version: 66.06
glider: 148
mission: 9
dive: 337
start: 12 22 110 9 12 58
data:
$ID,148
$MISSION,9
$DIVE,337
$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,420
$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,-865175.12
$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,34
$R_STBD_OVSHOOT,59
$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
$GPS1,090425,2249.755,-15801.229,39,1.5,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.0
$GPS2,091202,2249.790,-15801.224,15,1.0,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.233,0.092
$KALMAN_X,-46598.8,-31.1,86.3,61408.4,-42.1
$KALMAN_Y,-5168.5,-761.2,480.5,134903.0,-889.9
$MHEAD_RNG_PITCHd_Wd,58.3,7221,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.80,0.000,2,0.000,0.000,416,1809,3288,0,0,0,0,0,0
$GC,101,-1.17,-146.0,3.3,-3.7,10,125,11.40,0.00,-7.95,0.000,6,0.151,0.000,2594,1809,3718,0,0,0,0,0,0
$GC,403,-0.96,-146.0,59.2,-15.2,45,408,0.25,2.45,0.00,0.000,4,0.098,0.028,2652,3353,3720,0,0,0,0,0,0
$GC,468,-0.96,-146.0,66.9,-10.3,50,472,0.00,2.45,0.00,0.000,6,0.000,0.023,2652,1788,3720,0,0,0,0,0,0
$GC,729,-0.96,-146.0,96.3,-9.9,74,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1788,3720,0,0,0,0,0,0
$GC,985,-1.05,-146.0,118.5,-7.4,98,990,0.00,2.50,0.00,0.000,4,0.000,0.028,2652,3356,3722,0,0,0,0,0,0
$GC,1032,-1.24,-146.0,121.8,-6.8,102,1037,0.28,2.45,0.00,0.000,6,0.035,0.022,2539,1789,3722,0,0,0,0,0,0
$GC,1293,-1.00,-146.0,158.8,-14.2,126,1305,0.47,2.55,0.00,0.000,4,0.084,0.036,2638,207,3722,0,0,0,0,0,0
$GC,1319,-1.00,-146.0,162.1,-10.9,128,1325,0.00,2.45,0.00,0.000,6,0.000,0.019,2638,1792,3722,0,0,0,0,0,0
$GC,1583,-1.11,-146.0,182.5,-7.9,153,1588,0.00,2.45,0.00,0.000,4,0.000,0.029,2638,3356,3722,0,0,0,0,0,0
$GC,1652,-1.31,-146.0,188.4,-7.6,159,1662,0.22,2.47,0.00,0.000,6,0.020,0.023,2526,1808,3723,0,0,0,0,0,0
$GC,1908,-1.09,-146.0,224.1,-14.8,172,1915,0.40,2.55,0.00,0.000,4,0.083,0.037,2620,212,3723,0,0,0,0,0,0
$GC,1929,-1.09,-146.0,227.1,-10.5,172,1934,0.00,2.47,0.00,0.000,6,0.000,0.020,2620,1806,3723,0,0,0,0,0,0
$GC,2193,-1.17,-146.0,247.0,-7.3,179,2198,0.00,2.47,0.00,0.000,4,0.000,0.031,2620,3361,3723,0,0,0,0,0,0
$GC,2238,-1.31,-146.0,250.0,-6.7,180,2244,0.20,2.45,0.00,0.000,6,0.041,0.025,2519,1810,3723,0,0,0,0,0,0
$GC,2526,-1.10,-146.0,285.7,-13.0,187,2533,0.45,2.62,0.00,0.000,4,0.081,0.042,2617,203,3723,0,0,0,0,0,0
$GC,2549,-1.10,-146.0,288.1,-10.0,187,2553,0.00,2.53,0.00,0.000,6,0.000,0.022,2617,1810,3723,0,0,0,0,0,0
$GC,2813,-1.21,-146.0,305.6,-6.5,194,2817,0.00,2.50,0.00,0.000,4,0.000,0.035,2616,3364,3722,0,0,0,0,0,0
$GC,2846,-1.36,-146.0,307.9,-6.5,194,2851,0.22,2.47,0.00,0.000,6,0.037,0.027,2515,1812,3722,0,0,0,0,0,0
$GC,3098,-1.15,-146.0,339.2,-13.4,200,3105,0.40,2.65,0.00,0.000,4,0.085,0.049,2603,211,3721,0,0,0,0,0,0
$GC,3138,-1.29,-146.0,343.7,-9.2,200,3144,0.10,2.53,0.00,0.000,6,0.077,0.025,2541,1805,3721,0,0,0,0,0,0
$GC,3388,-1.20,-146.0,370.2,-10.8,207,3393,0.25,2.55,0.00,0.000,4,0.086,0.038,2601,3367,3719,0,0,0,0,0,0
$GC,3434,-1.33,-146.0,373.9,-7.1,208,3439,0.12,2.50,0.00,0.000,6,0.062,0.028,2518,1807,3719,0,0,0,0,0,0
$GC,3721,-1.15,-146.0,409.2,-12.7,215,3724,0.45,0.00,0.00,0.000,6,0.081,0.000,2608,1807,3718,0,0,0,0,0,0
$GC,3967,-1.27,-146.0,428.3,-7.5,221,3972,0.10,2.60,0.00,0.000,4,0.077,0.046,2551,3361,3716,0,0,0,0,0,0
$GC,4028,-1.27,-146.0,434.5,-9.9,222,4033,0.15,2.50,0.00,0.000,6,0.092,0.030,2586,1818,3716,0,0,0,0,0,0
$GC,4299,-1.27,-146.0,456.9,-8.3,229,4303,0.00,2.60,0.00,0.000,4,0.000,0.049,2586,3369,3714,0,0,0,0,0,0
$GC,4342,-1.37,-146.0,460.6,-7.6,230,4347,0.10,2.50,0.00,0.000,6,0.076,0.031,2519,1827,3713,0,0,0,0,0,0
$GC,4630,-1.23,-146.0,492.4,-11.1,237,4637,0.30,2.75,0.00,0.000,4,0.085,0.064,2588,214,3711,0,0,0,0,0,0
$GC,4681,-1.36,-146.0,496.6,-6.6,238,4686,0.10,2.60,0.00,0.000,6,0.076,0.033,2533,1811,3711,0,0,0,0,0,0
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4726,-0.31,0.0,500.3,9.4,239,4847,1.15,0.00,118.05,0.866,6,0.078,0.000,2790,1664,3120,0,0,0,0,0,0
$STATE,4848,end apogee,CONTROL_FINISHED_OK
$STATE,4848,begin climb
$GC,4852,1.17,146.0,504.2,0.0,242,4982,1.33,2.65,120.62,0.849,4,0.028,0.066,3131,193,2523,0,0,0,0,0,0
$GC,5250,0.72,146.0,476.6,11.7,250,5256,0.55,2.45,0.00,0.000,6,0.103,0.029,3016,1687,2515,0,0,0,0,0,0
$GC,5501,0.81,226.2,461.0,5.7,257,5574,0.00,2.65,67.43,0.828,4,0.000,0.058,3016,189,2196,0,0,0,0,0,0
$GC,5646,0.82,231.8,450.8,8.8,260,5659,0.10,2.42,6.03,0.627,6,0.078,0.027,3063,1680,2173,0,0,0,0,0,0
$GC,5920,0.71,231.8,426.5,9.0,267,5925,0.22,2.58,0.00,0.000,4,0.094,0.056,3015,190,2168,0,0,0,0,0,0
$GC,5940,0.66,248.7,424.6,8.3,267,5962,0.00,2.40,15.50,0.758,6,0.000,0.025,3015,1674,2105,0,0,0,0,0,0
$GC,6207,0.70,280.5,404.0,7.7,274,6238,0.00,0.00,28.77,0.783,6,0.000,0.000,3015,1674,1976,0,0,0,0,0,0
$GC,6449,0.70,280.5,382.7,9.1,280,6453,0.00,2.70,0.00,0.000,4,0.000,0.052,3015,3261,1970,0,0,0,0,0,0
$GC,6483,0.79,280.5,379.5,9.8,280,6488,0.00,2.62,0.00,0.000,6,0.000,0.035,3015,1685,1968,0,0,0,0,0,0
$GC,6735,0.86,280.5,355.7,9.5,286,6740,0.12,2.65,0.00,0.000,4,0.066,0.045,3072,3258,1967,0,0,0,0,0,0
$GC,6754,0.86,280.5,353.4,10.1,286,6759,0.12,2.65,0.00,0.000,6,0.108,0.034,3046,1668,1966,0,0,0,0,0,0
$GC,7018,0.86,280.5,327.2,9.6,293,7023,0.00,2.58,0.00,0.000,4,0.000,0.066,3046,161,1966,0,0,0,0,0,0
$GC,7051,0.78,280.5,323.8,11.1,293,7056,0.00,2.42,0.00,0.000,6,0.000,0.025,3046,1673,1965,0,0,0,0,0,0
$GC,7305,0.78,280.5,299.2,9.5,300,7310,0.00,2.58,0.00,0.000,4,0.000,0.055,3046,161,1964,0,0,0,0,0,0
$GC,7333,0.78,280.5,296.0,11.2,300,7337,0.00,2.40,0.00,0.000,6,0.000,0.025,3045,1662,1964,0,0,0,0,0,0
$GC,7589,0.78,280.5,271.1,9.9,307,7593,0.00,2.53,0.00,0.000,4,0.000,0.057,3046,165,1963,0,0,0,0,0,0
$GC,7621,0.78,280.5,267.3,11.3,307,7625,0.00,2.38,0.00,0.000,6,0.000,0.025,3046,1657,1963,0,0,0,0,0,0
$GC,7870,0.78,280.5,242.8,9.8,313,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1660,1962,0,0,0,0,0,0
$GC,8114,0.78,280.5,220.1,9.1,319,8118,0.00,2.50,0.00,0.000,4,0.000,0.051,3045,163,1961,0,0,0,0,0,0
$GC,8152,0.78,280.5,216.3,10.6,319,8160,0.00,2.35,0.00,0.000,6,0.000,0.023,3046,1656,1961,0,0,0,0,0,0
$GC,8404,0.80,294.7,194.8,8.4,329,8425,0.00,2.67,11.75,0.603,4,0.000,0.038,3045,3250,1917,0,0,0,0,0,0
$GC,8431,0.82,308.1,192.4,8.4,331,8456,0.00,2.67,13.40,0.607,6,0.000,0.029,3046,1621,1863,0,0,0,0,0,0
$GC,8713,0.83,321.6,167.9,8.4,358,8731,0.00,2.45,13.32,0.589,4,0.000,0.048,3046,159,1807,0,0,0,0,0,0
$GC,8747,0.86,339.5,164.8,8.3,361,8776,0.00,2.38,16.92,0.594,6,0.000,0.021,3046,1657,1734,0,0,0,0,0,0
$GC,9027,0.92,343.3,139.7,8.9,388,9040,0.00,0.00,4.25,0.413,6,0.000,0.000,3046,1657,1719,0,0,0,0,0,0
$GC,9299,1.01,348.6,117.0,8.8,413,9308,0.15,0.00,6.07,0.466,6,0.054,0.000,3128,1659,1697,0,0,0,0,0,0
$GC,9562,0.92,348.6,84.5,11.9,438,9567,0.28,2.47,0.00,0.000,4,0.086,0.051,3062,164,1697,0,0,0,0,0,0
$GC,9590,0.92,354.4,81.8,8.8,440,9603,0.00,2.30,6.72,0.454,6,0.000,0.020,3062,1650,1675,0,0,0,0,0,0
$GC,9858,1.03,362.6,60.3,8.7,465,9869,0.10,0.00,8.98,0.466,6,0.075,0.000,3126,1653,1640,0,0,0,0,0,0
$GC,10128,0.95,362.6,31.1,12.2,490,10133,0.25,2.58,0.00,0.000,4,0.090,0.030,3066,3246,1639,0,0,0,0,0,0
$GC,10155,0.95,362.6,27.5,12.1,493,10164,0.00,2.62,0.00,0.000,6,0.000,0.028,3066,1637,1636,0,0,0,0,0,0
$STATE,10446,end climb,SURFACE_DEPTH_REACHED
$STATE,10446,begin surface coast
$FINISH,0.6,1.014499
$STATE,10498,end surface coast,CONTROL_FINISHED_OK
$STATE,10498,begin surface
$SM_CCo,10517,27.17,0.061,0,0,1406,420.20
$SM_GC,1.40,0.00,0.00,27.17,0.000,0.000,0.061,407,1852,1406,-11.28,1.75,420.20
$IRIDIUM_FIX,2244.02,-15803.66,170300,060624
$TT8_MAMPS,0.026845
$HUMID,47.32
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.70
$XPDR_PINGS,2
$24V_AH,23.6,45.493
$10V_AH,10.3,38.980
$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,30.975,131.700,437.825,27.175,0.000,23.844,37.298,258.445,0.500,0.000,17.438,1131.002,6639.704,515.140,2097.317,622.767,33.403,1350.925,0.000,2097.154,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,65.962,865.943,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.475,345.718,432.251,658.931,1165.713,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41717,547
$CAP_FILE_SIZE,123337,0
$CFSIZE,260165632,153300992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221210,121001,2249.647,-15759.820,37,1.7,37,10.1