version: 66.06
glider: 148
mission: 9
dive: 362
start: 12 25 110 11 42 51
data:
$ID,148
$MISSION,9
$DIVE,362
$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,-865688.56
$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,93
$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
$GPS1,113340,2249.649,-15802.861,15,2.4,34,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.9
$GPS2,114156,2249.589,-15802.812,14,1.1,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.219,0.122
$KALMAN_X,-43440.5,-257.0,22.7,55801.0,559.9
$KALMAN_Y,-22896.8,-677.4,421.8,152235.4,-1132.8
$MHEAD_RNG_PITCHd_Wd,50.7,9949,-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,19,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.32,0.000,2,0.000,0.000,413,1836,3274,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.2,-3.7,10,132,12.00,2.42,-8.32,0.000,4,0.170,0.039,2597,3326,3720,0,0,0,0,0,0
$GC,178,-0.99,-146.0,22.4,-16.4,21,188,0.17,2.47,0.00,0.000,6,0.083,0.024,2641,1790,3721,0,0,0,0,0,0
$GC,457,-0.92,-146.0,58.1,-12.4,50,461,0.00,2.47,0.00,0.000,4,0.000,0.030,2641,3329,3721,0,0,0,0,0,0
$GC,522,-0.92,-146.0,65.3,-10.1,55,527,0.00,2.42,0.00,0.000,6,0.000,0.022,2641,1799,3722,0,0,0,0,0,0
$GC,791,-0.92,-146.0,91.6,-8.3,79,795,0.00,2.42,0.00,0.000,4,0.000,0.029,2641,3321,3722,0,0,0,0,0,0
$GC,882,-1.05,-146.0,99.1,-7.4,87,886,0.00,2.35,0.00,0.000,6,0.000,0.022,2641,1819,3722,0,0,0,0,0,0
$GC,1150,-1.11,-146.0,121.0,-8.4,111,1155,0.10,0.00,0.00,0.000,6,0.075,0.000,2561,1819,3722,0,0,0,0,0,0
$GC,1417,-0.96,-146.0,156.8,-13.5,136,1422,0.35,2.38,0.00,0.000,4,0.083,0.027,2644,3322,3723,0,0,0,0,0,0
$GC,1492,-1.18,-146.0,165.2,-8.2,143,1497,0.17,2.33,0.00,0.000,6,0.046,0.022,2569,1834,3723,0,0,0,0,0,0
$GC,1756,-1.08,-146.0,194.5,-10.5,167,1762,0.25,0.00,0.00,0.000,6,0.084,0.000,2625,1834,3724,0,0,0,0,0,0
$GC,2030,-1.15,-146.0,213.5,-6.5,179,2034,0.00,2.35,0.00,0.000,4,0.000,0.028,2625,3323,3724,0,0,0,0,0,0
$GC,2063,-1.29,-146.0,216.0,-6.9,179,2068,0.20,2.33,0.00,0.000,6,0.041,0.024,2546,1842,3724,0,0,0,0,0,0
$GC,2315,-1.12,-146.0,245.7,-12.6,185,2317,0.30,0.00,0.00,0.000,6,0.082,0.000,2614,1842,3724,0,0,0,0,0,0
$GC,2557,-1.20,-146.0,267.1,-8.5,191,2561,0.00,2.35,0.00,0.000,4,0.000,0.030,2614,3319,3724,0,0,0,0,0,0
$GC,2585,-1.29,-146.0,269.6,-8.4,191,2590,0.15,2.33,0.00,0.000,6,0.051,0.025,2538,1844,3724,0,0,0,0,0,0
$GC,2846,-1.14,-146.0,299.1,-11.6,198,2851,0.30,2.38,0.00,0.000,4,0.084,0.032,2607,3325,3724,0,0,0,0,0,0
$GC,2880,-1.20,-146.0,302.5,-8.5,198,2884,0.00,2.35,0.00,0.000,6,0.000,0.028,2607,1861,3724,0,0,0,0,0,0
$GC,3132,-1.28,-146.0,319.8,-6.8,204,3139,0.12,2.72,0.00,0.000,4,0.063,0.053,2520,221,3722,0,0,0,0,0,0
$GC,3145,-1.28,-146.0,321.3,-7.2,204,3150,0.28,2.50,0.00,0.000,6,0.091,0.021,2579,1819,3722,0,0,0,0,0,0
$GC,3419,-1.28,-146.0,345.2,-8.8,211,3423,0.00,2.47,0.00,0.000,4,0.000,0.036,2578,3357,3721,0,0,0,0,0,0
$GC,3448,-1.28,-146.0,347.8,-8.6,211,3453,0.00,2.40,0.00,0.000,6,0.000,0.027,2578,1865,3721,0,0,0,0,0,0
$GC,3703,-1.28,-146.0,368.3,-7.9,218,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1865,3719,0,0,0,0,0,0
$GC,3946,-1.28,-146.0,387.5,-7.8,224,3951,0.00,2.45,0.00,0.000,4,0.000,0.038,2578,3363,3718,0,0,0,0,0,0
$GC,3976,-1.28,-146.0,389.9,-7.7,224,3980,0.00,2.40,0.00,0.000,6,0.000,0.029,2578,1864,3718,0,0,0,0,0,0
$GC,4230,-1.28,-146.0,408.9,-7.5,231,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1864,3716,0,0,0,0,0,0
$GC,4474,-1.28,-146.0,427.8,-7.8,237,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1864,3715,0,0,0,0,0,0
$GC,4717,-1.28,-146.0,448.0,-8.4,243,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1864,3713,0,0,0,0,0,0
$GC,4963,-1.28,-146.0,468.0,-8.2,249,4967,0.00,2.45,0.00,0.000,4,0.000,0.044,2578,3351,3711,0,0,0,0,0,0
$GC,5011,-1.34,-146.0,472.0,-7.6,250,5015,0.00,2.40,0.00,0.000,6,0.000,0.031,2578,1870,3711,0,0,0,0,0,0
$GC,5293,-1.34,-146.0,496.7,-8.9,257,5298,0.00,2.45,0.00,0.000,4,0.000,0.046,2578,3356,3709,0,0,0,0,0,0
$STATE,5328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5328,begin apogee
$GC,5338,-0.31,0.0,500.1,8.9,257,5459,0.93,0.00,117.62,0.876,6,0.079,0.000,2790,1695,3120,0,0,0,0,0,0
$STATE,5459,end apogee,CONTROL_FINISHED_OK
$STATE,5459,begin climb
$GC,5462,1.17,146.0,504.6,0.0,260,5594,1.35,2.78,121.07,0.858,4,0.033,0.073,3130,174,2523,0,0,0,0,0,0
$GC,5641,0.69,146.0,506.7,9.5,264,5649,0.57,2.40,0.00,0.000,6,0.100,0.028,3011,1660,2519,0,0,0,0,0,0
$GC,5924,0.80,237.5,492.0,5.2,271,6008,0.10,0.00,77.60,0.847,6,0.079,0.000,3058,1660,2150,0,0,0,0,0,0
$GC,6250,0.68,237.5,461.1,9.9,279,6252,0.22,0.00,0.00,0.000,6,0.094,0.000,3011,1660,2142,0,0,0,0,0,0
$GC,6496,0.72,271.3,442.2,7.6,285,6527,0.00,0.00,29.73,0.810,6,0.000,0.000,3011,1660,2013,0,0,0,0,0,0
$GC,6737,0.74,280.6,421.6,8.6,291,6753,0.00,2.58,8.80,0.704,4,0.000,0.056,3011,173,1975,0,0,0,0,0,0
$GC,6790,0.74,280.6,416.5,9.9,292,6794,0.00,2.47,0.00,0.000,6,0.000,0.027,3010,1694,1975,0,0,0,0,0,0
$GC,7069,0.76,298.8,393.5,8.3,299,7093,0.00,2.70,17.50,0.766,4,0.000,0.058,3011,175,1902,0,0,0,0,0,0
$GC,7117,0.76,298.8,389.0,10.6,300,7121,0.00,2.45,0.00,0.000,6,0.000,0.026,3010,1683,1901,0,0,0,0,0,0
$GC,7399,0.76,300.4,364.0,8.9,307,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1683,1897,0,0,0,0,0,0
$GC,7644,0.83,300.4,341.7,9.1,313,7649,0.12,2.62,0.00,0.000,4,0.067,0.046,3067,3253,1896,0,0,0,0,0,0
$GC,7661,0.83,302.1,339.9,8.9,313,7666,0.12,2.62,0.00,0.000,6,0.107,0.034,3041,1677,1894,0,0,0,0,0,0
$GC,7930,0.83,302.1,312.8,9.9,320,7934,0.00,2.60,0.00,0.000,4,0.000,0.065,3040,166,1894,0,0,0,0,0,0
$GC,7981,0.83,302.1,307.0,11.6,321,7985,0.00,2.42,0.00,0.000,6,0.000,0.025,3040,1683,1894,0,0,0,0,0,0
$GC,8258,0.83,302.1,280.4,9.4,328,8262,0.00,2.60,0.00,0.000,4,0.000,0.056,3040,163,1893,0,0,0,0,0,0
$GC,8273,0.83,302.1,279.0,9.4,328,8278,0.00,2.40,0.00,0.000,6,0.000,0.024,3040,1677,1893,0,0,0,0,0,0
$GC,8543,0.83,302.1,254.1,9.3,335,8547,0.00,2.60,0.00,0.000,4,0.000,0.042,3041,3243,1892,0,0,0,0,0,0
$GC,8561,0.83,302.1,252.2,9.1,335,8566,0.00,2.60,0.00,0.000,6,0.000,0.031,3041,1665,1891,0,0,0,0,0,0
$GC,8825,0.85,311.9,229.2,8.6,342,8842,0.00,2.58,11.77,0.638,4,0.000,0.059,3040,173,1848,0,0,0,0,0,0
$GC,8871,0.85,311.9,225.2,9.7,343,8875,0.00,2.38,0.00,0.000,6,0.000,0.022,3040,1669,1847,0,0,0,0,0,0
$GC,9153,0.85,311.9,200.6,9.0,350,9157,0.00,2.53,0.00,0.000,4,0.000,0.051,3040,171,1845,0,0,0,0,0,0
$GC,9178,0.85,311.9,198.0,11.2,350,9182,0.00,2.38,0.00,0.000,6,0.000,0.023,3041,1673,1845,0,0,0,0,0,0
$GC,9449,0.85,311.9,169.3,10.4,375,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1676,1844,0,0,0,0,0,0
$GC,9708,0.92,371.3,148.7,6.5,399,9769,0.00,2.60,52.53,0.614,4,0.000,0.050,3041,170,1604,0,0,0,0,0,0
$GC,9794,1.05,401.5,142.8,7.8,407,9828,0.20,2.38,27.50,0.590,6,0.044,0.022,3106,1663,1482,0,0,0,0,0,0
$GC,10085,0.98,401.5,107.5,12.4,434,10090,0.15,2.50,0.00,0.000,4,0.108,0.045,3074,165,1476,0,0,0,0,0,0
$GC,10135,0.98,401.5,101.5,11.1,438,10144,0.00,2.38,0.00,0.000,6,0.000,0.021,3074,1656,1475,0,0,0,0,0,0
$GC,10403,1.05,401.5,75.1,9.7,463,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1659,1474,0,0,0,0,0,0
$GC,10668,1.11,401.5,46.4,11.0,488,10673,0.12,2.55,0.00,0.000,4,0.064,0.031,3143,3257,1474,0,0,0,0,0,0
$GC,10690,1.11,401.5,43.3,12.1,489,10700,0.15,2.60,0.00,0.000,6,0.080,0.027,3106,1663,1472,0,0,0,0,0,0
$GC,10980,1.11,401.5,7.5,12.7,528,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1663,1472,0,0,0,0,0,0
$STATE,11008,end climb,SURFACE_DEPTH_REACHED
$STATE,11008,begin surface coast
$FINISH,0.7,1.023582
$STATE,11046,end surface coast,CONTROL_FINISHED_OK
$STATE,11047,begin surface
$SM_CCo,11068,14.32,0.183,1,0,1406,420.20
$SM_GC,1.87,0.00,0.00,14.32,0.000,0.000,0.183,413,1850,1406,-11.26,1.72,420.20
$IRIDIUM_FIX,2241.69,-15802.37,200300,080828
$TT8_MAMPS,0.026845
$HUMID,48.18
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.5,48.352
$10V_AH,10.2,41.708
$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,29.350,119.225,464.125,14.325,0.000,28.432,34.260,293.662,0.500,0.000,17.139,1089.350,7389.145,519.672,1944.130,642.978,33.362,1311.455,0.000,1942.010,0.000,0.537,0.000
$DEVICE_MAMPS,170.274,72.865,875.914,183.313,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.553,317.692,406.135,608.366,1076.083,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41569,538
$CAP_FILE_SIZE,117347,0
$CFSIZE,260165632,151904256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251210,144900,2249.479,-15801.290,36,1.0,41,10.1