version: 66.06
glider: 148
mission: 9
dive: 523
start: 1 15 111 4 24 47
data:
$ID,148
$MISSION,9
$DIVE,523
$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,208
$T_MISSION,450
$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,-869553.19
$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,29
$R_STBD_OVSHOOT,47
$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
$GPS1,041400,2246.650,-15801.867,37,1.2,37,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.4
$GPS2,042351,2246.557,-15801.921,14,1.6,14,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.113,0.170
$KALMAN_X,-109074.9,-137.3,92.1,122785.7,-447.5
$KALMAN_Y,-145444.7,17.5,169.9,268723.0,-1307.6
$MHEAD_RNG_PITCHd_Wd,316.3,2018,-17.5,-8.013
$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,18,-1.22,-101.2,0.0,0.0,0,88,0.00,0.00,-67.97,0.000,2,0.000,0.000,413,1892,3238,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.1,-3.1,9,124,11.45,2.83,-9.65,0.000,4,0.154,0.056,2575,207,3719,0,0,0,0,0,0
$GC,202,-1.27,-146.0,23.5,-13.7,25,211,0.00,2.50,0.00,0.000,6,0.000,0.019,2575,1787,3720,0,0,0,0,0,0
$GC,484,-1.15,-146.0,60.8,-13.9,54,489,0.15,2.55,0.00,0.000,4,0.107,0.031,2608,3367,3720,0,0,0,0,0,0
$GC,552,-1.21,-146.0,68.8,-9.7,59,556,0.00,2.50,0.00,0.000,6,0.000,0.022,2608,1789,3720,0,0,0,0,0,0
$GC,819,-1.21,-146.0,99.3,-11.4,83,823,0.00,2.55,0.00,0.000,4,0.000,0.030,2607,3370,3721,0,0,0,0,0,0
$GC,848,-1.21,-146.0,102.7,-10.9,85,852,0.00,2.47,0.00,0.000,6,0.000,0.021,2608,1797,3721,0,0,0,0,0,0
$GC,1115,-1.21,-146.0,128.2,-9.7,109,1119,0.00,2.47,0.00,0.000,4,0.000,0.028,2607,3363,3721,0,0,0,0,0,0
$GC,1133,-1.21,-146.0,130.8,-9.9,110,1142,0.00,2.47,0.00,0.000,6,0.000,0.021,2607,1817,3721,0,0,0,0,0,0
$GC,1397,-1.30,-146.0,153.9,-8.2,135,1402,0.12,2.47,0.00,0.000,4,0.063,0.028,2545,3367,3721,0,0,0,0,0,0
$GC,1453,-1.30,-146.0,160.0,-11.0,140,1458,0.15,2.45,0.00,0.000,6,0.096,0.023,2579,1821,3721,0,0,0,0,0,0
$GC,1714,-1.30,-146.0,186.6,-10.3,164,1718,0.00,2.45,0.00,0.000,4,0.000,0.029,2578,3364,3722,0,0,0,0,0,0
$GC,1753,-1.36,-146.0,190.6,-10.5,167,1758,0.00,2.42,0.00,0.000,6,0.000,0.022,2579,1837,3722,0,0,0,0,0,0
$GC,2018,-1.36,-146.0,218.2,-11.0,181,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1836,3722,0,0,0,0,0,0
$GC,2260,-1.36,-146.0,242.0,-9.4,187,2264,0.00,2.45,0.00,0.000,4,0.000,0.031,2578,3360,3722,0,0,0,0,0,0
$GC,2279,-1.36,-146.0,243.8,-9.5,187,2283,0.00,2.42,0.00,0.000,6,0.000,0.022,2579,1834,3722,0,0,0,0,0,0
$GC,2542,-1.36,-146.0,266.4,-8.7,194,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1834,3722,0,0,0,0,0,0
$GC,2788,-1.43,-146.0,287.6,-8.6,200,2793,0.12,2.50,0.00,0.000,4,0.064,0.033,2520,3368,3722,0,0,0,0,0,0
$GC,2844,-1.43,-146.0,294.1,-11.0,201,2849,0.12,2.45,0.00,0.000,6,0.106,0.023,2547,1834,3722,0,0,0,0,0,0
$GC,3119,-1.43,-146.0,322.1,-10.4,208,3123,0.00,2.50,0.00,0.000,4,0.000,0.036,2547,3364,3721,0,0,0,0,0,0
$GC,3137,-1.43,-146.0,324.5,-11.5,208,3141,0.00,2.42,0.00,0.000,6,0.000,0.024,2547,1846,3721,0,0,0,0,0,0
$GC,3400,-1.43,-146.0,353.5,-11.2,215,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1846,3720,0,0,0,0,0,0
$GC,3644,-1.43,-146.0,380.2,-10.9,221,3648,0.00,2.47,0.00,0.000,4,0.000,0.040,2547,3354,3719,0,0,0,0,0,0
$GC,3664,-1.43,-146.0,382.4,-11.8,221,3668,0.00,2.42,0.00,0.000,6,0.000,0.027,2547,1850,3719,0,0,0,0,0,0
$GC,3927,-1.43,-146.0,408.6,-9.6,228,3932,0.00,2.75,0.00,0.000,4,0.000,0.056,2547,217,3717,0,0,0,0,0,0
$GC,3955,-1.43,-146.0,411.5,-10.8,228,3960,0.00,2.58,0.00,0.000,6,0.000,0.025,2547,1840,3717,0,0,0,0,0,0
$GC,4211,-1.43,-146.0,434.3,-8.9,235,4215,0.00,2.53,0.00,0.000,4,0.000,0.045,2547,3364,3715,0,0,0,0,0,0
$GC,4234,-1.43,-146.0,436.7,-9.8,235,4238,0.00,2.42,0.00,0.000,6,0.000,0.028,2547,1862,3715,0,0,0,0,0,0
$GC,4493,-1.43,-146.0,459.9,-9.1,242,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1862,3714,0,0,0,0,0,0
$GC,4736,-1.43,-146.0,481.8,-8.9,248,4741,0.00,2.53,0.00,0.000,4,0.000,0.050,2547,3362,3711,0,0,0,0,0,0
$GC,4756,-1.43,-146.0,483.5,-8.7,248,4761,0.00,2.42,0.00,0.000,6,0.000,0.029,2547,1858,3711,0,0,0,0,0,0
$STATE,4977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4977,begin apogee
$GC,4983,-0.31,0.0,502.6,8.5,254,5105,1.08,0.00,119.32,0.867,6,0.071,0.000,2792,1674,3120,0,0,0,0,0,0
$STATE,5106,end apogee,CONTROL_FINISHED_OK
$STATE,5106,begin climb
$GC,5109,1.27,146.0,506.3,0.0,257,5240,1.40,2.65,121.35,0.850,4,0.026,0.069,3138,186,2523,0,0,0,0,0,0
$GC,5349,0.87,146.0,499.0,10.9,262,5356,0.43,2.45,0.00,0.000,6,0.105,0.030,3050,1677,2518,0,0,0,0,0,0
$GC,5616,0.91,179.0,481.5,6.2,269,5651,0.00,2.62,28.60,0.815,4,0.000,0.059,3050,180,2388,0,0,0,0,0,0
$GC,5768,0.78,179.0,468.8,8.7,272,5773,0.00,2.45,0.00,0.000,6,0.000,0.027,3050,1680,2384,0,0,0,0,0,0
$GC,6037,0.79,183.6,447.7,7.8,279,6043,0.00,0.00,4.18,0.535,6,0.000,0.000,3050,1680,2371,0,0,0,0,0,0
$GC,6282,0.80,194.5,429.1,7.4,285,6295,0.00,0.00,11.20,0.742,6,0.000,0.000,3050,1680,2327,0,0,0,0,0,0
$GC,6524,0.81,200.2,410.5,7.7,291,6532,0.00,0.00,6.07,0.637,6,0.000,0.000,3050,1680,2304,0,0,0,0,0,0
$GC,6767,0.81,200.2,390.7,8.3,297,6772,0.00,2.58,0.00,0.000,4,0.000,0.057,3050,182,2300,0,0,0,0,0,0
$GC,6814,0.73,200.2,386.3,9.4,298,6819,0.15,2.42,0.00,0.000,6,0.110,0.025,3019,1683,2300,0,0,0,0,0,0
$GC,7099,0.84,213.6,365.3,7.3,305,7115,0.10,0.00,12.93,0.732,6,0.078,0.000,3068,1683,2249,0,0,0,0,0,0
$GC,7340,0.84,213.6,342.7,9.5,311,7346,0.12,2.70,0.00,0.000,4,0.111,0.053,3042,3258,2245,0,0,0,0,0,0
$GC,7353,0.84,213.6,341.5,9.4,311,7357,0.00,2.60,0.00,0.000,6,0.000,0.032,3042,1696,2244,0,0,0,0,0,0
$GC,7626,0.85,227.5,321.3,7.3,318,7646,0.00,2.67,13.23,0.707,4,0.000,0.064,3042,164,2191,0,0,0,0,0,0
$GC,7679,0.85,227.5,317.0,8.8,319,7683,0.00,2.42,0.00,0.000,6,0.000,0.025,3042,1682,2190,0,0,0,0,0,0
$GC,7959,0.88,247.6,297.4,6.9,326,7980,0.00,0.00,19.38,0.713,6,0.000,0.000,3042,1682,2109,0,0,0,0,0,0
$GC,8201,0.97,266.6,280.3,7.0,332,8226,0.12,2.72,17.73,0.695,4,0.067,0.049,3102,3245,2031,0,0,0,0,0,0
$GC,8320,0.97,266.6,268.7,9.7,334,8325,0.15,2.62,0.00,0.000,6,0.106,0.032,3071,1672,2027,0,0,0,0,0,0
$GC,8579,0.97,266.6,245.4,9.1,341,8584,0.00,2.65,0.00,0.000,4,0.000,0.038,3071,3255,2027,0,0,0,0,0,0
$GC,8593,0.97,266.6,243.9,9.1,341,8598,0.00,2.62,0.00,0.000,6,0.000,0.030,3071,1670,2026,0,0,0,0,0,0
$GC,8863,0.97,266.6,220.1,8.9,348,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1671,2025,0,0,0,0,0,0
$GC,9105,0.97,267.0,200.7,8.0,354,9110,0.00,2.60,0.00,0.000,4,0.000,0.035,3071,3256,2024,0,0,0,0,0,0
$GC,9170,1.07,267.0,194.8,9.5,357,9179,0.00,2.62,0.00,0.000,6,0.000,0.031,3071,1679,2023,0,0,0,0,0,0
$GC,9438,1.07,268.2,172.6,8.0,382,9443,0.00,2.60,0.00,0.000,4,0.000,0.035,3071,3258,2023,0,0,0,0,0,0
$GC,9457,1.08,275.2,170.5,7.6,383,9476,0.10,2.58,7.78,0.545,6,0.079,0.028,3124,1685,1997,0,0,0,0,0,0
$GC,9730,0.99,275.2,144.5,9.8,409,9736,0.22,0.00,0.00,0.000,6,0.097,0.000,3076,1685,1996,0,0,0,0,0,0
$GC,9993,1.05,275.2,122.2,9.1,434,9997,0.00,2.60,0.00,0.000,4,0.000,0.034,3076,3269,1995,0,0,0,0,0,0
$GC,10065,1.15,275.2,115.5,9.0,440,10075,0.10,2.60,0.00,0.000,6,0.033,0.028,3139,1689,1994,0,0,0,0,0,0
$GC,10331,1.08,275.2,89.0,8.9,465,10337,0.20,0.00,0.00,0.000,6,0.099,0.000,3096,1689,1994,0,0,0,0,0,0
$GC,10599,1.12,309.5,71.8,6.2,490,10636,0.00,2.55,31.85,0.535,4,0.000,0.045,3095,174,1857,0,0,0,0,0,0
$GC,10674,1.12,309.5,66.0,9.1,496,10678,0.00,2.40,0.00,0.000,6,0.000,0.021,3095,1697,1856,0,0,0,0,0,0
$GC,10943,1.12,309.5,43.1,9.1,520,10947,0.00,2.55,0.00,0.000,4,0.000,0.044,3095,170,1854,0,0,0,0,0,0
$GC,10985,1.12,309.5,38.6,10.1,523,10989,0.00,2.38,0.00,0.000,6,0.000,0.020,3095,1684,1854,0,0,0,0,0,0
$GC,11280,1.12,309.5,11.4,8.7,563,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1687,1854,0,0,0,0,0,0
$STATE,11362,end climb,SURFACE_DEPTH_REACHED
$STATE,11362,begin surface coast
$FINISH,0.8,1.000392
$STATE,11420,end surface coast,CONTROL_FINISHED_OK
$STATE,11423,begin surface
$SM_CCo,11443,39.72,0.374,1,0,1569,380.21
$SM_GC,1.67,0.00,0.00,39.72,0.000,0.000,0.374,413,1864,1569,-11.26,2.09,380.21
$IRIDIUM_FIX,2237.01,-15800.20,100400,000022
$TT8_MAMPS,0.026845
$HUMID,49.64
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,67.575
$10V_AH,9.9,60.063
$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,27.150,127.100,393.600,39.725,0.000,31.147,33.501,374.417,0.250,0.000,15.629,1180.307,7489.009,496.077,2131.156,781.253,33.375,1314.866,0.000,2148.276,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,69.030,867.477,374.296,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.209,369.827,458.535,698.104,1232.946,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,44628,585
$CAP_FILE_SIZE,120961,0
$CFSIZE,260165632,142458880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150111,073722,2247.249,-15803.147,7,99.0,26,10.1