version: 66.06
glider: 148
mission: 9
dive: 483
start: 1 9 111 21 42 11
data:
$ID,148
$MISSION,9
$DIVE,483
$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,-868621.19
$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,21
$R_STBD_OVSHOOT,46
$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
$GPS1,213436,2247.264,-15803.099,10,2.0,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.7
$GPS2,214116,2247.257,-15803.080,13,2.3,32,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.050,0.246
$KALMAN_X,-90086.5,206.3,-85.5,101634.0,-509.9
$KALMAN_Y,-114951.0,512.6,266.5,238927.4,-925.7
$MHEAD_RNG_PITCHd_Wd,1.5,5081,-15.8,-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,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,88,0.00,0.00,-67.78,0.000,2,0.000,0.000,413,1876,3203,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.1,-3.7,9,125,11.40,2.80,-10.12,0.000,4,0.149,0.051,2598,200,3717,0,0,0,0,0,0
$GC,165,-1.17,-146.0,18.8,-14.3,19,174,0.00,2.53,0.00,0.000,6,0.000,0.019,2598,1793,3718,0,0,0,0,0,0
$GC,447,-1.02,-146.0,56.4,-14.3,50,452,0.17,2.53,0.00,0.000,4,0.101,0.030,2636,3374,3719,0,0,0,0,0,0
$GC,511,-1.11,-146.0,64.5,-10.2,55,515,0.00,2.53,0.00,0.000,6,0.000,0.023,2636,1780,3719,0,0,0,0,0,0
$GC,778,-1.11,-146.0,91.6,-10.4,79,782,0.00,2.53,0.00,0.000,4,0.000,0.029,2635,3366,3719,0,0,0,0,0,0
$GC,815,-1.11,-146.0,96.0,-10.4,82,819,0.00,2.45,0.00,0.000,6,0.000,0.022,2636,1808,3719,0,0,0,0,0,0
$GC,1077,-1.11,-146.0,122.5,-8.7,106,1082,0.00,2.60,0.00,0.000,4,0.000,0.041,2636,204,3720,0,0,0,0,0,0
$GC,1109,-1.25,-146.0,125.4,-9.4,108,1118,0.17,2.53,0.00,0.000,6,0.019,0.019,2512,1816,3720,0,0,0,0,0,0
$GC,1374,-0.99,-146.0,164.3,-16.0,133,1383,0.55,2.42,0.00,0.000,4,0.081,0.028,2639,3358,3722,0,0,0,0,0,0
$GC,1399,-0.99,-146.0,168.0,-10.8,135,1408,0.00,2.47,0.00,0.000,6,0.000,0.021,2638,1810,3722,0,0,0,0,0,0
$GC,1665,-1.13,-146.0,186.6,-7.2,160,1670,0.10,2.47,0.00,0.000,4,0.075,0.028,2560,3362,3722,0,0,0,0,0,0
$GC,1704,-1.06,-146.0,190.7,-11.3,163,1709,0.30,2.42,0.00,0.000,6,0.075,0.023,2629,1816,3722,0,0,0,0,0,0
$GC,1971,-1.17,-146.0,214.1,-8.3,176,1976,0.10,2.47,0.00,0.000,4,0.076,0.030,2562,3363,3722,0,0,0,0,0,0
$GC,2004,-1.09,-146.0,217.9,-10.9,176,2009,0.25,2.42,0.00,0.000,6,0.077,0.022,2621,1818,3722,0,0,0,0,0,0
$GC,2256,-1.20,-146.0,237.8,-8.1,182,2260,0.00,2.45,0.00,0.000,4,0.000,0.030,2621,3360,3723,0,0,0,0,0,0
$GC,2317,-1.37,-146.0,243.3,-7.5,183,2322,0.25,2.42,0.00,0.000,6,0.035,0.024,2531,1837,3722,0,0,0,0,0,0
$GC,2588,-1.20,-146.0,274.4,-11.7,190,2590,0.30,0.00,0.00,0.000,6,0.082,0.000,2598,1837,3722,0,0,0,0,0,0
$GC,2830,-1.20,-146.0,295.2,-8.3,196,2834,0.00,2.45,0.00,0.000,4,0.000,0.031,2598,3356,3722,0,0,0,0,0,0
$GC,2886,-1.34,-146.0,300.0,-8.0,197,2891,0.12,2.40,0.00,0.000,6,0.060,0.025,2515,1845,3722,0,0,0,0,0,0
$GC,3161,-1.15,-146.0,334.3,-12.8,204,3169,0.40,2.70,0.00,0.000,4,0.082,0.047,2605,215,3722,0,0,0,0,0,0
$GC,3198,-1.30,-146.0,338.1,-7.6,204,3203,0.12,2.53,0.00,0.000,6,0.063,0.023,2536,1831,3722,0,0,0,0,0,0
$GC,3449,-1.19,-146.0,363.3,-10.3,210,3454,0.25,2.47,0.00,0.000,4,0.084,0.037,2596,3366,3720,0,0,0,0,0,0
$GC,3497,-1.31,-146.0,367.6,-7.5,211,3501,0.00,2.42,0.00,0.000,6,0.000,0.028,2596,1848,3720,0,0,0,0,0,0
$GC,3780,-1.38,-146.0,389.1,-7.8,218,3785,0.15,2.53,0.00,0.000,4,0.056,0.041,2525,3372,3719,0,0,0,0,0,0
$GC,3815,-1.27,-146.0,392.8,-12.1,218,3820,0.25,2.45,0.00,0.000,6,0.083,0.028,2581,1852,3719,0,0,0,0,0,0
$GC,4065,-1.27,-146.0,415.2,-8.8,224,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1853,3717,0,0,0,0,0,0
$GC,4308,-1.27,-146.0,434.6,-7.9,230,4313,0.00,2.47,0.00,0.000,4,0.000,0.043,2581,3358,3716,0,0,0,0,0,0
$GC,4338,-1.27,-146.0,437.1,-8.2,230,4342,0.00,2.40,0.00,0.000,6,0.000,0.028,2581,1869,3716,0,0,0,0,0,0
$GC,4599,-1.27,-146.0,456.4,-7.4,237,4603,0.00,2.45,0.00,0.000,4,0.000,0.044,2581,3359,3714,0,0,0,0,0,0
$GC,4632,-1.27,-146.0,459.2,-7.6,237,4636,0.00,2.40,0.00,0.000,6,0.000,0.028,2582,1875,3714,0,0,0,0,0,0
$GC,4883,-1.27,-146.0,477.2,-7.2,243,4887,0.00,2.45,0.00,0.000,4,0.000,0.045,2581,3359,3712,0,0,0,0,0,0
$GC,4902,-1.27,-146.0,478.8,-7.8,243,4906,0.00,2.38,0.00,0.000,6,0.000,0.028,2581,1876,3712,0,0,0,0,0,0
$GC,5165,-1.27,-146.0,497.0,-6.9,250,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1876,3710,0,0,0,0,0,0
$STATE,5244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5244,begin apogee
$GC,5251,-0.31,0.0,502.8,6.9,252,5373,0.93,0.00,118.70,0.873,6,0.075,0.000,2791,1679,3120,0,0,0,0,0,0
$STATE,5374,end apogee,CONTROL_FINISHED_OK
$STATE,5374,begin climb
$GC,5377,1.17,146.0,506.7,0.0,255,5503,1.30,0.00,120.97,0.854,6,0.026,0.000,3128,1679,2524,0,0,0,0,0,0
$GC,5745,0.84,148.3,488.4,8.9,264,5753,0.38,2.67,0.00,0.000,4,0.095,0.047,3045,3251,2516,0,0,0,0,0,0
$GC,5763,0.68,177.8,486.9,7.8,264,5796,0.17,2.62,26.83,0.813,6,0.096,0.038,3007,1698,2395,0,0,0,0,0,0
$GC,6080,0.79,262.1,468.4,5.5,272,6165,0.10,2.80,73.75,0.836,4,0.077,0.074,3058,168,2050,0,0,0,0,0,0
$GC,6186,0.65,262.1,459.7,10.5,274,6191,0.28,2.42,0.00,0.000,6,0.087,0.026,2999,1664,2049,0,0,0,0,0,0
$GC,6455,0.79,310.0,440.1,7.0,281,6505,0.12,2.75,43.25,0.811,4,0.064,0.054,3058,3255,1856,0,0,0,0,0,0
$GC,6566,0.79,310.0,429.4,9.8,283,6571,0.12,2.65,0.00,0.000,6,0.100,0.037,3031,1674,1850,0,0,0,0,0,0
$GC,6830,0.79,310.0,404.5,9.6,290,6835,0.00,2.67,0.00,0.000,4,0.000,0.045,3030,3254,1847,0,0,0,0,0,0
$GC,6867,0.86,310.0,401.1,9.6,290,6871,0.00,2.62,0.00,0.000,6,0.000,0.036,3031,1688,1846,0,0,0,0,0,0
$GC,7116,0.86,310.0,376.3,10.0,296,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1688,1844,0,0,0,0,0,0
$GC,7360,0.86,310.0,351.6,10.1,302,7364,0.00,2.62,0.00,0.000,4,0.000,0.044,3031,3258,1844,0,0,0,0,0,0
$GC,7431,0.96,310.0,344.9,9.7,303,7437,0.17,2.60,0.00,0.000,6,0.051,0.035,3102,1685,1842,0,0,0,0,0,0
$GC,7691,0.81,310.0,311.7,12.8,310,7698,0.28,2.62,0.00,0.000,4,0.091,0.063,3038,165,1842,0,0,0,0,0,0
$GC,7745,0.81,310.0,305.7,10.6,311,7749,0.00,2.45,0.00,0.000,6,0.000,0.025,3038,1693,1842,0,0,0,0,0,0
$GC,8024,0.81,310.0,280.2,9.1,318,8029,0.00,2.60,0.00,0.000,4,0.000,0.043,3038,3258,1841,0,0,0,0,0,0
$GC,8068,0.92,312.1,276.1,8.9,319,8072,0.00,2.58,0.00,0.000,6,0.000,0.032,3038,1685,1839,0,0,0,0,0,0
$GC,8356,0.94,331.7,251.9,8.2,326,8381,0.12,2.70,18.25,0.679,4,0.064,0.041,3101,3253,1766,0,0,0,0,0,0
$GC,8435,0.94,331.7,242.6,13.2,327,8441,0.17,2.60,0.00,0.000,6,0.096,0.032,3063,1688,1762,0,0,0,0,0,0
$GC,8691,0.94,331.7,214.2,10.8,334,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1688,1761,0,0,0,0,0,0
$GC,8943,0.94,331.7,190.4,9.3,346,8948,0.00,2.58,0.00,0.000,4,0.000,0.034,3063,3259,1761,0,0,0,0,0,0
$GC,8981,0.94,331.7,186.6,9.5,349,8986,0.00,2.55,0.00,0.000,6,0.000,0.030,3063,1689,1759,0,0,0,0,0,0
$GC,9249,0.94,331.7,160.3,10.0,373,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1689,1759,0,0,0,0,0,0
$GC,9509,0.94,331.7,133.4,9.9,398,9514,0.00,2.58,0.00,0.000,4,0.000,0.033,3063,3267,1759,0,0,0,0,0,0
$GC,9539,1.03,331.7,130.4,10.2,400,9548,0.00,2.58,0.00,0.000,6,0.000,0.028,3063,1703,1758,0,0,0,0,0,0
$GC,9808,1.13,359.7,106.6,7.8,425,9840,0.17,2.62,25.05,0.565,4,0.049,0.054,3149,174,1652,0,0,0,0,0,0
$GC,9903,0.97,359.7,94.1,13.1,434,9912,0.32,2.47,0.00,0.000,6,0.076,0.022,3074,1711,1651,0,0,0,0,0,0
$GC,10171,0.98,371.2,71.3,8.5,459,10188,0.00,2.53,11.73,0.496,4,0.000,0.032,3074,3266,1605,0,0,0,0,0,0
$GC,10205,1.06,372.0,67.7,9.0,461,10214,0.00,2.58,0.00,0.000,6,0.000,0.026,3074,1703,1603,0,0,0,0,0,0
$GC,10474,1.06,372.0,43.0,10.4,486,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1703,1603,0,0,0,0,0,0
$GC,10765,1.06,372.0,13.3,10.5,524,10773,0.00,2.55,0.00,0.000,4,0.000,0.031,3074,3265,1602,0,0,0,0,0,0
$GC,10801,1.14,372.0,9.4,10.4,529,10811,0.10,2.53,0.00,0.000,6,0.029,0.032,3143,1714,1601,0,0,0,0,0,0
$STATE,10848,end climb,SURFACE_DEPTH_REACHED
$STATE,10849,begin surface coast
$FINISH,0.7,1.022058
$STATE,10887,end surface coast,CONTROL_FINISHED_OK
$STATE,10889,begin surface
$SM_CCo,10911,3.97,0.066,0,0,1570,380.21
$SM_GC,2.17,0.00,0.00,3.97,0.000,0.000,0.066,413,1895,1570,-11.26,2.97,380.21
$IRIDIUM_FIX,2237.01,-15802.37,040400,191959
$TT8_MAMPS,0.026845
$HUMID,50.11
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,4
$24V_AH,23.4,62.539
$10V_AH,10.0,55.375
$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,30.700,142.525,438.525,3.975,0.000,24.157,35.610,180.217,1.000,0.000,35.017,1132.017,7077.484,474.563,2067.136,565.985,33.401,1325.941,0.000,2053.825,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,73.632,872.846,65.962,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.241,340.941,421.093,641.227,1134.517,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355320
$DATA_FILE_SIZE,41543,542
$CAP_FILE_SIZE,124122,0
$CFSIZE,260165632,144846848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100111,004525,2248.387,-15802.815,39,2.0,39,10.1