version: 66.06
glider: 148
mission: 9
dive: 387
start: 12 28 110 15 46 17
data:
$ID,148
$MISSION,9
$DIVE,387
$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,-866251.62
$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,20
$R_STBD_OVSHOOT,50
$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
$GPS1,153728,2247.135,-15757.911,11,2.3,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.7
$GPS2,154520,2247.060,-15757.969,13,1.6,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.173,0.181
$KALMAN_X,-34733.1,-1.3,324.4,54876.4,-878.1
$KALMAN_Y,-52067.3,258.3,308.0,175889.0,-2043.4
$MHEAD_RNG_PITCHd_Wd,306.2,8592,-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,-75.50,0.000,2,0.000,0.000,412,1870,3279,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.4,-3.6,10,125,11.93,2.45,-8.00,0.000,4,0.168,0.039,2597,3370,3719,0,0,0,0,0,0
$GC,269,-1.06,-146.0,36.3,-14.3,33,274,0.15,2.55,0.00,0.000,6,0.103,0.024,2630,1773,3721,0,0,0,0,0,0
$GC,537,-1.06,-146.0,67.9,-11.1,57,541,0.00,2.58,0.00,0.000,4,0.000,0.030,2630,3369,3722,0,0,0,0,0,0
$GC,602,-1.06,-146.0,75.7,-11.2,62,607,0.00,2.47,0.00,0.000,6,0.000,0.022,2630,1799,3722,0,0,0,0,0,0
$GC,866,-1.06,-146.0,101.3,-7.9,86,870,0.00,2.47,0.00,0.000,4,0.000,0.028,2630,3363,3722,0,0,0,0,0,0
$GC,925,-1.14,-146.0,105.9,-6.8,91,929,0.00,2.45,0.00,0.000,6,0.000,0.022,2630,1814,3722,0,0,0,0,0,0
$GC,1193,-1.14,-146.0,126.8,-8.5,115,1197,0.00,2.45,0.00,0.000,4,0.000,0.028,2630,3363,3723,0,0,0,0,0,0
$GC,1230,-1.23,-146.0,130.6,-9.0,118,1235,0.17,2.42,0.00,0.000,6,0.046,0.022,2540,1817,3723,0,0,0,0,0,0
$GC,1495,-1.01,-146.0,168.9,-14.9,142,1504,0.43,2.47,0.00,0.000,4,0.081,0.029,2638,3368,3724,0,0,0,0,0,0
$GC,1544,-1.15,-146.0,174.3,-8.2,147,1549,0.12,2.45,0.00,0.000,6,0.061,0.023,2562,1821,3724,0,0,0,0,0,0
$GC,1828,-1.02,-146.0,204.6,-10.9,170,1833,0.32,2.45,0.00,0.000,4,0.081,0.028,2638,3361,3724,0,0,0,0,0,0
$GC,1872,-1.18,-146.0,208.6,-7.0,171,1877,0.15,2.40,0.00,0.000,6,0.052,0.023,2559,1833,3724,0,0,0,0,0,0
$GC,2162,-1.06,-146.0,241.2,-11.9,178,2167,0.28,2.47,0.00,0.000,4,0.081,0.029,2625,3370,3724,0,0,0,0,0,0
$GC,2181,-1.06,-146.0,243.7,-11.1,178,2185,0.00,2.42,0.00,0.000,6,0.000,0.022,2625,1839,3724,0,0,0,0,0,0
$GC,2445,-1.17,-146.0,264.5,-7.7,185,2449,0.00,2.42,0.00,0.000,4,0.000,0.031,2625,3363,3724,0,0,0,0,0,0
$GC,2490,-1.35,-146.0,267.9,-7.8,186,2495,0.25,2.40,0.00,0.000,6,0.035,0.025,2527,1845,3725,0,0,0,0,0,0
$GC,2777,-1.17,-146.0,305.6,-13.5,193,2779,0.35,0.00,0.00,0.000,6,0.081,0.000,2606,1843,3724,0,0,0,0,0,0
$GC,3023,-1.25,-146.0,325.6,-7.7,199,3027,0.00,2.42,0.00,0.000,4,0.000,0.035,2605,3358,3724,0,0,0,0,0,0
$GC,3070,-1.40,-146.0,329.4,-7.3,200,3075,0.20,2.40,0.00,0.000,6,0.041,0.027,2505,1866,3724,0,0,0,0,0,0
$GC,3353,-1.17,-146.0,366.0,-13.2,207,3360,0.43,2.75,0.00,0.000,4,0.084,0.051,2601,210,3722,0,0,0,0,0,0
$GC,3380,-1.17,-146.0,369.0,-9.8,207,3385,0.00,2.60,0.00,0.000,6,0.000,0.025,2600,1851,3722,0,0,0,0,0,0
$GC,3640,-1.24,-146.0,390.0,-8.4,214,3644,0.00,2.42,0.00,0.000,4,0.000,0.041,2601,3353,3720,0,0,0,0,0,0
$GC,3707,-1.37,-146.0,395.7,-8.4,215,3712,0.17,2.40,0.00,0.000,6,0.048,0.028,2507,1865,3720,0,0,0,0,0,0
$GC,3971,-1.14,-146.0,432.0,-14.4,222,3979,0.45,2.78,0.00,0.000,4,0.085,0.058,2607,221,3718,0,0,0,0,0,0
$GC,4008,-1.29,-146.0,435.7,-8.9,222,4013,0.12,2.60,0.00,0.000,6,0.061,0.028,2536,1851,3718,0,0,0,0,0,0
$GC,4259,-1.17,-146.0,462.9,-11.1,228,4264,0.28,2.47,0.00,0.000,4,0.084,0.045,2599,3351,3717,0,0,0,0,0,0
$GC,4278,-1.17,-146.0,465.4,-11.2,228,4282,0.00,2.40,0.00,0.000,6,0.000,0.027,2599,1864,3717,0,0,0,0,0,0
$GC,4544,-1.25,-146.0,486.8,-8.3,235,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1864,3715,0,0,0,0,0,0
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4702,begin apogee
$GC,4707,-0.31,0.0,501.0,8.7,239,4829,0.85,0.00,118.22,0.865,6,0.070,0.000,2793,1680,3120,0,0,0,0,0,0
$STATE,4829,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$GC,4832,1.17,146.0,507.0,0.0,242,4963,1.33,2.67,120.57,0.848,4,0.036,0.072,3124,181,2522,0,0,0,0,0,0
$GC,5231,0.73,146.0,483.3,10.9,250,5238,0.50,2.40,0.00,0.000,6,0.100,0.027,3019,1670,2515,0,0,0,0,0,0
$GC,5481,0.80,199.8,465.2,6.8,257,5534,0.00,2.60,45.05,0.823,4,0.000,0.058,3019,183,2303,0,0,0,0,0,0
$GC,5678,0.72,199.8,446.9,9.3,261,5682,0.00,2.42,0.00,0.000,6,0.000,0.027,3019,1674,2299,0,0,0,0,0,0
$GC,5946,0.80,260.1,427.8,6.5,268,6004,0.00,2.60,51.80,0.810,4,0.000,0.058,3019,184,2058,0,0,0,0,0,0
$GC,6055,0.83,283.9,420.2,8.0,270,6084,0.00,2.42,22.17,0.769,6,0.000,0.027,3019,1672,1961,0,0,0,0,0,0
$GC,6363,0.88,325.8,398.2,7.3,278,6408,0.12,2.78,37.53,0.780,4,0.064,0.051,3089,3246,1789,0,0,0,0,0,0
$GC,6420,0.74,325.8,392.3,12.0,279,6427,0.30,2.62,0.00,0.000,6,0.093,0.031,3024,1679,1788,0,0,0,0,0,0
$GC,6697,0.74,325.8,363.6,10.6,286,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,1679,1783,0,0,0,0,0,0
$GC,6939,0.74,325.8,339.7,9.3,292,6943,0.00,2.62,0.00,0.000,4,0.000,0.041,3024,3257,1782,0,0,0,0,0,0
$GC,6967,0.82,325.8,337.0,9.3,292,6971,0.00,2.67,0.00,0.000,6,0.000,0.035,3024,1655,1779,0,0,0,0,0,0
$GC,7221,0.89,325.8,312.5,9.9,299,7227,0.12,2.65,0.00,0.000,4,0.070,0.040,3071,3255,1779,0,0,0,0,0,0
$GC,7256,0.89,325.8,308.2,13.1,299,7261,0.00,2.60,0.00,0.000,6,0.000,0.035,3071,1677,1777,0,0,0,0,0,0
$GC,7506,0.89,325.8,277.6,11.8,305,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1677,1777,0,0,0,0,0,0
$GC,7749,0.89,325.8,250.1,10.8,311,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1677,1776,0,0,0,0,0,0
$GC,7995,0.89,325.8,225.5,10.3,317,7999,0.00,2.58,0.00,0.000,4,0.000,0.062,3071,163,1776,0,0,0,0,0,0
$GC,8022,0.89,325.8,221.8,13.1,317,8027,0.00,2.42,0.00,0.000,6,0.000,0.022,3071,1690,1775,0,0,0,0,0,0
$GC,8278,0.89,325.8,193.1,10.0,327,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1694,1775,0,0,0,0,0,0
$GC,8535,0.89,325.8,168.2,10.1,351,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1694,1774,0,0,0,0,0,0
$GC,8792,0.89,325.8,142.2,10.9,375,8796,0.00,2.53,0.00,0.000,4,0.000,0.047,3071,164,1774,0,0,0,0,0,0
$GC,8861,0.89,325.8,134.5,11.1,381,8865,0.00,2.40,0.00,0.000,6,0.000,0.022,3071,1686,1774,0,0,0,0,0,0
$GC,9126,0.94,368.3,112.1,7.2,405,9168,0.00,2.58,35.47,0.570,4,0.000,0.031,3071,3264,1616,0,0,0,0,0,0
$GC,9181,0.94,372.7,107.1,8.8,410,9195,0.00,2.60,5.20,0.430,6,0.000,0.027,3071,1671,1599,0,0,0,0,0,0
$GC,9449,0.96,388.4,83.4,8.4,435,9471,0.00,2.60,15.12,0.515,4,0.000,0.031,3071,3256,1534,0,0,0,0,0,0
$GC,9487,1.04,393.6,79.8,8.8,438,9499,0.00,2.60,5.88,0.426,6,0.000,0.031,3072,1679,1513,0,0,0,0,0,0
$GC,9764,1.11,393.6,54.7,9.8,464,9772,0.12,0.00,0.00,0.000,6,0.063,0.000,3121,1679,1511,0,0,0,0,0,0
$GC,10041,1.11,393.6,21.8,11.2,494,10049,0.00,2.47,0.00,0.000,4,0.000,0.041,3121,178,1512,0,0,0,0,0,0
$GC,10071,1.03,393.6,17.4,12.4,498,10081,0.15,2.40,0.00,0.000,6,0.075,0.020,3084,1702,1512,0,0,0,0,0,0
$STATE,10216,end climb,SURFACE_DEPTH_REACHED
$STATE,10216,begin surface coast
$FINISH,0.7,1.011777
$STATE,10267,end surface coast,CONTROL_FINISHED_OK
$STATE,10267,begin surface
$SM_CCo,10288,13.12,0.062,0,0,1406,420.20
$SM_GC,1.79,0.00,0.00,13.12,0.000,0.000,0.062,417,1823,1406,-11.24,0.93,420.20
$IRIDIUM_FIX,2241.69,-15757.16,230300,131300
$TT8_MAMPS,0.026845
$HUMID,47.24
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.5,51.279
$10V_AH,10.2,44.493
$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,30.125,121.225,457.025,13.125,0.000,30.745,36.759,270.955,0.500,0.000,15.181,1092.176,6506.717,477.676,2067.776,635.633,33.375,1311.302,0.000,2067.018,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,79.001,865.176,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.817,328.179,415.602,633.767,1120.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41554,528
$CAP_FILE_SIZE,117375,0
$CFSIZE,260165632,150466560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281210,183907,2247.095,-15759.027,29,1.5,29,10.1