version: 66.06
glider: 148
mission: 9
dive: 480
start: 1 9 111 12 47 41
data:
$ID,148
$MISSION,9
$DIVE,480
$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,-868556.5
$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,41
$R_STBD_OVSHOOT,54
$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
$GPS1,124027,2247.278,-15757.881,52,2.1,71,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.9
$GPS2,124646,2247.258,-15757.915,14,3.0,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.223,0.115
$KALMAN_X,-88158.2,-308.1,112.9,108911.1,-655.6
$KALMAN_Y,-112876.5,-13.0,494.6,237152.0,-1445.4
$MHEAD_RNG_PITCHd_Wd,287.2,8696,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.82,0.000,2,0.000,0.000,411,1846,3435,0,0,0,0,0,0
$GC,101,-1.17,-146.0,4.0,-5.1,10,126,11.60,2.70,-4.85,0.000,4,0.156,0.045,2598,212,3717,0,0,0,0,0,0
$GC,178,-1.17,-146.0,25.4,-14.1,21,187,0.00,2.47,0.00,0.000,6,0.000,0.021,2598,1779,3718,0,0,0,0,0,0
$GC,460,-1.04,-146.0,64.9,-14.3,49,465,0.15,2.53,0.00,0.000,4,0.107,0.029,2630,3366,3719,0,0,0,0,0,0
$GC,523,-1.04,-146.0,72.5,-10.3,54,528,0.00,2.50,0.00,0.000,6,0.000,0.025,2630,1798,3719,0,0,0,0,0,0
$GC,787,-1.04,-146.0,99.0,-9.5,78,792,0.00,2.53,0.00,0.000,4,0.000,0.029,2630,3371,3720,0,0,0,0,0,0
$GC,827,-1.04,-146.0,102.7,-9.3,81,832,0.00,2.47,0.00,0.000,6,0.000,0.022,2630,1804,3720,0,0,0,0,0,0
$GC,1093,-1.12,-146.0,127.8,-9.5,105,1098,0.00,2.50,0.00,0.000,4,0.000,0.028,2630,3367,3721,0,0,0,0,0,0
$GC,1114,-1.20,-146.0,130.1,-9.3,106,1123,0.10,2.50,0.00,0.000,6,0.027,0.021,2531,1804,3721,0,0,0,0,0,0
$GC,1374,-1.01,-146.0,163.9,-12.0,131,1383,0.45,2.50,0.00,0.000,4,0.083,0.028,2636,3376,3722,0,0,0,0,0,0
$GC,1399,-1.01,-146.0,165.7,-9.0,133,1403,0.00,2.45,0.00,0.000,6,0.000,0.021,2636,1812,3722,0,0,0,0,0,0
$GC,1666,-1.14,-146.0,185.3,-8.5,157,1671,0.10,2.50,0.00,0.000,4,0.074,0.029,2559,3374,3722,0,0,0,0,0,0
$GC,1734,-1.14,-146.0,193.1,-13.0,163,1739,0.22,2.45,0.00,0.000,6,0.081,0.023,2611,1831,3722,0,0,0,0,0,0
$GC,2008,-1.21,-146.0,218.0,-8.6,174,2012,0.00,2.47,0.00,0.000,4,0.000,0.029,2611,3375,3722,0,0,0,0,0,0
$GC,2055,-1.35,-146.0,221.7,-7.3,175,2060,0.20,2.42,0.00,0.000,6,0.042,0.024,2517,1843,3723,0,0,0,0,0,0
$GC,2345,-1.15,-146.0,257.8,-12.7,182,2352,0.40,2.67,0.00,0.000,4,0.083,0.040,2605,208,3722,0,0,0,0,0,0
$GC,2385,-1.29,-146.0,262.1,-8.2,182,2392,0.12,2.55,0.00,0.000,6,0.061,0.021,2529,1838,3723,0,0,0,0,0,0
$GC,2637,-1.14,-146.0,291.4,-12.6,189,2642,0.32,2.42,0.00,0.000,4,0.081,0.031,2605,3362,3723,0,0,0,0,0,0
$GC,2666,-1.22,-146.0,294.6,-8.9,189,2671,0.00,2.42,0.00,0.000,6,0.000,0.025,2605,1843,3722,0,0,0,0,0,0
$GC,2921,-1.30,-146.0,315.3,-8.1,196,2926,0.12,2.47,0.00,0.000,4,0.064,0.035,2543,3361,3722,0,0,0,0,0,0
$GC,2970,-1.30,-146.0,320.3,-10.8,197,2975,0.15,2.42,0.00,0.000,6,0.094,0.025,2578,1850,3722,0,0,0,0,0,0
$GC,3252,-1.30,-146.0,346.2,-9.2,204,3257,0.00,2.47,0.00,0.000,4,0.000,0.037,2578,3368,3721,0,0,0,0,0,0
$GC,3273,-1.30,-146.0,348.0,-9.7,204,3277,0.00,2.40,0.00,0.000,6,0.000,0.027,2578,1859,3720,0,0,0,0,0,0
$GC,3536,-1.30,-146.0,373.6,-9.6,211,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1856,3719,0,0,0,0,0,0
$GC,3780,-1.30,-146.0,394.1,-8.2,217,3784,0.00,2.45,0.00,0.000,4,0.000,0.041,2578,3362,3718,0,0,0,0,0,0
$GC,3827,-1.37,-146.0,398.2,-8.3,218,3831,0.00,2.40,0.00,0.000,6,0.000,0.028,2578,1865,3718,0,0,0,0,0,0
$GC,4111,-1.37,-146.0,422.4,-8.8,225,4115,0.00,2.47,0.00,0.000,4,0.000,0.042,2578,3362,3716,0,0,0,0,0,0
$GC,4131,-1.37,-146.0,424.4,-9.3,225,4135,0.00,2.38,0.00,0.000,6,0.000,0.028,2578,1872,3716,0,0,0,0,0,0
$GC,4396,-1.37,-146.0,448.6,-9.2,232,4400,0.00,2.45,0.00,0.000,4,0.000,0.044,2578,3360,3715,0,0,0,0,0,0
$GC,4429,-1.44,-146.0,451.6,-8.7,232,4433,0.12,2.38,0.00,0.000,6,0.064,0.028,2512,1877,3714,0,0,0,0,0,0
$GC,4684,-1.28,-146.0,481.6,-12.0,239,4689,0.28,2.45,0.00,0.000,4,0.088,0.046,2577,3354,3712,0,0,0,0,0,0
$GC,4700,-1.19,-146.0,483.3,-11.6,239,4705,0.12,2.38,0.00,0.000,6,0.104,0.027,2605,1869,3712,0,0,0,0,0,0
$STATE,4926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4926,begin apogee
$GC,4932,-0.31,0.0,500.2,7.1,245,5054,0.80,0.00,118.97,0.867,6,0.067,0.000,2791,1678,3120,0,0,0,0,0,0
$STATE,5055,end apogee,CONTROL_FINISHED_OK
$STATE,5055,begin climb
$GC,5057,1.17,146.0,504.5,0.0,248,5189,1.33,2.67,121.70,0.849,4,0.026,0.046,3136,3240,2522,0,0,0,0,0,0
$GC,5213,0.84,170.2,504.1,8.0,251,5242,0.43,2.60,21.30,0.795,6,0.095,0.037,3045,1691,2424,0,0,0,0,0,0
$GC,5516,0.76,182.9,478.2,8.5,259,5533,0.00,2.75,11.48,0.745,4,0.000,0.075,3045,166,2374,0,0,0,0,0,0
$GC,5597,0.59,182.9,471.0,9.7,260,5602,0.28,2.42,0.00,0.000,6,0.091,0.027,2986,1662,2372,0,0,0,0,0,0
$GC,5847,0.78,283.8,457.4,4.8,266,5948,0.17,2.78,88.47,0.831,4,0.051,0.056,3061,3253,1962,0,0,0,0,0,0
$GC,5966,0.78,283.8,448.2,9.0,268,5972,0.15,2.67,0.00,0.000,6,0.104,0.036,3030,1676,1959,0,0,0,0,0,0
$GC,6216,0.81,306.1,427.9,8.1,274,6244,0.00,2.75,20.75,0.777,4,0.000,0.046,3030,3258,1870,0,0,0,0,0,0
$GC,6268,0.83,320.1,423.6,8.4,275,6289,0.00,2.65,13.57,0.739,6,0.000,0.037,3030,1677,1816,0,0,0,0,0,0
$GC,6548,0.83,320.1,397.0,9.9,282,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1677,1810,0,0,0,0,0,0
$GC,6792,0.83,320.1,371.8,10.2,288,6796,0.00,2.67,0.00,0.000,4,0.000,0.044,3030,3257,1809,0,0,0,0,0,0
$GC,6858,0.94,320.1,365.3,10.4,289,6863,0.15,2.60,0.00,0.000,6,0.064,0.035,3087,1698,1806,0,0,0,0,0,0
$GC,7127,0.84,320.1,329.4,13.4,296,7132,0.20,2.65,0.00,0.000,4,0.102,0.064,3045,168,1806,0,0,0,0,0,0
$GC,7190,0.84,320.1,321.7,12.1,297,7194,0.00,2.45,0.00,0.000,6,0.000,0.026,3045,1699,1805,0,0,0,0,0,0
$GC,7458,0.84,320.1,294.6,10.0,304,7462,0.00,2.60,0.00,0.000,4,0.000,0.046,3045,3255,1804,0,0,0,0,0,0
$GC,7529,0.92,320.1,287.6,9.8,305,7534,0.00,2.58,0.00,0.000,6,0.000,0.032,3045,1696,1803,0,0,0,0,0,0
$GC,7790,0.92,320.1,262.5,9.6,312,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1696,1803,0,0,0,0,0,0
$GC,8032,0.92,320.1,239.7,9.3,318,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1695,1802,0,0,0,0,0,0
$GC,8276,0.92,325.6,218.1,8.8,324,8281,0.00,0.00,4.10,0.453,6,0.000,0.000,3045,1696,1792,0,0,0,0,0,0
$GC,8519,0.94,338.2,197.2,8.5,330,8541,0.00,2.60,13.00,0.614,4,0.000,0.034,3045,3269,1739,0,0,0,0,0,0
$GC,8554,1.03,351.6,194.5,8.5,333,8577,0.15,2.58,13.50,0.610,6,0.059,0.028,3106,1704,1685,0,0,0,0,0,0
$GC,8833,0.93,351.6,161.9,12.4,359,8838,0.20,2.58,0.00,0.000,4,0.097,0.038,3064,3262,1682,0,0,0,0,0,0
$GC,8851,0.93,351.6,159.8,11.6,360,8855,0.00,2.55,0.00,0.000,6,0.000,0.027,3064,1700,1681,0,0,0,0,0,0
$GC,9113,0.93,352.2,134.6,9.0,384,9117,0.00,2.55,0.00,0.000,4,0.000,0.048,3063,170,1681,0,0,0,0,0,0
$GC,9141,0.93,352.2,132.0,9.6,386,9145,0.00,2.45,0.00,0.000,6,0.000,0.022,3063,1728,1680,0,0,0,0,0,0
$GC,9403,1.01,363.2,109.7,8.5,410,9419,0.00,2.65,11.25,0.528,4,0.000,0.047,3063,173,1638,0,0,0,0,0,0
$GC,9461,1.07,363.2,104.5,9.5,415,9466,0.12,2.42,0.00,0.000,6,0.067,0.021,3108,1701,1638,0,0,0,0,0,0
$GC,9726,1.07,363.2,78.1,10.6,439,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1704,1637,0,0,0,0,0,0
$GC,9996,1.07,363.2,49.5,10.5,464,10000,0.00,2.55,0.00,0.000,4,0.000,0.044,3109,168,1637,0,0,0,0,0,0
$GC,10026,0.98,363.2,45.8,11.3,466,10031,0.17,2.40,0.00,0.000,6,0.098,0.021,3072,1700,1637,0,0,0,0,0,0
$GC,10308,1.01,390.3,22.6,7.9,499,10339,0.00,2.53,25.23,0.482,4,0.000,0.030,3071,3254,1529,0,0,0,0,0,0
$GC,10364,1.09,390.3,16.5,12.4,506,10374,0.08,2.55,0.00,0.000,6,0.038,0.027,3127,1699,1526,0,0,0,0,0,0
$STATE,10448,end climb,SURFACE_DEPTH_REACHED
$STATE,10448,begin surface coast
$FINISH,0.6,1.023953
$STATE,10486,end surface coast,CONTROL_FINISHED_OK
$STATE,10486,begin surface
$SM_CCo,10567,0.00,0.000,0,0,1519,392.23
$SM_GC,1.44,11.05,0.00,0.00,0.025,0.000,0.000,410,1888,1519,-11.19,2.77,392.23
$IRIDIUM_FIX,2239.35,-15558.92,040400,101028
$TT8_MAMPS,0.026845
$HUMID,49.09
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,23.5,62.212
$10V_AH,10.1,55.049
$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,29.750,141.875,463.325,0.000,0.000,23.057,31.988,161.963,0.500,0.000,35.433,1093.641,6854.238,474.872,1977.547,544.744,33.376,1302.239,0.000,1970.360,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,75.166,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.971,321.980,409.454,608.610,1074.321,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355352
$DATA_FILE_SIZE,41457,524
$CAP_FILE_SIZE,120797,0
$CFSIZE,260165632,145018880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090111,154520,2247.388,-15759.641,35,3.5,54,10.1