version: 66.06
glider: 148
mission: 9
dive: 366
start: 12 26 110 0 0 1
data:
$ID,148
$MISSION,9
$DIVE,366
$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,-865800.38
$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,19
$R_STBD_OVSHOOT,101
$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
$GPS1,235100,2250.399,-15756.468,38,2.0,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.2
$GPS2,235906,2250.368,-15756.352,12,1.3,28,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.182,0.136
$KALMAN_X,-41382.1,351.5,312.6,63956.0,910.2
$KALMAN_Y,-27743.9,453.3,593.2,157211.9,-2189.2
$MHEAD_RNG_PITCHd_Wd,296.8,1299,-17.9,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-117.2,0.0,0.0,0,95,0.00,0.00,-75.47,0.000,2,0.000,0.000,413,1743,3276,0,0,0,0,0,0
$GC,100,-1.30,-146.0,3.4,-4.3,10,125,11.50,2.50,-8.12,0.000,4,0.159,0.044,2566,194,3717,0,0,0,0,0,0
$GC,215,-1.30,-146.0,29.5,-14.7,27,223,0.00,2.42,0.00,0.000,6,0.000,0.019,2566,1731,3719,0,0,0,0,0,0
$GC,482,-1.11,-146.0,70.9,-15.9,52,487,0.22,2.50,0.00,0.000,4,0.100,0.028,2615,3313,3720,0,0,0,0,0,0
$GC,548,-1.19,-146.0,79.8,-10.8,57,553,0.00,2.42,0.00,0.000,6,0.000,0.022,2615,1772,3720,0,0,0,0,0,0
$GC,816,-1.26,-146.0,111.8,-10.6,81,821,0.12,2.45,0.00,0.000,4,0.064,0.028,2552,3313,3721,0,0,0,0,0,0
$GC,844,-1.20,-146.0,115.6,-13.7,83,849,0.20,2.40,0.00,0.000,6,0.091,0.021,2597,1786,3721,0,0,0,0,0,0
$GC,1108,-1.20,-146.0,144.5,-11.4,107,1113,0.00,2.45,0.00,0.000,4,0.000,0.028,2597,3322,3722,0,0,0,0,0,0
$GC,1164,-1.30,-146.0,150.9,-10.6,112,1168,0.00,2.38,0.00,0.000,6,0.000,0.022,2597,1800,3722,0,0,0,0,0,0
$GC,1431,-1.30,-146.0,178.3,-9.5,136,1435,0.00,2.40,0.00,0.000,4,0.000,0.028,2597,3320,3722,0,0,0,0,0,0
$GC,1470,-1.38,-146.0,182.7,-9.5,139,1476,0.15,2.40,0.00,0.000,6,0.054,0.023,2507,1805,3722,0,0,0,0,0,0
$GC,1725,-1.15,-146.0,219.4,-14.9,155,1727,0.45,0.00,0.00,0.000,6,0.087,0.000,2605,1802,3722,0,0,0,0,0,0
$GC,1971,-1.26,-146.0,241.6,-8.4,161,1975,0.00,2.40,0.00,0.000,4,0.000,0.029,2605,3321,3722,0,0,0,0,0,0
$GC,2036,-1.47,-146.0,247.0,-8.2,162,2041,0.28,2.35,0.00,0.000,6,0.031,0.024,2498,1827,3722,0,0,0,0,0,0
$GC,2302,-1.26,-146.0,286.2,-15.8,169,2309,0.38,2.62,0.00,0.000,4,0.086,0.040,2583,204,3723,0,0,0,0,0,0
$GC,2319,-1.20,-146.0,289.1,-13.9,169,2324,0.00,2.45,0.00,0.000,6,0.000,0.020,2583,1776,3722,0,0,0,0,0,0
$GC,2588,-1.27,-146.0,315.1,-9.4,176,2592,0.00,2.55,0.00,0.000,4,0.000,0.035,2582,3367,3722,0,0,0,0,0,0
$GC,2638,-1.41,-146.0,319.5,-8.1,177,2643,0.12,2.45,0.00,0.000,6,0.062,0.027,2501,1834,3722,0,0,0,0,0,0
$GC,2921,-1.23,-146.0,357.1,-13.9,184,2923,0.43,0.00,0.00,0.000,6,0.085,0.000,2590,1834,3721,0,0,0,0,0,0
$GC,3167,-1.34,-146.0,379.7,-9.0,190,3171,0.00,2.50,0.00,0.000,4,0.000,0.039,2590,3361,3720,0,0,0,0,0,0
$GC,3213,-1.51,-146.0,384.3,-9.1,191,3218,0.25,2.45,0.00,0.000,6,0.035,0.028,2488,1840,3719,0,0,0,0,0,0
$GC,3496,-1.34,-146.0,424.2,-14.4,198,3498,0.35,0.00,0.00,0.000,6,0.087,0.000,2565,1840,3718,0,0,0,0,0,0
$GC,3742,-1.41,-146.0,447.7,-9.3,204,3746,0.00,2.75,0.00,0.000,4,0.000,0.064,2565,215,3717,0,0,0,0,0,0
$GC,3765,-1.48,-146.0,450.3,-10.2,204,3770,0.12,2.58,0.00,0.000,6,0.064,0.028,2507,1825,3717,0,0,0,0,0,0
$GC,4027,-1.37,-146.0,483.4,-13.1,211,4034,0.22,2.78,0.00,0.000,4,0.092,0.061,2559,215,3715,0,0,0,0,0,0
$GC,4044,-1.37,-146.0,485.8,-12.1,211,4048,0.00,2.62,0.00,0.000,6,0.000,0.031,2558,1834,3714,0,0,0,0,0,0
$STATE,4188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4188,begin apogee
$GC,4193,-0.31,0.0,501.4,10.7,215,4316,1.02,0.00,118.55,0.858,6,0.077,0.000,2790,1671,3120,0,0,0,0,0,0
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4320,1.30,146.0,507.5,0.0,218,4451,1.42,2.83,120.45,0.844,4,0.028,0.054,3163,3264,2523,0,0,0,0,0,0
$GC,4562,0.98,146.0,501.2,10.3,223,4570,0.43,2.62,0.00,0.000,6,0.105,0.037,3075,1701,2518,0,0,0,0,0,0
$GC,4825,0.91,186.1,482.1,6.9,230,4867,0.00,2.78,33.60,0.811,4,0.000,0.074,3075,176,2360,0,0,0,0,0,0
$GC,4929,0.72,186.1,472.7,10.4,232,4934,0.28,2.45,0.00,0.000,6,0.099,0.028,3018,1675,2358,0,0,0,0,0,0
$GC,5203,0.79,235.5,454.4,6.4,239,5252,0.00,2.67,42.85,0.815,4,0.000,0.060,3017,167,2159,0,0,0,0,0,0
$GC,5312,0.79,238.5,445.6,8.9,241,5321,0.00,2.45,3.90,0.501,6,0.000,0.027,3017,1674,2147,0,0,0,0,0,0
$GC,5577,0.91,260.0,424.6,7.9,248,5603,0.17,2.62,19.88,0.776,4,0.052,0.058,3093,167,2058,0,0,0,0,0,0
$GC,5623,0.74,260.0,419.6,12.3,249,5629,0.32,2.45,0.00,0.000,6,0.097,0.027,3024,1670,2057,0,0,0,0,0,0
$GC,5907,0.83,260.0,392.4,9.5,256,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1672,2052,0,0,0,0,0,0
$GC,6152,0.93,260.0,369.2,9.6,262,6154,0.15,0.00,0.00,0.000,6,0.057,0.000,3100,1671,2050,0,0,0,0,0,0
$GC,6394,0.83,260.0,335.9,14.0,268,6396,0.28,0.00,0.00,0.000,6,0.097,0.000,3043,1671,2049,0,0,0,0,0,0
$GC,6637,0.83,260.0,310.6,9.9,274,6642,0.00,2.58,0.00,0.000,4,0.000,0.055,3043,161,2048,0,0,0,0,0,0
$GC,6676,0.83,260.0,306.8,10.9,274,6681,0.00,2.40,0.00,0.000,6,0.000,0.025,3043,1677,2047,0,0,0,0,0,0
$GC,6926,0.90,262.3,284.4,8.9,281,6930,0.00,2.58,0.00,0.000,4,0.000,0.056,3043,166,2046,0,0,0,0,0,0
$GC,6959,0.90,262.3,280.9,11.0,281,6963,0.00,2.35,0.00,0.000,6,0.000,0.025,3043,1660,2046,0,0,0,0,0,0
$GC,7208,0.98,262.3,257.6,9.3,287,7210,0.12,0.00,0.00,0.000,6,0.066,0.000,3106,1663,2046,0,0,0,0,0,0
$GC,7454,0.90,262.3,229.6,11.8,293,7459,0.22,2.53,0.00,0.000,4,0.097,0.052,3058,163,2045,0,0,0,0,0,0
$GC,7487,0.90,262.3,225.7,10.0,293,7491,0.00,2.38,0.00,0.000,6,0.000,0.022,3058,1665,2045,0,0,0,0,0,0
$GC,7739,0.99,284.3,205.7,7.9,299,7764,0.00,2.58,19.95,0.646,4,0.000,0.051,3058,163,1959,0,0,0,0,0,0
$GC,7792,0.99,284.3,200.6,10.4,300,7796,0.00,2.35,0.00,0.000,6,0.000,0.022,3058,1652,1959,0,0,0,0,0,0
$GC,8058,1.07,289.5,177.0,8.7,323,8066,0.15,0.00,5.72,0.502,6,0.057,0.000,3140,1655,1939,0,0,0,0,0,0
$GC,8319,0.92,289.5,142.6,13.0,348,8325,0.35,2.47,0.00,0.000,4,0.094,0.052,3061,163,1937,0,0,0,0,0,0
$GC,8382,0.92,289.5,135.9,10.1,353,8388,0.00,2.35,0.00,0.000,6,0.000,0.021,3062,1656,1937,0,0,0,0,0,0
$GC,8645,1.02,301.7,113.5,8.4,378,8666,0.00,2.60,12.52,0.543,4,0.000,0.031,3061,3251,1887,0,0,0,0,0,0
$GC,8690,1.14,301.7,109.5,9.4,382,8695,0.20,2.62,0.00,0.000,6,0.044,0.034,3142,1641,1885,0,0,0,0,0,0
$GC,8954,1.07,301.7,77.9,11.4,406,8959,0.22,2.42,0.00,0.000,4,0.097,0.051,3093,175,1885,0,0,0,0,0,0
$GC,8996,1.07,301.7,73.6,9.7,409,9000,0.00,2.33,0.00,0.000,6,0.000,0.020,3093,1665,1885,0,0,0,0,0,0
$GC,9265,1.14,302.4,50.2,9.0,433,9270,0.00,2.55,0.00,0.000,4,0.000,0.032,3094,3253,1884,0,0,0,0,0,0
$GC,9319,1.28,311.7,44.5,8.5,437,9341,0.15,2.60,9.73,0.463,6,0.025,0.027,3166,1658,1849,0,0,0,0,0,0
$GC,9622,1.16,311.7,9.8,11.2,476,9631,0.25,2.47,0.00,0.000,4,0.096,0.043,3109,170,1848,0,0,0,0,0,0
$STATE,9675,end climb,SURFACE_DEPTH_REACHED
$STATE,9675,begin surface coast
$FINISH,3.0,1.023477
$STATE,9683,end surface coast,CONTROL_FINISHED_OK
$STATE,9683,begin surface
$SM_CCo,9707,60.95,0.415,1,0,1406,420.20
$SM_GC,1.59,0.00,0.00,60.95,0.000,0.000,0.415,415,1807,1406,-11.25,0.48,420.20
$IRIDIUM_FIX,2241.69,-15759.32,200300,212149
$TT8_MAMPS,0.026845
$HUMID,47.75
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,3
$24V_AH,23.5,48.815
$10V_AH,10.3,42.139
$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,31.750,120.675,387.150,60.950,0.000,25.229,35.596,271.932,0.750,0.000,30.375,1019.636,6289.503,492.731,1840.773,617.852,33.371,1232.639,0.000,1825.002,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,74.399,857.506,414.947,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.233,291.254,375.268,562.799,995.341,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38475,485
$CAP_FILE_SIZE,113525,0
$CFSIZE,260165632,151683072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261210,024407,2250.387,-15756.770,33,1.1,33,10.1