version: 66.06
glider: 148
mission: 9
dive: 372
start: 12 26 110 18 5 55
data:
$ID,148
$MISSION,9
$DIVE,372
$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,-865948.5
$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,28
$R_STBD_OVSHOOT,91
$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
$GPS1,174928,2247.502,-15801.280,12,99.0,31,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.7
$GPS2,180500,2247.425,-15801.038,40,1.4,46,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.245,-0.053
$KALMAN_X,-35717.6,-562.4,-80.9,51538.5,1178.3
$KALMAN_Y,-32146.6,325.9,-646.1,157533.7,227.5
$MHEAD_RNG_PITCHd_Wd,247.7,3441,-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,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.22,0.000,2,0.000,0.000,411,1839,3329,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.9,-5.9,10,124,11.52,2.67,-6.90,0.000,4,0.154,0.054,2594,203,3718,0,0,0,0,0,0
$GC,140,0.09,-146.0,18.9,-34.5,15,149,1.25,2.42,0.00,0.000,6,0.077,0.018,2876,1759,3720,0,0,0,0,0,0
$GC,433,-0.63,-146.0,43.0,-9.2,52,445,0.65,2.58,0.00,0.000,4,0.054,0.042,2718,198,3721,0,0,0,0,0,0
$GC,659,-1.38,-146.0,60.6,-7.1,72,668,0.60,2.55,0.00,0.000,6,0.028,0.017,2553,1865,3721,0,0,0,0,0,0
$GC,926,-1.09,-146.0,100.9,-17.7,97,931,0.28,2.35,0.00,0.000,4,0.093,0.027,2617,3359,3721,0,0,0,0,0,0
$GC,981,-1.09,-146.0,110.2,-12.2,102,986,0.00,2.42,0.00,0.000,6,0.000,0.021,2617,1818,3721,0,0,0,0,0,0
$GC,1245,-1.09,-146.0,137.6,-11.8,126,1249,0.00,2.42,0.00,0.000,4,0.000,0.028,2617,3356,3721,0,0,0,0,0,0
$GC,1283,-1.09,-146.0,142.2,-11.7,129,1287,0.00,2.40,0.00,0.000,6,0.000,0.022,2617,1832,3721,0,0,0,0,0,0
$GC,1547,-1.09,-146.0,167.6,-9.3,153,1551,0.00,2.40,0.00,0.000,4,0.000,0.028,2617,3357,3722,0,0,0,0,0,0
$GC,1586,-1.16,-146.0,171.6,-9.6,156,1594,0.00,2.42,0.00,0.000,6,0.000,0.022,2617,1838,3722,0,0,0,0,0,0
$GC,1853,-1.16,-146.0,196.1,-8.9,181,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1838,3722,0,0,0,0,0,0
$GC,2105,-1.16,-146.0,216.2,-7.9,191,2109,0.00,2.42,0.00,0.000,4,0.000,0.029,2617,3359,3722,0,0,0,0,0,0
$GC,2160,-1.32,-146.0,220.5,-7.2,192,2165,0.17,2.40,0.00,0.000,6,0.044,0.023,2535,1846,3722,0,0,0,0,0,0
$GC,2440,-1.13,-146.0,259.4,-14.9,199,2443,0.35,0.00,0.00,0.000,6,0.081,0.000,2613,1844,3722,0,0,0,0,0,0
$GC,2683,-1.19,-146.0,277.8,-6.6,205,2687,0.00,2.40,0.00,0.000,4,0.000,0.031,2613,3354,3722,0,0,0,0,0,0
$GC,2731,-1.33,-146.0,281.1,-6.6,206,2736,0.17,2.40,0.00,0.000,6,0.046,0.024,2528,1847,3722,0,0,0,0,0,0
$GC,3014,-1.15,-146.0,315.9,-13.0,213,3021,0.32,2.67,0.00,0.000,4,0.084,0.044,2604,211,3722,0,0,0,0,0,0
$GC,3031,-1.08,-146.0,318.1,-11.5,213,3036,0.00,2.55,0.00,0.000,6,0.000,0.022,2604,1834,3722,0,0,0,0,0,0
$GC,3302,-1.15,-146.0,340.7,-8.4,220,3306,0.00,2.45,0.00,0.000,4,0.000,0.035,2604,3368,3721,0,0,0,0,0,0
$GC,3358,-1.29,-146.0,345.7,-8.2,221,3363,0.10,2.40,0.00,0.000,6,0.074,0.026,2531,1867,3721,0,0,0,0,0,0
$GC,3633,-1.12,-146.0,378.9,-12.5,228,3640,0.38,2.78,0.00,0.000,4,0.082,0.051,2612,210,3719,0,0,0,0,0,0
$GC,3654,-1.12,-146.0,381.5,-9.7,228,3659,0.00,2.60,0.00,0.000,6,0.000,0.025,2612,1853,3719,0,0,0,0,0,0
$GC,3919,-1.23,-146.0,401.4,-7.5,235,3923,0.00,2.45,0.00,0.000,4,0.000,0.041,2612,3360,3718,0,0,0,0,0,0
$GC,3953,-1.38,-146.0,404.1,-7.9,235,3958,0.22,2.42,0.00,0.000,6,0.038,0.028,2527,1856,3718,0,0,0,0,0,0
$GC,4203,-1.25,-146.0,432.4,-11.6,241,4210,0.25,2.78,0.00,0.000,4,0.087,0.058,2586,221,3715,0,0,0,0,0,0
$GC,4236,-1.32,-146.0,435.5,-8.8,241,4240,0.00,2.62,0.00,0.000,6,0.000,0.027,2586,1858,3716,0,0,0,0,0,0
$GC,4490,-1.32,-146.0,454.2,-7.2,248,4494,0.00,2.47,0.00,0.000,4,0.000,0.045,2586,3361,3714,0,0,0,0,0,0
$GC,4523,-1.32,-146.0,456.7,-7.5,248,4527,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,1861,3713,0,0,0,0,0,0
$GC,4774,-1.32,-146.0,476.9,-8.1,254,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1860,3711,0,0,0,0,0,0
$GC,5016,-1.32,-146.0,498.0,-8.8,260,5020,0.00,2.50,0.00,0.000,4,0.000,0.049,2586,3364,3710,0,0,0,0,0,0
$GC,5030,-1.32,-146.0,499.2,-8.5,260,5034,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,1866,3710,0,0,0,0,0,0
$STATE,5042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5042,begin apogee
$GC,5048,-0.31,0.0,500.4,8.2,260,5168,0.88,0.00,117.38,0.864,6,0.074,0.000,2787,1676,3120,0,0,0,0,0,0
$STATE,5169,end apogee,CONTROL_FINISHED_OK
$STATE,5169,begin climb
$GC,5173,1.17,146.0,504.0,0.0,263,5302,1.33,2.72,119.93,0.846,4,0.028,0.049,3128,3250,2524,0,0,0,0,0,0
$GC,5348,0.87,168.2,504.5,8.1,267,5373,0.38,2.62,19.23,0.786,6,0.098,0.038,3050,1693,2434,0,0,0,0,0,0
$GC,5644,0.78,197.5,481.1,7.8,275,5676,0.00,2.78,25.60,0.804,4,0.000,0.076,3050,173,2314,0,0,0,0,0,0
$GC,5811,0.59,197.5,464.4,9.9,278,5816,0.28,2.42,0.00,0.000,6,0.100,0.027,2992,1662,2311,0,0,0,0,0,0
$GC,6069,0.75,276.4,449.1,5.7,285,6142,0.12,0.00,68.38,0.818,6,0.064,0.000,3049,1663,1992,0,0,0,0,0,0
$GC,6398,0.75,276.4,414.6,11.5,293,6403,0.12,2.60,0.00,0.000,4,0.108,0.058,3023,160,1982,0,0,0,0,0,0
$GC,6418,0.75,276.4,412.2,11.8,293,6423,0.00,2.45,0.00,0.000,6,0.000,0.026,3023,1684,1982,0,0,0,0,0,0
$GC,6682,0.75,276.4,386.1,9.5,300,6686,0.00,2.65,0.00,0.000,4,0.000,0.051,3023,3250,1980,0,0,0,0,0,0
$GC,6710,0.75,276.4,383.5,9.9,300,6714,0.00,2.60,0.00,0.000,6,0.000,0.035,3022,1679,1978,0,0,0,0,0,0
$GC,6965,0.75,276.4,361.0,9.2,307,6970,0.00,2.60,0.00,0.000,4,0.000,0.065,3022,166,1977,0,0,0,0,0,0
$GC,6992,0.75,276.4,358.0,10.5,307,6996,0.00,2.42,0.00,0.000,6,0.000,0.025,3023,1678,1977,0,0,0,0,0,0
$GC,7250,0.75,276.4,332.5,9.7,314,7255,0.00,2.62,0.00,0.000,4,0.000,0.048,3023,3257,1975,0,0,0,0,0,0
$GC,7283,0.83,278.5,329.6,8.9,314,7288,0.00,2.62,0.00,0.000,6,0.000,0.034,3023,1673,1974,0,0,0,0,0,0
$GC,7533,0.84,287.0,308.2,8.7,320,7543,0.00,0.00,7.60,0.627,6,0.000,0.000,3023,1673,1949,0,0,0,0,0,0
$GC,7777,0.92,295.7,287.1,8.6,326,7794,0.15,2.65,9.52,0.644,4,0.056,0.064,3092,172,1913,0,0,0,0,0,0
$GC,7810,0.76,295.7,283.3,12.6,326,7816,0.30,2.42,0.00,0.000,6,0.092,0.023,3028,1689,1913,0,0,0,0,0,0
$GC,8066,0.83,295.7,258.5,9.5,333,8070,0.00,2.58,0.00,0.000,4,0.000,0.042,3028,3247,1910,0,0,0,0,0,0
$GC,8099,0.93,295.7,255.3,9.5,333,8104,0.15,2.58,0.00,0.000,6,0.054,0.031,3110,1684,1909,0,0,0,0,0,0
$GC,8350,0.77,295.7,224.1,12.4,339,8357,0.35,2.58,0.00,0.000,4,0.096,0.056,3034,168,1909,0,0,0,0,0,0
$GC,8417,0.77,295.7,216.7,9.8,340,8422,0.00,2.40,0.00,0.000,6,0.000,0.022,3034,1688,1908,0,0,0,0,0,0
$GC,8678,0.89,337.8,196.6,7.3,349,8724,0.00,2.55,37.65,0.646,4,0.000,0.033,3034,3247,1739,0,0,0,0,0,0
$GC,8751,1.04,360.3,190.8,8.1,356,8780,0.22,2.58,20.65,0.616,6,0.044,0.028,3120,1679,1650,0,0,0,0,0,0
$GC,9034,0.89,360.3,151.5,14.6,383,9039,0.28,2.53,0.00,0.000,4,0.092,0.044,3056,166,1646,0,0,0,0,0,0
$GC,9103,0.97,360.3,143.6,10.6,389,9108,0.00,2.40,0.00,0.000,6,0.000,0.021,3056,1683,1645,0,0,0,0,0,0
$GC,9371,0.97,360.3,116.9,10.4,413,9375,0.00,2.55,0.00,0.000,4,0.000,0.032,3056,3262,1644,0,0,0,0,0,0
$GC,9389,1.03,360.3,114.4,9.5,414,9398,0.08,2.60,0.00,0.000,6,0.037,0.026,3122,1673,1643,0,0,0,0,0,0
$GC,9658,0.94,360.3,82.4,11.6,439,9664,0.25,0.00,0.00,0.000,6,0.091,0.000,3064,1674,1643,0,0,0,0,0,0
$GC,9924,1.05,367.6,58.9,8.7,464,9938,0.10,2.58,7.00,0.439,4,0.077,0.031,3121,3258,1620,0,0,0,0,0,0
$GC,9966,1.05,367.6,54.7,11.1,467,9972,0.15,2.58,0.00,0.000,6,0.098,0.027,3088,1668,1618,0,0,0,0,0,0
$GC,10232,1.05,367.6,28.3,10.0,492,10240,0.00,2.47,0.00,0.000,4,0.000,0.044,3087,173,1618,0,0,0,0,0,0
$GC,10262,1.05,367.6,25.0,10.9,496,10270,0.00,2.38,0.00,0.000,6,0.000,0.020,3087,1683,1618,0,0,0,0,0,0
$STATE,10485,end climb,SURFACE_DEPTH_REACHED
$STATE,10486,begin surface coast
$FINISH,0.7,1.023609
$STATE,10537,end surface coast,CONTROL_FINISHED_OK
$STATE,10537,begin surface
$SM_CCo,10557,29.15,0.334,1,0,1405,420.20
$SM_GC,1.56,0.00,0.00,29.15,0.000,0.000,0.334,414,1870,1405,-11.25,2.26,420.20
$IRIDIUM_FIX,2237.01,-15802.37,210300,181848
$TT8_MAMPS,0.026845
$HUMID,47.44
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.6,49.514
$10V_AH,10.2,42.821
$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,32.275,141.775,432.925,29.150,0.000,74.468,99.674,449.072,0.250,0.000,48.002,1119.277,6817.388,504.004,2127.881,957.086,33.379,1348.248,0.000,2096.734,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,75.933,863.642,333.645,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.380,337.166,422.399,671.441,1186.860,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,41683,539
$CAP_FILE_SIZE,132101,0
$CFSIZE,260165632,151314432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,261210,210336,2247.056,-15802.310,12,1.3,28,10.1