version: 66.06
glider: 148
mission: 9
dive: 459
start: 1 6 111 19 46 51
data:
$ID,148
$MISSION,9
$DIVE,459
$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,-867927.06
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,193900,2249.791,-15802.696,19,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-63.8
$GPS2,194556,2249.804,-15802.752,11,1.2,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,0.028
$KALMAN_X,-74109.0,31.2,-80.8,86386.4,-225.8
$KALMAN_Y,-95634.6,308.4,232.1,224571.3,-222.3
$MHEAD_RNG_PITCHd_Wd,73.4,9825,-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,-67.60,0.000,2,0.000,0.000,407,1859,3239,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.2,-4.0,9,125,11.57,2.75,-9.20,0.000,4,0.154,0.047,2595,208,3719,0,0,0,0,0,0
$GC,160,-1.04,-146.0,19.1,-16.7,18,169,0.12,2.53,0.00,0.000,6,0.074,0.021,2629,1789,3720,0,0,0,0,0,0
$GC,437,-0.98,-146.0,51.5,-11.7,49,442,0.00,2.53,0.00,0.000,4,0.000,0.031,2629,3376,3720,0,0,0,0,0,0
$GC,515,-1.04,-146.0,59.9,-9.6,55,523,0.00,2.53,0.00,0.000,6,0.000,0.022,2629,1804,3720,0,0,0,0,0,0
$GC,779,-0.97,-146.0,93.0,-12.9,80,783,0.00,2.53,0.00,0.000,4,0.000,0.031,2629,3371,3720,0,0,0,0,0,0
$GC,811,-0.97,-146.0,97.3,-10.9,82,820,0.00,2.50,0.00,0.000,6,0.000,0.022,2629,1809,3721,0,0,0,0,0,0
$GC,1080,-0.97,-146.0,122.8,-9.2,107,1084,0.00,2.50,0.00,0.000,4,0.000,0.030,2629,3370,3722,0,0,0,0,0,0
$GC,1128,-1.10,-146.0,127.0,-7.9,111,1132,0.00,2.42,0.00,0.000,6,0.000,0.021,2629,1823,3722,0,0,0,0,0,0
$GC,1396,-1.10,-146.0,147.5,-8.2,135,1400,0.00,2.47,0.00,0.000,4,0.000,0.030,2629,3370,3722,0,0,0,0,0,0
$GC,1431,-1.18,-146.0,151.2,-9.3,138,1436,0.12,2.42,0.00,0.000,6,0.058,0.021,2544,1833,3722,0,0,0,0,0,0
$GC,1692,-0.94,-146.0,187.2,-13.7,162,1704,0.55,2.60,0.00,0.000,4,0.081,0.036,2650,212,3723,0,0,0,0,0,0
$GC,1721,-1.01,-146.0,190.2,-9.4,164,1726,0.00,2.53,0.00,0.000,6,0.000,0.019,2651,1841,3724,0,0,0,0,0,0
$GC,2009,-1.17,-146.0,207.9,-6.3,183,2013,0.20,2.45,0.00,0.000,4,0.044,0.030,2554,3374,3724,0,0,0,0,0,0
$GC,2066,-1.17,-146.0,214.3,-11.4,184,2071,0.22,2.42,0.00,0.000,6,0.080,0.022,2606,1829,3724,0,0,0,0,0,0
$GC,2340,-1.17,-146.0,239.8,-9.1,191,2344,0.00,2.47,0.00,0.000,4,0.000,0.031,2606,3369,3724,0,0,0,0,0,0
$GC,2398,-1.29,-146.0,244.4,-7.4,192,2403,0.12,2.42,0.00,0.000,6,0.061,0.023,2522,1844,3724,0,0,0,0,0,0
$GC,2671,-1.04,-146.0,280.4,-13.2,199,2678,0.52,2.65,0.00,0.000,4,0.080,0.041,2627,211,3724,0,0,0,0,0,0
$GC,2707,-1.23,-146.0,283.8,-7.1,199,2712,0.15,2.60,0.00,0.000,6,0.054,0.021,2549,1860,3724,0,0,0,0,0,0
$GC,2959,-1.11,-146.0,310.4,-11.2,205,2964,0.28,2.42,0.00,0.000,4,0.081,0.035,2612,3367,3724,0,0,0,0,0,0
$GC,3016,-1.27,-146.0,315.5,-7.1,206,3021,0.12,2.42,0.00,0.000,6,0.061,0.026,2532,1859,3724,0,0,0,0,0,0
$GC,3291,-1.09,-146.0,349.0,-12.7,213,3298,0.43,2.47,0.00,0.000,4,0.077,0.039,2618,3374,3723,0,0,0,0,0,0
$GC,3312,-1.09,-146.0,351.8,-10.6,213,3316,0.00,2.40,0.00,0.000,6,0.000,0.025,2618,1873,3723,0,0,0,0,0,0
$GC,3576,-1.22,-146.0,369.7,-6.7,220,3581,0.10,2.45,0.00,0.000,4,0.075,0.040,2554,3370,3721,0,0,0,0,0,0
$GC,3615,-1.22,-146.0,373.4,-9.8,220,3622,0.17,2.40,0.00,0.000,6,0.084,0.026,2595,1875,3721,0,0,0,0,0,0
$GC,3865,-1.22,-146.0,392.8,-7.6,227,3870,0.00,2.42,0.00,0.000,4,0.000,0.041,2595,3361,3720,0,0,0,0,0,0
$GC,3903,-1.34,-146.0,395.6,-7.2,227,3909,0.12,2.38,0.00,0.000,6,0.062,0.028,2515,1889,3720,0,0,0,0,0,0
$GC,4155,-1.17,-146.0,424.2,-11.9,234,4162,0.38,2.80,0.00,0.000,4,0.081,0.056,2603,221,3718,0,0,0,0,0,0
$GC,4182,-1.26,-146.0,427.3,-9.4,234,4186,0.00,2.67,0.00,0.000,6,0.000,0.028,2603,1884,3719,0,0,0,0,0,0
$GC,4443,-1.36,-146.0,447.0,-7.6,241,4448,0.17,2.45,0.00,0.000,4,0.050,0.048,2524,3362,3716,0,0,0,0,0,0
$GC,4490,-1.29,-146.0,452.2,-10.3,242,4495,0.25,2.38,0.00,0.000,6,0.081,0.028,2581,1893,3716,0,0,0,0,0,0
$GC,4773,-1.29,-146.0,475.3,-8.0,249,4777,0.00,2.47,0.00,0.000,4,0.000,0.050,2581,3364,3714,0,0,0,0,0,0
$GC,4794,-1.29,-146.0,476.9,-8.0,249,4798,0.00,2.38,0.00,0.000,6,0.000,0.027,2581,1896,3714,0,0,0,0,0,0
$GC,5057,-1.29,-146.0,498.7,-8.5,256,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1895,3712,0,0,0,0,0,0
$STATE,5095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5095,begin apogee
$GC,5101,-0.31,0.0,502.2,8.6,257,5223,0.93,0.00,119.10,0.870,6,0.073,0.000,2792,1681,3120,0,0,0,0,0,0
$STATE,5224,end apogee,CONTROL_FINISHED_OK
$STATE,5224,begin climb
$GC,5228,1.17,146.0,507.4,0.0,260,5359,1.33,2.75,121.57,0.854,4,0.025,0.052,3132,3248,2523,0,0,0,0,0,0
$GC,5395,0.88,193.4,509.7,7.0,263,5442,0.38,2.62,41.05,0.828,6,0.101,0.038,3054,1693,2331,0,0,0,0,0,0
$GC,5685,0.80,218.4,487.4,8.0,271,5714,0.00,2.80,21.83,0.800,4,0.000,0.077,3053,166,2228,0,0,0,0,0,0
$GC,5782,0.63,218.4,478.6,10.1,273,5787,0.25,2.42,0.00,0.000,6,0.097,0.028,2999,1665,2226,0,0,0,0,0,0
$GC,6066,0.76,269.9,458.6,6.9,280,6119,0.10,2.67,45.92,0.821,4,0.077,0.058,3049,169,2018,0,0,0,0,0,0
$GC,6154,0.67,269.9,449.6,12.2,282,6159,0.20,2.47,0.00,0.000,6,0.094,0.027,3006,1680,2017,0,0,0,0,0,0
$GC,6441,0.77,292.2,425.5,8.1,289,6465,0.10,0.00,20.75,0.782,6,0.077,0.000,3056,1679,1928,0,0,0,0,0,0
$GC,6686,0.77,292.2,400.1,10.6,295,6691,0.12,2.62,0.00,0.000,4,0.107,0.056,3029,164,1923,0,0,0,0,0,0
$GC,6726,0.77,292.2,395.8,10.4,295,6731,0.00,2.47,0.00,0.000,6,0.000,0.026,3029,1690,1923,0,0,0,0,0,0
$GC,6975,0.79,303.5,374.4,8.5,302,6992,0.00,2.72,10.73,0.711,4,0.000,0.053,3029,3279,1881,0,0,0,0,0,0
$GC,7017,0.88,325.1,371.0,8.1,302,7046,0.10,2.67,21.10,0.756,6,0.078,0.034,3080,1678,1793,0,0,0,0,0,0
$GC,7312,0.81,325.1,338.7,11.2,310,7314,0.20,0.00,0.00,0.000,6,0.094,0.000,3036,1678,1788,0,0,0,0,0,0
$GC,7559,0.81,325.1,313.4,10.4,316,7564,0.00,2.65,0.00,0.000,4,0.000,0.043,3037,3259,1787,0,0,0,0,0,0
$GC,7606,0.92,325.1,307.8,10.7,317,7611,0.10,2.62,0.00,0.000,6,0.077,0.033,3085,1682,1785,0,0,0,0,0,0
$GC,7889,0.92,325.1,273.2,12.3,324,7894,0.12,2.65,0.00,0.000,4,0.108,0.044,3060,3255,1785,0,0,0,0,0,0
$GC,7919,0.92,325.1,269.8,11.5,324,7924,0.00,2.60,0.00,0.000,6,0.000,0.032,3060,1687,1783,0,0,0,0,0,0
$GC,8173,0.92,325.1,245.8,9.1,331,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1687,1783,0,0,0,0,0,0
$GC,8417,0.92,325.1,220.8,10.7,337,8421,0.00,2.60,0.00,0.000,4,0.000,0.038,3059,3264,1783,0,0,0,0,0,0
$GC,8465,0.98,325.1,215.6,10.5,338,8470,0.00,2.55,0.00,0.000,6,0.000,0.031,3059,1698,1782,0,0,0,0,0,0
$GC,8735,0.98,325.1,188.2,9.5,352,8740,0.00,2.58,0.00,0.000,4,0.000,0.052,3059,165,1782,0,0,0,0,0,0
$GC,8759,0.98,325.1,185.4,10.6,354,8764,0.00,2.45,0.00,0.000,6,0.000,0.024,3059,1712,1782,0,0,0,0,0,0
$GC,9023,0.98,325.1,161.0,9.5,378,9028,0.00,2.58,0.00,0.000,4,0.000,0.047,3059,171,1781,0,0,0,0,0,0
$GC,9049,0.98,325.1,158.0,10.7,380,9053,0.00,2.42,0.00,0.000,6,0.000,0.023,3059,1700,1782,0,0,0,0,0,0
$GC,9313,1.02,354.9,136.3,7.8,404,9347,0.10,2.60,25.65,0.591,4,0.077,0.035,3118,3248,1670,0,0,0,0,0,0
$GC,9361,0.95,354.9,130.8,11.4,408,9371,0.20,2.58,0.00,0.000,6,0.072,0.027,3068,1694,1668,0,0,0,0,0,0
$GC,9629,1.02,354.9,106.4,10.1,433,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1694,1667,0,0,0,0,0,0
$GC,9890,1.10,354.9,81.8,9.2,458,9895,0.12,2.55,0.00,0.000,4,0.064,0.033,3136,3257,1667,0,0,0,0,0,0
$GC,9967,1.10,354.9,73.9,12.3,464,9972,0.17,2.53,0.00,0.000,6,0.094,0.027,3097,1699,1665,0,0,0,0,0,0
$GC,10233,1.10,354.9,46.0,11.0,488,10238,0.00,2.50,0.00,0.000,4,0.000,0.043,3097,168,1665,0,0,0,0,0,0
$GC,10265,1.10,354.9,42.3,11.6,490,10269,0.00,2.40,0.00,0.000,6,0.000,0.021,3097,1711,1665,0,0,0,0,0,0
$GC,10556,1.10,354.9,10.4,10.6,528,10564,0.00,2.50,0.00,0.000,4,0.000,0.035,3097,3250,1665,0,0,0,0,0,0
$GC,10575,1.10,354.9,8.6,10.7,530,10584,0.00,2.50,0.00,0.000,6,0.000,0.026,3097,1710,1665,0,0,0,0,0,0
$STATE,10615,end climb,SURFACE_DEPTH_REACHED
$STATE,10615,begin surface coast
$FINISH,0.7,1.023818
$STATE,10654,end surface coast,CONTROL_FINISHED_OK
$STATE,10654,begin surface
$SM_CCo,10675,16.55,0.224,1,0,1569,380.21
$SM_GC,1.74,0.00,0.00,16.55,0.000,0.000,0.224,411,1871,1569,-11.27,2.29,380.21
$IRIDIUM_FIX,2241.69,-15802.37,010400,161641
$TT8_MAMPS,0.026845
$HUMID,49.37
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,59.755
$10V_AH,10.1,52.684
$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,31.050,152.375,427.700,16.550,0.000,27.935,34.975,213.532,0.000,0.000,13.196,1138.487,6802.369,518.762,2055.456,597.301,33.370,1348.687,0.000,2057.434,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,78.234,869.778,223.964,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.579,337.084,425.107,638.842,1129.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355268
$DATA_FILE_SIZE,41523,542
$CAP_FILE_SIZE,126692,0
$CFSIZE,260165632,146255872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060111,224630,2249.743,-15801.279,36,1.3,42,10.1