version: 66.06
glider: 148
mission: 9
dive: 382
start: 12 28 110 1 21 16
data:
$ID,148
$MISSION,9
$DIVE,382
$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,-866157.31
$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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,011231,2249.717,-15758.250,40,1.8,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.3
$GPS2,012020,2249.613,-15758.219,10,1.8,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.031,0.249
$KALMAN_X,-32048.2,-189.1,-92.4,52370.5,452.2
$KALMAN_Y,-46227.8,162.4,611.3,174577.0,-2488.2
$MHEAD_RNG_PITCHd_Wd,357.0,2200,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.60,0.000,2,0.000,0.000,414,1857,3246,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-3.6,10,131,11.43,2.75,-9.10,0.000,4,0.150,0.048,2595,204,3720,0,0,0,0,0,0
$GC,183,-1.17,-146.0,22.2,-14.0,22,192,0.00,2.50,0.00,0.000,6,0.000,0.018,2595,1789,3720,0,0,0,0,0,0
$GC,462,-0.99,-146.0,63.8,-14.9,51,467,0.22,2.50,0.00,0.000,4,0.097,0.029,2644,3364,3721,0,0,0,0,0,0
$GC,528,-1.07,-146.0,72.3,-10.2,56,532,0.00,2.50,0.00,0.000,6,0.000,0.023,2643,1793,3721,0,0,0,0,0,0
$GC,792,-1.07,-146.0,98.2,-9.1,80,796,0.00,2.50,0.00,0.000,4,0.000,0.028,2644,3368,3721,0,0,0,0,0,0
$GC,822,-1.18,-146.0,101.1,-8.1,82,831,0.15,2.50,0.00,0.000,6,0.021,0.022,2531,1806,3721,0,0,0,0,0,0
$GC,1090,-0.94,-146.0,139.4,-14.6,107,1099,0.52,2.47,0.00,0.000,4,0.081,0.028,2650,3360,3722,0,0,0,0,0,0
$GC,1121,-0.94,-146.0,144.1,-9.9,110,1125,0.00,2.42,0.00,0.000,6,0.000,0.022,2650,1812,3722,0,0,0,0,0,0
$GC,1385,-1.08,-146.0,163.1,-7.5,134,1390,0.10,2.47,0.00,0.000,4,0.074,0.030,2570,3361,3723,0,0,0,0,0,0
$GC,1433,-1.08,-146.0,169.0,-12.1,138,1443,0.20,2.45,0.00,0.000,6,0.067,0.023,2622,1830,3723,0,0,0,0,0,0
$GC,1700,-1.08,-146.0,194.7,-9.6,163,1704,0.00,2.42,0.00,0.000,4,0.000,0.029,2622,3360,3723,0,0,0,0,0,0
$GC,1739,-1.17,-146.0,198.6,-9.3,166,1743,0.00,2.40,0.00,0.000,6,0.000,0.023,2622,1832,3723,0,0,0,0,0,0
$GC,2000,-1.25,-146.0,221.2,-8.1,173,2005,0.15,2.45,0.00,0.000,4,0.054,0.030,2540,3360,3723,0,0,0,0,0,0
$GC,2045,-1.12,-146.0,225.7,-11.4,174,2050,0.32,2.40,0.00,0.000,6,0.079,0.023,2614,1833,3723,0,0,0,0,0,0
$GC,2333,-1.12,-146.0,250.6,-8.5,181,2337,0.00,2.45,0.00,0.000,4,0.000,0.031,2614,3362,3723,0,0,0,0,0,0
$GC,2356,-1.19,-146.0,252.8,-9.5,181,2360,0.00,2.42,0.00,0.000,6,0.000,0.024,2614,1837,3723,0,0,0,0,0,0
$GC,2617,-1.28,-146.0,273.0,-7.8,188,2622,0.15,2.45,0.00,0.000,4,0.054,0.031,2532,3364,3723,0,0,0,0,0,0
$GC,2661,-1.17,-146.0,277.6,-10.6,189,2666,0.32,2.38,0.00,0.000,6,0.080,0.024,2605,1856,3723,0,0,0,0,0,0
$GC,2951,-1.17,-146.0,301.4,-8.2,196,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,1854,3722,0,0,0,0,0,0
$GC,3193,-1.23,-146.0,321.2,-8.2,202,3197,0.00,2.42,0.00,0.000,4,0.000,0.035,2605,3356,3721,0,0,0,0,0,0
$GC,3249,-1.36,-146.0,325.9,-8.3,203,3254,0.17,2.38,0.00,0.000,6,0.048,0.027,2516,1865,3721,0,0,0,0,0,0
$GC,3524,-1.14,-146.0,362.1,-13.9,210,3527,0.45,0.00,0.00,0.000,6,0.081,0.000,2611,1865,3720,0,0,0,0,0,0
$GC,3767,-1.24,-146.0,383.5,-8.2,216,3771,0.00,2.42,0.00,0.000,4,0.000,0.039,2611,3361,3719,0,0,0,0,0,0
$GC,3801,-1.38,-146.0,386.2,-8.2,216,3806,0.22,2.40,0.00,0.000,6,0.039,0.028,2521,1863,3718,0,0,0,0,0,0
$GC,4051,-1.20,-146.0,416.6,-12.5,222,4053,0.35,0.00,0.00,0.000,6,0.083,0.000,2598,1862,3717,0,0,0,0,0,0
$GC,4295,-1.26,-146.0,435.2,-7.4,228,4299,0.00,2.47,0.00,0.000,4,0.000,0.045,2598,3353,3715,0,0,0,0,0,0
$GC,4316,-1.33,-146.0,436.8,-8.1,228,4321,0.12,2.40,0.00,0.000,6,0.061,0.028,2521,1868,3715,0,0,0,0,0,0
$GC,4580,-1.16,-146.0,466.5,-11.5,235,4588,0.35,2.80,0.00,0.000,4,0.084,0.062,2602,222,3714,0,0,0,0,0,0
$GC,4602,-1.16,-146.0,468.8,-9.4,235,4606,0.00,2.62,0.00,0.000,6,0.000,0.029,2602,1858,3713,0,0,0,0,0,0
$GC,4868,-1.26,-146.0,488.1,-7.4,242,4872,0.00,2.50,0.00,0.000,4,0.000,0.051,2602,3358,3712,0,0,0,0,0,0
$GC,4905,-1.40,-146.0,491.2,-8.0,242,4911,0.20,2.40,0.00,0.000,6,0.044,0.030,2521,1882,3712,0,0,0,0,0,0
$STATE,4990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4990,begin apogee
$GC,4998,-0.31,0.0,500.5,10.8,245,5119,1.23,0.00,118.00,0.865,6,0.081,0.000,2792,1671,3120,0,0,0,0,0,0
$STATE,5120,end apogee,CONTROL_FINISHED_OK
$STATE,5120,begin climb
$GC,5122,1.17,146.0,506.3,0.0,248,5250,1.35,0.00,120.95,0.848,6,0.026,0.000,3131,1671,2524,0,0,0,0,0,0
$GC,5479,0.84,156.1,492.1,8.6,257,5496,0.40,2.62,8.75,0.709,4,0.101,0.071,3043,184,2482,0,0,0,0,0,0
$GC,5534,0.68,189.4,487.8,7.6,258,5571,0.17,2.38,29.98,0.811,6,0.105,0.028,3007,1650,2346,0,0,0,0,0,0
$GC,5859,0.73,230.0,465.2,7.3,266,5901,0.00,2.60,34.75,0.813,4,0.000,0.060,3006,183,2181,0,0,0,0,0,0
$GC,5929,0.73,230.0,459.2,10.0,267,5933,0.00,2.42,0.00,0.000,6,0.000,0.028,3006,1680,2180,0,0,0,0,0,0
$GC,6190,0.76,247.5,437.3,8.3,274,6213,0.00,2.62,16.23,0.767,4,0.000,0.059,3007,180,2110,0,0,0,0,0,0
$GC,6250,0.76,247.5,431.8,9.5,275,6255,0.00,2.40,0.00,0.000,6,0.000,0.026,3007,1672,2108,0,0,0,0,0,0
$GC,6519,0.78,270.0,410.4,8.1,282,6547,0.10,2.60,20.38,0.773,4,0.078,0.058,3052,183,2018,0,0,0,0,0,0
$GC,6559,0.68,270.0,406.7,9.4,282,6565,0.20,2.42,0.00,0.000,6,0.095,0.027,3010,1674,2017,0,0,0,0,0,0
$GC,6809,0.78,300.5,386.4,7.7,289,6845,0.00,2.72,28.20,0.772,4,0.000,0.051,3010,3254,1893,0,0,0,0,0,0
$GC,6855,0.90,339.4,383.0,7.4,290,6898,0.20,2.65,35.42,0.769,6,0.046,0.033,3087,1677,1735,0,0,0,0,0,0
$GC,7142,0.77,339.4,345.5,13.5,297,7147,0.25,2.62,0.00,0.000,4,0.095,0.062,3030,162,1728,0,0,0,0,0,0
$GC,7196,0.77,339.4,338.8,11.8,298,7200,0.00,2.40,0.00,0.000,6,0.000,0.026,3030,1664,1728,0,0,0,0,0,0
$GC,7473,0.77,339.4,310.0,10.2,305,7477,0.00,2.67,0.00,0.000,4,0.000,0.048,3030,3255,1725,0,0,0,0,0,0
$GC,7526,0.86,339.4,304.8,10.1,306,7530,0.00,2.62,0.00,0.000,6,0.000,0.035,3030,1665,1723,0,0,0,0,0,0
$GC,7803,0.86,339.4,276.3,10.4,313,7808,0.00,2.65,0.00,0.000,4,0.000,0.041,3030,3252,1722,0,0,0,0,0,0
$GC,7822,0.86,339.4,274.2,10.2,313,7826,0.00,2.60,0.00,0.000,6,0.000,0.031,3030,1665,1721,0,0,0,0,0,0
$GC,8089,0.92,339.4,246.5,10.6,320,8091,0.12,0.00,0.00,0.000,6,0.065,0.000,3090,1665,1721,0,0,0,0,0,0
$GC,8329,0.83,339.4,213.5,14.0,326,8334,0.22,2.53,0.00,0.000,4,0.094,0.057,3041,171,1721,0,0,0,0,0,0
$GC,8348,0.83,339.4,210.9,13.2,326,8353,0.00,2.42,0.00,0.000,6,0.000,0.023,3041,1693,1720,0,0,0,0,0,0
$GC,8610,0.83,339.4,183.4,9.0,344,8615,0.00,2.55,0.00,0.000,4,0.000,0.037,3041,3255,1720,0,0,0,0,0,0
$GC,8649,0.95,359.1,179.9,8.2,347,8675,0.10,2.60,16.05,0.613,6,0.076,0.033,3099,1667,1655,0,0,0,0,0,0
$GC,8930,0.85,359.1,149.8,11.1,374,8935,0.25,2.50,0.00,0.000,4,0.094,0.048,3045,173,1652,0,0,0,0,0,0
$GC,8969,0.85,359.5,146.3,9.0,377,8973,0.00,2.38,0.00,0.000,6,0.000,0.023,3045,1677,1652,0,0,0,0,0,0
$GC,9236,0.92,359.5,124.9,9.4,401,9241,0.00,2.55,0.00,0.000,4,0.000,0.033,3045,3254,1651,0,0,0,0,0,0
$GC,9285,1.07,359.5,120.0,10.7,405,9290,0.20,2.55,0.00,0.000,6,0.043,0.028,3106,1673,1649,0,0,0,0,0,0
$GC,9552,0.99,359.5,87.4,12.0,429,9557,0.15,2.47,0.00,0.000,4,0.104,0.050,3074,170,1649,0,0,0,0,0,0
$GC,9592,1.06,359.5,81.8,11.7,432,9601,0.00,2.38,0.00,0.000,6,0.000,0.021,3075,1667,1649,0,0,0,0,0,0
$GC,9860,1.06,359.5,55.7,9.6,457,9864,0.00,2.47,0.00,0.000,4,0.000,0.044,3075,171,1649,0,0,0,0,0,0
$GC,9902,1.06,359.5,51.0,10.9,460,9906,0.00,2.33,0.00,0.000,6,0.000,0.020,3074,1677,1650,0,0,0,0,0,0
$GC,10173,1.14,367.5,26.4,8.7,487,10190,0.15,2.58,8.73,0.440,4,0.055,0.032,3139,3243,1620,0,0,0,0,0,0
$GC,10232,1.14,367.5,20.0,12.6,495,10241,0.12,2.58,0.00,0.000,6,0.077,0.028,3107,1671,1618,0,0,0,0,0,0
$STATE,10374,end climb,SURFACE_DEPTH_REACHED
$STATE,10375,begin surface coast
$FINISH,0.9,1.023573
$STATE,10413,end surface coast,CONTROL_FINISHED_OK
$STATE,10414,begin surface
$SM_CCo,10435,31.10,0.349,1,0,1407,420.20
$SM_GC,1.71,0.00,0.00,31.10,0.000,0.000,0.349,414,1854,1407,-11.26,1.81,420.20
$IRIDIUM_FIX,2237.01,-15800.20,220300,222206
$TT8_MAMPS,0.026845
$HUMID,48.38
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.90
$XPDR_PINGS,3
$24V_AH,23.5,50.722
$10V_AH,10.2,43.949
$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,31.525,145.650,437.425,31.100,0.000,25.738,36.585,271.948,0.750,0.000,11.767,1104.143,6719.500,529.629,1943.410,645.844,33.376,1336.535,0.000,1953.657,0.000,0.538,0.000
$DEVICE_MAMPS,150.332,71.331,865.176,348.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.538,323.272,403.927,608.174,1076.043,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,41450,523
$CAP_FILE_SIZE,124932,0
$CFSIZE,260165632,150728704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281210,041708,2250.203,-15757.956,40,1.6,41,10.1