version: 66.06
glider: 148
mission: 9
dive: 397
start: 12 29 110 23 19 47
data:
$ID,148
$MISSION,9
$DIVE,397
$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,-866463.56
$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,30
$R_STBD_OVSHOOT,86
$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
$GPS1,231004,2249.734,-15756.911,13,5.6,32,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.6
$GPS2,231852,2249.727,-15757.031,14,5.8,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.071,-0.240
$KALMAN_X,-35191.3,101.9,-256.4,57424.6,-17.5
$KALMAN_Y,-63062.6,-345.5,-279.1,193025.5,-414.1
$MHEAD_RNG_PITCHd_Wd,186.4,5219,-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,-74.68,0.000,2,0.000,0.000,412,1841,3271,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.4,-4.2,10,131,11.62,2.75,-8.40,0.000,4,0.157,0.056,2596,204,3720,0,0,0,0,0,0
$GC,210,-1.06,-146.0,27.7,-15.6,26,219,0.10,2.45,0.00,0.000,6,0.089,0.019,2623,1755,3721,0,0,0,0,0,0
$GC,488,-1.00,-146.0,62.5,-11.9,52,493,0.00,2.58,0.00,0.000,4,0.000,0.029,2623,3371,3721,0,0,0,0,0,0
$GC,575,-1.00,-146.0,72.4,-10.2,59,579,0.00,2.50,0.00,0.000,6,0.000,0.022,2623,1795,3722,0,0,0,0,0,0
$GC,842,-1.00,-146.0,101.9,-11.3,83,846,0.00,2.50,0.00,0.000,4,0.000,0.030,2623,3367,3721,0,0,0,0,0,0
$GC,889,-1.00,-146.0,107.4,-9.2,87,894,0.00,2.45,0.00,0.000,6,0.000,0.022,2623,1815,3722,0,0,0,0,0,0
$GC,1157,-1.00,-146.0,128.8,-7.8,111,1161,0.00,2.47,0.00,0.000,4,0.000,0.029,2623,3376,3722,0,0,0,0,0,0
$GC,1226,-1.10,-146.0,134.7,-8.4,117,1230,0.00,2.45,0.00,0.000,6,0.000,0.021,2623,1823,3723,0,0,0,0,0,0
$GC,1490,-1.10,-146.0,159.5,-9.2,141,1494,0.00,2.45,0.00,0.000,4,0.000,0.030,2623,3368,3723,0,0,0,0,0,0
$GC,1555,-1.25,-146.0,165.2,-7.7,147,1560,0.15,2.38,0.00,0.000,6,0.051,0.022,2530,1850,3723,0,0,0,0,0,0
$GC,1838,-0.99,-146.0,206.9,-16.6,170,1846,0.57,2.45,0.00,0.000,4,0.086,0.029,2641,3372,3724,0,0,0,0,0,0
$GC,1885,-1.15,-146.0,212.4,-8.3,171,1890,0.12,2.38,0.00,0.000,6,0.061,0.022,2572,1854,3724,0,0,0,0,0,0
$GC,2174,-1.08,-146.0,241.2,-9.6,178,2179,0.25,2.42,0.00,0.000,4,0.084,0.030,2630,3368,3724,0,0,0,0,0,0
$GC,2212,-1.22,-146.0,244.8,-8.5,178,2218,0.15,2.38,0.00,0.000,6,0.052,0.023,2556,1859,3724,0,0,0,0,0,0
$GC,2462,-1.12,-146.0,274.1,-12.5,185,2467,0.25,2.42,0.00,0.000,4,0.085,0.031,2615,3365,3724,0,0,0,0,0,0
$GC,2502,-1.25,-146.0,278.1,-9.1,185,2508,0.12,2.35,0.00,0.000,6,0.060,0.025,2542,1874,3724,0,0,0,0,0,0
$GC,2752,-1.12,-146.0,309.4,-13.0,192,2757,0.30,2.42,0.00,0.000,4,0.082,0.035,2613,3366,3723,0,0,0,0,0,0
$GC,2783,-1.21,-146.0,312.4,-9.1,192,2787,0.00,2.35,0.00,0.000,6,0.000,0.026,2613,1882,3723,0,0,0,0,0,0
$GC,3037,-1.31,-146.0,331.4,-7.4,199,3042,0.15,2.42,0.00,0.000,4,0.054,0.037,2536,3366,3723,0,0,0,0,0,0
$GC,3066,-1.19,-146.0,334.3,-10.5,199,3071,0.28,2.35,0.00,0.000,6,0.077,0.025,2600,1895,3722,0,0,0,0,0,0
$GC,3324,-1.25,-146.0,355.8,-8.5,206,3328,0.00,2.40,0.00,0.000,4,0.000,0.038,2600,3364,3721,0,0,0,0,0,0
$GC,3370,-1.38,-146.0,360.1,-8.5,207,3375,0.17,2.35,0.00,0.000,6,0.048,0.028,2504,1907,3721,0,0,0,0,0,0
$GC,3655,-1.16,-146.0,398.8,-14.2,214,3663,0.45,2.83,0.00,0.000,4,0.083,0.054,2602,217,3719,0,0,0,0,0,0
$GC,3672,-1.09,-146.0,401.3,-12.4,214,3677,0.00,2.65,0.00,0.000,6,0.000,0.025,2603,1892,3719,0,0,0,0,0,0
$GC,3941,-1.18,-146.0,421.8,-7.2,221,3946,0.00,2.40,0.00,0.000,4,0.000,0.043,2603,3357,3718,0,0,0,0,0,0
$GC,3986,-1.32,-146.0,425.1,-7.0,222,3991,0.12,2.33,0.00,0.000,6,0.061,0.028,2525,1916,3717,0,0,0,0,0,0
$GC,4274,-1.17,-146.0,457.6,-11.4,229,4281,0.35,2.90,0.00,0.000,4,0.082,0.061,2603,219,3715,0,0,0,0,0,0
$GC,4302,-1.26,-146.0,460.3,-9.1,229,4306,0.00,2.70,0.00,0.000,6,0.000,0.029,2603,1904,3715,0,0,0,0,0,0
$GC,4562,-1.35,-146.0,478.4,-6.7,236,4567,0.15,2.42,0.00,0.000,4,0.055,0.048,2534,3357,3713,0,0,0,0,0,0
$GC,4605,-1.28,-146.0,482.5,-9.8,237,4610,0.22,2.30,0.00,0.000,6,0.083,0.028,2584,1920,3713,0,0,0,0,0,0
$STATE,4809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4809,begin apogee
$GC,4816,-0.31,0.0,500.3,8.6,242,4938,0.93,0.00,117.88,0.863,6,0.075,0.000,2794,1678,3120,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4941,1.17,146.0,506.8,0.0,245,5070,1.33,2.72,120.32,0.845,4,0.031,0.051,3129,3245,2524,0,0,0,0,0,0
$GC,5114,0.86,163.6,507.7,8.3,249,5136,0.40,2.62,15.50,0.770,6,0.100,0.037,3046,1691,2452,0,0,0,0,0,0
$GC,5398,0.77,175.6,484.0,8.5,256,5415,0.00,2.72,10.82,0.738,4,0.000,0.075,3046,167,2403,0,0,0,0,0,0
$GC,5425,0.65,196.9,481.3,8.1,256,5451,0.22,2.42,19.90,0.787,6,0.100,0.027,2999,1668,2317,0,0,0,0,0,0
$GC,5729,0.69,235.1,458.7,7.4,264,5771,0.00,2.65,33.22,0.806,4,0.000,0.058,2999,159,2160,0,0,0,0,0,0
$GC,5805,0.69,235.1,451.9,10.5,265,5809,0.00,2.47,0.00,0.000,6,0.000,0.027,2999,1679,2159,0,0,0,0,0,0
$GC,6061,0.79,249.9,430.0,8.4,272,6082,0.12,2.70,13.50,0.747,4,0.064,0.060,3058,163,2101,0,0,0,0,0,0
$GC,6135,0.65,249.9,421.9,11.9,273,6140,0.28,2.42,0.00,0.000,6,0.091,0.026,2999,1670,2100,0,0,0,0,0,0
$GC,6397,0.80,301.5,403.4,6.9,280,6451,0.15,2.75,46.65,0.794,4,0.056,0.052,3065,3251,1889,0,0,0,0,0,0
$GC,6462,0.71,301.5,396.9,11.0,281,6469,0.22,2.67,0.00,0.000,6,0.089,0.035,3016,1667,1886,0,0,0,0,0,0
$GC,6730,0.78,301.5,371.4,9.6,288,6735,0.00,2.60,0.00,0.000,4,0.000,0.065,3016,165,1881,0,0,0,0,0,0
$GC,6750,0.78,301.5,369.0,10.1,288,6755,0.00,2.42,0.00,0.000,6,0.000,0.025,3016,1679,1881,0,0,0,0,0,0
$GC,7015,0.87,321.6,346.7,8.2,295,7039,0.15,2.67,17.48,0.729,4,0.056,0.058,3096,171,1809,0,0,0,0,0,0
$GC,7061,0.69,321.6,341.3,13.8,296,7068,0.40,2.42,0.00,0.000,6,0.087,0.025,3010,1672,1808,0,0,0,0,0,0
$GC,7351,0.80,321.6,313.3,9.6,303,7356,0.10,2.65,0.00,0.000,4,0.076,0.045,3064,3250,1804,0,0,0,0,0,0
$GC,7386,0.80,321.6,309.4,12.2,303,7391,0.15,2.60,0.00,0.000,6,0.097,0.034,3032,1673,1802,0,0,0,0,0,0
$GC,7635,0.80,321.6,282.8,10.5,309,7639,0.00,2.58,0.00,0.000,4,0.000,0.063,3032,168,1801,0,0,0,0,0,0
$GC,7681,0.80,321.6,277.6,10.5,310,7685,0.00,2.40,0.00,0.000,6,0.000,0.024,3032,1678,1801,0,0,0,0,0,0
$GC,7964,0.89,333.8,252.5,8.5,317,7980,0.00,2.65,10.85,0.636,4,0.000,0.041,3032,3239,1758,0,0,0,0,0,0
$GC,8018,1.02,333.8,247.7,9.1,318,8023,0.20,2.60,0.00,0.000,6,0.045,0.031,3119,1668,1755,0,0,0,0,0,0
$GC,8298,0.87,333.8,210.9,13.8,325,8303,0.30,2.55,0.00,0.000,4,0.090,0.055,3051,166,1755,0,0,0,0,0,0
$GC,8360,0.93,333.8,203.6,11.0,326,8364,0.00,2.38,0.00,0.000,6,0.000,0.023,3050,1675,1755,0,0,0,0,0,0
$GC,8629,0.93,333.8,176.5,9.7,347,8634,0.00,2.55,0.00,0.000,4,0.000,0.035,3050,3256,1754,0,0,0,0,0,0
$GC,8658,0.93,333.8,173.7,10.1,349,8663,0.00,2.58,0.00,0.000,6,0.000,0.028,3050,1662,1752,0,0,0,0,0,0
$GC,8927,0.93,333.8,146.6,10.3,373,8931,0.00,2.47,0.00,0.000,4,0.000,0.048,3050,170,1752,0,0,0,0,0,0
$GC,8982,0.93,333.8,139.8,10.6,378,8986,0.00,2.33,0.00,0.000,6,0.000,0.022,3050,1664,1752,0,0,0,0,0,0
$GC,9246,0.99,334.1,115.2,9.0,402,9251,0.10,2.55,0.00,0.000,4,0.077,0.033,3108,3250,1752,0,0,0,0,0,0
$GC,9265,0.99,334.8,113.4,9.0,403,9270,0.15,2.58,0.00,0.000,6,0.100,0.028,3074,1645,1751,0,0,0,0,0,0
$GC,9529,1.02,357.8,90.4,8.1,427,9559,0.00,2.50,21.62,0.542,4,0.000,0.049,3074,177,1660,0,0,0,0,0,0
$GC,9602,1.02,357.8,83.2,11.1,434,9607,0.00,2.28,0.00,0.000,6,0.000,0.021,3074,1645,1660,0,0,0,0,0,0
$GC,9869,1.02,357.8,56.5,10.1,458,9874,0.00,2.58,0.00,0.000,4,0.000,0.032,3074,3254,1658,0,0,0,0,0,0
$GC,9914,1.13,357.8,51.5,9.5,461,9924,0.08,2.62,0.00,0.000,6,0.036,0.028,3142,1651,1656,0,0,0,0,0,0
$GC,10193,1.01,357.8,16.9,11.5,494,10202,0.25,2.45,0.00,0.000,4,0.090,0.048,3082,175,1656,0,0,0,0,0,0
$GC,10268,1.01,357.8,9.0,9.9,505,10279,0.00,2.30,0.00,0.000,6,0.000,0.020,3082,1647,1656,0,0,0,0,0,0
$STATE,10317,end climb,SURFACE_DEPTH_REACHED
$STATE,10317,begin surface coast
$FINISH,0.7,1.018579
$STATE,10362,end surface coast,CONTROL_FINISHED_OK
$STATE,10362,begin surface
$SM_CCo,10382,29.33,0.061,0,0,1406,420.20
$SM_GC,1.61,0.00,0.00,29.33,0.000,0.000,0.061,412,1854,1406,-11.26,1.81,420.20
$IRIDIUM_FIX,2239.35,-15757.16,240300,202036
$TT8_MAMPS,0.026845
$HUMID,48.89
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.10
$XPDR_PINGS,5
$24V_AH,23.5,52.512
$10V_AH,10.2,45.645
$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,31.850,161.225,427.750,29.325,0.000,25.736,40.198,301.562,1.250,0.000,35.444,1129.297,6541.542,502.774,2081.215,686.542,33.369,1362.841,0.000,2056.226,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,75.166,862.875,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.080,319.054,402.738,610.742,1080.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,41513,519
$CAP_FILE_SIZE,132151,0
$CFSIZE,260165632,149860352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301210,021437,2248.174,-15757.877,37,1.3,37,10.1