version: 66.06
glider: 148
mission: 9
dive: 452
start: 1 5 111 23 5 51
data:
$ID,148
$MISSION,9
$DIVE,452
$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,380
$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,-867806.12
$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,49
$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
$GPS1,225537,2249.999,-15757.488,30,1.0,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.0
$GPS2,230456,2250.008,-15757.499,12,1.1,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.028,-0.249
$KALMAN_X,-68023.2,34.7,37.8,89224.4,-732.0
$KALMAN_Y,-93461.4,722.5,448.9,222143.2,-1735.8
$MHEAD_RNG_PITCHd_Wd,163.4,5595,-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,18,-1.17,-146.0,0.0,0.0,0,88,0.00,0.00,-67.57,0.000,2,0.000,0.000,415,1867,3251,0,0,0,0,0,0
$GC,91,-1.17,-146.0,3.6,-4.7,9,124,11.50,2.75,-9.12,0.000,4,0.153,0.048,2598,210,3718,0,0,0,0,0,0
$GC,153,-0.99,-146.0,17.7,-17.7,17,163,0.17,2.50,0.00,0.000,6,0.070,0.020,2643,1781,3719,0,0,0,0,0,0
$GC,439,-0.99,-146.0,50.7,-10.9,50,443,0.00,2.53,0.00,0.000,4,0.000,0.031,2643,3369,3719,0,0,0,0,0,0
$GC,517,-1.10,-146.0,58.6,-9.2,56,527,0.08,2.53,0.00,0.000,6,0.035,0.022,2575,1796,3720,0,0,0,0,0,0
$GC,786,-0.91,-146.0,96.3,-14.1,81,795,0.35,2.50,0.00,0.000,4,0.085,0.028,2657,3368,3720,0,0,0,0,0,0
$GC,810,-0.91,-146.0,99.6,-11.7,83,815,0.00,2.45,0.00,0.000,6,0.000,0.021,2657,1806,3720,0,0,0,0,0,0
$GC,1078,-1.04,-146.0,120.4,-8.0,107,1082,0.00,2.50,0.00,0.000,4,0.000,0.029,2657,3367,3721,0,0,0,0,0,0
$GC,1128,-1.27,-146.0,124.3,-7.4,111,1133,0.30,2.42,0.00,0.000,6,0.029,0.021,2526,1817,3721,0,0,0,0,0,0
$GC,1389,-1.00,-146.0,164.9,-15.1,135,1401,0.55,2.58,0.00,0.000,4,0.085,0.036,2639,214,3722,0,0,0,0,0,0
$GC,1417,-1.00,-146.0,168.3,-11.3,137,1423,0.00,2.50,0.00,0.000,6,0.000,0.019,2639,1824,3722,0,0,0,0,0,0
$GC,1680,-1.12,-146.0,187.2,-6.9,162,1685,0.10,2.47,0.00,0.000,4,0.076,0.031,2579,3367,3722,0,0,0,0,0,0
$GC,1730,-1.12,-146.0,191.2,-8.5,166,1736,0.17,2.42,0.00,0.000,6,0.087,0.022,2619,1822,3722,0,0,0,0,0,0
$GC,2009,-1.19,-146.0,212.9,-7.9,180,2013,0.00,2.47,0.00,0.000,4,0.000,0.031,2619,3361,3722,0,0,0,0,0,0
$GC,2066,-1.34,-146.0,217.4,-6.3,181,2072,0.22,2.42,0.00,0.000,6,0.038,0.023,2517,1833,3723,0,0,0,0,0,0
$GC,2340,-1.11,-146.0,253.0,-13.4,188,2343,0.47,0.00,0.00,0.000,6,0.083,0.000,2616,1832,3722,0,0,0,0,0,0
$GC,2584,-1.20,-146.0,271.5,-7.2,194,2589,0.00,2.47,0.00,0.000,4,0.000,0.033,2616,3364,3723,0,0,0,0,0,0
$GC,2624,-1.35,-146.0,274.4,-7.1,194,2630,0.20,2.42,0.00,0.000,6,0.040,0.025,2515,1837,3723,0,0,0,0,0,0
$GC,2874,-1.16,-146.0,305.4,-12.9,201,2879,0.38,2.45,0.00,0.000,4,0.082,0.035,2603,3354,3722,0,0,0,0,0,0
$GC,2912,-1.26,-146.0,309.3,-8.2,201,2918,0.00,2.40,0.00,0.000,6,0.000,0.026,2603,1845,3722,0,0,0,0,0,0
$GC,3164,-1.32,-146.0,328.8,-7.9,208,3169,0.12,2.47,0.00,0.000,4,0.064,0.038,2534,3356,3721,0,0,0,0,0,0
$GC,3188,-1.24,-146.0,331.7,-11.2,208,3193,0.25,2.40,0.00,0.000,6,0.081,0.025,2590,1857,3721,0,0,0,0,0,0
$GC,3450,-1.24,-146.0,356.7,-9.5,215,3454,0.00,2.42,0.00,0.000,4,0.000,0.040,2590,3352,3719,0,0,0,0,0,0
$GC,3487,-1.33,-146.0,360.0,-7.4,215,3493,0.00,2.35,0.00,0.000,6,0.000,0.027,2590,1876,3719,0,0,0,0,0,0
$GC,3737,-1.33,-146.0,377.4,-6.7,222,3741,0.00,2.42,0.00,0.000,4,0.000,0.041,2590,3359,3718,0,0,0,0,0,0
$GC,3772,-1.40,-146.0,379.7,-6.3,222,3776,0.15,2.35,0.00,0.000,6,0.054,0.027,2504,1884,3718,0,0,0,0,0,0
$GC,4021,-1.18,-146.0,407.8,-11.6,228,4029,0.43,2.80,0.00,0.000,4,0.083,0.053,2598,211,3716,0,0,0,0,0,0
$GC,4050,-1.18,-146.0,410.4,-9.0,228,4054,0.00,2.67,0.00,0.000,6,0.000,0.028,2598,1873,3716,0,0,0,0,0,0
$GC,4311,-1.26,-146.0,426.5,-6.2,235,4315,0.00,2.42,0.00,0.000,4,0.000,0.046,2598,3347,3715,0,0,0,0,0,0
$GC,4358,-1.39,-146.0,429.5,-6.3,236,4363,0.17,2.35,0.00,0.000,6,0.045,0.028,2507,1892,3715,0,0,0,0,0,0
$GC,4642,-1.21,-146.0,460.8,-11.7,243,4650,0.38,2.85,0.00,0.000,4,0.085,0.060,2592,221,3713,0,0,0,0,0,0
$GC,4678,-1.33,-146.0,464.5,-9.4,243,4683,0.00,2.65,0.00,0.000,6,0.000,0.031,2592,1863,3712,0,0,0,0,0,0
$GC,4928,-1.33,-146.0,484.4,-8.1,249,4932,0.00,2.47,0.00,0.000,4,0.000,0.052,2592,3347,3711,0,0,0,0,0,0
$GC,4977,-1.45,-146.0,488.3,-6.8,250,4982,0.20,2.35,0.00,0.000,6,0.043,0.028,2499,1895,3710,0,0,0,0,0,0
$STATE,5094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5094,begin apogee
$GC,5100,-0.31,0.0,503.0,12.8,253,5222,1.33,0.00,118.12,0.869,6,0.082,0.000,2792,1681,3120,0,0,0,0,0,0
$STATE,5223,end apogee,CONTROL_FINISHED_OK
$STATE,5223,begin climb
$GC,5227,1.17,146.0,508.5,0.0,256,5358,1.35,2.72,121.60,0.854,4,0.031,0.051,3127,3240,2523,0,0,0,0,0,0
$GC,5410,0.89,179.4,508.3,7.6,260,5448,0.35,2.60,29.12,0.815,6,0.106,0.038,3056,1695,2388,0,0,0,0,0,0
$GC,5717,0.78,189.1,482.7,8.6,268,5733,0.12,2.75,8.95,0.716,4,0.132,0.075,3032,164,2347,0,0,0,0,0,0
$GC,5828,0.66,189.1,472.1,9.5,270,5833,0.15,2.40,0.00,0.000,6,0.112,0.028,3001,1650,2346,0,0,0,0,0,0
$GC,6097,0.73,244.6,453.4,6.7,277,6152,0.00,2.65,48.85,0.824,4,0.000,0.058,3001,168,2121,0,0,0,0,0,0
$GC,6194,0.73,244.6,444.8,10.3,279,6198,0.00,2.42,0.00,0.000,6,0.000,0.027,3001,1663,2120,0,0,0,0,0,0
$GC,6472,0.81,255.3,420.8,8.6,286,6484,0.15,0.00,9.88,0.715,6,0.055,0.000,3066,1664,2079,0,0,0,0,0,0
$GC,6717,0.72,255.3,392.9,11.7,292,6722,0.22,2.60,0.00,0.000,4,0.093,0.055,3018,157,2075,0,0,0,0,0,0
$GC,6756,0.72,255.3,388.0,11.2,292,6762,0.00,2.45,0.00,0.000,6,0.000,0.026,3018,1671,2075,0,0,0,0,0,0
$GC,7006,0.74,264.7,365.9,8.6,299,7022,0.00,2.70,9.48,0.694,4,0.000,0.050,3018,3248,2038,0,0,0,0,0,0
$GC,7039,0.77,293.6,363.4,7.8,299,7072,0.00,2.67,27.35,0.763,6,0.000,0.034,3018,1652,1922,0,0,0,0,0,0
$GC,7337,0.90,337.3,341.2,7.2,307,7380,0.15,0.00,39.53,0.759,6,0.057,0.000,3082,1652,1745,0,0,0,0,0,0
$GC,7627,0.83,337.3,309.5,11.5,314,7634,0.20,2.72,0.00,0.000,4,0.094,0.045,3040,3251,1737,0,0,0,0,0,0
$GC,7667,0.91,337.3,304.9,9.6,314,7672,0.00,2.62,0.00,0.000,6,0.000,0.034,3040,1668,1736,0,0,0,0,0,0
$GC,7916,0.91,337.3,280.2,10.0,321,7921,0.00,2.65,0.00,0.000,4,0.000,0.041,3040,3260,1735,0,0,0,0,0,0
$GC,7941,0.91,337.3,277.8,9.5,321,7945,0.00,2.62,0.00,0.000,6,0.000,0.032,3040,1678,1734,0,0,0,0,0,0
$GC,8200,0.98,337.3,253.6,9.1,328,8205,0.15,2.62,0.00,0.000,4,0.057,0.039,3106,3254,1733,0,0,0,0,0,0
$GC,8247,0.98,337.3,247.7,12.6,329,8253,0.15,2.60,0.00,0.000,6,0.104,0.033,3075,1686,1732,0,0,0,0,0,0
$GC,8532,0.98,337.3,215.7,11.2,336,8536,0.00,2.58,0.00,0.000,4,0.000,0.059,3075,163,1732,0,0,0,0,0,0
$GC,8550,0.98,337.3,213.2,11.8,336,8555,0.00,2.45,0.00,0.000,6,0.000,0.024,3075,1698,1732,0,0,0,0,0,0
$GC,8811,0.98,337.3,185.7,10.1,351,8815,0.00,2.58,0.00,0.000,4,0.000,0.040,3075,3258,1732,0,0,0,0,0,0
$GC,8840,0.98,337.3,182.4,10.5,353,8845,0.00,2.58,0.00,0.000,6,0.000,0.028,3075,1685,1730,0,0,0,0,0,0
$GC,9102,0.98,337.3,157.3,9.5,378,9106,0.00,2.53,0.00,0.000,4,0.000,0.048,3075,170,1730,0,0,0,0,0,0
$GC,9122,0.98,337.3,155.6,10.0,379,9126,0.00,2.40,0.00,0.000,6,0.000,0.023,3075,1691,1729,0,0,0,0,0,0
$GC,9388,0.98,337.3,129.8,9.7,404,9392,0.00,2.55,0.00,0.000,4,0.000,0.036,3075,3258,1729,0,0,0,0,0,0
$GC,9428,1.05,337.3,126.0,10.4,407,9433,0.00,2.55,0.00,0.000,6,0.000,0.035,3075,1689,1728,0,0,0,0,0,0
$GC,9694,1.12,337.3,100.8,9.4,431,9699,0.12,2.58,0.00,0.000,4,0.063,0.035,3136,3268,1728,0,0,0,0,0,0
$GC,9723,1.12,337.3,97.7,10.6,433,9728,0.15,2.55,0.00,0.000,6,0.101,0.031,3104,1694,1728,0,0,0,0,0,0
$GC,9991,1.12,337.3,70.9,10.8,457,9996,0.00,2.53,0.00,0.000,4,0.000,0.046,3103,165,1728,0,0,0,0,0,0
$GC,10021,1.12,337.3,67.0,11.9,459,10025,0.00,2.40,0.00,0.000,6,0.000,0.021,3104,1707,1728,0,0,0,0,0,0
$GC,10290,1.12,337.3,40.2,10.2,483,10294,0.00,2.47,0.00,0.000,4,0.000,0.035,3104,3254,1728,0,0,0,0,0,0
$GC,10321,1.12,337.3,36.1,10.5,485,10330,0.00,2.53,0.00,0.000,6,0.000,0.026,3103,1701,1728,0,0,0,0,0,0
$GC,10620,1.12,337.3,4.6,10.8,528,10629,0.00,2.55,0.00,0.000,4,0.000,0.035,3103,3251,1728,0,0,0,0,0,0
$STATE,10636,end climb,SURFACE_DEPTH_REACHED
$STATE,10636,begin surface coast
$FINISH,0.7,1.023899
$STATE,10687,end surface coast,CONTROL_FINISHED_OK
$STATE,10687,begin surface
$SM_CCo,10710,24.35,0.310,1,0,1570,380.21
$SM_GC,1.50,0.00,0.00,24.35,0.000,0.000,0.310,412,1774,1570,-11.26,-0.42,380.21
$IRIDIUM_FIX,2244.02,-15757.16,310300,232330
$TT8_MAMPS,0.026845
$HUMID,49.76
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.70
$XPDR_PINGS,2
$24V_AH,23.5,59.007
$10V_AH,10.1,51.925
$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,31.675,162.125,412.875,24.350,0.000,49.487,69.050,229.798,0.500,0.000,14.325,1146.661,6891.014,513.680,2052.275,696.333,33.386,1349.862,0.000,2062.437,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,75.166,869.011,309.868,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.794,338.115,421.569,636.218,1125.383,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355244
$DATA_FILE_SIZE,41513,538
$CAP_FILE_SIZE,132063,0
$CFSIZE,260165632,146653184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060111,020607,2247.956,-15757.928,34,1.1,34,10.1