version: 66.06
glider: 148
mission: 9
dive: 474
start: 1 8 111 18 30 35
data:
$ID,148
$MISSION,9
$DIVE,474
$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,-868399.69
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,182337,2249.772,-15800.729,26,1.5,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.5
$GPS2,182938,2249.741,-15800.721,15,1.9,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.008
$KALMAN_X,-84955.7,35.3,-178.0,100824.5,-323.5
$KALMAN_Y,-106607.7,256.5,-444.2,236155.0,90.6
$MHEAD_RNG_PITCHd_Wd,78.0,6369,-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,17,-1.17,-146.0,0.0,0.0,0,88,0.00,0.00,-68.35,0.000,2,0.000,0.000,416,1879,3237,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.3,-3.9,9,125,11.35,2.75,-9.23,0.000,4,0.148,0.048,2596,214,3718,0,0,0,0,0,0
$GC,216,-1.17,-146.0,26.7,-13.1,27,224,0.00,2.50,0.00,0.000,6,0.000,0.019,2596,1801,3719,0,0,0,0,0,0
$GC,496,-1.03,-146.0,65.7,-13.0,54,501,0.17,2.50,0.00,0.000,4,0.105,0.031,2633,3367,3719,0,0,0,0,0,0
$GC,563,-1.12,-146.0,72.9,-8.5,59,567,0.00,2.50,0.00,0.000,6,0.000,0.023,2633,1786,3720,0,0,0,0,0,0
$GC,829,-1.12,-146.0,100.0,-10.4,83,833,0.00,2.53,0.00,0.000,4,0.000,0.029,2633,3370,3720,0,0,0,0,0,0
$GC,847,-1.05,-146.0,102.6,-10.1,84,856,0.00,2.50,0.00,0.000,6,0.000,0.021,2633,1796,3720,0,0,0,0,0,0
$GC,1114,-1.05,-146.0,129.2,-10.4,109,1118,0.00,2.53,0.00,0.000,4,0.000,0.030,2633,3368,3721,0,0,0,0,0,0
$GC,1184,-1.17,-146.0,136.3,-9.9,115,1189,0.12,2.45,0.00,0.000,6,0.058,0.022,2561,1818,3721,0,0,0,0,0,0
$GC,1450,-1.04,-146.0,172.0,-13.1,139,1459,0.32,2.60,0.00,0.000,4,0.082,0.037,2632,215,3722,0,0,0,0,0,0
$GC,1486,-1.10,-146.0,175.8,-10.6,142,1490,0.00,2.47,0.00,0.000,6,0.000,0.018,2631,1832,3723,0,0,0,0,0,0
$GC,1752,-1.20,-146.0,196.8,-7.6,166,1757,0.15,2.42,0.00,0.000,4,0.055,0.030,2555,3360,3723,0,0,0,0,0,0
$GC,1822,-1.13,-146.0,204.2,-11.0,170,1827,0.25,2.42,0.00,0.000,6,0.080,0.022,2613,1829,3723,0,0,0,0,0,0
$GC,2086,-1.13,-146.0,225.2,-7.8,177,2090,0.00,2.45,0.00,0.000,4,0.000,0.030,2613,3357,3723,0,0,0,0,0,0
$GC,2116,-1.22,-146.0,227.3,-7.3,177,2120,0.00,2.40,0.00,0.000,6,0.000,0.023,2613,1832,3723,0,0,0,0,0,0
$GC,2371,-1.29,-146.0,246.0,-7.3,184,2376,0.15,2.45,0.00,0.000,4,0.054,0.031,2535,3357,3723,0,0,0,0,0,0
$GC,2409,-1.16,-146.0,250.1,-11.7,184,2415,0.32,2.38,0.00,0.000,6,0.077,0.022,2608,1844,3723,0,0,0,0,0,0
$GC,2661,-1.23,-146.0,271.1,-8.0,191,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1844,3723,0,0,0,0,0,0
$GC,2903,-1.31,-146.0,289.8,-7.6,197,2905,0.15,0.00,0.00,0.000,6,0.054,0.000,2540,1844,3723,0,0,0,0,0,0
$GC,3146,-1.20,-146.0,315.4,-10.8,203,3152,0.25,2.45,0.00,0.000,4,0.084,0.034,2600,3354,3722,0,0,0,0,0,0
$GC,3167,-1.20,-146.0,317.5,-9.8,203,3172,0.00,2.40,0.00,0.000,6,0.000,0.025,2600,1854,3722,0,0,0,0,0,0
$GC,3431,-1.27,-146.0,338.4,-8.1,210,3436,0.00,2.72,0.00,0.000,4,0.000,0.051,2600,219,3722,0,0,0,0,0,0
$GC,3446,-1.34,-146.0,339.8,-8.4,210,3451,0.15,2.58,0.00,0.000,6,0.054,0.022,2525,1853,3722,0,0,0,0,0,0
$GC,3717,-1.21,-146.0,371.8,-12.1,217,3722,0.28,2.42,0.00,0.000,4,0.084,0.038,2591,3354,3720,0,0,0,0,0,0
$GC,3736,-1.21,-146.0,374.2,-10.4,217,3740,0.00,2.38,0.00,0.000,6,0.000,0.027,2591,1863,3720,0,0,0,0,0,0
$GC,4000,-1.21,-146.0,395.5,-8.1,224,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1863,3719,0,0,0,0,0,0
$GC,4245,-1.21,-146.0,413.6,-7.3,230,4249,0.00,2.45,0.00,0.000,4,0.000,0.043,2591,3346,3718,0,0,0,0,0,0
$GC,4283,-1.31,-146.0,416.6,-7.7,230,4288,0.00,2.40,0.00,0.000,6,0.000,0.028,2591,1862,3718,0,0,0,0,0,0
$GC,4535,-1.37,-146.0,435.5,-7.7,237,4537,0.12,0.00,0.00,0.000,6,0.064,0.000,2533,1862,3716,0,0,0,0,0,0
$GC,4778,-1.28,-146.0,461.7,-11.0,243,4783,0.22,2.50,0.00,0.000,4,0.087,0.047,2583,3352,3715,0,0,0,0,0,0
$GC,4802,-1.28,-146.0,464.6,-10.1,243,4806,0.00,2.38,0.00,0.000,6,0.000,0.027,2583,1874,3714,0,0,0,0,0,0
$GC,5065,-1.28,-146.0,487.4,-8.5,250,5070,0.00,2.45,0.00,0.000,4,0.000,0.047,2583,3353,3713,0,0,0,0,0,0
$GC,5085,-1.28,-146.0,489.1,-9.1,250,5090,0.00,2.38,0.00,0.000,6,0.000,0.028,2583,1883,3713,0,0,0,0,0,0
$STATE,5265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5265,begin apogee
$GC,5271,-0.31,0.0,502.6,7.5,255,5393,0.90,0.00,118.90,0.868,6,0.069,0.000,2791,1672,3120,0,0,0,0,0,0
$STATE,5394,end apogee,CONTROL_FINISHED_OK
$STATE,5394,begin climb
$GC,5396,1.17,146.0,506.5,0.0,258,5528,1.33,2.70,121.70,0.851,4,0.025,0.050,3137,3230,2523,0,0,0,0,0,0
$GC,5587,0.83,146.0,503.7,9.3,262,5595,0.45,2.60,0.00,0.000,6,0.097,0.037,3042,1689,2519,0,0,0,0,0,0
$GC,5861,0.80,203.8,485.3,6.6,269,5918,0.00,2.72,49.42,0.833,4,0.000,0.074,3042,167,2287,0,0,0,0,0,0
$GC,5943,0.65,203.8,478.9,9.9,270,5949,0.20,2.42,0.00,0.000,6,0.097,0.028,3000,1648,2285,0,0,0,0,0,0
$GC,6193,0.72,261.8,461.6,6.6,277,6246,0.00,0.00,51.35,0.822,6,0.000,0.000,3000,1648,2052,0,0,0,0,0,0
$GC,6477,0.86,307.7,441.8,7.1,284,6526,0.20,2.85,41.70,0.810,4,0.046,0.058,3078,3251,1864,0,0,0,0,0,0
$GC,6568,0.86,307.7,432.1,11.5,286,6574,0.15,2.62,0.00,0.000,6,0.100,0.035,3046,1680,1859,0,0,0,0,0,0
$GC,6851,0.86,307.7,404.6,9.8,293,6852,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1680,1856,0,0,0,0,0,0
$GC,7096,0.86,307.7,380.6,9.8,299,7101,0.00,2.67,0.00,0.000,4,0.000,0.046,3046,3258,1854,0,0,0,0,0,0
$GC,7144,0.86,307.7,375.2,10.3,300,7149,0.00,2.65,0.00,0.000,6,0.000,0.035,3047,1674,1852,0,0,0,0,0,0
$GC,7426,0.86,307.7,344.6,10.9,307,7431,0.00,2.67,0.00,0.000,4,0.000,0.044,3046,3259,1852,0,0,0,0,0,0
$GC,7441,0.86,307.7,343.0,11.0,307,7445,0.00,2.62,0.00,0.000,6,0.000,0.032,3046,1677,1851,0,0,0,0,0,0
$GC,7711,0.86,307.7,314.1,10.8,314,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1677,1851,0,0,0,0,0,0
$GC,7952,0.86,307.7,289.5,9.9,320,7957,0.00,2.65,0.00,0.000,4,0.000,0.040,3046,3264,1851,0,0,0,0,0,0
$GC,7999,0.96,307.7,284.9,9.3,321,8004,0.10,2.62,0.00,0.000,6,0.078,0.033,3102,1678,1848,0,0,0,0,0,0
$GC,8284,0.84,307.7,250.5,12.3,328,8289,0.25,2.60,0.00,0.000,4,0.094,0.061,3043,163,1849,0,0,0,0,0,0
$GC,8331,0.84,307.7,245.0,10.3,329,8335,0.00,2.42,0.00,0.000,6,0.000,0.023,3044,1690,1848,0,0,0,0,0,0
$GC,8615,0.84,307.7,219.5,9.0,336,8619,0.00,2.58,0.00,0.000,4,0.000,0.039,3044,3257,1848,0,0,0,0,0,0
$GC,8648,0.96,320.2,216.6,8.5,336,8665,0.10,2.58,9.60,0.601,6,0.075,0.030,3101,1682,1813,0,0,0,0,0,0
$GC,8921,0.87,320.2,187.0,11.2,350,8926,0.25,2.53,0.00,0.000,4,0.091,0.051,3043,171,1812,0,0,0,0,0,0
$GC,8937,0.87,320.2,185.4,9.8,351,8941,0.00,2.40,0.00,0.000,6,0.000,0.022,3043,1694,1812,0,0,0,0,0,0
$GC,9209,0.94,324.4,162.7,8.8,376,9220,0.00,2.53,5.12,0.471,4,0.000,0.032,3043,3254,1795,0,0,0,0,0,0
$GC,9264,1.09,327.7,156.9,8.9,381,9274,0.17,2.58,4.30,0.425,6,0.023,0.028,3138,1689,1783,0,0,0,0,0,0
$GC,9527,0.93,327.7,121.8,13.6,406,9532,0.30,2.50,0.00,0.000,4,0.091,0.044,3067,173,1783,0,0,0,0,0,0
$GC,9577,0.93,327.7,115.5,11.8,410,9586,0.00,2.40,0.00,0.000,6,0.000,0.022,3067,1678,1782,0,0,0,0,0,0
$GC,9845,1.07,371.6,93.7,7.2,435,9894,0.10,2.55,40.17,0.561,4,0.077,0.044,3129,174,1604,0,0,0,0,0,0
$GC,9932,0.97,371.6,84.1,12.4,443,9938,0.28,2.38,0.00,0.000,6,0.090,0.021,3070,1671,1603,0,0,0,0,0,0
$GC,10202,1.04,371.6,60.5,10.3,468,10206,0.00,2.55,0.00,0.000,4,0.000,0.032,3070,3254,1600,0,0,0,0,0,0
$GC,10232,1.14,371.6,57.0,10.0,470,10237,0.15,2.55,0.00,0.000,6,0.052,0.027,3130,1669,1598,0,0,0,0,0,0
$GC,10504,1.03,371.6,23.6,12.7,497,10514,0.22,2.50,0.00,0.000,4,0.094,0.042,3082,167,1598,0,0,0,0,0,0
$GC,10535,0.96,371.6,20.5,10.5,501,10544,0.00,2.38,0.00,0.000,6,0.000,0.020,3082,1680,1598,0,0,0,0,0,0
$STATE,10704,end climb,SURFACE_DEPTH_REACHED
$STATE,10704,begin surface coast
$FINISH,0.6,1.024268
$STATE,10743,end surface coast,CONTROL_FINISHED_OK
$STATE,10743,begin surface
$SM_CCo,10763,3.03,0.065,0,0,1570,380.21
$SM_GC,1.75,0.00,0.00,3.03,0.000,0.000,0.065,419,1845,1570,-11.23,1.55,380.21
$IRIDIUM_FIX,2239.35,-15802.37,030400,151509
$TT8_MAMPS,0.026845
$HUMID,50.31
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,23.5,61.555
$10V_AH,10.0,54.368
$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,30.075,141.625,442.275,3.025,0.000,23.715,32.353,163.704,0.500,0.000,17.018,1105.967,7036.284,493.073,1954.187,541.360,33.381,1294.540,0.000,1958.848,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,74.399,868.244,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.898,323.912,407.812,608.439,1076.437,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355296
$DATA_FILE_SIZE,41457,533
$CAP_FILE_SIZE,121408,0
$CFSIZE,260165632,145371136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080111,213110,2249.668,-15759.211,8,2.5,27,10.1