version: 66.06
glider: 148
mission: 9
dive: 406
start: 12 31 110 2 40 57
data:
$ID,148
$MISSION,9
$DIVE,406
$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,-866640.56
$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,49
$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
$GPS1,022701,2249.392,-15801.341,39,1.4,39,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.4
$GPS2,024002,2249.411,-15801.312,16,1.1,16,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.227,0.106
$KALMAN_X,-36835.7,140.6,-196.7,51597.1,51.8
$KALMAN_Y,-68622.6,-726.6,416.7,197690.4,-796.7
$MHEAD_RNG_PITCHd_Wd,55.0,7441,-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,-74.70,0.000,2,0.000,0.000,409,1854,3312,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.8,-5.1,10,124,11.50,2.67,-7.43,0.000,4,0.152,0.048,2595,198,3718,0,0,0,0,0,0
$GC,145,-0.35,-146.0,18.6,-29.0,16,155,0.80,2.53,0.00,0.000,6,0.071,0.021,2781,1783,3720,0,0,0,0,0,0
$GC,452,-1.15,-146.0,32.7,-7.7,62,465,0.73,2.53,0.00,0.000,4,0.067,0.026,2609,3377,3721,0,0,0,0,0,0
$GC,495,-1.35,-146.0,36.1,-8.9,65,500,0.17,2.53,0.00,0.000,6,0.044,0.021,2524,1773,3721,0,0,0,0,0,0
$GC,762,-1.00,-146.0,84.3,-18.5,89,771,0.50,2.47,0.00,0.000,4,0.088,0.032,2634,214,3721,0,0,0,0,0,0
$GC,777,-0.76,-146.0,88.1,-17.9,90,786,0.22,2.47,0.00,0.000,6,0.066,0.019,2692,1793,3721,0,0,0,0,0,0
$GC,1046,-0.99,-146.0,105.9,-7.1,115,1051,0.20,2.47,0.00,0.000,4,0.040,0.027,2570,3367,3721,0,0,0,0,0,0
$GC,1138,-0.99,-146.0,117.5,-12.4,123,1143,0.32,2.50,0.00,0.000,6,0.072,0.022,2645,1790,3721,0,0,0,0,0,0
$GC,1403,-1.12,-146.0,141.6,-8.3,147,1408,0.12,2.53,0.00,0.000,4,0.061,0.029,2565,3361,3722,0,0,0,0,0,0
$GC,1476,-1.06,-146.0,150.4,-11.5,153,1482,0.28,2.42,0.00,0.000,6,0.079,0.021,2628,1812,3722,0,0,0,0,0,0
$GC,1742,-1.14,-146.0,172.4,-7.9,178,1746,0.00,2.47,0.00,0.000,4,0.000,0.029,2628,3361,3722,0,0,0,0,0,0
$GC,1789,-1.28,-146.0,176.2,-7.5,182,1794,0.20,2.40,0.00,0.000,6,0.042,0.022,2532,1826,3722,0,0,0,0,0,0
$GC,2069,-1.09,-146.0,212.1,-13.5,202,2074,0.38,2.45,0.00,0.000,4,0.083,0.028,2617,3365,3722,0,0,0,0,0,0
$GC,2109,-1.18,-146.0,216.5,-9.1,202,2114,0.00,2.42,0.00,0.000,6,0.000,0.022,2617,1833,3722,0,0,0,0,0,0
$GC,2359,-1.25,-146.0,238.1,-8.7,209,2364,0.12,2.45,0.00,0.000,4,0.063,0.031,2536,3363,3722,0,0,0,0,0,0
$GC,2406,-1.13,-146.0,244.2,-13.5,210,2411,0.35,2.38,0.00,0.000,6,0.079,0.021,2614,1847,3722,0,0,0,0,0,0
$GC,2691,-1.21,-146.0,269.5,-8.8,217,2696,0.00,2.42,0.00,0.000,4,0.000,0.031,2614,3358,3722,0,0,0,0,0,0
$GC,2768,-1.34,-146.0,276.0,-8.0,218,2773,0.20,2.38,0.00,0.000,6,0.042,0.023,2531,1864,3722,0,0,0,0,0,0
$GC,3025,-1.19,-146.0,308.1,-12.7,225,3030,0.28,2.40,0.00,0.000,4,0.084,0.033,2596,3357,3722,0,0,0,0,0,0
$GC,3053,-1.19,-146.0,311.3,-8.9,225,3057,0.00,2.35,0.00,0.000,6,0.000,0.025,2596,1870,3721,0,0,0,0,0,0
$GC,3308,-1.25,-146.0,330.7,-7.5,232,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1870,3720,0,0,0,0,0,0
$GC,3553,-1.31,-146.0,348.4,-7.2,238,3558,0.00,2.42,0.00,0.000,4,0.000,0.037,2596,3360,3719,0,0,0,0,0,0
$GC,3591,-1.41,-146.0,351.5,-7.7,238,3597,0.17,2.38,0.00,0.000,6,0.047,0.027,2519,1869,3719,0,0,0,0,0,0
$GC,3841,-1.26,-146.0,380.8,-12.1,245,3848,0.28,2.78,0.00,0.000,4,0.086,0.052,2584,217,3718,0,0,0,0,0,0
$GC,3859,-1.26,-146.0,382.8,-10.4,245,3864,0.00,2.62,0.00,0.000,6,0.000,0.025,2584,1863,3718,0,0,0,0,0,0
$GC,4128,-1.26,-146.0,405.5,-8.5,252,4132,0.00,2.40,0.00,0.000,4,0.000,0.041,2584,3350,3716,0,0,0,0,0,0
$GC,4181,-1.34,-146.0,410.0,-8.2,253,4185,0.00,2.38,0.00,0.000,6,0.000,0.027,2584,1875,3716,0,0,0,0,0,0
$GC,4458,-1.34,-146.0,433.3,-8.4,260,4463,0.00,2.42,0.00,0.000,4,0.000,0.045,2584,3348,3714,0,0,0,0,0,0
$GC,4502,-1.42,-146.0,436.8,-6.8,261,4507,0.15,2.35,0.00,0.000,6,0.056,0.027,2508,1886,3713,0,0,0,0,0,0
$GC,4791,-1.24,-146.0,471.3,-12.6,268,4796,0.32,2.42,0.00,0.000,4,0.085,0.045,2584,3349,3711,0,0,0,0,0,0
$GC,4815,-1.24,-146.0,474.2,-10.2,268,4819,0.00,2.33,0.00,0.000,6,0.000,0.028,2584,1897,3711,0,0,0,0,0,0
$GC,5074,-1.31,-146.0,495.9,-8.3,275,5081,0.00,2.88,0.00,0.000,4,0.000,0.064,2584,217,3710,0,0,0,0,0,0
$GC,5094,-1.38,-146.0,497.4,-8.2,275,5099,0.10,2.67,0.00,0.000,6,0.077,0.031,2527,1862,3710,0,0,0,0,0,0
$STATE,5157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5157,begin apogee
$GC,5163,-0.31,0.0,504.3,10.6,277,5284,1.17,0.00,117.60,0.864,6,0.077,0.000,2789,1670,3120,0,0,0,0,0,0
$STATE,5285,end apogee,CONTROL_FINISHED_OK
$STATE,5285,begin climb
$GC,5289,1.17,146.0,508.9,0.0,280,5421,1.35,2.65,121.05,0.848,4,0.026,0.067,3123,187,2522,0,0,0,0,0,0
$GC,5662,0.74,146.0,485.7,10.0,288,5670,0.47,2.40,0.00,0.000,6,0.104,0.028,3023,1660,2516,0,0,0,0,0,0
$GC,5920,0.84,224.4,470.6,5.7,295,5993,0.00,2.62,65.75,0.827,4,0.000,0.058,3023,191,2204,0,0,0,0,0,0
$GC,6001,0.87,250.3,464.9,7.9,296,6031,0.10,2.45,24.05,0.785,6,0.078,0.028,3067,1684,2099,0,0,0,0,0,0
$GC,6294,0.77,250.3,433.8,10.9,304,6296,0.17,0.00,0.00,0.000,6,0.101,0.000,3029,1684,2090,0,0,0,0,0,0
$GC,6534,0.79,267.6,413.2,8.3,310,6551,0.00,0.00,14.85,0.749,6,0.000,0.000,3029,1684,2028,0,0,0,0,0,0
$GC,6778,0.81,276.8,392.2,8.6,316,6794,0.00,2.60,8.95,0.688,4,0.000,0.056,3029,180,1992,0,0,0,0,0,0
$GC,6819,0.81,276.8,388.3,10.2,316,6825,0.00,2.45,0.00,0.000,6,0.000,0.025,3029,1692,1992,0,0,0,0,0,0
$GC,7069,0.81,276.8,365.3,9.2,323,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1692,1988,0,0,0,0,0,0
$GC,7312,0.81,278.5,343.3,8.9,329,7317,0.00,2.58,0.00,0.000,4,0.000,0.057,3029,178,1986,0,0,0,0,0,0
$GC,7337,0.81,278.5,340.9,9.4,329,7341,0.00,2.38,0.00,0.000,6,0.000,0.025,3029,1677,1986,0,0,0,0,0,0
$GC,7598,0.81,282.5,318.1,8.8,336,7605,0.00,0.00,5.53,0.575,6,0.000,0.000,3030,1678,1968,0,0,0,0,0,0
$GC,7840,0.82,287.5,296.5,8.8,342,7852,0.00,2.60,6.07,0.586,4,0.000,0.056,3029,188,1948,0,0,0,0,0,0
$GC,7875,0.82,287.5,293.1,9.6,342,7880,0.00,2.38,0.00,0.000,6,0.000,0.024,3029,1673,1948,0,0,0,0,0,0
$GC,8127,0.89,298.3,271.6,8.6,348,8144,0.10,2.60,11.48,0.657,4,0.077,0.056,3077,177,1903,0,0,0,0,0,0
$GC,8159,0.80,298.3,267.9,11.2,348,8164,0.20,2.35,0.00,0.000,6,0.097,0.024,3036,1658,1903,0,0,0,0,0,0
$GC,8411,0.80,301.7,245.0,8.9,354,8422,0.00,2.62,4.38,0.482,4,0.000,0.038,3036,3251,1889,0,0,0,0,0,0
$GC,8450,0.91,312.7,241.4,8.6,354,8468,0.10,2.60,11.70,0.634,6,0.075,0.031,3085,1674,1844,0,0,0,0,0,0
$GC,8749,0.85,312.7,209.3,11.0,362,8754,0.17,2.58,0.00,0.000,4,0.100,0.056,3047,163,1841,0,0,0,0,0,0
$GC,8810,0.85,312.7,202.4,10.5,363,8814,0.00,2.38,0.00,0.000,6,0.000,0.022,3046,1663,1840,0,0,0,0,0,0
$GC,9078,0.85,312.7,178.6,9.0,384,9082,0.00,2.58,0.00,0.000,4,0.000,0.032,3046,3251,1840,0,0,0,0,0,0
$GC,9106,0.93,312.7,176.1,9.1,386,9110,0.00,2.62,0.00,0.000,6,0.000,0.029,3046,1642,1839,0,0,0,0,0,0
$GC,9368,1.01,334.7,153.7,8.1,410,9398,0.15,2.50,19.92,0.594,4,0.057,0.047,3111,165,1754,0,0,0,0,0,0
$GC,9411,0.88,334.7,149.1,12.3,414,9416,0.28,2.35,0.00,0.000,6,0.094,0.022,3052,1661,1754,0,0,0,0,0,0
$GC,9672,0.89,346.0,126.0,8.5,438,9688,0.00,2.55,10.80,0.534,4,0.000,0.046,3052,175,1709,0,0,0,0,0,0
$GC,9716,0.89,346.0,122.0,9.7,442,9720,0.00,2.33,0.00,0.000,6,0.000,0.021,3052,1650,1708,0,0,0,0,0,0
$GC,9978,1.02,350.1,98.3,8.8,466,9992,0.12,2.62,4.88,0.416,4,0.061,0.031,3116,3247,1692,0,0,0,0,0,0
$GC,10018,1.02,350.1,94.2,11.5,469,10023,0.15,2.58,0.00,0.000,6,0.097,0.028,3080,1652,1690,0,0,0,0,0,0
$GC,10281,1.02,350.1,68.0,9.3,493,10286,0.00,2.45,0.00,0.000,4,0.000,0.046,3080,166,1690,0,0,0,0,0,0
$GC,10325,1.02,350.1,63.9,10.7,496,10329,0.00,2.30,0.00,0.000,6,0.000,0.020,3080,1659,1691,0,0,0,0,0,0
$GC,10592,1.02,350.1,39.5,9.5,520,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1660,1690,0,0,0,0,0,0
$GC,10885,1.10,414.9,13.2,6.3,560,10954,0.00,2.65,57.08,0.486,4,0.000,0.031,3081,3254,1426,0,0,0,0,0,0
$STATE,10973,end climb,SURFACE_DEPTH_REACHED
$STATE,10974,begin surface coast
$FINISH,3.2,1.023523
$STATE,10984,end surface coast,CONTROL_FINISHED_OK
$STATE,10985,begin surface
$SM_CCo,11009,3.85,0.072,0,0,1407,420.20
$SM_GC,1.54,0.00,0.00,3.85,0.000,0.000,0.072,415,1783,1407,-11.25,-0.23,420.20
$IRIDIUM_FIX,2241.69,-15545.16,260300,020215
$TT8_MAMPS,0.026845
$HUMID,47.63
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.5,53.599
$10V_AH,10.2,46.673
$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,32.800,149.775,484.075,3.850,0.000,55.466,88.122,428.209,0.500,0.000,17.850,1187.864,6996.337,516.317,2180.395,913.399,33.379,1409.503,0.000,2187.756,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,67.496,863.642,72.098,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.489,363.692,454.498,699.739,1237.494,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,44619,573
$CAP_FILE_SIZE,136225,0
$CFSIZE,260165632,149336064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311210,054540,2249.160,-15759.594,11,2.3,30,10.1