version: 66.06
glider: 148
mission: 9
dive: 377
start: 12 27 110 9 45 59
data:
$ID,148
$MISSION,9
$DIVE,377
$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,-866076.38
$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,25
$R_STBD_OVSHOOT,45
$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
$GPS1,093645,2249.109,-15802.871,24,1.5,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.0
$GPS2,094504,2249.097,-15802.809,11,99.0,30,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.074,0.164
$KALMAN_X,-32906.0,77.1,-143.3,45102.4,499.7
$KALMAN_Y,-36575.4,-546.2,-144.3,165438.5,-156.4
$MHEAD_RNG_PITCHd_Wd,325.5,1704,-23.4,-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,-1.55,-71.7,0.0,0.0,0,95,0.00,0.00,-74.93,0.000,2,0.000,0.000,411,1854,3255,0,0,0,0,0,0
$GC,98,-1.61,-121.2,3.6,-4.8,10,122,11.45,2.70,-6.75,0.000,4,0.170,0.044,2501,189,3615,0,0,0,0,0,0
$GC,305,-1.61,-121.2,51.9,-19.2,35,310,0.00,2.50,0.00,0.000,6,0.000,0.020,2501,1790,3617,0,0,0,0,0,0
$GC,573,-1.47,-121.2,105.7,-18.8,59,578,0.17,0.00,0.00,0.000,6,0.110,0.000,2537,1790,3618,0,0,0,0,0,0
$GC,837,-1.54,-121.2,145.1,-13.4,84,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1794,3618,0,0,0,0,0,0
$GC,1101,-1.64,-121.2,180.2,-12.8,109,1106,0.15,2.53,0.00,0.000,4,0.058,0.029,2478,3371,3619,0,0,0,0,0,0
$GC,1130,-1.64,-121.2,185.1,-15.6,111,1139,0.08,2.55,0.00,0.000,6,0.091,0.023,2499,1777,3619,0,0,0,0,0,0
$GC,1395,-1.64,-121.2,223.8,-14.4,125,1399,0.00,2.53,0.00,0.000,4,0.000,0.028,2499,3372,3620,0,0,0,0,0,0
$GC,1423,-1.64,-121.2,228.3,-14.5,125,1427,0.00,2.47,0.00,0.000,6,0.000,0.022,2499,1790,3620,0,0,0,0,0,0
$GC,1677,-1.64,-121.2,264.0,-14.0,132,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1787,3621,0,0,0,0,0,0
$GC,1922,-1.64,-121.2,295.5,-12.5,138,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1787,3621,0,0,0,0,0,0
$GC,2164,-1.64,-121.2,325.5,-12.1,144,2168,0.00,2.53,0.00,0.000,4,0.000,0.035,2499,3363,3621,0,0,0,0,0,0
$GC,2187,-1.64,-121.2,328.5,-13.2,144,2192,0.00,2.50,0.00,0.000,6,0.000,0.026,2499,1802,3621,0,0,0,0,0,0
$GC,2448,-1.70,-121.2,361.2,-13.0,151,2453,0.00,2.62,0.00,0.000,4,0.000,0.054,2499,214,3620,0,0,0,0,0,0
$GC,2499,-1.80,-121.2,369.3,-14.4,152,2505,0.12,2.50,0.00,0.000,6,0.067,0.025,2448,1788,3620,0,0,0,0,0,0
$GC,2777,-1.80,-121.2,415.1,-16.6,159,2782,0.00,2.58,0.00,0.000,4,0.000,0.042,2448,3371,3619,0,0,0,0,0,0
$GC,2802,-1.72,-121.2,419.0,-16.7,159,2808,0.17,2.55,0.00,0.000,6,0.104,0.025,2484,1783,3618,0,0,0,0,0,0
$GC,3062,-1.72,-121.2,452.1,-12.2,166,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1783,3617,0,0,0,0,0,0
$GC,3306,-1.72,-121.2,479.9,-11.4,172,3310,0.00,2.67,0.00,0.000,4,0.000,0.062,2484,214,3615,0,0,0,0,0,0
$GC,3350,-1.80,-121.2,485.4,-12.9,173,3355,0.00,2.55,0.00,0.000,6,0.000,0.032,2485,1783,3615,0,0,0,0,0,0
$STATE,3472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3472,begin apogee
$GC,3478,-0.31,0.0,501.0,12.3,176,3581,1.38,0.00,98.62,0.851,6,0.078,0.000,2793,1666,3120,0,0,0,0,0,0
$STATE,3581,end apogee,CONTROL_FINISHED_OK
$STATE,3581,begin climb
$GC,3584,1.61,121.2,504.1,0.0,178,3692,1.67,0.00,100.20,0.838,6,0.022,0.000,3222,1666,2624,0,0,0,0,0,0
$GC,3911,1.32,124.9,492.9,8.7,186,3918,0.32,2.72,0.00,0.000,4,0.120,0.051,3154,3261,2616,0,0,0,0,0,0
$GC,3934,1.20,138.5,491.1,7.9,186,3957,0.17,2.62,14.62,0.766,6,0.122,0.038,3120,1696,2555,0,0,0,0,0,0
$GC,4200,1.21,150.4,470.2,8.0,193,4216,0.00,2.72,11.10,0.740,4,0.000,0.074,3120,167,2506,0,0,0,0,0,0
$GC,4393,1.09,150.4,449.8,11.2,197,4398,0.12,2.45,0.00,0.000,6,0.139,0.026,3097,1677,2502,0,0,0,0,0,0
$GC,4671,1.11,165.4,427.0,7.7,204,4691,0.00,2.65,13.15,0.752,4,0.000,0.058,3096,159,2444,0,0,0,0,0,0
$GC,4886,1.11,165.4,406.2,9.7,208,4890,0.00,2.42,0.00,0.000,6,0.000,0.025,3096,1672,2441,0,0,0,0,0,0
$GC,5141,1.20,182.0,386.1,7.6,215,5162,0.10,2.65,14.57,0.745,4,0.082,0.058,3136,174,2377,0,0,0,0,0,0
$GC,5367,1.08,182.0,359.9,11.9,219,5374,0.20,2.38,0.00,0.000,6,0.118,0.025,3097,1657,2374,0,0,0,0,0,0
$GC,5619,1.17,187.8,338.1,8.5,226,5632,0.00,2.62,5.88,0.600,4,0.000,0.056,3097,161,2354,0,0,0,0,0,0
$GC,5706,1.17,187.8,328.9,10.6,227,5712,0.00,2.40,0.00,0.000,6,0.000,0.025,3097,1663,2353,0,0,0,0,0,0
$GC,5957,1.28,187.8,305.9,9.1,234,5962,0.17,2.58,0.00,0.000,4,0.054,0.056,3157,164,2351,0,0,0,0,0,0
$GC,6215,1.13,187.8,273.3,13.0,239,6220,0.25,2.35,0.00,0.000,6,0.118,0.023,3108,1645,2349,0,0,0,0,0,0
$GC,6475,1.25,208.1,252.5,7.3,246,6500,0.10,2.60,17.98,0.677,4,0.082,0.054,3148,166,2271,0,0,0,0,0,0
$GC,6645,1.17,208.1,234.3,11.0,249,6650,0.15,2.35,0.00,0.000,6,0.124,0.022,3119,1647,2268,0,0,0,0,0,0
$GC,6901,1.27,214.4,212.0,8.5,256,6913,0.00,2.55,6.05,0.536,4,0.000,0.051,3118,170,2245,0,0,0,0,0,0
$GC,6980,1.27,214.4,204.2,10.5,257,6984,0.00,2.33,0.00,0.000,6,0.000,0.022,3118,1641,2245,0,0,0,0,0,0
$GC,7245,1.38,214.4,176.6,10.7,279,7247,0.17,0.00,0.00,0.000,6,0.054,0.000,3179,1643,2243,0,0,0,0,0,0
$GC,7502,1.38,214.4,145.0,11.4,303,7507,0.00,2.45,0.00,0.000,4,0.000,0.048,3179,160,2243,0,0,0,0,0,0
$GC,7801,1.27,214.4,110.7,9.2,331,7807,0.20,2.30,0.00,0.000,6,0.120,0.021,3141,1633,2242,0,0,0,0,0,0
$GC,8064,1.40,228.8,91.7,7.8,356,8086,0.10,2.50,13.32,0.527,4,0.080,0.051,3187,164,2186,0,0,0,0,0,0
$GC,8390,1.29,228.8,56.5,10.3,386,8398,0.20,2.30,0.00,0.000,6,0.099,0.020,3142,1625,2185,0,0,0,0,0,0
$GC,8659,1.44,254.0,36.6,6.9,411,8688,0.12,2.47,22.80,0.494,4,0.066,0.044,3199,157,2083,0,0,0,0,0,0
$GC,8749,1.34,254.0,26.9,12.0,420,8759,0.20,2.33,0.00,0.000,6,0.099,0.020,3155,1627,2082,0,0,0,0,0,0
$STATE,8992,end climb,SURFACE_DEPTH_REACHED
$STATE,8993,begin surface coast
$FINISH,0.7,1.023459
$STATE,9044,end surface coast,CONTROL_FINISHED_OK
$STATE,9044,begin surface
$SM_CCo,9064,86.10,0.426,1,0,1406,420.20
$SM_GC,1.70,0.00,0.00,86.10,0.000,0.000,0.426,411,1881,1406,-11.27,2.57,420.20
$IRIDIUM_FIX,2237.01,-15802.37,220300,060622
$TT8_MAMPS,0.027612
$HUMID,46.25
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.5,50.112
$10V_AH,10.2,43.372
$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,29.000,90.925,318.300,86.100,0.000,27.829,38.836,275.700,0.500,0.000,33.034,999.623,5566.374,455.744,2021.124,614.908,33.402,1228.525,0.000,1998.176,0.000,0.538,0.000
$DEVICE_MAMPS,169.507,74.399,851.370,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.183,285.272,367.128,567.451,1001.724,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,35340,466
$CAP_FILE_SIZE,103616,0
$CFSIZE,260165632,151052288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271210,121956,2249.737,-15802.863,40,1.5,40,10.1