version: 66.06
glider: 148
mission: 9
dive: 403
start: 12 30 110 17 8 53
data:
$ID,148
$MISSION,9
$DIVE,403
$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,-866594.75
$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,34
$R_STBD_OVSHOOT,84
$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
$GPS1,165937,2248.577,-15802.349,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.9
$GPS2,170756,2248.495,-15802.289,11,1.6,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.039,0.247
$KALMAN_X,-37535.6,554.9,272.1,49728.9,72.1
$KALMAN_Y,-66612.7,495.3,447.7,192719.9,-1911.8
$MHEAD_RNG_PITCHd_Wd,340.9,3040,-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,-75.28,0.000,2,0.000,0.000,412,1825,3323,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.9,-5.4,10,123,11.52,2.42,-7.10,0.000,4,0.153,0.041,2596,3337,3717,0,0,0,0,0,0
$GC,213,-1.11,-146.0,29.9,-13.9,27,223,0.05,2.50,0.00,0.000,6,0.097,0.024,2612,1790,3718,0,0,0,0,0,0
$GC,482,-1.03,-146.0,64.3,-13.6,52,487,0.10,2.47,0.00,0.000,4,0.127,0.031,2633,3330,3719,0,0,0,0,0,0
$GC,537,-1.03,-146.0,71.8,-12.1,56,542,0.00,2.45,0.00,0.000,6,0.000,0.022,2633,1788,3719,0,0,0,0,0,0
$GC,802,-1.03,-146.0,103.2,-11.9,80,806,0.00,2.45,0.00,0.000,4,0.000,0.030,2633,3329,3719,0,0,0,0,0,0
$GC,881,-1.12,-146.0,111.9,-10.5,87,885,0.00,2.40,0.00,0.000,6,0.000,0.025,2633,1810,3719,0,0,0,0,0,0
$GC,1149,-1.20,-146.0,135.0,-8.0,111,1154,0.15,2.45,0.00,0.000,4,0.054,0.029,2557,3333,3720,0,0,0,0,0,0
$GC,1197,-1.12,-146.0,140.7,-12.1,115,1203,0.28,2.35,0.00,0.000,6,0.081,0.021,2619,1828,3721,0,0,0,0,0,0
$GC,1465,-1.12,-146.0,163.8,-8.5,139,1469,0.00,2.38,0.00,0.000,4,0.000,0.029,2619,3329,3722,0,0,0,0,0,0
$GC,1504,-1.20,-146.0,167.6,-7.8,142,1510,0.00,2.38,0.00,0.000,6,0.000,0.022,2619,1826,3722,0,0,0,0,0,0
$GC,1768,-1.27,-146.0,190.4,-9.6,167,1773,0.15,2.42,0.00,0.000,4,0.054,0.030,2543,3331,3722,0,0,0,0,0,0
$GC,1804,-1.14,-146.0,195.1,-13.1,170,1809,0.30,2.35,0.00,0.000,6,0.078,0.022,2611,1829,3722,0,0,0,0,0,0
$GC,2057,-1.14,-146.0,220.6,-9.7,179,2061,0.00,2.40,0.00,0.000,4,0.000,0.030,2611,3330,3722,0,0,0,0,0,0
$GC,2127,-1.27,-146.0,227.6,-9.1,180,2132,0.12,2.35,0.00,0.000,6,0.062,0.023,2531,1847,3721,0,0,0,0,0,0
$GC,2391,-1.10,-146.0,263.5,-13.7,187,2396,0.40,2.38,0.00,0.000,4,0.077,0.029,2616,3339,3722,0,0,0,0,0,0
$GC,2445,-1.26,-146.0,268.2,-7.6,188,2450,0.12,2.35,0.00,0.000,6,0.061,0.024,2536,1862,3722,0,0,0,0,0,0
$GC,2724,-1.09,-146.0,302.7,-12.8,195,2731,0.43,2.72,0.00,0.000,4,0.076,0.045,2619,213,3722,0,0,0,0,0,0
$GC,2757,-1.25,-146.0,305.9,-8.3,195,2762,0.12,2.53,0.00,0.000,6,0.062,0.023,2546,1827,3722,0,0,0,0,0,0
$GC,3012,-1.14,-146.0,335.0,-11.8,202,3017,0.28,2.47,0.00,0.000,4,0.080,0.036,2606,3367,3721,0,0,0,0,0,0
$GC,3066,-1.28,-146.0,340.1,-8.1,203,3071,0.10,2.40,0.00,0.000,6,0.074,0.027,2534,1872,3721,0,0,0,0,0,0
$GC,3344,-1.15,-146.0,373.1,-11.9,210,3347,0.38,0.00,0.00,0.000,6,0.076,0.000,2610,1871,3719,0,0,0,0,0,0
$GC,3588,-1.27,-146.0,390.6,-6.9,216,3593,0.12,2.47,0.00,0.000,4,0.064,0.041,2543,3364,3718,0,0,0,0,0,0
$GC,3628,-1.27,-146.0,394.0,-9.2,216,3634,0.17,2.42,0.00,0.000,6,0.087,0.028,2584,1860,3718,0,0,0,0,0,0
$GC,3878,-1.27,-146.0,414.2,-8.1,223,3882,0.00,2.50,0.00,0.000,4,0.000,0.045,2583,3363,3716,0,0,0,0,0,0
$GC,3905,-1.27,-146.0,416.7,-8.9,223,3910,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,1872,3716,0,0,0,0,0,0
$GC,4161,-1.27,-146.0,439.3,-9.2,230,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1872,3714,0,0,0,0,0,0
$GC,4405,-1.27,-146.0,461.5,-9.2,236,4409,0.00,2.50,0.00,0.000,4,0.000,0.049,2583,3364,3712,0,0,0,0,0,0
$GC,4465,-1.36,-146.0,467.3,-9.1,237,4469,0.00,2.40,0.00,0.000,6,0.000,0.028,2584,1880,3712,0,0,0,0,0,0
$GC,4735,-1.36,-146.0,489.2,-7.8,244,4739,0.00,2.45,0.00,0.000,4,0.000,0.048,2584,3358,3710,0,0,0,0,0,0
$GC,4763,-1.36,-146.0,491.5,-7.8,244,4767,0.00,2.40,0.00,0.000,6,0.000,0.029,2584,1878,3710,0,0,0,0,0,0
$STATE,4893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4893,begin apogee
$GC,4899,-0.31,0.0,501.0,7.4,248,5020,0.90,0.00,118.03,0.864,6,0.069,0.000,2792,1682,3120,0,0,0,0,0,0
$STATE,5021,end apogee,CONTROL_FINISHED_OK
$STATE,5021,begin climb
$GC,5025,1.17,146.0,504.7,0.0,251,5155,1.33,2.70,121.12,0.848,4,0.028,0.070,3130,190,2523,0,0,0,0,0,0
$GC,5421,0.72,146.0,474.6,13.7,259,5427,0.55,2.38,0.00,0.000,6,0.102,0.026,3016,1672,2516,0,0,0,0,0,0
$GC,5672,0.80,214.1,457.7,6.2,266,5732,0.00,0.00,57.72,0.823,6,0.000,0.000,3016,1672,2247,0,0,0,0,0,0
$GC,5954,0.86,267.4,438.7,6.8,273,6004,0.12,0.00,47.45,0.808,6,0.066,0.000,3073,1672,2030,0,0,0,0,0,0
$GC,6238,0.77,267.4,408.3,11.3,280,6243,0.20,2.58,0.00,0.000,4,0.095,0.055,3028,181,2021,0,0,0,0,0,0
$GC,6301,0.77,267.4,401.5,10.7,281,6305,0.00,2.42,0.00,0.000,6,0.000,0.027,3028,1677,2021,0,0,0,0,0,0
$GC,6569,0.78,279.1,377.9,8.5,288,6585,0.00,2.72,9.93,0.696,4,0.000,0.048,3028,3250,1981,0,0,0,0,0,0
$GC,6595,0.80,291.7,375.6,8.5,288,6613,0.00,2.60,13.07,0.718,6,0.000,0.032,3027,1684,1930,0,0,0,0,0,0
$GC,6858,0.80,294.9,352.5,8.9,295,6863,0.00,2.60,0.00,0.000,4,0.000,0.064,3028,168,1925,0,0,0,0,0,0
$GC,6891,0.80,294.9,349.0,10.7,295,6895,0.00,2.42,0.00,0.000,6,0.000,0.025,3028,1674,1925,0,0,0,0,0,0
$GC,7142,0.80,294.9,325.1,9.7,301,7147,0.00,2.60,0.00,0.000,4,0.000,0.058,3028,163,1923,0,0,0,0,0,0
$GC,7162,0.80,294.9,322.6,10.6,301,7167,0.00,2.42,0.00,0.000,6,0.000,0.024,3027,1680,1923,0,0,0,0,0,0
$GC,7426,0.80,294.9,295.8,10.1,308,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,1681,1922,0,0,0,0,0,0
$GC,7669,0.80,294.9,272.5,9.4,314,7674,0.00,2.58,0.00,0.000,4,0.000,0.055,3028,169,1921,0,0,0,0,0,0
$GC,7705,0.80,294.9,269.3,10.3,314,7709,0.00,2.38,0.00,0.000,6,0.000,0.024,3028,1665,1921,0,0,0,0,0,0
$GC,7955,0.88,294.9,246.0,9.1,320,7960,0.10,2.62,0.00,0.000,4,0.077,0.041,3079,3248,1920,0,0,0,0,0,0
$GC,7988,0.88,294.9,242.4,11.5,320,7993,0.12,2.58,0.00,0.000,6,0.105,0.031,3051,1669,1919,0,0,0,0,0,0
$GC,8239,0.89,300.7,219.9,8.8,326,8249,0.00,0.00,7.70,0.578,6,0.000,0.000,3052,1669,1894,0,0,0,0,0,0
$GC,8481,0.89,300.7,197.3,9.4,332,8485,0.00,2.60,0.00,0.000,4,0.000,0.034,3052,3254,1893,0,0,0,0,0,0
$GC,8508,0.89,300.7,194.7,10.5,334,8513,0.00,2.60,0.00,0.000,6,0.000,0.030,3052,1665,1891,0,0,0,0,0,0
$GC,8775,0.89,300.7,168.6,9.1,358,8780,0.00,2.47,0.00,0.000,4,0.000,0.049,3051,165,1891,0,0,0,0,0,0
$GC,8841,0.89,300.7,161.7,9.7,364,8846,0.00,2.38,0.00,0.000,6,0.000,0.022,3051,1676,1891,0,0,0,0,0,0
$GC,9106,0.91,322.8,140.0,8.1,388,9133,0.00,2.55,20.90,0.587,4,0.000,0.046,3051,164,1803,0,0,0,0,0,0
$GC,9157,0.91,322.8,135.5,9.4,393,9161,0.00,2.35,0.00,0.000,6,0.000,0.021,3052,1663,1803,0,0,0,0,0,0
$GC,9425,0.98,322.8,109.9,10.1,417,9430,0.10,2.58,0.00,0.000,4,0.077,0.031,3111,3250,1800,0,0,0,0,0,0
$GC,9453,0.98,322.8,106.2,12.3,419,9458,0.17,2.58,0.00,0.000,6,0.094,0.028,3072,1665,1799,0,0,0,0,0,0
$GC,9720,1.00,336.4,81.9,8.4,443,9742,0.00,2.53,12.50,0.507,4,0.000,0.046,3072,174,1748,0,0,0,0,0,0
$GC,9779,1.00,336.4,76.2,10.6,448,9783,0.00,2.35,0.00,0.000,6,0.000,0.021,3072,1672,1748,0,0,0,0,0,0
$GC,10047,1.01,342.0,53.3,8.8,472,10056,0.00,0.00,6.50,0.426,6,0.000,0.000,3072,1672,1725,0,0,0,0,0,0
$GC,10316,1.07,342.0,28.4,9.2,498,10325,0.00,2.50,0.00,0.000,4,0.000,0.044,3072,174,1724,0,0,0,0,0,0
$GC,10371,1.07,342.0,23.0,9.8,506,10380,0.00,2.35,0.00,0.000,6,0.000,0.020,3072,1668,1723,0,0,0,0,0,0
$STATE,10589,end climb,SURFACE_DEPTH_REACHED
$STATE,10589,begin surface coast
$FINISH,0.7,1.010474
$STATE,10640,end surface coast,CONTROL_FINISHED_OK
$STATE,10640,begin surface
$SM_CCo,10660,44.17,0.381,1,0,1406,420.20
$SM_GC,1.51,0.00,0.00,44.17,0.000,0.000,0.381,409,1880,1406,-11.27,2.54,420.20
$IRIDIUM_FIX,2237.01,-15802.37,250300,141446
$TT8_MAMPS,0.026845
$HUMID,47.55
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.5,53.207
$10V_AH,10.3,46.319
$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,29.075,134.050,414.925,44.175,0.000,28.484,45.943,287.845,0.500,0.000,12.529,1131.692,6827.107,533.447,2048.525,672.134,33.376,1311.592,0.000,2058.512,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,69.797,863.642,381.199,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.523,341.929,434.592,660.878,1168.011,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41551,548
$CAP_FILE_SIZE,119459,0
$CFSIZE,260165632,149528576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301210,200837,2249.111,-15802.298,33,1.0,33,10.1