version: 66.06
glider: 148
mission: 9
dive: 393
start: 12 29 110 10 37 28
data:
$ID,148
$MISSION,9
$DIVE,393
$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,-866384.19
$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,33
$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
$GPS1,102607,2250.277,-15802.681,29,1.0,29,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.6
$GPS2,103631,2250.223,-15802.654,10,1.0,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,-0.023
$KALMAN_X,-36279.9,43.5,-70.1,48701.4,-355.4
$KALMAN_Y,-57698.0,-1.6,-296.3,188244.6,150.0
$MHEAD_RNG_PITCHd_Wd,85.1,9660,-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,17,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.80,0.000,2,0.000,0.000,413,1822,3342,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.9,-5.4,10,125,11.55,2.42,-6.62,0.000,4,0.155,0.038,2597,3347,3718,0,0,0,0,0,0
$GC,159,-0.77,-146.0,23.4,-25.2,18,169,0.38,2.53,0.00,0.000,6,0.074,0.024,2686,1783,3720,0,0,0,0,0,0
$GC,437,-0.89,-146.0,52.3,-8.8,46,441,0.00,2.50,0.00,0.000,4,0.000,0.029,2686,3343,3720,0,0,0,0,0,0
$GC,471,-1.05,-146.0,55.6,-8.6,48,480,0.20,2.50,0.00,0.000,6,0.019,0.022,2577,1786,3720,0,0,0,0,0,0
$GC,739,-0.84,-146.0,93.0,-14.9,73,748,0.40,2.47,0.00,0.000,4,0.085,0.030,2669,3336,3721,0,0,0,0,0,0
$GC,773,-0.84,-146.0,98.0,-9.0,76,782,0.00,2.45,0.00,0.000,6,0.000,0.021,2670,1800,3721,0,0,0,0,0,0
$GC,1039,-1.01,-146.0,116.2,-7.0,101,1044,0.12,2.45,0.00,0.000,4,0.061,0.029,2583,3339,3721,0,0,0,0,0,0
$GC,1091,-1.01,-146.0,122.1,-11.1,105,1097,0.25,2.38,0.00,0.000,6,0.078,0.022,2640,1822,3721,0,0,0,0,0,0
$GC,1354,-1.11,-146.0,147.2,-9.2,130,1358,0.00,2.42,0.00,0.000,4,0.000,0.028,2640,3343,3722,0,0,0,0,0,0
$GC,1394,-1.25,-146.0,150.5,-8.4,133,1399,0.22,2.35,0.00,0.000,6,0.038,0.021,2546,1837,3722,0,0,0,0,0,0
$GC,1660,-1.09,-146.0,185.2,-13.4,157,1665,0.30,2.40,0.00,0.000,4,0.081,0.029,2618,3346,3722,0,0,0,0,0,0
$GC,1701,-1.09,-146.0,189.3,-8.5,160,1705,0.00,2.38,0.00,0.000,6,0.000,0.022,2618,1841,3722,0,0,0,0,0,0
$GC,1986,-1.09,-146.0,214.5,-8.9,175,1991,0.00,2.40,0.00,0.000,4,0.000,0.030,2618,3340,3722,0,0,0,0,0,0
$GC,2039,-1.23,-146.0,219.2,-8.9,176,2044,0.12,2.35,0.00,0.000,6,0.059,0.022,2533,1858,3722,0,0,0,0,0,0
$GC,2318,-1.00,-146.0,260.6,-15.4,183,2325,0.52,2.65,0.00,0.000,4,0.077,0.038,2639,214,3722,0,0,0,0,0,0
$GC,2344,-1.12,-146.0,263.6,-9.0,183,2349,0.10,2.50,0.00,0.000,6,0.073,0.020,2568,1832,3722,0,0,0,0,0,0
$GC,2606,-1.04,-146.0,289.9,-10.2,190,2611,0.30,2.45,0.00,0.000,4,0.077,0.034,2633,3360,3722,0,0,0,0,0,0
$GC,2658,-1.24,-146.0,294.1,-6.7,191,2663,0.17,2.38,0.00,0.000,6,0.045,0.025,2549,1864,3722,0,0,0,0,0,0
$GC,2938,-1.14,-146.0,324.8,-11.5,198,2943,0.25,2.42,0.00,0.000,4,0.082,0.036,2607,3360,3722,0,0,0,0,0,0
$GC,2957,-1.14,-146.0,327.2,-10.5,198,2962,0.00,2.38,0.00,0.000,6,0.000,0.025,2607,1863,3721,0,0,0,0,0,0
$GC,3221,-1.22,-146.0,349.5,-8.5,205,3226,0.00,2.42,0.00,0.000,4,0.000,0.039,2607,3360,3720,0,0,0,0,0,0
$GC,3270,-1.37,-146.0,353.5,-7.7,206,3275,0.17,2.38,0.00,0.000,6,0.044,0.028,2506,1872,3720,0,0,0,0,0,0
$GC,3553,-1.13,-146.0,390.9,-13.6,213,3560,0.50,2.75,0.00,0.000,4,0.078,0.054,2607,224,3718,0,0,0,0,0,0
$GC,3595,-1.32,-146.0,394.5,-7.1,213,3601,0.15,2.60,0.00,0.000,6,0.054,0.026,2532,1865,3718,0,0,0,0,0,0
$GC,3845,-1.21,-146.0,419.2,-10.3,220,3850,0.25,2.45,0.00,0.000,4,0.083,0.044,2592,3360,3717,0,0,0,0,0,0
$GC,3891,-1.30,-146.0,422.8,-7.2,221,3895,0.00,2.40,0.00,0.000,6,0.000,0.028,2592,1872,3717,0,0,0,0,0,0
$GC,4178,-1.38,-146.0,444.0,-7.5,228,4180,0.15,0.00,0.00,0.000,6,0.056,0.000,2525,1871,3714,0,0,0,0,0,0
$GC,4421,-1.26,-146.0,471.5,-11.5,234,4423,0.28,0.00,0.00,0.000,6,0.082,0.000,2586,1871,3712,0,0,0,0,0,0
$GC,4667,-1.26,-146.0,492.2,-8.2,240,4671,0.00,2.50,0.00,0.000,4,0.000,0.051,2586,3358,3711,0,0,0,0,0,0
$GC,4710,-1.35,-146.0,495.7,-7.5,241,4714,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,1882,3710,0,0,0,0,0,0
$STATE,4791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4791,begin apogee
$GC,4797,-0.31,0.0,502.4,7.7,243,4918,0.90,0.00,117.57,0.865,6,0.073,0.000,2792,1684,3119,0,0,0,0,0,0
$STATE,4918,end apogee,CONTROL_FINISHED_OK
$STATE,4918,begin climb
$GC,4922,1.17,146.0,507.1,0.0,246,5054,1.33,2.72,121.22,0.848,4,0.024,0.050,3134,3254,2522,0,0,0,0,0,0
$GC,5158,0.84,146.0,500.6,9.6,251,5166,0.43,2.62,0.00,0.000,6,0.096,0.038,3044,1696,2517,0,0,0,0,0,0
$GC,5416,0.78,191.4,481.7,7.1,258,5461,0.00,2.75,38.22,0.821,4,0.000,0.074,3044,163,2339,0,0,0,0,0,0
$GC,5481,0.60,191.4,476.5,9.3,259,5486,0.25,2.45,0.00,0.000,6,0.094,0.028,2991,1662,2338,0,0,0,0,0,0
$GC,5743,0.73,247.3,458.6,6.7,266,5800,0.12,2.62,48.95,0.818,4,0.064,0.058,3047,163,2110,0,0,0,0,0,0
$GC,5868,0.63,247.3,445.7,11.7,268,5873,0.25,2.45,0.00,0.000,6,0.091,0.028,2994,1675,2107,0,0,0,0,0,0
$GC,6118,0.74,275.9,425.6,7.8,274,6146,0.12,0.00,25.00,0.785,6,0.065,0.000,3052,1675,1995,0,0,0,0,0,0
$GC,6362,0.68,275.9,400.6,10.3,280,6367,0.20,2.62,0.00,0.000,4,0.095,0.057,3009,159,1989,0,0,0,0,0,0
$GC,6387,0.68,275.9,398.1,9.8,280,6392,0.00,2.45,0.00,0.000,6,0.000,0.025,3009,1680,1989,0,0,0,0,0,0
$GC,6647,0.79,311.6,378.2,7.5,287,6689,0.10,2.67,32.60,0.775,4,0.078,0.058,3059,163,1848,0,0,0,0,0,0
$GC,6716,0.71,311.6,371.5,11.5,288,6721,0.20,2.42,0.00,0.000,6,0.094,0.026,3015,1658,1847,0,0,0,0,0,0
$GC,6982,0.80,332.3,349.1,8.1,295,7003,0.00,0.00,18.65,0.736,6,0.000,0.000,3015,1658,1764,0,0,0,0,0,0
$GC,7226,0.91,347.1,328.8,8.4,301,7247,0.17,2.78,13.85,0.703,4,0.048,0.051,3086,3247,1704,0,0,0,0,0,0
$GC,7286,0.91,347.1,321.6,12.8,302,7291,0.12,2.65,0.00,0.000,6,0.111,0.035,3059,1651,1700,0,0,0,0,0,0
$GC,7560,0.91,347.1,291.3,10.9,309,7564,0.00,2.55,0.00,0.000,4,0.000,0.064,3059,168,1699,0,0,0,0,0,0
$GC,7579,0.91,347.1,289.1,11.8,309,7584,0.00,2.38,0.00,0.000,6,0.000,0.024,3059,1659,1699,0,0,0,0,0,0
$GC,7843,0.91,347.1,260.0,10.7,316,7847,0.00,2.62,0.00,0.000,4,0.000,0.044,3059,3242,1697,0,0,0,0,0,0
$GC,7866,0.91,347.1,257.4,10.4,316,7871,0.00,2.65,0.00,0.000,6,0.000,0.032,3059,1638,1696,0,0,0,0,0,0
$GC,8126,0.91,347.1,229.4,10.9,323,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,1638,1695,0,0,0,0,0,0
$GC,8369,0.91,347.1,202.1,11.2,329,8373,0.00,2.65,0.00,0.000,4,0.000,0.035,3059,3251,1695,0,0,0,0,0,0
$GC,8392,0.91,347.1,199.4,11.2,329,8396,0.00,2.60,0.00,0.000,6,0.000,0.028,3059,1643,1694,0,0,0,0,0,0
$GC,8665,0.91,347.1,170.2,10.0,354,8669,0.00,2.45,0.00,0.000,4,0.000,0.048,3059,167,1694,0,0,0,0,0,0
$GC,8700,0.91,347.1,166.0,11.8,357,8704,0.00,2.33,0.00,0.000,6,0.000,0.022,3059,1657,1694,0,0,0,0,0,0
$GC,8965,0.91,347.1,139.6,10.1,381,8970,0.00,2.58,0.00,0.000,4,0.000,0.031,3059,3257,1693,0,0,0,0,0,0
$GC,9015,1.04,347.1,135.1,9.3,385,9020,0.10,2.60,0.00,0.000,6,0.078,0.028,3115,1648,1692,0,0,0,0,0,0
$GC,9281,0.97,347.1,104.1,11.2,409,9286,0.20,2.45,0.00,0.000,4,0.095,0.045,3072,166,1692,0,0,0,0,0,0
$GC,9301,0.97,347.1,101.2,11.4,410,9310,0.00,2.35,0.00,0.000,6,0.000,0.021,3072,1660,1692,0,0,0,0,0,0
$GC,9568,0.97,347.5,78.0,9.0,435,9573,0.00,2.53,0.00,0.000,4,0.000,0.031,3072,3247,1692,0,0,0,0,0,0
$GC,9600,1.05,348.3,75.0,9.0,437,9605,0.00,2.55,0.00,0.000,6,0.000,0.027,3072,1654,1692,0,0,0,0,0,0
$GC,9867,1.05,348.3,49.9,9.5,461,9871,0.00,2.42,0.00,0.000,4,0.000,0.044,3072,171,1692,0,0,0,0,0,0
$GC,9931,1.05,348.3,43.4,10.2,466,9935,0.00,2.28,0.00,0.000,6,0.000,0.020,3072,1656,1692,0,0,0,0,0,0
$GC,10217,1.17,375.7,18.3,7.9,501,10249,0.17,2.47,25.45,0.473,4,0.051,0.042,3157,168,1587,0,0,0,0,0,0
$GC,10267,1.01,375.7,12.7,12.2,507,10276,0.32,2.33,0.00,0.000,6,0.079,0.019,3082,1645,1586,0,0,0,0,0,0
$STATE,10353,end climb,SURFACE_DEPTH_REACHED
$STATE,10353,begin surface coast
$FINISH,0.7,1.023419
$STATE,10412,end surface coast,CONTROL_FINISHED_OK
$STATE,10412,begin surface
$SM_CCo,10432,27.88,0.325,1,0,1405,420.20
$SM_GC,1.71,0.00,0.00,27.88,0.000,0.000,0.325,409,1876,1405,-11.27,2.43,420.20
$IRIDIUM_FIX,2241.69,-15804.53,240300,101006
$TT8_MAMPS,0.026845
$HUMID,46.85
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.5,52.020
$10V_AH,10.2,45.177
$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,32.175,145.150,441.525,27.875,0.000,61.778,73.230,269.198,0.500,0.000,16.929,1121.539,6688.291,557.991,1994.436,731.533,33.378,1340.896,0.000,1997.009,0.000,0.539,0.000
$DEVICE_MAMPS,154.934,74.399,865.176,325.208,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.826,328.218,412.333,638.675,1129.886,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355280
$DATA_FILE_SIZE,41484,529
$CAP_FILE_SIZE,127589,0
$CFSIZE,260165632,150102016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291210,133304,2250.021,-15800.886,9,99.0,28,10.1