version: 66.06
glider: 148
mission: 9
dive: 388
start: 12 28 110 18 48 2
data:
$ID,148
$MISSION,9
$DIVE,388
$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,-866283.56
$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,31
$R_STBD_OVSHOOT,75
$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
$GPS1,183907,2247.095,-15759.027,29,1.5,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.5
$GPS2,184707,2247.021,-15759.087,12,1.4,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.202,0.149
$KALMAN_X,-34713.6,22.0,295.9,52927.5,-881.4
$KALMAN_Y,-53590.0,315.0,-303.2,177899.3,-1666.8
$MHEAD_RNG_PITCHd_Wd,296.3,6681,-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,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.95,0.000,2,0.000,0.000,416,1824,3267,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.2,-3.6,10,125,11.38,2.65,-8.40,0.000,4,0.150,0.051,2594,201,3717,0,0,0,0,0,0
$GC,257,-1.17,-146.0,34.8,-14.5,32,262,0.00,2.42,0.00,0.000,6,0.000,0.019,2594,1768,3719,0,0,0,0,0,0
$GC,525,-1.01,-146.0,72.5,-13.4,56,530,0.20,2.55,0.00,0.000,4,0.101,0.028,2637,3372,3719,0,0,0,0,0,0
$GC,591,-1.01,-146.0,81.1,-9.1,61,597,0.00,2.47,0.00,0.000,6,0.000,0.022,2637,1794,3720,0,0,0,0,0,0
$GC,854,-1.01,-146.0,110.6,-11.4,86,858,0.00,2.50,0.00,0.000,4,0.000,0.029,2637,3370,3720,0,0,0,0,0,0
$GC,900,-1.12,-146.0,115.5,-9.4,90,904,0.00,2.47,0.00,0.000,6,0.000,0.022,2637,1803,3721,0,0,0,0,0,0
$GC,1164,-1.21,-146.0,140.7,-9.6,114,1169,0.17,2.50,0.00,0.000,4,0.047,0.028,2537,3373,3721,0,0,0,0,0,0
$GC,1226,-1.06,-146.0,148.8,-14.5,119,1235,0.40,2.42,0.00,0.000,6,0.078,0.021,2627,1819,3721,0,0,0,0,0,0
$GC,1489,-1.06,-146.0,176.9,-10.0,144,1493,0.00,2.47,0.00,0.000,4,0.000,0.029,2627,3368,3721,0,0,0,0,0,0
$GC,1549,-1.20,-146.0,182.3,-8.1,149,1555,0.12,2.42,0.00,0.000,6,0.061,0.022,2543,1831,3722,0,0,0,0,0,0
$GC,1829,-1.01,-146.0,214.8,-11.9,167,1834,0.40,2.45,0.00,0.000,4,0.080,0.028,2636,3367,3722,0,0,0,0,0,0
$GC,1878,-1.18,-146.0,219.4,-7.1,168,1883,0.15,2.40,0.00,0.000,6,0.051,0.023,2560,1837,3722,0,0,0,0,0,0
$GC,2163,-1.06,-146.0,253.1,-12.6,175,2165,0.30,0.00,0.00,0.000,6,0.082,0.000,2628,1837,3722,0,0,0,0,0,0
$GC,2405,-1.15,-146.0,273.8,-8.1,181,2410,0.00,2.42,0.00,0.000,4,0.000,0.031,2628,3363,3722,0,0,0,0,0,0
$GC,2443,-1.33,-146.0,276.5,-6.7,181,2449,0.25,2.42,0.00,0.000,6,0.035,0.025,2540,1838,3722,0,0,0,0,0,0
$GC,2694,-1.19,-146.0,301.3,-10.1,188,2700,0.25,2.45,0.00,0.000,4,0.085,0.031,2599,3367,3722,0,0,0,0,0,0
$GC,2733,-1.27,-146.0,305.2,-8.7,188,2738,0.00,2.40,0.00,0.000,6,0.000,0.025,2599,1857,3722,0,0,0,0,0,0
$GC,2983,-1.33,-146.0,327.0,-9.1,195,2985,0.12,0.00,0.00,0.000,6,0.062,0.000,2528,1857,3721,0,0,0,0,0,0
$GC,3228,-1.18,-146.0,357.2,-12.4,201,3233,0.30,2.45,0.00,0.000,4,0.083,0.037,2599,3369,3720,0,0,0,0,0,0
$GC,3276,-1.27,-146.0,362.0,-7.9,202,3280,0.00,2.42,0.00,0.000,6,0.000,0.028,2599,1859,3721,0,0,0,0,0,0
$GC,3560,-1.34,-146.0,383.6,-7.9,209,3562,0.12,0.00,0.00,0.000,6,0.063,0.000,2529,1859,3719,0,0,0,0,0,0
$GC,3802,-1.18,-146.0,414.6,-13.2,215,3807,0.30,2.45,0.00,0.000,4,0.083,0.041,2598,3356,3718,0,0,0,0,0,0
$GC,3830,-1.18,-146.0,417.7,-9.2,215,3834,0.00,2.40,0.00,0.000,6,0.000,0.029,2599,1865,3718,0,0,0,0,0,0
$GC,4087,-1.25,-146.0,438.6,-8.1,222,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1865,3716,0,0,0,0,0,0
$GC,4328,-1.33,-146.0,457.1,-7.6,228,4333,0.12,2.50,0.00,0.000,4,0.064,0.045,2526,3363,3714,0,0,0,0,0,0
$GC,4357,-1.22,-146.0,460.0,-10.5,228,4362,0.30,2.40,0.00,0.000,6,0.080,0.028,2593,1861,3714,0,0,0,0,0,0
$GC,4615,-1.29,-146.0,480.5,-7.8,235,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1861,3712,0,0,0,0,0,0
$GC,4857,-1.36,-146.0,498.0,-7.0,241,4862,0.12,2.50,0.00,0.000,4,0.063,0.048,2527,3357,3710,0,0,0,0,0,0
$STATE,4878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4878,begin apogee
$GC,4888,-0.31,0.0,500.2,9.9,241,5009,1.15,0.00,117.65,0.866,6,0.078,0.000,2789,1684,3120,0,0,0,0,0,0
$STATE,5010,end apogee,CONTROL_FINISHED_OK
$STATE,5010,begin climb
$GC,5012,1.17,146.0,503.5,0.0,244,5143,1.33,2.72,120.32,0.847,4,0.025,0.068,3130,179,2523,0,0,0,0,0,0
$GC,5410,0.71,146.0,481.6,10.2,252,5416,0.55,2.42,0.00,0.000,6,0.102,0.028,3016,1667,2516,0,0,0,0,0,0
$GC,5661,0.82,230.1,467.4,5.5,259,5740,0.10,2.65,70.60,0.829,4,0.077,0.059,3064,166,2181,0,0,0,0,0,0
$GC,5926,0.65,230.1,437.8,11.5,264,5932,0.30,2.45,0.00,0.000,6,0.092,0.027,3000,1672,2175,0,0,0,0,0,0
$GC,6176,0.78,277.7,419.2,7.0,271,6225,0.12,2.67,41.45,0.798,4,0.064,0.058,3061,168,1986,0,0,0,0,0,0
$GC,6259,0.64,277.7,411.0,11.3,272,6265,0.28,2.42,0.00,0.000,6,0.092,0.026,3002,1674,1984,0,0,0,0,0,0
$GC,6509,0.76,306.4,391.0,7.8,279,6542,0.10,2.67,26.08,0.767,4,0.077,0.058,3055,170,1870,0,0,0,0,0,0
$GC,6578,0.67,306.4,383.4,12.9,280,6583,0.22,2.42,0.00,0.000,6,0.094,0.025,3007,1665,1868,0,0,0,0,0,0
$GC,6843,0.77,318.0,360.1,8.5,287,6859,0.00,2.75,11.05,0.695,4,0.000,0.047,3007,3277,1822,0,0,0,0,0,0
$GC,6885,0.90,318.0,356.3,9.7,287,6891,0.20,2.70,0.00,0.000,6,0.044,0.034,3068,1661,1819,0,0,0,0,0,0
$GC,7134,0.84,318.0,325.9,12.5,294,7136,0.12,0.00,0.00,0.000,6,0.110,0.000,3043,1661,1818,0,0,0,0,0,0
$GC,7378,0.84,318.0,298.9,10.8,300,7382,0.00,2.55,0.00,0.000,4,0.000,0.063,3043,171,1817,0,0,0,0,0,0
$GC,7398,0.84,318.0,297.0,10.3,300,7402,0.00,2.40,0.00,0.000,6,0.000,0.023,3043,1677,1816,0,0,0,0,0,0
$GC,7663,0.86,338.5,273.1,8.2,307,7688,0.00,2.70,18.05,0.680,4,0.000,0.044,3043,3245,1739,0,0,0,0,0,0
$GC,7742,1.00,363.8,267.4,8.0,308,7772,0.15,2.62,23.38,0.686,6,0.055,0.034,3096,1657,1637,0,0,0,0,0,0
$GC,8041,0.90,363.8,227.6,14.0,316,8046,0.17,2.55,0.00,0.000,4,0.100,0.063,3057,168,1633,0,0,0,0,0,0
$GC,8104,0.90,363.8,219.5,13.2,317,8108,0.00,2.38,0.00,0.000,6,0.000,0.023,3057,1660,1632,0,0,0,0,0,0
$GC,8365,0.90,363.8,189.9,10.9,329,8369,0.00,2.60,0.00,0.000,4,0.000,0.035,3057,3252,1631,0,0,0,0,0,0
$GC,8400,0.97,363.8,186.4,10.6,332,8404,0.00,2.60,0.00,0.000,6,0.000,0.030,3057,1651,1629,0,0,0,0,0,0
$GC,8662,0.97,363.8,159.3,11.0,356,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,1651,1629,0,0,0,0,0,0
$GC,8915,0.97,363.8,131.6,11.2,380,8920,0.00,2.60,0.00,0.000,4,0.000,0.034,3057,3257,1629,0,0,0,0,0,0
$GC,8947,1.05,363.8,128.0,12.6,382,8956,0.08,2.62,0.00,0.000,6,0.035,0.028,3111,1658,1627,0,0,0,0,0,0
$GC,9213,1.05,363.8,95.3,10.8,407,9218,0.10,2.45,0.00,0.000,4,0.120,0.046,3088,163,1627,0,0,0,0,0,0
$GC,9243,1.05,363.8,91.8,11.4,409,9247,0.00,2.35,0.00,0.000,6,0.000,0.021,3088,1666,1627,0,0,0,0,0,0
$GC,9510,1.05,363.8,63.2,11.3,433,9514,0.00,2.53,0.00,0.000,4,0.000,0.034,3088,3248,1627,0,0,0,0,0,0
$GC,9573,1.13,363.8,56.0,11.1,438,9578,0.00,2.55,0.00,0.000,6,0.000,0.028,3088,1668,1627,0,0,0,0,0,0
$GC,9844,1.13,363.8,28.5,9.9,463,9852,0.00,2.47,0.00,0.000,4,0.000,0.046,3088,173,1627,0,0,0,0,0,0
$GC,9888,1.13,363.8,23.1,11.1,469,9897,0.00,2.35,0.00,0.000,6,0.000,0.020,3088,1670,1626,0,0,0,0,0,0
$STATE,10085,end climb,SURFACE_DEPTH_REACHED
$STATE,10085,begin surface coast
$FINISH,0.8,1.022786
$STATE,10143,end surface coast,CONTROL_FINISHED_OK
$STATE,10143,begin surface
$SM_CCo,10163,29.27,0.063,0,0,1406,420.20
$SM_GC,1.53,0.00,0.00,29.27,0.000,0.000,0.063,409,1874,1406,-11.27,2.35,420.20
$IRIDIUM_FIX,2237.01,-15758.03,230300,151517
$TT8_MAMPS,0.026845
$HUMID,48.22
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.5,51.398
$10V_AH,10.2,44.603
$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,30.725,125.725,428.575,29.275,0.000,29.080,33.500,258.702,0.500,0.000,31.323,1078.624,6468.131,483.084,2020.824,622.950,33.375,1290.127,0.000,2003.778,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,68.263,865.943,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.205,312.879,392.950,598.271,1058.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38291,509
$CAP_FILE_SIZE,118698,0
$CFSIZE,260165632,150413312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281210,213907,2247.295,-15800.843,33,0.9,33,10.1