version: 66.06
glider: 148
mission: 9
dive: 497
start: 1 11 111 17 3 39
data:
$ID,148
$MISSION,9
$DIVE,497
$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,-868981.94
$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,50
$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
$GPS1,165007,2248.046,-15803.298,36,0.9,36,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.5
$GPS2,170244,2247.946,-15803.359,11,1.2,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.067,0.241
$KALMAN_X,-94904.2,-308.4,171.7,106231.6,-459.4
$KALMAN_Y,-127291.4,141.3,-221.3,253402.7,-883.4
$MHEAD_RNG_PITCHd_Wd,5.5,3853,-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,16,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.65,0.000,2,0.000,0.000,413,1885,3423,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.7,-4.7,10,123,11.45,2.78,-5.43,0.000,4,0.150,0.045,2597,209,3716,0,0,0,0,0,0
$GC,182,-1.17,-146.0,22.8,-11.7,22,190,0.00,2.50,0.00,0.000,6,0.000,0.019,2597,1796,3718,0,0,0,0,0,0
$GC,460,-1.03,-146.0,59.3,-12.6,51,465,0.17,2.53,0.00,0.000,4,0.098,0.030,2636,3364,3718,0,0,0,0,0,0
$GC,527,-1.03,-146.0,69.6,-11.9,56,536,0.00,2.53,0.00,0.000,6,0.000,0.022,2636,1793,3719,0,0,0,0,0,0
$GC,796,-1.03,-146.0,97.9,-10.7,81,800,0.00,2.53,0.00,0.000,4,0.000,0.029,2636,3365,3719,0,0,0,0,0,0
$GC,854,-1.03,-146.0,104.7,-9.0,86,863,0.00,2.50,0.00,0.000,6,0.000,0.021,2636,1804,3719,0,0,0,0,0,0
$GC,1122,-1.12,-146.0,127.3,-8.3,111,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1803,3720,0,0,0,0,0,0
$GC,1385,-1.22,-146.0,149.8,-8.1,136,1390,0.17,2.53,0.00,0.000,4,0.048,0.028,2553,3370,3720,0,0,0,0,0,0
$GC,1427,-1.13,-146.0,154.6,-11.6,139,1433,0.25,2.47,0.00,0.000,6,0.080,0.023,2611,1809,3721,0,0,0,0,0,0
$GC,1689,-1.13,-146.0,177.7,-8.5,164,1693,0.00,2.50,0.00,0.000,4,0.000,0.029,2611,3370,3721,0,0,0,0,0,0
$GC,1730,-1.23,-146.0,181.2,-8.3,167,1736,0.00,2.45,0.00,0.000,6,0.000,0.022,2611,1813,3721,0,0,0,0,0,0
$GC,2001,-1.23,-146.0,203.4,-8.4,190,2006,0.00,2.45,0.00,0.000,4,0.000,0.029,2611,3362,3721,0,0,0,0,0,0
$GC,2025,-1.23,-146.0,205.8,-9.0,190,2029,0.00,2.42,0.00,0.000,6,0.000,0.022,2611,1818,3721,0,0,0,0,0,0
$GC,2286,-1.30,-146.0,227.1,-8.2,197,2291,0.15,2.47,0.00,0.000,4,0.054,0.030,2540,3363,3721,0,0,0,0,0,0
$GC,2330,-1.22,-146.0,232.0,-11.4,198,2335,0.25,2.45,0.00,0.000,6,0.081,0.024,2596,1821,3721,0,0,0,0,0,0
$GC,2620,-1.22,-146.0,257.3,-8.4,205,2624,0.00,2.45,0.00,0.000,4,0.000,0.030,2596,3361,3721,0,0,0,0,0,0
$GC,2642,-1.22,-146.0,259.7,-10.3,205,2647,0.00,2.42,0.00,0.000,6,0.000,0.023,2596,1823,3721,0,0,0,0,0,0
$GC,2901,-1.22,-146.0,283.0,-9.1,212,2905,0.00,2.45,0.00,0.000,4,0.000,0.031,2596,3360,3721,0,0,0,0,0,0
$GC,2941,-1.30,-146.0,286.5,-9.0,212,2946,0.00,2.42,0.00,0.000,6,0.000,0.026,2597,1845,3721,0,0,0,0,0,0
$GC,3190,-1.30,-146.0,307.5,-8.4,219,3194,0.00,2.45,0.00,0.000,4,0.000,0.034,2596,3367,3720,0,0,0,0,0,0
$GC,3232,-1.40,-146.0,311.4,-8.8,219,3239,0.17,2.40,0.00,0.000,6,0.048,0.027,2507,1857,3720,0,0,0,0,0,0
$GC,3484,-1.19,-146.0,346.1,-14.2,226,3491,0.38,2.70,0.00,0.000,4,0.084,0.047,2594,217,3718,0,0,0,0,0,0
$GC,3501,-1.10,-146.0,348.8,-13.6,226,3506,0.12,2.55,0.00,0.000,6,0.103,0.023,2623,1844,3718,0,0,0,0,0,0
$GC,3773,-1.25,-146.0,369.0,-7.3,233,3778,0.15,2.45,0.00,0.000,4,0.054,0.038,2545,3359,3718,0,0,0,0,0,0
$GC,3843,-1.25,-146.0,376.2,-10.2,234,3847,0.17,2.40,0.00,0.000,6,0.085,0.027,2586,1867,3718,0,0,0,0,0,0
$GC,4102,-1.25,-146.0,398.8,-8.8,241,4107,0.00,2.78,0.00,0.000,4,0.000,0.054,2586,217,3716,0,0,0,0,0,0
$GC,4127,-1.25,-146.0,401.2,-9.8,241,4132,0.00,2.58,0.00,0.000,6,0.000,0.025,2586,1844,3716,0,0,0,0,0,0
$GC,4387,-1.25,-146.0,423.4,-8.2,248,4391,0.00,2.45,0.00,0.000,4,0.000,0.041,2586,3356,3714,0,0,0,0,0,0
$GC,4433,-1.35,-146.0,427.2,-7.2,249,4438,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,1871,3714,0,0,0,0,0,0
$GC,4717,-1.35,-146.0,448.8,-7.6,256,4722,0.00,2.45,0.00,0.000,4,0.000,0.044,2586,3359,3712,0,0,0,0,0,0
$GC,4750,-1.45,-146.0,451.5,-7.3,256,4755,0.17,2.38,0.00,0.000,6,0.049,0.028,2498,1876,3712,0,0,0,0,0,0
$GC,5002,-1.23,-146.0,482.0,-12.9,262,5009,0.43,2.83,0.00,0.000,4,0.081,0.062,2589,222,3710,0,0,0,0,0,0
$GC,5048,-1.37,-146.0,486.8,-8.2,263,5054,0.12,2.62,0.00,0.000,6,0.063,0.031,2525,1843,3710,0,0,0,0,0,0
$STATE,5171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5171,begin apogee
$GC,5179,-0.31,0.0,500.0,10.7,266,5301,1.17,0.00,119.12,0.862,6,0.076,0.000,2790,1675,3120,0,0,0,0,0,0
$STATE,5302,end apogee,CONTROL_FINISHED_OK
$STATE,5302,begin climb
$GC,5305,1.17,146.0,504.8,0.0,269,5438,1.35,2.72,122.55,0.847,4,0.027,0.051,3122,3247,2522,0,0,0,0,0,0
$GC,5555,0.91,165.6,498.9,8.2,275,5580,0.30,2.60,16.95,0.779,6,0.104,0.036,3059,1703,2444,0,0,0,0,0,0
$GC,5846,0.84,217.1,478.4,6.9,282,5898,0.00,2.75,45.10,0.821,4,0.000,0.072,3059,164,2234,0,0,0,0,0,0
$GC,5992,0.65,217.1,466.3,9.8,285,5997,0.28,2.40,0.00,0.000,6,0.093,0.027,3000,1655,2232,0,0,0,0,0,0
$GC,6268,0.79,279.9,449.0,6.4,292,6332,0.12,2.62,56.08,0.818,4,0.064,0.058,3060,159,1978,0,0,0,0,0,0
$GC,6376,0.68,279.9,437.4,12.2,294,6381,0.25,2.47,0.00,0.000,6,0.091,0.027,3007,1673,1976,0,0,0,0,0,0
$GC,6643,0.77,282.0,413.7,8.9,301,6647,0.00,2.70,0.00,0.000,4,0.000,0.051,3007,3259,1970,0,0,0,0,0,0
$GC,6676,0.90,282.0,410.4,9.4,301,6684,0.20,2.65,0.00,0.000,6,0.046,0.035,3087,1664,1968,0,0,0,0,0,0
$GC,6929,0.76,282.0,381.8,11.1,308,6934,0.25,2.58,0.00,0.000,4,0.091,0.064,3028,166,1967,0,0,0,0,0,0
$GC,6982,0.76,282.0,376.5,10.0,309,6986,0.00,2.42,0.00,0.000,6,0.000,0.025,3028,1674,1966,0,0,0,0,0,0
$GC,7260,0.79,309.1,354.2,7.9,316,7292,0.00,2.75,25.92,0.754,4,0.000,0.048,3028,3250,1859,0,0,0,0,0,0
$GC,7312,0.88,322.4,349.9,8.5,317,7333,0.10,2.65,13.70,0.706,6,0.076,0.034,3083,1659,1804,0,0,0,0,0,0
$GC,7594,0.79,322.4,319.7,10.9,324,7596,0.22,0.00,0.00,0.000,6,0.094,0.000,3034,1659,1799,0,0,0,0,0,0
$GC,7838,0.80,323.2,297.6,9.0,330,7842,0.00,2.65,0.00,0.000,4,0.000,0.039,3034,3256,1797,0,0,0,0,0,0
$GC,7871,0.91,330.5,294.4,8.7,330,7884,0.10,2.60,7.18,0.604,6,0.075,0.033,3094,1676,1772,0,0,0,0,0,0
$GC,8172,0.81,330.5,256.9,12.8,338,8178,0.25,2.58,0.00,0.000,4,0.092,0.060,3036,170,1770,0,0,0,0,0,0
$GC,8193,0.81,330.5,254.1,11.9,338,8198,0.00,2.42,0.00,0.000,6,0.000,0.022,3036,1692,1770,0,0,0,0,0,0
$GC,8457,0.89,330.5,226.0,10.6,345,8462,0.00,2.55,0.00,0.000,4,0.000,0.038,3036,3255,1768,0,0,0,0,0,0
$GC,8476,0.97,330.5,224.0,9.3,345,8481,0.15,2.60,0.00,0.000,6,0.054,0.029,3096,1673,1767,0,0,0,0,0,0
$GC,8736,0.89,330.5,189.6,13.8,357,8738,0.20,0.00,0.00,0.000,6,0.101,0.000,3054,1673,1767,0,0,0,0,0,0
$GC,8988,0.89,330.5,163.2,9.5,381,8993,0.00,2.58,0.00,0.000,4,0.000,0.033,3054,3262,1767,0,0,0,0,0,0
$GC,9010,0.89,330.5,161.4,9.0,382,9016,0.00,2.60,0.00,0.000,6,0.000,0.028,3054,1670,1766,0,0,0,0,0,0
$GC,9276,0.90,337.7,138.4,8.7,407,9285,0.00,0.00,7.03,0.503,6,0.000,0.000,3054,1670,1743,0,0,0,0,0,0
$GC,9540,1.01,370.2,115.9,7.7,432,9577,0.10,2.65,30.83,0.573,4,0.077,0.033,3112,3260,1610,0,0,0,0,0,0
$GC,9648,1.01,370.2,103.4,12.6,442,9653,0.15,2.58,0.00,0.000,6,0.097,0.028,3078,1674,1605,0,0,0,0,0,0
$GC,9915,1.01,370.2,78.6,9.5,466,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1674,1604,0,0,0,0,0,0
$GC,10179,1.01,370.2,51.9,9.5,491,10184,0.00,2.58,0.00,0.000,4,0.000,0.031,3079,3264,1604,0,0,0,0,0,0
$GC,10211,1.09,371.8,49.2,8.9,493,10216,0.00,2.58,0.00,0.000,6,0.000,0.027,3079,1677,1602,0,0,0,0,0,0
$GC,10484,1.13,403.5,25.6,7.7,521,10523,0.12,2.55,29.92,0.486,4,0.064,0.043,3145,171,1472,0,0,0,0,0,0
$GC,10547,0.94,403.5,18.3,13.4,529,10557,0.32,2.40,0.00,0.000,6,0.081,0.019,3070,1689,1472,0,0,0,0,0,0
$STATE,10676,end climb,SURFACE_DEPTH_REACHED
$STATE,10676,begin surface coast
$FINISH,0.8,1.023961
$STATE,10721,end surface coast,CONTROL_FINISHED_OK
$STATE,10721,begin surface
$SM_CCo,10803,0.00,0.000,0,0,1465,405.73
$SM_GC,1.69,10.77,0.00,0.00,0.023,0.000,0.000,414,1841,1465,-11.17,1.44,405.73
$IRIDIUM_FIX,2239.35,-15802.37,060400,171709
$TT8_MAMPS,0.026845
$HUMID,49.92
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.80
$XPDR_PINGS,1
$24V_AH,23.4,64.248
$10V_AH,10.0,56.996
$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,30.600,147.850,474.375,0.000,0.000,57.751,69.374,422.627,0.250,0.000,12.810,1153.425,6879.645,516.158,2128.959,878.818,33.380,1385.303,0.000,2134.693,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,72.098,862.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.965,346.837,439.050,656.362,1161.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,44613,556
$CAP_FILE_SIZE,132364,0
$CFSIZE,260165632,144023552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110111,200515,2248.991,-15802.931,36,2.9,55,10.1