version: 66.06
glider: 148
mission: 9
dive: 373
start: 12 26 110 21 12 29
data:
$ID,148
$MISSION,9
$DIVE,373
$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,-865960.75
$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,46
$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
$GPS1,210336,2247.056,-15802.310,12,1.3,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.6
$GPS2,211132,2247.042,-15802.250,10,1.6,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.248,0.034
$KALMAN_X,-35198.4,-200.7,-327.5,48825.7,1621.4
$KALMAN_Y,-33092.1,383.5,120.9,156951.9,-448.6
$MHEAD_RNG_PITCHd_Wd,267.7,1283,-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,-75.30,0.000,2,0.000,0.000,413,1870,3265,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.2,-3.9,10,131,11.50,2.78,-8.60,0.000,4,0.153,0.056,2596,205,3719,0,0,0,0,0,0
$GC,195,-1.17,-146.0,24.9,-13.5,24,204,0.00,2.50,0.00,0.000,6,0.000,0.019,2596,1794,3720,0,0,0,0,0,0
$GC,477,-0.97,-146.0,67.5,-15.5,52,482,0.25,2.47,0.00,0.000,4,0.101,0.028,2652,3361,3721,0,0,0,0,0,0
$GC,521,-0.97,-146.0,73.5,-10.7,55,526,0.00,2.50,0.00,0.000,6,0.000,0.021,2652,1786,3721,0,0,0,0,0,0
$GC,790,-0.97,-146.0,102.1,-9.9,79,794,0.00,2.50,0.00,0.000,4,0.000,0.028,2652,3362,3721,0,0,0,0,0,0
$GC,859,-1.16,-146.0,108.4,-7.8,85,864,0.20,2.45,0.00,0.000,6,0.040,0.022,2548,1815,3721,0,0,0,0,0,0
$GC,1126,-0.91,-146.0,148.5,-15.3,109,1132,0.55,0.00,0.00,0.000,6,0.082,0.000,2659,1814,3722,0,0,0,0,0,0
$GC,1389,-1.06,-146.0,169.7,-7.8,134,1394,0.12,2.50,0.00,0.000,4,0.064,0.030,2579,3366,3722,0,0,0,0,0,0
$GC,1448,-1.06,-146.0,175.5,-10.4,139,1453,0.22,2.45,0.00,0.000,6,0.078,0.023,2632,1818,3722,0,0,0,0,0,0
$GC,1713,-1.16,-146.0,197.8,-7.5,163,1718,0.10,2.47,0.00,0.000,4,0.075,0.031,2567,3367,3723,0,0,0,0,0,0
$GC,1776,-1.16,-146.0,203.9,-10.2,166,1781,0.17,2.42,0.00,0.000,6,0.086,0.024,2607,1837,3722,0,0,0,0,0,0
$GC,2045,-1.16,-146.0,224.8,-7.7,173,2049,0.00,2.45,0.00,0.000,4,0.000,0.030,2608,3367,3723,0,0,0,0,0,0
$GC,2074,-1.16,-146.0,227.1,-7.5,173,2078,0.00,2.42,0.00,0.000,6,0.000,0.023,2608,1838,3723,0,0,0,0,0,0
$GC,2329,-1.16,-146.0,247.5,-8.1,180,2333,0.00,2.42,0.00,0.000,4,0.000,0.030,2607,3361,3723,0,0,0,0,0,0
$GC,2380,-1.27,-146.0,251.9,-8.0,181,2385,0.12,2.40,0.00,0.000,6,0.063,0.025,2528,1856,3723,0,0,0,0,0,0
$GC,2660,-1.05,-146.0,287.7,-12.9,188,2662,0.50,0.00,0.00,0.000,6,0.082,0.000,2628,1853,3723,0,0,0,0,0,0
$GC,2903,-1.19,-146.0,305.1,-6.8,194,2908,0.12,2.42,0.00,0.000,4,0.062,0.034,2548,3358,3722,0,0,0,0,0,0
$GC,2966,-1.11,-146.0,311.4,-10.6,195,2971,0.30,2.35,0.00,0.000,6,0.077,0.025,2615,1878,3722,0,0,0,0,0,0
$GC,3235,-1.21,-146.0,333.0,-7.9,202,3239,0.00,2.40,0.00,0.000,4,0.000,0.036,2615,3357,3721,0,0,0,0,0,0
$GC,3282,-1.37,-146.0,336.8,-7.1,203,3287,0.22,2.38,0.00,0.000,6,0.038,0.027,2538,1880,3721,0,0,0,0,0,0
$GC,3567,-1.24,-146.0,370.8,-12.5,210,3574,0.22,2.78,0.00,0.000,4,0.087,0.051,2588,218,3719,0,0,0,0,0,0
$GC,3588,-1.24,-146.0,373.8,-11.7,210,3593,0.00,2.62,0.00,0.000,6,0.000,0.025,2588,1868,3719,0,0,0,0,0,0
$GC,3854,-1.24,-146.0,396.4,-8.1,217,3858,0.00,2.42,0.00,0.000,4,0.000,0.040,2588,3360,3718,0,0,0,0,0,0
$GC,3877,-1.24,-146.0,398.4,-7.9,217,3881,0.00,2.38,0.00,0.000,6,0.000,0.026,2588,1885,3718,0,0,0,0,0,0
$GC,4136,-1.24,-146.0,417.3,-7.3,224,4140,0.00,2.42,0.00,0.000,4,0.000,0.043,2588,3353,3716,0,0,0,0,0,0
$GC,4171,-1.30,-146.0,420.0,-7.8,224,4175,0.00,2.33,0.00,0.000,6,0.000,0.028,2588,1899,3716,0,0,0,0,0,0
$GC,4421,-1.30,-146.0,441.0,-8.7,230,4425,0.00,2.85,0.00,0.000,4,0.000,0.061,2588,222,3714,0,0,0,0,0,0
$GC,4454,-1.39,-146.0,444.2,-9.3,230,4459,0.12,2.67,0.00,0.000,6,0.061,0.029,2516,1880,3714,0,0,0,0,0,0
$GC,4706,-1.21,-146.0,475.2,-12.4,236,4711,0.35,2.42,0.00,0.000,4,0.088,0.047,2592,3353,3712,0,0,0,0,0,0
$GC,4740,-1.29,-146.0,478.8,-8.5,236,4744,0.00,2.38,0.00,0.000,6,0.000,0.029,2592,1886,3712,0,0,0,0,0,0
$GC,4990,-1.35,-146.0,496.3,-6.8,242,4997,0.12,2.88,0.00,0.000,4,0.064,0.067,2522,224,3710,0,0,0,0,0,0
$GC,5027,-1.24,-146.0,499.7,-10.5,242,5032,0.00,2.53,0.00,0.000,3,0.000,0.032,2522,1781,3710,0,0,0,0,0,0
$STATE,5032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5032,begin apogee
$GC,5038,-0.31,0.0,500.3,10.2,242,5159,1.20,0.00,117.40,0.865,6,0.087,0.000,2788,1655,3120,0,0,0,0,0,0
$STATE,5160,end apogee,CONTROL_FINISHED_OK
$STATE,5160,begin climb
$GC,5162,1.17,146.0,502.6,0.0,245,5291,1.35,2.58,120.20,0.845,4,0.029,0.067,3121,210,2523,0,0,0,0,0,0
$GC,5559,0.75,146.0,473.9,11.0,253,5565,0.45,2.40,0.00,0.000,6,0.105,0.028,3027,1684,2516,0,0,0,0,0,0
$GC,5809,0.78,215.8,457.3,6.1,260,5874,0.00,2.62,58.28,0.818,4,0.000,0.058,3026,212,2239,0,0,0,0,0,0
$GC,5927,0.70,215.8,447.9,10.0,262,5931,0.00,2.40,0.00,0.000,6,0.000,0.027,3026,1686,2236,0,0,0,0,0,0
$GC,6181,0.72,236.0,426.9,8.2,269,6205,0.00,2.62,17.88,0.763,4,0.000,0.059,3027,214,2156,0,0,0,0,0,0
$GC,6265,0.72,236.0,419.2,9.5,270,6269,0.00,2.38,0.00,0.000,6,0.000,0.027,3026,1678,2155,0,0,0,0,0,0
$GC,6514,0.75,260.5,398.6,8.0,276,6538,0.00,0.00,22.00,0.763,6,0.000,0.000,3027,1679,2058,0,0,0,0,0,0
$GC,6760,0.76,264.2,377.4,8.9,282,6766,0.00,0.00,4.03,0.499,6,0.000,0.000,3026,1679,2043,0,0,0,0,0,0
$GC,7002,0.78,280.1,356.9,8.3,288,7023,0.00,2.58,15.73,0.729,4,0.000,0.058,3027,204,1977,0,0,0,0,0,0
$GC,7085,0.78,280.1,349.2,9.7,289,7091,0.00,2.38,0.00,0.000,6,0.000,0.025,3026,1677,1976,0,0,0,0,0,0
$GC,7336,0.80,299.0,328.7,8.2,296,7357,0.00,0.00,18.27,0.720,6,0.000,0.000,3026,1677,1900,0,0,0,0,0,0
$GC,7579,0.80,302.0,307.3,8.9,302,7583,0.00,2.65,0.00,0.000,4,0.000,0.048,3027,3252,1895,0,0,0,0,0,0
$GC,7622,0.90,302.0,303.3,9.6,303,7627,0.12,2.53,0.00,0.000,6,0.064,0.033,3086,1710,1894,0,0,0,0,0,0
$GC,7911,0.79,302.0,270.5,11.6,310,7918,0.25,2.65,0.00,0.000,4,0.094,0.061,3028,169,1893,0,0,0,0,0,0
$GC,7983,0.79,302.0,262.5,10.4,311,7987,0.00,2.38,0.00,0.000,6,0.000,0.023,3028,1667,1893,0,0,0,0,0,0
$GC,8244,0.87,316.3,240.5,8.4,318,8266,0.10,2.67,15.65,0.655,4,0.077,0.044,3080,3243,1829,0,0,0,0,0,0
$GC,8325,0.87,316.3,231.6,11.2,319,8330,0.15,2.60,0.00,0.000,6,0.098,0.031,3047,1671,1826,0,0,0,0,0,0
$GC,8576,0.89,333.5,209.8,8.3,325,8597,0.00,2.60,15.70,0.629,4,0.000,0.055,3047,162,1759,0,0,0,0,0,0
$GC,8617,0.89,333.5,205.8,9.7,326,8622,0.00,2.38,0.00,0.000,6,0.000,0.023,3047,1672,1759,0,0,0,0,0,0
$GC,8884,0.89,333.5,179.6,10.3,345,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1675,1756,0,0,0,0,0,0
$GC,9136,0.96,333.5,155.1,9.1,369,9140,0.00,2.50,0.00,0.000,4,0.000,0.047,3047,161,1756,0,0,0,0,0,0
$GC,9154,0.96,333.5,153.5,9.4,370,9158,0.00,2.40,0.00,0.000,6,0.000,0.022,3047,1682,1756,0,0,0,0,0,0
$GC,9427,1.03,333.5,127.9,9.1,395,9432,0.15,2.53,0.00,0.000,4,0.055,0.045,3108,164,1755,0,0,0,0,0,0
$GC,9455,0.95,333.5,124.3,12.1,397,9460,0.17,2.38,0.00,0.000,6,0.099,0.023,3070,1667,1755,0,0,0,0,0,0
$GC,9719,0.98,351.5,100.6,8.3,421,9739,0.00,0.00,16.58,0.535,6,0.000,0.000,3069,1670,1686,0,0,0,0,0,0
$GC,9996,0.98,351.5,74.9,10.4,447,10001,0.00,2.55,0.00,0.000,4,0.000,0.032,3070,3263,1682,0,0,0,0,0,0
$GC,10019,1.06,351.5,72.1,9.9,448,10028,0.00,2.62,0.00,0.000,6,0.000,0.027,3069,1658,1681,0,0,0,0,0,0
$GC,10286,1.14,351.5,47.0,9.5,473,10294,0.15,0.00,0.00,0.000,6,0.053,0.000,3159,1658,1681,0,0,0,0,0,0
$GC,10575,0.97,351.5,7.3,13.5,511,10584,0.40,2.45,0.00,0.000,4,0.085,0.042,3066,175,1681,0,0,0,0,0,0
$STATE,10606,end climb,SURFACE_DEPTH_REACHED
$STATE,10606,begin surface coast
$FINISH,0.6,1.010936
$STATE,10650,end surface coast,CONTROL_FINISHED_OK
$STATE,10651,begin surface
$SM_CCo,10675,39.60,0.372,1,0,1406,420.20
$SM_GC,1.60,0.00,0.00,39.60,0.000,0.000,0.372,408,1845,1406,-11.28,1.55,420.20
$IRIDIUM_FIX,2239.35,-15759.32,210300,181801
$TT8_MAMPS,0.026845
$HUMID,47.83
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.5,49.633
$10V_AH,10.3,42.931
$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,30.500,135.525,421.700,39.600,0.000,24.446,39.466,268.152,0.250,0.000,11.630,1122.879,6882.622,518.530,2010.615,662.539,33.367,1343.271,0.000,2023.915,0.000,0.539,0.000
$DEVICE_MAMPS,153.400,66.729,865.176,371.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.804,323.822,407.122,588.136,1040.209,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,41700,522
$CAP_FILE_SIZE,124097,0
$CFSIZE,260165632,151257088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271210,001225,2247.382,-15803.308,37,1.8,37,10.1