0,21.7,-12.9,24,206,0.08,2.55,0.00,0.000,6,0.080,0.024,2621,1786,3720,0,0,0,0,0,0
$GC,473,-1.00,-146.0,54.9,-12.5,54,477,0.00,2.53,0.00,0.000,4,0.000,0.029,2621,3365,3720,0,0,0,0,0,0
$GC,528,-1.00,-146.0,62.2,-11.0,58,536,0.00,2.53,0.00,0.000,6,0.000,0.024,2621,1797,3720,0,0,0,0,0,0
$GC,797,-0.93,-146.0,92.1,-10.9,83,802,0.17,2.53,0.00,0.000,4,0.094,0.030,2661,3370,3721,0,0,0,0,0,0
$GC,857,-1.06,-146.0,98.1,-7.7,88,866,0.10,2.50,0.00,0.000,6,0.027,0.022,2542,1809,3721,0,0,0,0,0,0
$GC,1124,-0.84,-146.0,132.7,-14.5,113,1133,0.55,2.58,0.00,0.000,4,0.081,0.035,2669,203,3722,0,0,0,0,0,0
$GC,1149,-0.94,-146.0,136.4,-9.7,115,1155,0.00,2.50,0.00,0.000,6,0.000,0.019,2669,1824,3722,0,0,0,0,0,0
$GC,1414,-1.16,-146.0,151.8,-6.2,140,1419,0.25,2.42,0.00,0.000,4,0.036,0.027,2531,3367,3722,0,0,0,0,0,0
$GC,1520,-1.02,-146.0,164.9,-12.3,150,1532,0.47,2.42,0.00,0.000,6,0.074,0.022,2638,1818,3723,0,0,0,0,0,0
$GC,1787,-1.13,-146.0,185.1,-7.5,175,1792,0.12,2.47,0.00,0.000,4,0.063,0.030,2565,3366,3723,0,0,0,0,0,0
$GC,1826,-1.13,-146.0,188.6,-9.9,178,1831,0.20,2.40,0.00,0.000,6,0.083,0.023,2612,1838,3723,0,0,0,0,0,0
$GC,2084,-1.13,-146.0,210.1,-7.9,193,2088,0.00,2.45,0.00,0.000,4,0.000,0.030,2613,3367,3723,0,0,0,0,0,0
$GC,2127,-1.23,-146.0,213.4,-7.1,194,2131,0.00,2.40,0.00,0.000,6,0.000,0.023,2612,1853,3723,0,0,0,0,0,0
$GC,2416,-1.30,-146.0,235.5,-7.7,201,2421,0.15,2.42,0.00,0.000,4,0.054,0.031,2531,3367,3723,0,0,0,0,0,0
$GC,2460,-1.19,-146.0,240.2,-10.6,202,2465,0.30,2.38,0.00,0.000,6,0.078,0.023,2599,1860,3723,0,0,0,0,0,0
$GC,2749,-1.19,-146.0,264.5,-8.4,209,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1860,3723,0,0,0,0,0,0
$GC,2991,-1.19,-146.0,285.7,-8.6,215,2995,0.00,2.42,0.00,0.000,4,0.000,0.032,2599,3364,3722,0,0,0,0,0,0
$GC,3038,-1.30,-146.0,289.4,-7.5,216,3042,0.00,2.35,0.00,0.000,6,0.000,0.025,2599,1879,3722,0,0,0,0,0,0
$GC,3322,-1.30,-146.0,311.2,-7.8,223,3326,0.00,2.38,0.00,0.000,4,0.000,0.035,2599,3357,3721,0,0,0,0,0,0
$GC,3350,-1.37,-146.0,313.6,-7.3,223,3355,0.15,2.38,0.00,0.000,6,0.052,0.025,2508,1877,3721,0,0,0,0,0,0
$GC,3605,-1.15,-146.0,347.4,-13.9,230,3608,0.45,0.00,0.00,0.000,6,0.081,0.000,2605,1872,3720,0,0,0,0,0,0
$GC,3851,-1.24,-146.0,367.9,-8.1,236,3855,0.00,2.42,0.00,0.000,4,0.000,0.038,2606,3360,3719,0,0,0,0,0,0
$GC,3881,-1.36,-146.0,370.5,-8.1,236,3886,0.17,2.38,0.00,0.000,6,0.044,0.028,2528,1890,3719,0,0,0,0,0,0
$GC,4136,-1.23,-146.0,399.1,-11.5,243,4138,0.28,0.00,0.00,0.000,6,0.081,0.000,2590,1890,3717,0,0,0,0,0,0
$GC,4382,-1.29,-146.0,420.2,-8.6,249,4386,0.00,2.42,0.00,0.000,4,0.000,0.043,2590,3357,3716,0,0,0,0,0,0
$GC,4434,-1.38,-146.0,425.0,-8.7,250,4439,0.12,2.33,0.00,0.000,6,0.063,0.028,2511,1901,3715,0,0,0,0,0,0
$GC,4714,-1.21,-146.0,461.1,-13.3,257,4719,0.35,2.42,0.00,0.000,4,0.083,0.047,2591,3356,3713,0,0,0,0,0,0
$GC,4733,-1.21,-146.0,463.8,-11.8,257,4737,0.00,2.35,0.00,0.000,6,0.000,0.026,2591,1898,3714,0,0,0,0,0,0
$GC,4997,-1.28,-146.0,486.1,-8.3,264,5001,0.00,2.40,0.00,0.000,4,0.000,0.046,2591,3349,3711,0,0,0,0,0,0
$GC,5027,-1.36,-146.0,488.3,-7.8,264,5032,0.12,2.30,0.00,0.000,6,0.062,0.028,2517,1912,3711,0,0,0,0,0,0
$STATE,5162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5162,begin apogee
$GC,5168,-0.31,0.0,503.3,11.0,268,5290,1.23,0.00,118.60,0.869,6,0.081,0.000,2790,1682,3120,0,0,0,0,0,0
$STATE,5291,end apogee,CONTROL_FINISHED_OK
$STATE,5291,begin climb
$GC,5293,1.17,146.0,507.3,0.0,271,5428,1.35,2.67,121.75,0.853,4,0.026,0.048,3131,3234,2522,0,0,0,0,0,0
$GC,5461,0.86,166.2,505.7,8.2,275,5486,0.40,2.60,17.62,0.787,6,0.100,0.038,3048,1689,2441,0,0,0,0,0,0
$GC,5744,0.80,205.7,484.4,7.4,282,5787,0.00,2.80,34.05,0.820,4,0.000,0.077,3048,166,2280,0,0,0,0,0,0
$GC,5857,0.65,205.7,474.3,10.0,284,5862,0.20,2.42,0.00,0.000,6,0.101,0.028,3005,1650,2278,0,0,0,0,0,0
$GC,6123,0.72,262.5,456.5,6.6,291,6175,0.00,0.00,50.22,0.822,6,0.000,0.000,3005,1650,2049,0,0,0,0,0,0
$GC,6405,0.81,276.5,433.2,8.4,298,6426,0.12,2.58,12.90,0.746,4,0.065,0.056,3061,166,1992,0,0,0,0,0,0
$GC,6447,0.67,276.5,428.7,12.0,298,6453,0.25,2.45,0.00,0.000,6,0.091,0.026,3007,1666,1991,0,0,0,0,0,0
$GC,6697,0.78,312.8,408.6,7.5,305,6740,0.10,2.80,33.55,0.792,4,0.077,0.054,3056,3254,1843,0,0,0,0,0,0
$GC,6771,0.78,312.8,401.7,10.1,306,6776,0.12,2.65,0.00,0.000,6,0.106,0.035,3030,1666,1839,0,0,0,0,0,0
$GC,7031,0.79,321.9,378.7,8.6,313,7047,0.00,2.62,8.62,0.680,4,0.000,0.065,3030,161,1806,0,0,0,0,0,0
$GC,7081,0.79,321.9,373.5,10.9,314,7086,0.00,2.42,0.00,0.000,6,0.000,0.026,3030,1675,1806,0,0,0,0,0,0
$GC,7365,0.79,321.9,344.6,10.5,321,7369,0.00,2.67,0.00,0.000,4,0.000,0.049,3030,3258,1803,0,0,0,0,0,0
$GC,7383,0.79,321.9,342.3,10.2,321,7388,0.00,2.62,0.00,0.000,6,0.000,0.032,3030,1664,1800,0,0,0,0,0,0
$GC,7647,0.79,321.9,315.8,10.0,328,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1664,1800,0,0,0,0,0,0
$GC,7892,0.79,321.9,292.4,9.6,334,7896,0.00,2.58,0.00,0.000,4,0.000,0.063,3030,163,1800,0,0,0,0,0,0
$GC,7915,0.79,321.9,289.8,9.8,334,7919,0.00,2.40,0.00,0.000,6,0.000,0.024,3030,1679,1799,0,0,0,0,0,0
$GC,8179,0.86,321.9,265.2,9.3,341,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1680,1799,0,0,0,0,0,0
$GC,8422,0.93,321.9,243.0,9.1,347,8424,0.12,0.00,0.00,0.000,6,0.065,0.000,3097,1682,1798,0,0,0,0,0,0
$GC,8668,0.83,321.9,213.5,12.2,353,8673,0.25,2.55,0.00,0.000,4,0.094,0.053,3039,167,1798,0,0,0,0,0,0
$GC,8706,0.89,321.9,209.0,10.9,353,8712,0.00,2.35,0.00,0.000,6,0.000,0.023,3039,1665,1798,0,0,0,0,0,0
$GC,8964,0.97,330.1,186.3,8.7,369,8978,0.15,2.60,7.10,0.545,4,0.057,0.038,3105,3245,1773,0,0,0,0,0,0
$GC,9001,0.88,330.1,181.8,11.8,372,9011,0.20,2.65,0.00,0.000,6,0.077,0.031,3055,1651,1771,0,0,0,0,0,0
$GC,9268,0.88,330.1,155.9,9.4,397,9273,0.00,2.47,0.00,0.000,4,0.000,0.048,3055,164,1771,0,0,0,0,0,0
$GC,9342,0.88,330.1,147.8,10.4,404,9346,0.00,2.35,0.00,0.000,6,0.000,0.022,3055,1669,1770,0,0,0,0,0,0
$GC,9606,0.90,343.1,125.3,8.5,428,9630,0.00,2.58,12.40,0.558,4,0.000,0.033,3055,3247,1720,0,0,0,0,0,0
$GC,9646,0.96,343.1,122.0,9.3,431,9650,0.00,2.60,0.00,0.000,6,0.000,0.029,3055,1663,1719,0,0,0,0,0,0
$GC,9912,1.03,343.1,94.7,10.5,455,9917,0.12,2.47,0.00,0.000,4,0.064,0.048,3121,168,1719,0,0,0,0,0,0
$GC,9929,1.03,343.1,92.4,10.1,456,9934,0.17,2.35,0.00,0.000,6,0.099,0.021,3083,1666,1718,0,0,0,0,0,0
$GC,10196,1.03,343.1,65.2,9.8,480,10200,0.00,2.47,0.00,0.000,4,0.000,0.045,3083,166,1718,0,0,0,0,0,0
$GC,10227,1.03,343.1,62.1,9.6,482,10232,0.00,2.33,0.00,0.000,6,0.000,0.021,3083,1667,1718,0,0,0,0,0,0
$GC,10496,1.03,343.1,37.5,9.7,506,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1667,1718,0,0,0,0,0,0
$GC,10792,1.03,343.1,8.4,10.3,548,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1667,1718,0,0,0,0,0,0
$STATE,10838,end climb,SURFACE_DEPTH_REACHED
$STATE,10838,begin surface coast
$FINISH,0.9,1.010399
$STATE,10883,end surface coast,CONTROL_FINISHED_OK
$STATE,10883,begin surface
$SM_CCo,10903,36.88,0.062,0,0,1407,420.20
$SM_GC,1.71,0.00,0.00,36.88,0.000,0.000,0.062,415,1875,1407,-11.25,2.37,420.20
$IRIDIUM_FIX,2241.69,-15801.49,300300,161617
$TT8_MAMPS,0.026845
$HUMID,49.68
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,57.993
$10V_AH,10.1,50.886
$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,31.200,134.625,416.825,36.875,0.000,30.783,33.873,264.189,0.000,0.000,16.654,1155.014,6998.240,543.419,2050.583,675.364,33.380,1343.986,0.000,2067.447,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,77.467,869.011,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.684,357.428,446.311,675.331,1191.528,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,44755,562
$CAP_FILE_SIZE,123616,0
$CFSIZE,260165632,147202048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040111,221807,2248.482,-15802.430,32,1.1,32,10.1