version: 66.06
glider: 148
mission: 9
dive: 463
start: 1 7 111 8 30 46
data:
$ID,148
$MISSION,9
$DIVE,463
$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,-868054.5
$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,44
$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
$GPS1,082326,2249.638,-15758.897,37,2.2,56,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.3
$GPS2,082950,2249.635,-15758.888,14,1.3,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.236,0.084
$KALMAN_X,-77409.5,-143.5,-90.4,96528.3,-659.7
$KALMAN_Y,-98902.6,-461.5,296.3,228233.8,-528.6
$MHEAD_RNG_PITCHd_Wd,60.3,3292,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-74.95,0.000,2,0.000,0.000,413,1844,3401,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.9,-5.2,10,124,11.48,2.67,-5.60,0.000,4,0.152,0.045,2597,207,3718,0,0,0,0,0,0
$GC,189,-1.17,-146.0,25.1,-13.0,23,197,0.00,2.53,0.00,0.000,6,0.000,0.021,2597,1796,3720,0,0,0,0,0,0
$GC,462,-1.07,-146.0,66.5,-13.6,50,467,0.12,2.53,0.00,0.000,4,0.110,0.031,2625,3372,3720,0,0,0,0,0,0
$GC,550,-1.07,-146.0,77.3,-10.6,57,554,0.00,2.50,0.00,0.000,6,0.000,0.024,2625,1797,3721,0,0,0,0,0,0
$GC,818,-1.07,-146.0,112.2,-11.7,81,823,0.00,2.50,0.00,0.000,4,0.000,0.031,2625,3367,3721,0,0,0,0,0,0
$GC,853,-1.07,-146.0,116.8,-9.7,84,858,0.00,2.47,0.00,0.000,6,0.000,0.022,2625,1807,3721,0,0,0,0,0,0
$GC,1116,-1.13,-146.0,139.2,-7.6,108,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1807,3721,0,0,0,0,0,0
$GC,1371,-1.20,-146.0,160.1,-8.8,132,1376,0.12,2.50,0.00,0.000,4,0.062,0.029,2557,3370,3722,0,0,0,0,0,0
$GC,1401,-1.11,-146.0,163.8,-11.6,134,1407,0.28,2.45,0.00,0.000,6,0.081,0.022,2619,1822,3722,0,0,0,0,0,0
$GC,1665,-1.17,-146.0,189.2,-9.8,159,1670,0.00,2.45,0.00,0.000,4,0.000,0.029,2619,3367,3722,0,0,0,0,0,0
$GC,1714,-1.30,-146.0,193.8,-9.4,163,1719,0.17,2.42,0.00,0.000,6,0.048,0.022,2528,1826,3722,0,0,0,0,0,0
$GC,1967,-1.07,-146.0,230.7,-15.0,172,1975,0.47,2.60,0.00,0.000,4,0.081,0.038,2624,210,3722,0,0,0,0,0,0
$GC,1998,-1.21,-146.0,234.7,-9.3,172,2003,0.12,2.53,0.00,0.000,6,0.061,0.020,2550,1843,3722,0,0,0,0,0,0
$GC,2254,-1.10,-146.0,263.5,-11.4,179,2259,0.30,2.42,0.00,0.000,4,0.081,0.030,2619,3374,3723,0,0,0,0,0,0
$GC,2282,-1.16,-146.0,265.9,-9.3,179,2286,0.00,2.42,0.00,0.000,6,0.000,0.023,2619,1834,3723,0,0,0,0,0,0
$GC,2541,-1.27,-146.0,284.6,-6.9,186,2547,0.15,2.70,0.00,0.000,4,0.055,0.048,2537,206,3722,0,0,0,0,0,0
$GC,2556,-1.27,-146.0,286.1,-7.0,186,2562,0.20,2.55,0.00,0.000,6,0.087,0.021,2583,1850,3722,0,0,0,0,0,0
$GC,2828,-1.27,-146.0,309.1,-8.6,193,2832,0.00,2.42,0.00,0.000,4,0.000,0.035,2583,3370,3722,0,0,0,0,0,0
$GC,2865,-1.27,-146.0,312.6,-8.4,193,2870,0.00,2.45,0.00,0.000,6,0.000,0.026,2582,1842,3722,0,0,0,0,0,0
$GC,3116,-1.27,-146.0,334.0,-9.1,200,3120,0.00,2.70,0.00,0.000,4,0.000,0.051,2583,215,3721,0,0,0,0,0,0
$GC,3148,-1.27,-146.0,337.7,-10.1,200,3153,0.00,2.58,0.00,0.000,6,0.000,0.023,2583,1841,3721,0,0,0,0,0,0
$GC,3398,-1.27,-146.0,362.7,-10.1,206,3402,0.00,2.47,0.00,0.000,4,0.000,0.038,2583,3368,3720,0,0,0,0,0,0
$GC,3432,-1.27,-146.0,366.1,-10.3,206,3436,0.00,2.42,0.00,0.000,6,0.000,0.027,2583,1847,3719,0,0,0,0,0,0
$GC,3683,-1.27,-146.0,388.4,-8.7,212,3688,0.00,2.47,0.00,0.000,4,0.000,0.039,2583,3367,3718,0,0,0,0,0,0
$GC,3702,-1.27,-146.0,390.3,-8.7,212,3706,0.00,2.40,0.00,0.000,6,0.000,0.026,2583,1860,3718,0,0,0,0,0,0
$GC,3966,-1.27,-146.0,412.0,-8.2,219,3970,0.00,2.45,0.00,0.000,4,0.000,0.041,2583,3359,3717,0,0,0,0,0,0
$GC,3986,-1.27,-146.0,413.7,-9.0,219,3990,0.00,2.42,0.00,0.000,6,0.000,0.027,2583,1855,3716,0,0,0,0,0,0
$GC,4254,-1.27,-146.0,436.1,-8.4,226,4258,0.00,2.47,0.00,0.000,4,0.000,0.044,2583,3357,3715,0,0,0,0,0,0
$GC,4279,-1.27,-146.0,438.3,-9.0,226,4283,0.00,2.40,0.00,0.000,6,0.000,0.027,2583,1868,3715,0,0,0,0,0,0
$GC,4540,-1.27,-146.0,459.2,-7.9,233,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1868,3713,0,0,0,0,0,0
$GC,4781,-1.27,-146.0,476.7,-7.1,239,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1868,3712,0,0,0,0,0,0
$GC,5025,-1.27,-146.0,493.8,-7.0,245,5029,0.00,2.50,0.00,0.000,4,0.000,0.050,2583,3354,3710,0,0,0,0,0,0
$GC,5070,-1.37,-146.0,497.0,-7.1,246,5074,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,1864,3711,0,0,0,0,0,0
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5111,begin apogee
$GC,5116,-0.31,0.0,500.2,7.9,247,5238,0.93,0.00,118.35,0.866,6,0.072,0.000,2794,1681,3119,0,0,0,0,0,0
$STATE,5239,end apogee,CONTROL_FINISHED_OK
$STATE,5239,begin climb
$GC,5241,1.17,146.0,504.8,0.0,250,5372,1.30,2.67,120.75,0.851,4,0.025,0.071,3124,183,2523,0,0,0,0,0,0
$GC,5411,0.71,146.7,505.3,9.0,254,5419,0.52,2.42,0.00,0.000,6,0.100,0.028,3015,1664,2519,0,0,0,0,0,0
$GC,5703,0.80,216.2,487.4,6.1,261,5768,0.00,2.62,59.50,0.835,4,0.000,0.061,3015,184,2237,0,0,0,0,0,0
$GC,5779,0.86,266.5,482.0,6.9,262,5833,0.12,2.45,45.20,0.821,6,0.066,0.028,3067,1687,2032,0,0,0,0,0,0
$GC,6116,0.76,266.5,444.3,11.2,271,6123,0.20,2.70,0.00,0.000,4,0.095,0.056,3025,3264,2022,0,0,0,0,0,0
$GC,6141,0.76,266.5,441.4,10.1,271,6146,0.00,2.62,0.00,0.000,6,0.000,0.035,3025,1690,2020,0,0,0,0,0,0
$GC,6402,0.77,273.8,418.7,8.7,278,6410,0.00,0.00,5.82,0.621,6,0.000,0.000,3025,1689,2003,0,0,0,0,0,0
$GC,6644,0.77,273.8,396.8,9.1,284,6648,0.00,2.65,0.00,0.000,4,0.000,0.045,3025,3258,2001,0,0,0,0,0,0
$GC,6679,0.85,279.0,393.7,8.8,284,6691,0.00,2.65,6.03,0.625,6,0.000,0.035,3025,1674,1981,0,0,0,0,0,0
$GC,6980,0.86,282.4,367.3,8.9,292,6992,0.10,2.70,4.40,0.537,4,0.078,0.045,3072,3269,1968,0,0,0,0,0,0
$GC,7043,0.86,282.4,359.9,12.1,293,7049,0.12,2.62,0.00,0.000,6,0.106,0.035,3045,1688,1966,0,0,0,0,0,0
$GC,7314,0.86,282.4,333.3,9.6,300,7319,0.00,2.60,0.00,0.000,4,0.000,0.065,3045,167,1965,0,0,0,0,0,0
$GC,7342,0.78,282.4,330.2,11.2,300,7347,0.00,2.45,0.00,0.000,6,0.000,0.025,3045,1698,1965,0,0,0,0,0,0
$GC,7597,0.78,282.7,306.9,9.0,307,7601,0.00,2.60,0.00,0.000,4,0.000,0.057,3045,167,1964,0,0,0,0,0,0
$GC,7617,0.78,282.7,305.0,9.6,307,7621,0.00,2.42,0.00,0.000,6,0.000,0.024,3045,1686,1964,0,0,0,0,0,0
$GC,7880,0.79,287.1,281.5,8.8,314,7887,0.00,0.00,5.20,0.548,6,0.000,0.000,3045,1686,1949,0,0,0,0,0,0
$GC,8126,0.80,298.8,260.8,8.5,320,8146,0.00,2.65,12.82,0.664,4,0.000,0.054,3045,160,1900,0,0,0,0,0,0
$GC,8218,0.80,298.8,251.8,11.2,322,8223,0.00,2.42,0.00,0.000,6,0.000,0.023,3045,1680,1899,0,0,0,0,0,0
$GC,8505,0.82,314.0,227.1,8.4,329,8525,0.00,2.65,14.45,0.646,4,0.000,0.040,3045,3240,1839,0,0,0,0,0,0
$GC,8552,0.90,314.0,223.0,9.3,330,8556,0.00,2.60,0.00,0.000,6,0.000,0.031,3045,1658,1837,0,0,0,0,0,0
$GC,8839,0.90,314.0,196.2,9.4,337,8843,0.00,2.60,0.00,0.000,4,0.000,0.035,3045,3247,1836,0,0,0,0,0,0
$GC,8867,0.97,314.0,193.4,9.7,339,8876,0.08,2.62,0.00,0.000,6,0.037,0.030,3102,1665,1834,0,0,0,0,0,0
$GC,9134,0.87,314.0,163.7,11.0,364,9139,0.25,2.60,0.00,0.000,4,0.092,0.035,3044,3249,1834,0,0,0,0,0,0
$GC,9153,0.87,314.0,161.0,9.8,365,9159,0.00,2.58,0.00,0.000,6,0.000,0.028,3044,1672,1833,0,0,0,0,0,0
$GC,9418,0.95,323.5,138.0,8.6,390,9433,0.10,0.00,9.23,0.538,6,0.077,0.000,3101,1672,1801,0,0,0,0,0,0
$GC,9689,0.95,323.5,110.6,9.3,416,9694,0.15,2.50,0.00,0.000,4,0.104,0.048,3069,174,1799,0,0,0,0,0,0
$GC,9739,0.95,323.5,105.9,9.3,420,9748,0.00,2.40,0.00,0.000,6,0.000,0.021,3069,1686,1799,0,0,0,0,0,0
$GC,10005,1.02,324.7,85.9,9.0,445,10010,0.00,2.53,0.00,0.000,4,0.000,0.032,3069,3254,1799,0,0,0,0,0,0
$GC,10035,1.11,324.7,82.8,10.4,447,10040,0.12,2.53,0.00,0.000,6,0.067,0.027,3128,1678,1796,0,0,0,0,0,0
$GC,10299,1.00,324.7,50.7,12.0,471,10304,0.22,2.47,0.00,0.000,4,0.090,0.043,3077,173,1797,0,0,0,0,0,0
$GC,10331,1.00,324.7,47.1,11.3,473,10336,0.00,2.35,0.00,0.000,6,0.000,0.020,3077,1683,1797,0,0,0,0,0,0
$GC,10615,1.00,324.7,18.2,9.8,508,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1686,1797,0,0,0,0,0,0
$STATE,10767,end climb,SURFACE_DEPTH_REACHED
$STATE,10768,begin surface coast
$FINISH,0.8,1.024001
$STATE,10822,end surface coast,CONTROL_FINISHED_OK
$STATE,10822,begin surface
$SM_CCo,10842,31.98,0.351,1,0,1569,380.21
$SM_GC,1.65,0.00,0.00,31.98,0.000,0.000,0.351,412,1855,1569,-11.27,1.84,380.21
$IRIDIUM_FIX,2239.35,-15802.37,020400,050513
$TT8_MAMPS,0.026845
$HUMID,48.97
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,60.266
$10V_AH,10.1,53.153
$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,28.325,146.950,401.750,31.975,0.000,25.696,33.604,182.589,0.000,0.000,15.892,1126.963,7069.865,489.410,2016.756,562.301,33.380,1309.170,0.000,2015.957,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,71.331,865.943,350.519,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.021,333.004,416.199,620.680,1097.346,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,41662,540
$CAP_FILE_SIZE,122647,0
$CFSIZE,260165632,146014208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070111,113303,2249.997,-15757.679,18,2.0,18,10.1