version: 66.06
glider: 148
mission: 9
dive: 394
start: 12 29 110 13 41 45
data:
$ID,148
$MISSION,9
$DIVE,394
$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,-866398.75
$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,55
$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
$GPS1,133304,2250.021,-15800.886,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.1
$GPS2,134049,2249.952,-15800.814,12,1.9,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.232,0.094
$KALMAN_X,-35906.5,144.9,-153.4,51474.0,425.3
$KALMAN_Y,-58726.6,35.6,453.4,187991.5,-1006.2
$MHEAD_RNG_PITCHd_Wd,57.8,6512,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.72,0.000,2,0.000,0.000,408,1877,3323,0,0,0,0,0,0
$GC,101,-1.17,-146.0,3.7,-4.7,10,125,11.68,2.72,-7.00,0.000,4,0.157,0.050,2599,207,3718,0,0,0,0,0,0
$GC,135,0.46,-146.0,17.4,-32.8,14,144,1.60,2.50,0.00,0.000,6,0.082,0.018,2955,1797,3720,0,0,0,0,0,0
$GC,423,-0.36,-146.0,39.6,-7.7,51,436,0.70,2.60,0.00,0.000,4,0.042,0.039,2780,209,3721,0,0,0,0,0,0
$GC,575,-1.09,-146.0,52.9,-10.2,64,588,0.65,2.58,0.00,0.000,6,0.048,0.018,2618,1883,3721,0,0,0,0,0,0
$GC,846,-1.00,-146.0,80.9,-11.4,89,850,0.10,2.35,0.00,0.000,4,0.118,0.030,2640,3354,3721,0,0,0,0,0,0
$GC,923,-1.08,-146.0,89.6,-9.1,96,928,0.00,2.35,0.00,0.000,6,0.000,0.022,2640,1854,3721,0,0,0,0,0,0
$GC,1186,-1.08,-146.0,113.5,-8.4,120,1190,0.00,2.65,0.00,0.000,4,0.000,0.038,2640,209,3722,0,0,0,0,0,0
$GC,1212,-1.19,-146.0,115.8,-8.1,122,1218,0.17,2.55,0.00,0.000,6,0.046,0.018,2538,1870,3722,0,0,0,0,0,0
$GC,1473,-0.93,-146.0,156.3,-15.1,146,1482,0.57,2.35,0.00,0.000,4,0.081,0.028,2651,3364,3722,0,0,0,0,0,0
$GC,1558,-1.16,-146.0,163.2,-7.1,154,1563,0.20,2.35,0.00,0.000,6,0.040,0.021,2553,1857,3723,0,0,0,0,0,0
$GC,1824,-0.99,-146.0,196.8,-13.3,178,1829,0.40,0.00,0.00,0.000,6,0.081,0.000,2640,1857,3723,0,0,0,0,0,0
$GC,2095,-1.11,-146.0,216.3,-6.4,187,2100,0.10,2.42,0.00,0.000,4,0.075,0.029,2567,3364,3723,0,0,0,0,0,0
$GC,2148,-1.11,-146.0,220.9,-9.2,188,2153,0.22,2.35,0.00,0.000,6,0.079,0.022,2619,1864,3723,0,0,0,0,0,0
$GC,2427,-1.18,-146.0,241.1,-7.4,195,2431,0.00,2.38,0.00,0.000,4,0.000,0.030,2619,3361,3723,0,0,0,0,0,0
$GC,2466,-1.31,-146.0,244.1,-7.9,195,2473,0.17,2.35,0.00,0.000,6,0.048,0.023,2522,1875,3723,0,0,0,0,0,0
$GC,2716,-1.11,-146.0,274.4,-12.5,202,2723,0.40,2.70,0.00,0.000,4,0.079,0.040,2616,208,3723,0,0,0,0,0,0
$GC,2738,-1.11,-146.0,276.9,-10.2,202,2742,0.00,2.60,0.00,0.000,6,0.000,0.021,2616,1878,3723,0,0,0,0,0,0
$GC,3004,-1.21,-146.0,295.8,-7.3,209,3008,0.00,2.35,0.00,0.000,4,0.000,0.034,2616,3360,3722,0,0,0,0,0,0
$GC,3041,-1.35,-146.0,299.1,-8.2,209,3047,0.22,2.35,0.00,0.000,6,0.038,0.025,2508,1885,3723,0,0,0,0,0,0
$GC,3293,-1.14,-146.0,333.0,-14.3,216,3298,0.43,2.38,0.00,0.000,4,0.079,0.035,2608,3355,3722,0,0,0,0,0,0
$GC,3327,-1.23,-146.0,337.0,-8.5,216,3331,0.00,2.33,0.00,0.000,6,0.000,0.027,2607,1892,3721,0,0,0,0,0,0
$GC,3577,-1.31,-146.0,355.3,-7.3,222,3582,0.15,2.38,0.00,0.000,4,0.053,0.039,2526,3349,3720,0,0,0,0,0,0
$GC,3598,-1.31,-146.0,357.1,-8.7,222,3603,0.22,2.33,0.00,0.000,6,0.084,0.026,2577,1898,3719,0,0,0,0,0,0
$GC,3862,-1.31,-146.0,378.7,-8.0,229,3867,0.00,2.83,0.00,0.000,4,0.000,0.054,2576,205,3718,0,0,0,0,0,0
$GC,3877,-1.31,-146.0,380.0,-8.1,229,3881,0.00,2.67,0.00,0.000,6,0.000,0.025,2577,1885,3719,0,0,0,0,0,0
$GC,4147,-1.31,-146.0,400.4,-7.4,236,4151,0.00,2.38,0.00,0.000,4,0.000,0.041,2577,3355,3717,0,0,0,0,0,0
$GC,4184,-1.31,-146.0,403.4,-7.5,236,4191,0.00,2.30,0.00,0.000,6,0.000,0.028,2577,1903,3717,0,0,0,0,0,0
$GC,4434,-1.31,-146.0,423.7,-8.3,243,4440,0.00,2.85,0.00,0.000,4,0.000,0.059,2577,214,3714,0,0,0,0,0,0
$GC,4456,-1.31,-146.0,425.7,-9.6,243,4460,0.00,2.70,0.00,0.000,6,0.000,0.028,2577,1894,3714,0,0,0,0,0,0
$GC,4720,-1.31,-146.0,447.3,-7.8,250,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1894,3712,0,0,0,0,0,0
$GC,4964,-1.31,-146.0,465.9,-7.6,256,4968,0.00,2.38,0.00,0.000,4,0.000,0.047,2577,3346,3711,0,0,0,0,0,0
$GC,5012,-1.38,-146.0,469.8,-7.9,257,5016,0.00,2.33,0.00,0.000,6,0.000,0.029,2577,1909,3710,0,0,0,0,0,0
$GC,5294,-1.38,-146.0,493.6,-8.7,264,5298,0.00,2.40,0.00,0.000,4,0.000,0.048,2577,3346,3709,0,0,0,0,0,0
$GC,5326,-1.38,-146.0,496.5,-8.3,264,5330,0.00,2.30,0.00,0.000,6,0.000,0.029,2577,1926,3709,0,0,0,0,0,0
$STATE,5370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5371,begin apogee
$GC,5378,-0.31,0.0,500.6,8.8,265,5499,0.95,0.00,117.50,0.869,6,0.071,0.000,2794,1667,3120,0,0,0,0,0,0
$STATE,5500,end apogee,CONTROL_FINISHED_OK
$STATE,5500,begin climb
$GC,5502,1.17,146.0,505.8,0.0,268,5631,1.33,0.00,120.95,0.851,6,0.025,0.000,3133,1667,2524,0,0,0,0,0,0
$GC,5858,0.85,168.2,492.8,8.1,277,5883,0.38,2.67,18.62,0.792,4,0.101,0.071,3050,190,2434,0,0,0,0,0,0
$GC,5898,0.73,207.5,489.8,7.4,277,5940,0.15,2.40,35.15,0.817,6,0.112,0.027,3019,1657,2273,0,0,0,0,0,0
$GC,6190,0.78,249.0,468.9,7.3,285,6233,0.00,2.80,36.12,0.815,4,0.000,0.054,3019,3264,2104,0,0,0,0,0,0
$GC,6271,0.78,249.2,462.5,9.0,286,6276,0.00,2.62,0.00,0.000,6,0.000,0.035,3019,1698,2099,0,0,0,0,0,0
$GC,6523,0.79,261.0,441.4,8.5,292,6539,0.00,2.72,10.80,0.730,4,0.000,0.069,3019,160,2055,0,0,0,0,0,0
$GC,6581,0.79,261.0,435.5,10.8,293,6585,0.00,2.47,0.00,0.000,6,0.000,0.028,3019,1681,2055,0,0,0,0,0,0
$GC,6857,0.79,261.0,410.7,9.1,300,6861,0.00,2.62,0.00,0.000,4,0.000,0.060,3019,165,2051,0,0,0,0,0,0
$GC,6921,0.79,261.0,403.6,10.5,301,6926,0.00,2.42,0.00,0.000,6,0.000,0.026,3019,1666,2051,0,0,0,0,0,0
$GC,7185,0.79,261.0,378.7,9.3,308,7189,0.00,2.67,0.00,0.000,4,0.000,0.050,3019,3257,2049,0,0,0,0,0,0
$GC,7224,0.88,261.0,375.1,9.5,308,7230,0.12,2.67,0.00,0.000,6,0.066,0.035,3077,1654,2047,0,0,0,0,0,0
$GC,7473,0.76,261.0,347.2,11.2,315,7479,0.22,2.58,0.00,0.000,4,0.095,0.064,3027,163,2047,0,0,0,0,0,0
$GC,7563,0.76,261.0,338.1,10.4,317,7567,0.00,2.40,0.00,0.000,6,0.000,0.025,3027,1664,2047,0,0,0,0,0,0
$GC,7852,0.79,284.4,314.4,8.0,324,7875,0.00,0.00,20.75,0.729,6,0.000,0.000,3027,1665,1959,0,0,0,0,0,0
$GC,8139,0.79,286.8,288.7,8.9,331,8144,0.00,2.65,0.00,0.000,4,0.000,0.045,3027,3247,1954,0,0,0,0,0,0
$GC,8160,0.80,289.2,286.9,8.9,331,8171,0.00,2.65,4.80,0.526,6,0.000,0.032,3027,1647,1941,0,0,0,0,0,0
$GC,8426,0.86,289.2,262.2,9.3,338,8431,0.00,2.55,0.00,0.000,4,0.000,0.063,3027,161,1940,0,0,0,0,0,0
$GC,8486,0.86,289.2,256.0,9.5,339,8491,0.00,2.38,0.00,0.000,6,0.000,0.023,3027,1652,1939,0,0,0,0,0,0
$GC,8756,0.97,321.1,234.5,7.7,346,8789,0.17,0.00,30.35,0.680,6,0.051,0.000,3104,1656,1811,0,0,0,0,0,0
$GC,8999,0.85,321.1,208.6,10.8,352,9004,0.25,2.50,0.00,0.000,4,0.093,0.051,3046,169,1805,0,0,0,0,0,0
$GC,9025,0.85,321.1,206.1,9.2,352,9029,0.00,2.33,0.00,0.000,6,0.000,0.022,3045,1646,1805,0,0,0,0,0,0
$GC,9288,0.86,328.2,185.7,8.7,370,9297,0.00,0.00,6.80,0.532,6,0.000,0.000,3045,1649,1780,0,0,0,0,0,0
$GC,9552,0.86,328.2,159.8,10.2,395,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1649,1778,0,0,0,0,0,0
$GC,9807,0.86,328.2,133.9,9.4,419,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1649,1778,0,0,0,0,0,0
$GC,10069,0.98,360.1,111.7,7.7,444,10102,0.12,0.00,28.65,0.568,6,0.064,0.000,3121,1649,1651,0,0,0,0,0,0
$GC,10356,0.89,360.1,79.5,11.0,471,10365,0.30,0.00,0.00,0.000,6,0.086,0.000,3055,1649,1648,0,0,0,0,0,0
$GC,10624,1.02,385.5,58.0,8.0,496,10660,0.10,2.65,23.17,0.511,4,0.077,0.033,3114,3254,1546,0,0,0,0,0,0
$GC,10687,1.02,385.5,49.8,13.0,501,10696,0.12,2.67,0.00,0.000,6,0.071,0.028,3080,1624,1544,0,0,0,0,0,0
$GC,10964,1.10,402.0,22.7,8.3,532,10989,0.00,2.47,14.95,0.465,4,0.000,0.046,3080,163,1480,0,0,0,0,0,0
$GC,11035,1.18,402.0,15.9,9.9,542,11044,0.12,2.30,0.00,0.000,6,0.025,0.020,3152,1623,1480,0,0,0,0,0,0
$STATE,11132,end climb,SURFACE_DEPTH_REACHED
$STATE,11132,begin surface coast
$FINISH,0.7,1.001972
$STATE,11169,end surface coast,CONTROL_FINISHED_OK
$STATE,11170,begin surface
$SM_CCo,11190,18.50,0.257,1,0,1406,420.20
$SM_GC,1.60,0.00,0.00,18.50,0.000,0.000,0.257,415,1830,1406,-11.25,1.13,420.20
$IRIDIUM_FIX,2241.69,-15804.53,240300,101017
$TT8_MAMPS,0.026845
$HUMID,47.95
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.5,52.143
$10V_AH,10.3,45.297
$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,33.500,135.875,468.625,18.500,0.000,24.418,34.410,268.843,0.250,0.000,13.951,1151.759,7220.511,545.316,2122.178,640.371,33.403,1396.512,0.000,2122.192,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,70.564,869.011,256.945,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.437,343.763,433.194,684.292,1209.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,44557,562
$CAP_FILE_SIZE,126083,0
$CFSIZE,260165632,150048768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291210,165000,2249.823,-15758.896,35,1.2,41,10.1