version: 66.06
glider: 148
mission: 9
dive: 379
start: 12 27 110 15 43 48
data:
$ID,148
$MISSION,9
$DIVE,379
$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,-866110.31
$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,30
$R_STBD_OVSHOOT,90
$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
$GPS1,153322,2249.428,-15801.247,34,3.0,53,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.2
$GPS2,154250,2249.280,-15801.140,12,1.9,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.139,0.209
$KALMAN_X,-31305.9,-381.7,183.1,46512.4,579.8
$KALMAN_Y,-40083.3,-363.2,40.8,168918.3,-1922.8
$MHEAD_RNG_PITCHd_Wd,23.5,7191,-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,-75.32,0.000,2,0.000,0.000,407,1834,3285,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-4.0,10,124,12.02,2.45,-8.02,0.000,4,0.170,0.041,2597,3326,3719,0,0,0,0,0,0
$GC,223,-1.08,-146.0,29.8,-12.4,28,232,0.10,2.47,0.00,0.000,6,0.083,0.024,2623,1790,3721,0,0,0,0,0,0
$GC,489,-0.99,-146.0,64.9,-13.1,53,494,0.00,2.50,0.00,0.000,4,0.000,0.030,2623,3334,3721,0,0,0,0,0,0
$GC,523,-0.92,-146.0,69.1,-12.6,55,528,0.17,2.42,0.00,0.000,6,0.092,0.021,2662,1790,3722,0,0,0,0,0,0
$GC,790,-1.02,-146.0,91.5,-8.1,79,795,0.10,2.47,0.00,0.000,4,0.075,0.028,2582,3326,3722,0,0,0,0,0,0
$GC,828,-0.95,-146.0,96.1,-12.3,82,833,0.30,2.40,0.00,0.000,6,0.078,0.023,2651,1808,3722,0,0,0,0,0,0
$GC,1091,-1.07,-146.0,116.6,-6.7,106,1096,0.10,2.42,0.00,0.000,4,0.074,0.029,2565,3327,3722,0,0,0,0,0,0
$GC,1119,-1.01,-146.0,119.2,-9.9,108,1124,0.32,2.38,0.00,0.000,6,0.077,0.022,2639,1810,3723,0,0,0,0,0,0
$GC,1382,-1.10,-146.0,138.3,-7.1,132,1386,0.00,2.40,0.00,0.000,4,0.000,0.029,2639,3325,3723,0,0,0,0,0,0
$GC,1414,-1.21,-146.0,140.6,-7.1,134,1423,0.15,2.40,0.00,0.000,6,0.022,0.023,2565,1824,3723,0,0,0,0,0,0
$GC,1676,-1.10,-146.0,171.0,-12.0,159,1681,0.25,2.40,0.00,0.000,4,0.083,0.029,2626,3322,3723,0,0,0,0,0,0
$GC,1702,-1.10,-146.0,173.8,-9.6,161,1707,0.00,2.35,0.00,0.000,6,0.000,0.022,2626,1830,3723,0,0,0,0,0,0
$GC,1967,-1.16,-146.0,193.9,-7.1,185,1971,0.00,2.38,0.00,0.000,4,0.000,0.029,2626,3332,3723,0,0,0,0,0,0
$GC,2024,-1.32,-146.0,198.0,-6.9,190,2029,0.22,2.33,0.00,0.000,6,0.038,0.023,2544,1847,3723,0,0,0,0,0,0
$GC,2297,-1.15,-146.0,232.5,-12.9,198,2304,0.25,2.65,0.00,0.000,4,0.084,0.038,2605,210,3723,0,0,0,0,0,0
$GC,2328,-1.15,-146.0,236.4,-9.9,198,2332,0.00,2.47,0.00,0.000,6,0.000,0.019,2605,1818,3723,0,0,0,0,0,0
$GC,2584,-1.15,-146.0,261.0,-10.0,205,2588,0.00,2.42,0.00,0.000,4,0.000,0.031,2605,3357,3723,0,0,0,0,0,0
$GC,2658,-1.27,-146.0,268.5,-9.2,206,2662,0.00,2.35,0.00,0.000,6,0.000,0.024,2605,1867,3723,0,0,0,0,0,0
$GC,2916,-1.27,-146.0,290.5,-8.3,213,2921,0.00,2.38,0.00,0.000,4,0.000,0.032,2605,3358,3722,0,0,0,0,0,0
$GC,2941,-1.27,-146.0,292.5,-8.9,213,2946,0.00,2.35,0.00,0.000,6,0.000,0.025,2605,1869,3722,0,0,0,0,0,0
$GC,3201,-1.33,-146.0,312.1,-7.6,220,3206,0.15,2.42,0.00,0.000,4,0.054,0.035,2522,3360,3722,0,0,0,0,0,0
$GC,3229,-1.17,-146.0,315.1,-11.2,220,3235,0.38,2.35,0.00,0.000,6,0.081,0.025,2605,1870,3722,0,0,0,0,0,0
$GC,3487,-1.24,-146.0,335.1,-7.7,227,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1870,3721,0,0,0,0,0,0
$GC,3729,-1.31,-146.0,352.6,-7.0,233,3734,0.12,2.45,0.00,0.000,4,0.062,0.038,2538,3363,3719,0,0,0,0,0,0
$GC,3767,-1.24,-146.0,356.0,-8.9,233,3775,0.20,2.35,0.00,0.000,6,0.069,0.027,2588,1887,3719,0,0,0,0,0,0
$GC,4019,-1.24,-146.0,375.7,-7.8,240,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1887,3718,0,0,0,0,0,0
$GC,4261,-1.24,-146.0,394.1,-7.4,246,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1886,3717,0,0,0,0,0,0
$GC,4504,-1.24,-146.0,413.2,-7.7,252,4509,0.00,2.40,0.00,0.000,4,0.000,0.042,2588,3358,3715,0,0,0,0,0,0
$GC,4549,-1.31,-146.0,416.7,-7.9,253,4554,0.00,2.35,0.00,0.000,6,0.000,0.028,2588,1889,3715,0,0,0,0,0,0
$GC,4836,-1.31,-146.0,439.4,-7.9,260,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1889,3713,0,0,0,0,0,0
$GC,5080,-1.31,-146.0,457.7,-7.7,266,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1889,3711,0,0,0,0,0,0
$GC,5325,-1.31,-146.0,478.3,-8.6,272,5331,0.00,2.85,0.00,0.000,4,0.000,0.065,2588,217,3710,0,0,0,0,0,0
$GC,5351,-1.38,-146.0,480.9,-9.7,272,5356,0.12,2.65,0.00,0.000,6,0.061,0.030,2514,1866,3710,0,0,0,0,0,0
$STATE,5529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5529,begin apogee
$GC,5535,-0.31,0.0,502.9,12.7,277,5656,1.27,0.00,117.55,0.871,6,0.081,0.000,2792,1675,3120,0,0,0,0,0,0
$STATE,5657,end apogee,CONTROL_FINISHED_OK
$STATE,5657,begin climb
$GC,5661,1.17,146.0,509.0,0.0,280,5791,1.30,2.70,120.53,0.855,4,0.024,0.068,3133,184,2523,0,0,0,0,0,0
$GC,6058,0.71,146.0,485.2,10.5,288,6064,0.55,2.38,0.00,0.000,6,0.100,0.028,3017,1656,2516,0,0,0,0,0,0
$GC,6309,0.82,233.8,470.2,5.3,295,6393,0.00,2.62,73.68,0.838,4,0.000,0.060,3017,190,2166,0,0,0,0,0,0
$GC,6479,0.82,238.7,457.3,8.8,298,6492,0.10,2.42,5.65,0.617,6,0.077,0.028,3067,1683,2145,0,0,0,0,0,0
$GC,6783,0.71,238.7,427.1,10.0,306,6788,0.25,2.60,0.00,0.000,4,0.094,0.058,3010,184,2140,0,0,0,0,0,0
$GC,6850,0.71,238.7,420.6,9.3,307,6854,0.00,2.42,0.00,0.000,6,0.000,0.026,3010,1684,2139,0,0,0,0,0,0
$GC,7113,0.74,266.1,400.0,7.9,314,7143,0.00,2.70,24.00,0.780,4,0.000,0.052,3010,3248,2034,0,0,0,0,0,0
$GC,7157,0.76,285.7,396.4,8.2,315,7182,0.00,2.60,18.70,0.754,6,0.000,0.034,3010,1695,1955,0,0,0,0,0,0
$GC,7446,0.84,293.9,371.4,8.7,322,7462,0.12,2.67,8.20,0.667,4,0.066,0.064,3067,161,1921,0,0,0,0,0,0
$GC,7472,0.74,293.9,368.2,11.3,322,7477,0.22,2.45,0.00,0.000,6,0.096,0.026,3019,1677,1920,0,0,0,0,0,0
$GC,7733,0.74,293.9,343.3,9.3,329,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1677,1917,0,0,0,0,0,0
$GC,7976,0.80,293.9,320.4,9.4,335,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1677,1916,0,0,0,0,0,0
$GC,8220,0.89,305.7,299.2,8.5,341,8237,0.15,2.62,11.32,0.673,4,0.057,0.058,3090,170,1873,0,0,0,0,0,0
$GC,8253,0.74,305.7,295.4,12.1,341,8259,0.32,2.42,0.00,0.000,6,0.093,0.025,3020,1676,1872,0,0,0,0,0,0
$GC,8503,0.85,322.0,273.5,8.3,347,8525,0.10,2.70,15.62,0.679,4,0.074,0.047,3078,3253,1806,0,0,0,0,0,0
$GC,8550,0.85,322.0,268.7,11.0,348,8556,0.15,2.62,0.00,0.000,6,0.097,0.034,3045,1677,1804,0,0,0,0,0,0
$GC,8833,0.85,322.0,242.4,9.2,355,8837,0.00,2.58,0.00,0.000,4,0.000,0.059,3045,167,1802,0,0,0,0,0,0
$GC,8865,0.85,322.0,238.9,11.1,355,8870,0.00,2.38,0.00,0.000,6,0.000,0.022,3045,1682,1802,0,0,0,0,0,0
$GC,9115,0.85,325.1,216.3,8.9,361,9120,0.00,2.55,0.00,0.000,4,0.000,0.052,3045,163,1800,0,0,0,0,0,0
$GC,9152,0.85,325.1,212.6,9.7,361,9158,0.00,2.38,0.00,0.000,6,0.000,0.023,3045,1676,1800,0,0,0,0,0,0
$GC,9405,0.85,325.1,189.2,9.6,374,9410,0.00,2.58,0.00,0.000,4,0.000,0.035,3045,3258,1800,0,0,0,0,0,0
$GC,9446,0.95,325.1,185.5,9.5,377,9452,0.10,2.60,0.00,0.000,6,0.077,0.029,3097,1667,1798,0,0,0,0,0,0
$GC,9708,0.86,325.1,155.4,10.6,402,9713,0.22,2.47,0.00,0.000,4,0.091,0.046,3047,174,1799,0,0,0,0,0,0
$GC,9760,0.86,325.1,150.3,9.4,406,9766,0.00,2.38,0.00,0.000,6,0.000,0.021,3047,1685,1798,0,0,0,0,0,0
$GC,10026,0.89,351.4,129.2,7.9,431,10058,0.00,2.58,25.50,0.580,4,0.000,0.046,3047,166,1687,0,0,0,0,0,0
$GC,10074,0.92,370.8,125.3,8.2,435,10098,0.00,2.38,18.77,0.560,6,0.000,0.021,3047,1679,1608,0,0,0,0,0,0
$GC,10360,1.02,377.4,99.5,8.7,462,10374,0.15,2.58,6.93,0.466,4,0.055,0.032,3113,3251,1580,0,0,0,0,0,0
$GC,10410,1.02,377.4,94.0,11.5,466,10422,0.10,2.60,0.00,0.000,6,0.073,0.029,3084,1678,1578,0,0,0,0,0,0
$GC,10676,1.03,382.9,70.6,8.8,491,10689,0.00,2.50,6.38,0.425,4,0.000,0.044,3084,163,1557,0,0,0,0,0,0
$GC,10739,1.03,382.9,64.5,10.3,496,10743,0.00,2.35,0.00,0.000,6,0.000,0.020,3084,1679,1557,0,0,0,0,0,0
$GC,11006,1.03,382.9,36.4,10.3,520,11010,0.00,2.50,0.00,0.000,4,0.000,0.031,3084,3248,1556,0,0,0,0,0,0
$GC,11037,1.11,382.9,32.7,9.6,522,11046,0.00,2.58,0.00,0.000,6,0.000,0.027,3085,1669,1555,0,0,0,0,0,0
$STATE,11319,end climb,SURFACE_DEPTH_REACHED
$STATE,11319,begin surface coast
$FINISH,0.6,1.023714
$STATE,11364,end surface coast,CONTROL_FINISHED_OK
$STATE,11364,begin surface
$SM_CCo,11386,24.33,0.307,1,0,1406,420.20
$SM_GC,1.41,0.00,0.00,24.33,0.000,0.000,0.307,410,1854,1406,-11.27,1.81,420.20
$IRIDIUM_FIX,2239.35,-15802.37,220300,121249
$TT8_MAMPS,0.026845
$HUMID,47.20
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,50.359
$10V_AH,10.2,43.612
$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,30.800,144.600,452.825,24.325,0.000,31.176,36.330,353.629,0.000,0.000,14.298,1189.782,7365.401,505.944,2163.179,760.528,33.402,1388.667,0.000,2168.271,0.000,0.537,0.000
$DEVICE_MAMPS,170.274,68.263,871.312,306.800,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.111,354.354,445.961,666.243,1179.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,44645,572
$CAP_FILE_SIZE,132445,0
$CFSIZE,260165632,150900736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271210,185612,2249.409,-15800.281,84,1.7,89,10.1