version: 66.06
glider: 148
mission: 9
dive: 367
start: 12 26 110 2 52 59
data:
$ID,148
$MISSION,9
$DIVE,367
$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,-865817.44
$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,32
$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
$GPS1,024407,2250.387,-15756.770,33,1.1,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.0
$GPS2,025202,2250.274,-15756.681,14,1.1,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.155,-0.196
$KALMAN_X,-40187.8,541.3,390.6,61932.9,464.7
$KALMAN_Y,-28483.9,176.3,-70.4,158719.4,-1793.9
$MHEAD_RNG_PITCHd_Wd,208.3,6357,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.07,0.000,2,0.000,0.000,415,1808,3249,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.2,-3.6,10,131,11.48,2.65,-9.15,0.000,4,0.153,0.050,2596,205,3718,0,0,0,0,0,0
$GC,165,-1.05,-146.0,19.0,-16.8,19,175,0.12,2.50,0.00,0.000,6,0.077,0.019,2629,1781,3720,0,0,0,0,0,0
$GC,443,-0.97,-146.0,55.0,-11.2,50,447,0.00,2.50,0.00,0.000,4,0.000,0.028,2629,3367,3720,0,0,0,0,0,0
$GC,519,-0.97,-146.0,62.5,-9.5,56,523,0.00,2.50,0.00,0.000,6,0.000,0.022,2629,1792,3721,0,0,0,0,0,0
$GC,783,-0.97,-146.0,93.6,-11.9,80,787,0.00,2.50,0.00,0.000,4,0.000,0.028,2629,3368,3721,0,0,0,0,0,0
$GC,843,-1.03,-146.0,100.2,-9.9,85,848,0.00,2.42,0.00,0.000,6,0.000,0.022,2629,1820,3721,0,0,0,0,0,0
$GC,1111,-1.10,-146.0,123.0,-7.9,109,1115,0.00,2.45,0.00,0.000,4,0.000,0.028,2629,3371,3721,0,0,0,0,0,0
$GC,1167,-1.27,-146.0,128.1,-8.5,114,1172,0.20,2.40,0.00,0.000,6,0.041,0.022,2525,1835,3722,0,0,0,0,0,0
$GC,1428,-0.97,-146.0,170.0,-16.2,138,1430,0.65,0.00,0.00,0.000,6,0.082,0.000,2647,1835,3723,0,0,0,0,0,0
$GC,1684,-1.11,-146.0,190.5,-7.7,162,1689,0.12,2.45,0.00,0.000,4,0.062,0.029,2574,3369,3723,0,0,0,0,0,0
$GC,1734,-1.11,-146.0,195.2,-10.6,166,1740,0.20,2.40,0.00,0.000,6,0.082,0.023,2620,1840,3723,0,0,0,0,0,0
$GC,1997,-1.11,-146.0,217.8,-8.3,176,2001,0.00,2.45,0.00,0.000,4,0.000,0.029,2621,3374,3723,0,0,0,0,0,0
$GC,2036,-1.25,-146.0,220.7,-7.3,176,2042,0.15,2.42,0.00,0.000,6,0.054,0.024,2519,1847,3723,0,0,0,0,0,0
$GC,2286,-1.02,-146.0,253.2,-13.4,183,2293,0.50,2.65,0.00,0.000,4,0.083,0.041,2634,212,3724,0,0,0,0,0,0
$GC,2308,-1.02,-146.0,255.3,-8.6,183,2312,0.00,2.58,0.00,0.000,6,0.000,0.021,2634,1867,3723,0,0,0,0,0,0
$GC,2573,-1.17,-146.0,271.8,-6.3,190,2578,0.12,2.40,0.00,0.000,4,0.061,0.031,2559,3366,3723,0,0,0,0,0,0
$GC,2648,-1.17,-146.0,278.7,-9.6,191,2653,0.20,2.35,0.00,0.000,6,0.081,0.024,2605,1871,3724,0,0,0,0,0,0
$GC,2903,-1.17,-146.0,299.6,-8.4,198,2907,0.00,2.40,0.00,0.000,4,0.000,0.034,2605,3363,3722,0,0,0,0,0,0
$GC,2937,-1.27,-146.0,302.4,-8.3,198,2941,0.00,2.38,0.00,0.000,6,0.000,0.026,2605,1868,3722,0,0,0,0,0,0
$GC,3192,-1.33,-146.0,323.2,-8.1,205,3197,0.15,2.45,0.00,0.000,4,0.054,0.036,2528,3367,3722,0,0,0,0,0,0
$GC,3209,-1.33,-146.0,324.6,-8.1,205,3214,0.17,2.38,0.00,0.000,6,0.094,0.025,2568,1879,3722,0,0,0,0,0,0
$GC,3477,-1.33,-146.0,350.3,-9.5,212,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1879,3720,0,0,0,0,0,0
$GC,3721,-1.33,-146.0,374.5,-10.1,218,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1879,3719,0,0,0,0,0,0
$GC,3965,-1.33,-146.0,401.8,-11.3,224,3969,0.00,2.42,0.00,0.000,4,0.000,0.040,2569,3358,3718,0,0,0,0,0,0
$GC,4009,-1.33,-146.0,406.3,-10.4,225,4013,0.00,2.35,0.00,0.000,6,0.000,0.029,2569,1889,3717,0,0,0,0,0,0
$GC,4295,-1.33,-146.0,435.4,-10.0,232,4300,0.00,2.80,0.00,0.000,4,0.000,0.060,2568,222,3715,0,0,0,0,0,0
$GC,4323,-1.33,-146.0,438.3,-10.8,232,4327,0.00,2.67,0.00,0.000,6,0.000,0.028,2568,1884,3715,0,0,0,0,0,0
$GC,4579,-1.33,-146.0,460.8,-8.7,239,4584,0.00,2.42,0.00,0.000,4,0.000,0.044,2568,3363,3713,0,0,0,0,0,0
$GC,4593,-1.33,-146.0,462.4,-8.7,239,4597,0.00,2.35,0.00,0.000,6,0.000,0.026,2569,1886,3714,0,0,0,0,0,0
$GC,4861,-1.33,-146.0,486.2,-9.0,246,4865,0.00,2.45,0.00,0.000,4,0.000,0.048,2569,3361,3711,0,0,0,0,0,0
$GC,4877,-1.33,-146.0,487.5,-8.8,246,4881,0.00,2.33,0.00,0.000,6,0.000,0.028,2568,1902,3712,0,0,0,0,0,0
$STATE,5061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5061,begin apogee
$GC,5067,-0.31,0.0,503.7,8.6,251,5189,0.98,0.00,118.20,0.871,6,0.075,0.000,2790,1677,3120,0,0,0,0,0,0
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5192,1.17,146.0,508.8,0.0,254,5326,1.35,2.72,121.45,0.854,4,0.030,0.051,3126,3247,2522,0,0,0,0,0,0
$GC,5397,0.87,155.8,506.7,8.6,259,5414,0.38,2.62,8.75,0.715,6,0.103,0.037,3050,1691,2484,0,0,0,0,0,0
$GC,5691,0.82,215.1,487.4,6.5,266,5747,0.00,2.78,50.83,0.833,4,0.000,0.076,3050,162,2242,0,0,0,0,0,0
$GC,5884,0.67,215.1,469.0,10.2,270,5889,0.20,2.45,0.00,0.000,6,0.107,0.028,3007,1662,2239,0,0,0,0,0,0
$GC,6158,0.70,239.5,447.1,8.0,277,6181,0.00,0.00,21.85,0.792,6,0.000,0.000,3007,1662,2143,0,0,0,0,0,0
$GC,6401,0.72,258.3,426.8,8.2,283,6420,0.00,0.00,17.30,0.771,6,0.000,0.000,3007,1662,2067,0,0,0,0,0,0
$GC,6647,0.74,272.1,406.3,8.4,289,6662,0.00,0.00,13.50,0.743,6,0.000,0.000,3007,1662,2010,0,0,0,0,0,0
$GC,6889,0.83,291.2,386.2,8.2,295,6910,0.15,0.00,18.27,0.757,6,0.057,0.000,3072,1662,1932,0,0,0,0,0,0
$GC,7176,0.73,291.2,351.8,12.0,302,7181,0.25,2.58,0.00,0.000,4,0.091,0.054,3014,166,1927,0,0,0,0,0,0
$GC,7204,0.73,291.2,348.4,9.7,302,7209,0.00,2.45,0.00,0.000,6,0.000,0.025,3014,1685,1926,0,0,0,0,0,0
$GC,7461,0.81,305.6,326.9,8.4,309,7477,0.10,0.00,13.40,0.703,6,0.077,0.000,3065,1686,1874,0,0,0,0,0,0
$GC,7706,0.73,305.6,299.8,11.2,315,7711,0.22,2.62,0.00,0.000,4,0.093,0.055,3017,160,1870,0,0,0,0,0,0
$GC,7730,0.73,305.6,297.0,10.6,315,7734,0.00,2.42,0.00,0.000,6,0.000,0.025,3016,1680,1870,0,0,0,0,0,0
$GC,7989,0.82,317.2,274.7,8.5,322,8006,0.10,2.67,11.60,0.659,4,0.076,0.048,3074,3249,1826,0,0,0,0,0,0
$GC,8023,0.75,317.2,271.1,11.0,322,8032,0.22,2.65,0.00,0.000,6,0.088,0.032,3024,1660,1823,0,0,0,0,0,0
$GC,8276,0.84,337.3,249.5,8.2,329,8300,0.00,2.72,18.62,0.671,4,0.000,0.038,3024,3251,1743,0,0,0,0,0,0
$GC,8322,0.94,337.3,245.5,9.3,330,8327,0.17,2.62,0.00,0.000,6,0.050,0.031,3105,1671,1741,0,0,0,0,0,0
$GC,8610,0.80,337.3,206.9,13.4,337,8615,0.30,2.53,0.00,0.000,4,0.091,0.053,3038,170,1738,0,0,0,0,0,0
$GC,8675,0.88,337.3,200.2,10.1,338,8679,0.00,2.40,0.00,0.000,6,0.000,0.022,3038,1683,1738,0,0,0,0,0,0
$GC,8944,0.96,347.5,175.4,8.6,362,8966,0.12,2.58,9.57,0.569,4,0.064,0.034,3099,3255,1701,0,0,0,0,0,0
$GC,9000,0.96,347.5,169.4,12.3,367,9005,0.15,2.60,0.00,0.000,6,0.101,0.028,3067,1669,1699,0,0,0,0,0,0
$GC,9264,0.96,347.5,141.3,9.8,391,9269,0.00,2.47,0.00,0.000,4,0.000,0.047,3067,164,1699,0,0,0,0,0,0
$GC,9314,0.96,347.5,136.7,9.6,395,9318,0.00,2.38,0.00,0.000,6,0.000,0.021,3067,1684,1698,0,0,0,0,0,0
$GC,9580,0.96,347.5,110.3,9.2,420,9584,0.00,2.53,0.00,0.000,4,0.000,0.032,3068,3261,1698,0,0,0,0,0,0
$GC,9630,1.07,347.5,105.5,9.3,424,9639,0.08,2.60,0.00,0.000,6,0.037,0.028,3130,1678,1697,0,0,0,0,0,0
$GC,9898,0.96,347.5,76.7,10.7,449,9903,0.25,2.45,0.00,0.000,4,0.088,0.042,3070,173,1697,0,0,0,0,0,0
$GC,9952,1.03,347.5,71.1,9.1,453,9956,0.00,2.33,0.00,0.000,6,0.000,0.020,3070,1682,1696,0,0,0,0,0,0
$GC,10221,1.10,351.5,48.6,8.8,477,10235,0.12,2.55,4.28,0.364,4,0.064,0.031,3142,3242,1685,0,0,0,0,0,0
$GC,10272,1.03,351.5,42.7,12.7,481,10278,0.25,2.55,0.00,0.000,6,0.086,0.027,3084,1663,1685,0,0,0,0,0,0
$GC,10562,1.03,351.5,14.5,10.1,517,10570,0.00,2.47,0.00,0.000,4,0.000,0.047,3084,168,1685,0,0,0,0,0,0
$GC,10612,1.03,351.5,9.2,10.9,524,10621,0.00,2.35,0.00,0.000,6,0.000,0.019,3084,1667,1685,0,0,0,0,0,0
$STATE,10665,end climb,SURFACE_DEPTH_REACHED
$STATE,10665,begin surface coast
$FINISH,0.7,1.012121
$STATE,10716,end surface coast,CONTROL_FINISHED_OK
$STATE,10717,begin surface
$SM_CCo,10738,34.03,0.061,0,0,1407,420.20
$SM_GC,1.53,0.00,0.00,34.03,0.000,0.000,0.061,410,1858,1407,-11.27,1.92,420.20
$IRIDIUM_FIX,2241.69,-15754.99,210300,000053
$TT8_MAMPS,0.027612
$HUMID,46.96
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.5,48.933
$10V_AH,10.2,42.253
$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,30.175,135.625,427.625,34.025,0.000,30.219,34.327,273.647,0.500,0.000,16.406,1135.129,6917.541,544.851,2014.854,638.616,33.380,1323.269,0.000,2015.970,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,75.933,870.545,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.916,324.935,415.061,641.406,1134.329,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,41528,540
$CAP_FILE_SIZE,122740,0
$CFSIZE,260165632,151613440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261210,055336,2248.160,-15757.602,10,1.1,26,10.1