version: 66.06
glider: 148
mission: 9
dive: 407
start: 12 31 110 5 55 31
data:
$ID,148
$MISSION,9
$DIVE,407
$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,-866673.12
$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,29
$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
$GPS1,054540,2249.160,-15759.594,11,2.3,30,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.6
$GPS2,055434,2249.122,-15759.610,10,2.3,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.182,0.172
$KALMAN_X,-36396.4,-407.2,319.4,54120.5,-34.7
$KALMAN_Y,-69998.4,-704.5,65.2,198858.8,-1193.3
$MHEAD_RNG_PITCHd_Wd,36.6,4743,-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,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.20,0.000,2,0.000,0.000,414,1779,3336,0,0,0,0,0,0
$GC,98,-1.17,-146.0,4.0,-5.7,10,122,11.40,2.53,-6.78,0.000,4,0.150,0.038,2596,3360,3717,0,0,0,0,0,0
$GC,202,-1.04,-146.0,27.9,-14.0,25,212,0.12,2.55,0.00,0.000,6,0.077,0.023,2629,1777,3719,0,0,0,0,0,0
$GC,479,-1.04,-146.0,58.7,-11.2,51,483,0.00,2.55,0.00,0.000,4,0.000,0.031,2629,3360,3719,0,0,0,0,0,0
$GC,557,-1.04,-146.0,67.5,-10.8,57,561,0.00,2.47,0.00,0.000,6,0.000,0.022,2629,1792,3720,0,0,0,0,0,0
$GC,825,-1.04,-146.0,97.5,-11.9,81,830,0.00,2.50,0.00,0.000,4,0.000,0.029,2629,3364,3720,0,0,0,0,0,0
$GC,864,-1.04,-146.0,102.7,-10.1,84,872,0.00,2.47,0.00,0.000,6,0.000,0.021,2629,1810,3720,0,0,0,0,0,0
$GC,1133,-1.11,-146.0,128.0,-9.8,109,1137,0.00,2.47,0.00,0.000,4,0.000,0.028,2629,3361,3721,0,0,0,0,0,0
$GC,1201,-1.28,-146.0,134.5,-8.3,115,1206,0.20,2.40,0.00,0.000,6,0.040,0.022,2547,1829,3721,0,0,0,0,0,0
$GC,1469,-1.11,-146.0,168.4,-13.6,139,1474,0.28,2.42,0.00,0.000,4,0.084,0.028,2613,3359,3722,0,0,0,0,0,0
$GC,1494,-1.11,-146.0,172.1,-10.9,141,1498,0.00,2.38,0.00,0.000,6,0.000,0.021,2613,1835,3722,0,0,0,0,0,0
$GC,1758,-1.11,-146.0,195.1,-8.0,165,1762,0.00,2.42,0.00,0.000,4,0.000,0.030,2613,3366,3722,0,0,0,0,0,0
$GC,1808,-1.21,-146.0,199.5,-7.5,169,1813,0.00,2.38,0.00,0.000,6,0.000,0.023,2613,1851,3722,0,0,0,0,0,0
$GC,2070,-1.21,-146.0,218.4,-7.2,177,2074,0.00,2.40,0.00,0.000,4,0.000,0.030,2613,3364,3722,0,0,0,0,0,0
$GC,2118,-1.32,-146.0,222.3,-8.1,178,2123,0.17,2.38,0.00,0.000,6,0.045,0.023,2522,1862,3722,0,0,0,0,0,0
$GC,2405,-1.12,-146.0,260.1,-13.5,185,2413,0.40,2.67,0.00,0.000,4,0.081,0.040,2615,211,3722,0,0,0,0,0,0
$GC,2440,-1.26,-146.0,263.5,-8.7,185,2445,0.12,2.58,0.00,0.000,6,0.061,0.021,2542,1855,3722,0,0,0,0,0,0
$GC,2695,-1.15,-146.0,292.5,-11.9,192,2700,0.28,2.40,0.00,0.000,4,0.088,0.032,2606,3362,3722,0,0,0,0,0,0
$GC,2749,-1.28,-146.0,297.5,-8.0,193,2754,0.12,2.38,0.00,0.000,6,0.060,0.026,2554,1868,3722,0,0,0,0,0,0
$GC,3032,-1.17,-146.0,330.8,-12.1,200,3039,0.28,2.75,0.00,0.000,4,0.083,0.049,2602,215,3721,0,0,0,0,0,0
$GC,3063,-1.30,-146.0,334.0,-9.3,200,3068,0.10,2.60,0.00,0.000,6,0.076,0.023,2537,1856,3721,0,0,0,0,0,0
$GC,3320,-1.20,-146.0,361.7,-11.1,207,3325,0.25,2.42,0.00,0.000,4,0.087,0.037,2595,3361,3719,0,0,0,0,0,0
$GC,3364,-1.31,-146.0,365.8,-8.4,208,3369,0.00,2.35,0.00,0.000,6,0.000,0.027,2595,1884,3719,0,0,0,0,0,0
$GC,3653,-1.39,-146.0,389.0,-8.1,215,3655,0.17,0.00,0.00,0.000,6,0.046,0.000,2507,1884,3718,0,0,0,0,0,0
$GC,3895,-1.22,-146.0,418.9,-12.5,221,3897,0.40,0.00,0.00,0.000,6,0.080,0.000,2594,1884,3716,0,0,0,0,0,0
$GC,4139,-1.30,-146.0,437.7,-7.5,227,4143,0.00,2.42,0.00,0.000,4,0.000,0.045,2594,3355,3714,0,0,0,0,0,0
$GC,4178,-1.41,-146.0,440.8,-8.0,227,4184,0.17,2.38,0.00,0.000,6,0.048,0.028,2498,1886,3714,0,0,0,0,0,0
$GC,4428,-1.23,-146.0,471.1,-12.5,234,4435,0.40,2.83,0.00,0.000,4,0.082,0.062,2590,227,3712,0,0,0,0,0,0
$GC,4449,-1.23,-146.0,473.6,-10.0,234,4454,0.00,2.62,0.00,0.000,6,0.000,0.029,2590,1850,3712,0,0,0,0,0,0
$GC,4716,-1.30,-146.0,494.3,-7.9,241,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1850,3710,0,0,0,0,0,0
$STATE,4792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4792,begin apogee
$GC,4798,-0.31,0.0,500.7,7.8,243,4919,0.88,0.00,117.70,0.867,6,0.071,0.000,2791,1675,3119,0,0,0,0,0,0
$STATE,4920,end apogee,CONTROL_FINISHED_OK
$STATE,4920,begin climb
$GC,4922,1.17,146.0,506.0,0.0,246,5053,1.30,2.65,120.60,0.849,4,0.024,0.067,3132,180,2523,0,0,0,0,0,0
$GC,5212,0.72,146.0,493.5,10.6,252,5220,0.55,2.40,0.00,0.000,6,0.100,0.030,3017,1655,2517,0,0,0,0,0,0
$GC,5474,0.83,235.1,478.5,5.3,259,5561,0.10,2.60,75.15,0.836,4,0.078,0.060,3064,188,2161,0,0,0,0,0,0
$GC,5692,0.65,235.1,456.0,11.9,263,5697,0.30,2.42,0.00,0.000,6,0.093,0.028,3002,1671,2156,0,0,0,0,0,0
$GC,5944,0.75,258.5,435.3,8.0,269,5972,0.00,2.75,20.48,0.782,4,0.000,0.052,3002,3265,2065,0,0,0,0,0,0
$GC,5988,0.83,261.4,431.2,8.9,270,5998,0.17,2.67,3.72,0.482,6,0.051,0.036,3076,1680,2054,0,0,0,0,0,0
$GC,6279,0.72,261.4,398.6,11.4,277,6286,0.25,2.62,0.00,0.000,4,0.097,0.066,3018,160,2051,0,0,0,0,0,0
$GC,6328,0.72,261.4,393.0,10.6,278,6333,0.00,2.42,0.00,0.000,6,0.000,0.025,3018,1679,2050,0,0,0,0,0,0
$GC,6610,0.72,265.5,367.8,8.8,285,6622,0.00,2.60,4.70,0.557,4,0.000,0.058,3018,166,2036,0,0,0,0,0,0
$GC,6675,0.72,265.5,361.6,9.7,286,6679,0.00,2.40,0.00,0.000,6,0.000,0.025,3018,1668,2035,0,0,0,0,0,0
$GC,6943,0.74,275.6,338.4,8.6,293,6959,0.00,2.72,10.07,0.691,4,0.000,0.047,3018,3250,1995,0,0,0,0,0,0
$GC,6970,0.77,300.3,336.2,8.0,293,7000,0.00,2.67,24.10,0.744,6,0.000,0.033,3017,1649,1895,0,0,0,0,0,0
$GC,7277,0.86,308.0,308.8,8.7,301,7290,0.12,2.60,7.40,0.627,4,0.065,0.065,3082,163,1864,0,0,0,0,0,0
$GC,7311,0.71,308.0,305.1,11.8,301,7316,0.30,2.42,0.00,0.000,6,0.092,0.025,3018,1668,1864,0,0,0,0,0,0
$GC,7561,0.83,329.4,284.0,8.1,307,7585,0.10,0.00,20.17,0.705,6,0.077,0.000,3074,1669,1776,0,0,0,0,0,0
$GC,7849,0.83,329.4,251.7,11.4,314,7854,0.15,2.58,0.00,0.000,4,0.102,0.055,3042,171,1771,0,0,0,0,0,0
$GC,7888,0.83,329.4,247.3,10.7,314,7894,0.00,2.38,0.00,0.000,6,0.000,0.023,3042,1662,1771,0,0,0,0,0,0
$GC,8137,0.83,329.4,223.2,9.7,321,8142,0.00,2.53,0.00,0.000,4,0.000,0.053,3042,164,1769,0,0,0,0,0,0
$GC,8174,0.83,329.4,219.4,10.5,321,8180,0.00,2.35,0.00,0.000,6,0.000,0.023,3041,1643,1769,0,0,0,0,0,0
$GC,8432,0.90,340.0,196.3,8.6,331,8450,0.00,2.67,9.73,0.591,4,0.000,0.035,3042,3243,1731,0,0,0,0,0,0
$GC,8466,0.99,348.2,193.1,8.7,334,8484,0.15,2.62,8.43,0.568,6,0.054,0.030,3128,1635,1700,0,0,0,0,0,0
$GC,8739,0.85,348.2,155.0,14.4,360,8744,0.35,2.45,0.00,0.000,4,0.088,0.047,3047,170,1697,0,0,0,0,0,0
$GC,8778,0.94,348.2,150.1,11.4,363,8787,0.00,2.35,0.00,0.000,6,0.000,0.022,3047,1641,1697,0,0,0,0,0,0
$GC,9043,1.03,356.8,126.1,8.7,388,9059,0.15,2.53,8.80,0.525,4,0.056,0.046,3117,173,1665,0,0,0,0,0,0
$GC,9069,0.92,356.8,122.8,11.7,390,9079,0.22,2.33,0.00,0.000,6,0.074,0.022,3063,1627,1665,0,0,0,0,0,0
$GC,9336,1.02,356.8,98.5,9.3,415,9340,0.00,2.60,0.00,0.000,4,0.000,0.031,3063,3254,1663,0,0,0,0,0,0
$GC,9392,1.20,370.4,92.7,8.4,420,9414,0.22,2.62,13.80,0.526,6,0.040,0.028,3147,1623,1608,0,0,0,0,0,0
$GC,9672,1.05,370.4,54.2,14.1,446,9677,0.25,2.40,0.00,0.000,4,0.094,0.044,3088,166,1606,0,0,0,0,0,0
$GC,9702,1.05,370.4,50.2,12.4,448,9706,0.00,2.30,0.00,0.000,6,0.000,0.020,3089,1643,1606,0,0,0,0,0,0
$GC,9981,1.06,373.4,22.0,8.9,478,9990,0.00,2.58,3.83,0.328,4,0.000,0.029,3089,3250,1597,0,0,0,0,0,0
$GC,10025,1.15,373.4,18.1,9.1,484,10033,0.00,2.62,0.00,0.000,6,0.000,0.027,3089,1640,1595,0,0,0,0,0,0
$STATE,10163,end climb,SURFACE_DEPTH_REACHED
$STATE,10163,begin surface coast
$FINISH,0.8,1.023540
$STATE,10213,end surface coast,CONTROL_FINISHED_OK
$STATE,10214,begin surface
$SM_CCo,10234,28.58,0.335,1,0,1406,420.20
$SM_GC,1.61,0.00,0.00,28.58,0.000,0.000,0.335,414,1841,1406,-11.25,1.44,420.20
$IRIDIUM_FIX,2237.01,-15957.82,260300,020248
$TT8_MAMPS,0.026845
$HUMID,49.52
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,53.724
$10V_AH,10.2,46.785
$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,31.350,141.100,448.675,28.575,0.000,27.977,32.177,305.661,0.000,0.000,31.927,1090.659,6471.844,512.219,2044.128,681.739,33.380,1354.542,0.000,2021.720,0.000,0.538,0.000
$DEVICE_MAMPS,149.565,67.496,866.710,335.179,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.565,316.085,397.486,610.973,1078.218,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,41435,513
$CAP_FILE_SIZE,125903,0
$CFSIZE,260165632,149282816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311210,084801,2248.999,-15758.702,37,1.4,43,10.1