version: 66.06
glider: 148
mission: 9
dive: 541
start: 1 17 111 18 46 10
data:
$ID,148
$MISSION,9
$DIVE,541
$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,-869988.88
$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,75
$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
$GPS1,182707,2248.784,-15802.607,65,2.0,65,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.8
$GPS2,184514,2248.616,-15802.767,10,1.2,10,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.034,0.238
$KALMAN_X,-120933.9,177.9,239.3,132719.7,-508.3
$KALMAN_Y,-162835.9,1167.8,364.2,288577.2,-2399.9
$MHEAD_RNG_PITCHd_Wd,357.9,2594,-14.1,-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,-1.06,-146.0,0.0,0.0,0,88,0.00,0.00,-68.10,0.000,2,0.000,0.000,405,1826,3255,0,0,0,0,0,0
$GC,93,-1.06,-146.0,3.1,-3.2,9,126,11.52,2.72,-8.85,0.000,4,0.146,0.050,2621,204,3719,0,0,0,0,0,0
$GC,154,-0.69,-146.0,18.6,-20.3,17,163,0.35,2.47,0.00,0.000,6,0.068,0.019,2706,1765,3720,0,0,0,0,0,0
$GC,443,-0.84,-146.0,41.9,-6.4,52,448,0.12,2.58,0.00,0.000,4,0.061,0.028,2620,3371,3720,0,0,0,0,0,0
$GC,520,-0.84,-146.0,48.4,-9.4,58,525,0.25,2.50,0.00,0.000,6,0.077,0.022,2676,1790,3721,0,0,0,0,0,0
$GC,789,-0.84,-146.0,72.6,-9.7,82,793,0.00,2.55,0.00,0.000,4,0.000,0.029,2676,3362,3720,0,0,0,0,0,0
$GC,842,-0.99,-146.0,77.6,-8.5,86,847,0.12,2.47,0.00,0.000,6,0.061,0.021,2599,1805,3721,0,0,0,0,0,0
$GC,1106,-0.79,-146.0,111.9,-13.3,110,1119,0.40,2.50,0.00,0.000,4,0.079,0.027,2685,3372,3721,0,0,0,0,0,0
$GC,1134,-0.88,-146.0,115.0,-7.8,112,1142,0.00,2.50,0.00,0.000,6,0.000,0.022,2685,1812,3721,0,0,0,0,0,0
$GC,1403,-1.06,-146.0,127.9,-4.5,137,1408,0.22,2.47,0.00,0.000,4,0.037,0.027,2553,3367,3721,0,0,0,0,0,0
$GC,1443,-0.93,-146.0,132.2,-10.3,140,1452,0.43,2.47,0.00,0.000,6,0.061,0.024,2656,1827,3722,0,0,0,0,0,0
$GC,1712,-1.02,-146.0,150.2,-7.2,165,1716,0.00,2.45,0.00,0.000,4,0.000,0.029,2656,3368,3722,0,0,0,0,0,0
$GC,1760,-1.20,-146.0,153.7,-6.5,169,1765,0.25,2.40,0.00,0.000,6,0.036,0.022,2560,1833,3721,0,0,0,0,0,0
$GC,2025,-1.00,-146.0,182.8,-11.3,193,2030,0.35,0.00,0.00,0.000,6,0.077,0.000,2639,1833,3722,0,0,0,0,0,0
$GC,2286,-1.07,-146.0,203.4,-7.4,215,2290,0.00,2.45,0.00,0.000,4,0.000,0.029,2639,3368,3722,0,0,0,0,0,0
$GC,2316,-1.18,-146.0,205.7,-7.0,215,2321,0.15,2.40,0.00,0.000,6,0.051,0.023,2564,1847,3721,0,0,0,0,0,0
$GC,2572,-1.02,-146.0,235.0,-11.9,222,2579,0.30,2.65,0.00,0.000,4,0.078,0.041,2636,217,3722,0,0,0,0,0,0
$GC,2618,-1.19,-146.0,238.9,-7.8,223,2623,0.15,2.53,0.00,0.000,6,0.052,0.020,2554,1849,3722,0,0,0,0,0,0
$GC,2907,-1.00,-146.0,269.7,-11.2,230,2913,0.38,2.40,0.00,0.000,4,0.076,0.030,2636,3360,3721,0,0,0,0,0,0
$GC,2960,-1.18,-146.0,273.7,-6.0,231,2965,0.15,2.42,0.00,0.000,6,0.051,0.025,2554,1842,3722,0,0,0,0,0,0
$GC,3240,-1.03,-146.0,299.7,-9.5,238,3246,0.35,2.45,0.00,0.000,4,0.074,0.032,2635,3363,3721,0,0,0,0,0,0
$GC,3270,-1.12,-146.0,302.3,-7.0,238,3274,0.00,2.40,0.00,0.000,6,0.000,0.025,2635,1855,3721,0,0,0,0,0,0
$GC,3526,-1.24,-146.0,316.6,-5.6,245,3531,0.20,2.42,0.00,0.000,4,0.042,0.032,2536,3359,3719,0,0,0,0,0,0
$GC,3542,-1.24,-146.0,318.0,-6.1,245,3547,0.22,2.40,0.00,0.000,6,0.083,0.025,2588,1859,3719,0,0,0,0,0,0
$GC,3810,-1.24,-146.0,341.6,-8.9,252,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1859,3718,0,0,0,0,0,0
$GC,4056,-1.24,-146.0,360.6,-7.6,258,4060,0.00,2.42,0.00,0.000,4,0.000,0.037,2588,3357,3717,0,0,0,0,0,0
$GC,4090,-1.24,-146.0,363.2,-7.3,258,4094,0.00,2.38,0.00,0.000,6,0.000,0.027,2588,1868,3717,0,0,0,0,0,0
$GC,4340,-1.24,-146.0,382.3,-7.8,264,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1868,3715,0,0,0,0,0,0
$GC,4585,-1.24,-146.0,403.1,-8.6,270,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1868,3713,0,0,0,0,0,0
$GC,4827,-1.24,-146.0,423.8,-8.4,276,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1868,3712,0,0,0,0,0,0
$GC,5071,-1.24,-146.0,443.0,-7.8,282,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1868,3710,0,0,0,0,0,0
$GC,5315,-1.24,-146.0,460.3,-7.1,288,5319,0.00,2.47,0.00,0.000,4,0.000,0.047,2589,3360,3709,0,0,0,0,0,0
$GC,5345,-1.24,-146.0,462.4,-7.6,288,5349,0.00,2.42,0.00,0.000,6,0.000,0.029,2588,1866,3709,0,0,0,0,0,0
$GC,5599,-1.24,-146.0,481.4,-7.5,295,5603,0.00,2.83,0.00,0.000,4,0.000,0.066,2588,225,3707,0,0,0,0,0,0
$GC,5613,-1.24,-146.0,482.6,-7.7,295,5618,0.00,2.60,0.00,0.000,6,0.000,0.030,2588,1844,3707,0,0,0,0,0,0
$STATE,5879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5879,begin apogee
$GC,5887,-0.31,0.0,501.4,6.8,302,6009,0.90,0.00,118.57,0.873,6,0.072,0.000,2793,1680,3120,0,0,0,0,0,0
$STATE,6010,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6012,1.06,146.0,505.4,0.0,305,6144,1.23,2.70,122.18,0.856,4,0.029,0.068,3108,194,2523,0,0,0,0,0,0
$GC,6411,0.60,146.0,483.0,9.3,313,6418,0.55,2.38,0.00,0.000,6,0.096,0.029,2991,1659,2515,0,0,0,0,0,0
$GC,6661,0.69,219.0,468.8,5.3,320,6730,0.00,2.65,62.28,0.838,4,0.000,0.060,2991,187,2227,0,0,0,0,0,0
$GC,6749,0.72,240.7,463.2,7.2,322,6778,0.10,2.42,21.05,0.789,6,0.077,0.028,3036,1677,2137,0,0,0,0,0,0
$GC,7039,0.62,240.7,436.9,9.1,329,7046,0.20,2.72,0.00,0.000,4,0.092,0.054,2993,3257,2130,0,0,0,0,0,0
$GC,7081,0.74,257.8,433.6,7.4,329,7102,0.12,2.60,15.10,0.764,6,0.065,0.035,3049,1692,2069,0,0,0,0,0,0
$GC,7377,0.62,257.8,404.7,10.1,337,7385,0.25,2.67,0.00,0.000,4,0.088,0.067,2990,164,2064,0,0,0,0,0,0
$GC,7419,0.62,257.8,400.6,9.7,337,7425,0.00,2.42,0.00,0.000,6,0.000,0.026,2990,1680,2063,0,0,0,0,0,0
$GC,7670,0.62,257.8,380.2,8.3,344,7675,0.00,2.65,0.00,0.000,4,0.000,0.050,2990,3258,2061,0,0,0,0,0,0
$GC,7699,0.71,257.8,377.5,8.6,344,7704,0.10,2.62,0.00,0.000,6,0.077,0.034,3044,1668,2059,0,0,0,0,0,0
$GC,7954,0.62,257.8,352.3,9.9,351,7956,0.22,0.00,0.00,0.000,6,0.089,0.000,2994,1668,2059,0,0,0,0,0,0
$GC,8200,0.65,285.6,334.8,7.0,357,8232,0.00,2.75,25.45,0.752,4,0.000,0.043,2995,3243,1952,0,0,0,0,0,0
$GC,8272,0.83,330.6,329.9,6.3,358,8321,0.20,2.60,41.70,0.754,6,0.044,0.034,3079,1677,1771,0,0,0,0,0,0
$GC,8576,0.67,330.6,296.6,11.3,366,8583,0.30,2.67,0.00,0.000,4,0.088,0.044,3010,3258,1764,0,0,0,0,0,0
$GC,8616,0.79,330.6,292.8,8.4,366,8622,0.10,2.60,0.00,0.000,6,0.077,0.034,3075,1687,1762,0,0,0,0,0,0
$GC,8868,0.68,330.6,265.1,11.2,373,8875,0.28,2.62,0.00,0.000,4,0.090,0.041,3010,3253,1761,0,0,0,0,0,0
$GC,8908,0.82,333.5,261.2,7.9,373,8914,0.12,2.58,0.00,0.000,6,0.063,0.032,3083,1686,1760,0,0,0,0,0,0
$GC,9158,0.69,333.5,233.8,11.2,380,9160,0.32,0.00,0.00,0.000,6,0.085,0.000,3012,1686,1760,0,0,0,0,0,0
$GC,9404,0.80,348.6,215.1,7.5,386,9424,0.00,2.65,15.27,0.638,4,0.000,0.036,3012,3265,1698,0,0,0,0,0,0
$GC,9467,0.97,348.6,209.4,8.9,387,9474,0.25,2.60,0.00,0.000,6,0.040,0.031,3088,1693,1695,0,0,0,0,0,0
$GC,9738,0.86,348.6,177.4,11.7,405,9744,0.20,2.58,0.00,0.000,4,0.094,0.051,3045,168,1695,0,0,0,0,0,0
$GC,9778,0.86,348.6,172.9,10.1,408,9787,0.00,2.45,0.00,0.000,6,0.000,0.024,3046,1694,1694,0,0,0,0,0,0
$GC,10046,0.86,348.6,149.1,8.8,433,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1697,1694,0,0,0,0,0,0
$GC,10307,0.87,363.4,129.0,7.5,458,10329,0.00,2.60,14.60,0.561,4,0.000,0.033,3045,3250,1637,0,0,0,0,0,0
$GC,10356,0.96,363.4,125.2,8.4,462,10366,0.05,2.60,0.00,0.000,6,0.043,0.028,3081,1678,1635,0,0,0,0,0,0
$GC,10620,0.96,363.4,102.1,9.9,487,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1678,1634,0,0,0,0,0,0
$GC,10886,0.96,363.4,75.4,10.2,512,10890,0.00,2.55,0.00,0.000,4,0.000,0.031,3082,3255,1634,0,0,0,0,0,0
$GC,10939,0.96,363.4,70.2,9.6,516,10943,0.00,2.53,0.00,0.000,6,0.000,0.027,3082,1683,1632,0,0,0,0,0,0
$GC,11207,0.96,363.4,45.1,9.6,540,11212,0.00,2.47,0.00,0.000,4,0.000,0.043,3082,174,1632,0,0,0,0,0,0
$GC,11250,0.96,363.4,39.7,11.1,543,11259,0.00,2.40,0.00,0.000,6,0.000,0.020,3082,1689,1632,0,0,0,0,0,0
$GC,11543,0.96,363.4,10.9,10.6,583,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1692,1632,0,0,0,0,0,0
$STATE,11609,end climb,SURFACE_DEPTH_REACHED
$STATE,11609,begin surface coast
$FINISH,0.7,1.022951
$STATE,11660,end surface coast,CONTROL_FINISHED_OK
$STATE,11660,begin surface
$SM_CCo,11681,13.18,0.155,1,0,1569,380.21
$SM_GC,1.95,0.00,0.00,13.18,0.000,0.000,0.155,414,1838,1569,-11.25,1.36,380.21
$IRIDIUM_FIX,2239.35,-15800.20,120400,181822
$TT8_MAMPS,0.028379
$HUMID,51.14
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,69.897
$10V_AH,9.9,62.361
$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,32.275,137.225,436.200,13.175,0.000,61.923,83.768,713.310,0.250,0.000,12.060,1230.301,7547.585,501.623,2273.224,1230.129,33.378,1396.925,0.000,2284.616,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,68.263,872.846,154.934,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.582,380.957,475.725,732.343,1295.793,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,47834,601
$CAP_FILE_SIZE,139070,0
$CFSIZE,260165632,141287424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170111,220300,2249.236,-15802.214,66,1.1,71,10.1