version: 66.06
glider: 148
mission: 9
dive: 525
start: 1 15 111 11 20 40
data:
$ID,148
$MISSION,9
$DIVE,525
$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,-869610
$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,30
$R_STBD_OVSHOOT,55
$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
$GPS1,111006,2248.533,-15803.094,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.3
$GPS2,111944,2248.615,-15803.166,13,1.4,13,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.069,0.228
$KALMAN_X,-110867.9,176.1,-167.2,122378.0,-572.7
$KALMAN_Y,-146302.4,-98.6,5.0,273664.5,-276.0
$MHEAD_RNG_PITCHd_Wd,6.7,2582,-14.3,-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,-1.07,-143.1,0.0,0.0,0,96,0.00,0.00,-75.03,0.000,2,0.000,0.000,414,1888,3392,0,0,0,0,0,0
$GC,99,-1.07,-146.0,3.7,-3.7,10,124,11.62,2.35,-6.03,0.000,4,0.152,0.038,2619,3364,3716,0,0,0,0,0,0
$GC,215,-1.07,-146.0,26.0,-11.0,27,223,0.00,2.55,0.00,0.000,6,0.000,0.023,2619,1789,3718,0,0,0,0,0,0
$GC,495,-0.96,-146.0,57.2,-11.3,55,500,0.15,2.53,0.00,0.000,4,0.098,0.030,2652,3359,3718,0,0,0,0,0,0
$GC,563,-1.02,-146.0,63.8,-8.6,60,567,0.00,2.47,0.00,0.000,6,0.000,0.022,2652,1792,3719,0,0,0,0,0,0
$GC,825,-1.02,-146.0,89.1,-9.5,84,829,0.00,2.50,0.00,0.000,4,0.000,0.028,2652,3364,3719,0,0,0,0,0,0
$GC,872,-1.02,-146.0,93.6,-9.3,88,876,0.00,2.45,0.00,0.000,6,0.000,0.022,2652,1811,3719,0,0,0,0,0,0
$GC,1134,-1.02,-146.0,117.7,-8.9,112,1138,0.00,2.45,0.00,0.000,4,0.000,0.028,2652,3357,3719,0,0,0,0,0,0
$GC,1195,-1.15,-146.0,122.3,-6.7,117,1202,0.17,2.42,0.00,0.000,6,0.045,0.021,2557,1827,3719,0,0,0,0,0,0
$GC,1464,-0.95,-146.0,151.6,-11.1,142,1470,0.40,0.00,0.00,0.000,6,0.080,0.000,2651,1827,3720,0,0,0,0,0,0
$GC,1729,-1.05,-146.0,170.5,-7.4,167,1733,0.00,2.45,0.00,0.000,4,0.000,0.028,2650,3357,3721,0,0,0,0,0,0
$GC,1789,-1.21,-146.0,175.3,-7.5,172,1795,0.22,2.40,0.00,0.000,6,0.038,0.022,2533,1844,3721,0,0,0,0,0,0
$GC,2070,-0.98,-146.0,212.8,-14.1,193,2078,0.47,2.45,0.00,0.000,4,0.077,0.028,2644,3367,3721,0,0,0,0,0,0
$GC,2106,-1.11,-146.0,216.9,-8.4,193,2111,0.12,2.40,0.00,0.000,6,0.058,0.023,2563,1842,3721,0,0,0,0,0,0
$GC,2356,-0.95,-146.0,246.3,-12.2,199,2358,0.45,0.00,0.00,0.000,6,0.074,0.000,2651,1841,3721,0,0,0,0,0,0
$GC,2602,-1.10,-146.0,264.3,-7.0,205,2607,0.12,2.45,0.00,0.000,4,0.061,0.031,2573,3356,3721,0,0,0,0,0,0
$GC,2645,-1.10,-146.0,268.3,-8.8,206,2650,0.20,2.38,0.00,0.000,6,0.080,0.025,2620,1852,3721,0,0,0,0,0,0
$GC,2933,-1.10,-146.0,287.7,-6.4,213,2937,0.00,2.40,0.00,0.000,4,0.000,0.031,2620,3355,3721,0,0,0,0,0,0
$GC,2983,-1.21,-146.0,290.7,-6.9,214,2988,0.10,2.40,0.00,0.000,6,0.074,0.025,2550,1857,3721,0,0,0,0,0,0
$GC,3270,-1.04,-146.0,321.2,-11.1,221,3275,0.38,2.42,0.00,0.000,4,0.074,0.034,2630,3357,3720,0,0,0,0,0,0
$GC,3296,-1.04,-146.0,323.7,-9.2,221,3300,0.00,2.38,0.00,0.000,6,0.000,0.026,2631,1869,3720,0,0,0,0,0,0
$GC,3560,-1.14,-146.0,341.9,-6.9,228,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1868,3718,0,0,0,0,0,0
$GC,3804,-1.24,-146.0,356.5,-5.8,234,3809,0.17,2.42,0.00,0.000,4,0.049,0.037,2548,3354,3717,0,0,0,0,0,0
$GC,3867,-1.13,-146.0,361.7,-8.9,235,3872,0.28,2.38,0.00,0.000,6,0.075,0.027,2611,1867,3717,0,0,0,0,0,0
$GC,4136,-1.13,-146.0,377.8,-5.8,242,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1867,3715,0,0,0,0,0,0
$GC,4379,-1.13,-146.0,394.6,-7.1,248,4384,0.00,2.42,0.00,0.000,4,0.000,0.040,2611,3353,3714,0,0,0,0,0,0
$GC,4425,-1.23,-146.0,397.8,-7.8,249,4429,0.00,2.40,0.00,0.000,6,0.000,0.028,2612,1869,3714,0,0,0,0,0,0
$GC,4711,-1.23,-146.0,419.6,-7.7,256,4715,0.00,2.42,0.00,0.000,4,0.000,0.042,2611,3350,3711,0,0,0,0,0,0
$GC,4741,-1.31,-146.0,421.8,-7.3,256,4746,0.15,2.38,0.00,0.000,6,0.054,0.029,2533,1885,3711,0,0,0,0,0,0
$GC,5001,-1.12,-146.0,451.4,-11.5,263,5003,0.40,0.00,0.00,0.000,6,0.077,0.000,2616,1885,3709,0,0,0,0,0,0
$GC,5245,-1.19,-146.0,468.7,-6.8,269,5249,0.00,2.42,0.00,0.000,4,0.000,0.048,2615,3349,3708,0,0,0,0,0,0
$GC,5299,-1.31,-146.0,472.4,-7.3,270,5303,0.17,2.35,0.00,0.000,6,0.047,0.031,2529,1898,3708,0,0,0,0,0,0
$STATE,5574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5574,begin apogee
$GC,5580,-0.31,0.0,502.8,11.1,277,5702,1.17,0.00,118.07,0.870,6,0.071,0.000,2793,1685,3120,0,0,0,0,0,0
$STATE,5703,end apogee,CONTROL_FINISHED_OK
$STATE,5703,begin climb
$GC,5707,1.07,146.0,508.4,0.0,280,5839,1.23,2.70,122.18,0.856,4,0.026,0.050,3108,3232,2523,0,0,0,0,0,0
$GC,5849,0.86,239.6,510.4,4.5,283,5942,0.30,2.60,80.45,0.840,6,0.100,0.039,3046,1696,2142,0,0,0,0,0,0
$GC,6201,0.73,239.6,477.9,9.7,292,6208,0.12,2.72,0.00,0.000,4,0.115,0.077,3020,166,2135,0,0,0,0,0,0
$GC,6262,0.64,239.6,472.2,9.8,293,6266,0.00,2.42,0.00,0.000,6,0.000,0.028,3020,1662,2134,0,0,0,0,0,0
$GC,6534,0.67,261.8,452.0,7.2,300,6559,0.00,2.80,19.38,0.792,4,0.000,0.056,3020,3260,2051,0,0,0,0,0,0
$GC,6580,0.68,268.0,448.6,7.8,301,6592,0.00,2.65,6.80,0.661,6,0.000,0.036,3020,1676,2027,0,0,0,0,0,0
$GC,6866,0.69,277.3,426.5,7.7,308,6877,0.00,0.00,9.73,0.723,6,0.000,0.000,3019,1676,1989,0,0,0,0,0,0
$GC,7109,0.69,277.3,406.7,8.3,314,7114,0.00,2.62,0.00,0.000,4,0.000,0.068,3020,159,1985,0,0,0,0,0,0
$GC,7139,0.63,277.3,404.1,9.4,314,7144,0.10,2.45,0.00,0.000,6,0.122,0.026,2997,1677,1985,0,0,0,0,0,0
$GC,7394,0.64,289.2,384.4,7.6,321,7413,0.00,2.65,12.23,0.734,4,0.000,0.057,2997,160,1939,0,0,0,0,0,0
$GC,7429,0.64,289.2,381.3,8.9,321,7434,0.00,2.47,0.00,0.000,6,0.000,0.026,2998,1683,1938,0,0,0,0,0,0
$GC,7681,0.66,299.3,362.3,7.6,327,7693,0.00,0.00,10.43,0.704,6,0.000,0.000,2997,1683,1899,0,0,0,0,0,0
$GC,7923,0.74,318.8,344.5,7.3,333,7945,0.10,0.00,19.33,0.742,6,0.075,0.000,3049,1683,1820,0,0,0,0,0,0
$GC,8167,0.68,318.8,320.4,10.1,339,8172,0.20,2.60,0.00,0.000,4,0.091,0.054,3005,162,1815,0,0,0,0,0,0
$GC,8188,0.68,318.8,318.6,9.0,339,8192,0.00,2.45,0.00,0.000,6,0.000,0.025,3005,1681,1815,0,0,0,0,0,0
$GC,8452,0.74,323.6,297.9,7.8,346,8464,0.00,2.62,4.75,0.531,4,0.000,0.043,3005,3249,1799,0,0,0,0,0,0
$GC,8503,0.91,351.1,294.1,7.0,347,8536,0.22,2.62,26.75,0.719,6,0.042,0.032,3092,1672,1688,0,0,0,0,0,0
$GC,8788,0.76,351.1,262.5,11.0,354,8790,0.30,0.00,0.00,0.000,6,0.088,0.000,3026,1672,1683,0,0,0,0,0,0
$GC,9030,0.77,361.5,243.3,7.6,360,9047,0.00,2.70,10.18,0.624,4,0.000,0.037,3026,3250,1645,0,0,0,0,0,0
$GC,9063,0.77,361.5,240.7,8.1,360,9067,0.00,2.62,0.00,0.000,6,0.000,0.031,3026,1669,1643,0,0,0,0,0,0
$GC,9317,0.77,361.5,219.6,8.2,367,9321,0.00,2.62,0.00,0.000,4,0.000,0.035,3026,3254,1642,0,0,0,0,0,0
$GC,9336,0.80,382.9,218.1,7.2,367,9363,0.00,2.55,20.48,0.651,6,0.000,0.028,3026,1686,1558,0,0,0,0,0,0
$GC,9621,0.80,388.7,196.1,7.8,375,9633,0.00,2.60,6.20,0.524,4,0.000,0.033,3026,3255,1533,0,0,0,0,0,0
$GC,9657,0.90,388.7,192.5,9.6,378,9666,0.10,2.60,0.00,0.000,6,0.029,0.028,3092,1690,1532,0,0,0,0,0,0
$GC,9924,0.79,388.7,162.3,11.9,403,9929,0.25,0.00,0.00,0.000,6,0.087,0.000,3033,1691,1531,0,0,0,0,0,0
$GC,10186,0.82,417.2,140.9,6.9,428,10219,0.00,0.00,26.00,0.591,6,0.000,0.000,3033,1690,1419,0,0,0,0,0,0
$GC,10475,0.91,417.2,115.4,9.2,455,10480,0.10,2.58,0.00,0.000,4,0.075,0.032,3087,3268,1416,0,0,0,0,0,0
$GC,10514,0.91,417.2,110.6,10.8,458,10523,0.10,2.60,0.00,0.000,6,0.073,0.033,3059,1691,1414,0,0,0,0,0,0
$GC,10782,0.91,417.2,86.7,9.3,483,10787,0.00,2.55,0.00,0.000,4,0.000,0.031,3059,3270,1414,0,0,0,0,0,0
$GC,10812,1.00,417.2,83.2,8.8,485,10817,0.00,2.55,0.00,0.000,6,0.000,0.027,3058,1697,1413,0,0,0,0,0,0
$GC,11078,1.00,417.2,59.1,9.5,510,11082,0.00,2.50,0.00,0.000,4,0.000,0.045,3058,173,1413,0,0,0,0,0,0
$GC,11096,1.00,417.2,57.2,9.6,511,11100,0.00,2.40,0.00,0.000,6,0.000,0.020,3058,1708,1413,0,0,0,0,0,0
$GC,11365,1.00,417.2,31.0,9.9,535,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1709,1413,0,0,0,0,0,0
$STATE,11640,end climb,SURFACE_DEPTH_REACHED
$STATE,11640,begin surface coast
$FINISH,0.7,1.023816
$STATE,11691,end surface coast,CONTROL_FINISHED_OK
$STATE,11691,begin surface
$SM_CCo,11774,0.00,0.000,0,0,1410,419.22
$SM_GC,1.73,10.70,0.00,0.00,0.024,0.000,0.000,414,1869,1410,-11.17,2.23,419.22
$IRIDIUM_FIX,2239.35,-15800.20,100400,070744
$TT8_MAMPS,0.026845
$HUMID,49.64
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,67.841
$10V_AH,10.0,60.316
$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,30.600,130.725,492.925,0.000,0.000,30.966,37.934,357.282,0.250,0.000,14.680,1196.352,7698.039,525.262,2157.578,770.642,33.370,1373.316,0.000,2167.567,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,102.011,869.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.498,363.362,453.208,694.957,1227.422,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,44628,587
$CAP_FILE_SIZE,128248,0
$CFSIZE,260165632,142323712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150111,143807,2250.238,-15802.718,36,1.0,36,10.1