version: 66.06
glider: 148
mission: 9
dive: 413
start: 12 31 110 22 59 53
data:
$ID,148
$MISSION,9
$DIVE,413
$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,-866845.81
$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,19
$R_STBD_OVSHOOT,51
$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
$GPS1,225116,2246.776,-15757.266,16,2.7,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.1
$GPS2,225858,2246.799,-15757.259,11,3.9,30,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.239,0.076
$KALMAN_X,-38826.0,421.7,-112.5,60199.3,-876.2
$KALMAN_Y,-75144.8,461.2,-556.2,199152.9,-709.7
$MHEAD_RNG_PITCHd_Wd,277.5,9810,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-74.85,0.000,2,0.000,0.000,411,1889,3247,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.1,-3.4,10,133,11.60,2.80,-8.90,0.000,4,0.156,0.052,2596,199,3720,0,0,0,0,0,0
$GC,223,-1.17,-146.0,27.5,-12.7,28,232,0.00,2.50,0.00,0.000,6,0.000,0.019,2596,1785,3721,0,0,0,0,0,0
$GC,499,-1.03,-146.0,71.4,-15.6,54,505,0.17,2.53,0.00,0.000,4,0.106,0.031,2633,3366,3721,0,0,0,0,0,0
$GC,565,-1.03,-146.0,80.8,-13.2,59,570,0.00,2.50,0.00,0.000,6,0.000,0.022,2633,1783,3722,0,0,0,0,0,0
$GC,833,-1.03,-146.0,108.6,-8.4,83,837,0.00,2.55,0.00,0.000,4,0.000,0.029,2633,3372,3722,0,0,0,0,0,0
$GC,881,-1.16,-146.0,113.0,-8.1,87,886,0.12,2.47,0.00,0.000,6,0.060,0.026,2546,1812,3722,0,0,0,0,0,0
$GC,1146,-0.93,-146.0,152.1,-15.5,111,1158,0.55,2.58,0.00,0.000,4,0.084,0.035,2651,204,3723,0,0,0,0,0,0
$GC,1169,-0.93,-146.0,155.5,-12.7,113,1173,0.00,2.53,0.00,0.000,6,0.000,0.018,2651,1837,3723,0,0,0,0,0,0
$GC,1433,-1.09,-146.0,174.0,-6.7,137,1438,0.12,2.38,0.00,0.000,4,0.061,0.029,2568,3356,3723,0,0,0,0,0,0
$GC,1491,-1.09,-146.0,179.4,-9.3,142,1496,0.25,2.40,0.00,0.000,6,0.077,0.023,2627,1826,3724,0,0,0,0,0,0
$GC,1784,-1.18,-146.0,203.9,-8.9,166,1788,0.00,2.42,0.00,0.000,4,0.000,0.030,2627,3353,3724,0,0,0,0,0,0
$GC,1835,-1.34,-146.0,208.7,-8.9,167,1840,0.25,2.40,0.00,0.000,6,0.035,0.022,2529,1840,3724,0,0,0,0,0,0
$GC,2114,-1.17,-146.0,246.4,-13.6,174,2116,0.35,0.00,0.00,0.000,6,0.081,0.000,2606,1836,3724,0,0,0,0,0,0
$GC,2359,-1.23,-146.0,266.4,-8.0,180,2363,0.00,2.42,0.00,0.000,4,0.000,0.032,2606,3361,3724,0,0,0,0,0,0
$GC,2415,-1.37,-146.0,271.3,-8.6,181,2420,0.20,2.42,0.00,0.000,6,0.041,0.025,2517,1839,3724,0,0,0,0,0,0
$GC,2691,-1.20,-146.0,307.3,-13.6,188,2696,0.32,2.47,0.00,0.000,4,0.087,0.035,2592,3356,3724,0,0,0,0,0,0
$GC,2715,-1.20,-146.0,310.4,-10.9,188,2719,0.00,2.38,0.00,0.000,6,0.000,0.024,2592,1853,3724,0,0,0,0,0,0
$GC,2973,-1.20,-146.0,334.3,-9.5,195,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1853,3722,0,0,0,0,0,0
$GC,3219,-1.20,-146.0,356.2,-8.8,201,3223,0.00,2.45,0.00,0.000,4,0.000,0.038,2592,3353,3722,0,0,0,0,0,0
$GC,3252,-1.27,-146.0,359.4,-8.8,201,3257,0.00,2.40,0.00,0.000,6,0.000,0.027,2592,1860,3722,0,0,0,0,0,0
$GC,3502,-1.27,-146.0,379.8,-8.1,207,3506,0.00,2.45,0.00,0.000,4,0.000,0.040,2592,3351,3720,0,0,0,0,0,0
$GC,3527,-1.27,-146.0,381.9,-9.0,207,3531,0.00,2.40,0.00,0.000,6,0.000,0.027,2593,1861,3720,0,0,0,0,0,0
$GC,3786,-1.33,-146.0,404.6,-9.0,214,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1861,3718,0,0,0,0,0,0
$GC,4030,-1.39,-146.0,426.0,-8.7,220,4035,0.15,2.47,0.00,0.000,4,0.057,0.045,2518,3345,3717,0,0,0,0,0,0
$GC,4070,-1.28,-146.0,430.3,-11.1,220,4077,0.28,2.38,0.00,0.000,6,0.084,0.028,2580,1871,3717,0,0,0,0,0,0
$GC,4320,-1.28,-146.0,452.3,-8.5,227,4324,0.00,2.45,0.00,0.000,4,0.000,0.048,2580,3344,3714,0,0,0,0,0,0
$GC,4353,-1.28,-146.0,455.3,-8.9,227,4357,0.00,2.35,0.00,0.000,6,0.000,0.028,2580,1874,3715,0,0,0,0,0,0
$GC,4604,-1.28,-146.0,476.6,-8.7,233,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1874,3712,0,0,0,0,0,0
$GC,4848,-1.28,-146.0,498.5,-9.1,239,4852,0.00,2.85,0.00,0.000,4,0.000,0.066,2580,217,3711,0,0,0,0,0,0
$STATE,4860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4860,begin apogee
$GC,4868,-0.31,0.0,500.0,9.5,239,4989,0.90,0.00,117.50,0.869,6,0.076,0.000,2787,1655,3120,0,0,0,0,0,0
$STATE,4990,end apogee,CONTROL_FINISHED_OK
$STATE,4990,begin climb
$GC,4994,1.17,146.0,505.8,0.0,242,5126,1.38,2.62,121.25,0.852,4,0.034,0.064,3132,183,2522,0,0,0,0,0,0
$GC,5173,0.70,155.7,506.3,8.6,246,5190,0.57,2.45,8.88,0.711,6,0.102,0.030,3012,1678,2484,0,0,0,0,0,0
$GC,5478,0.79,222.0,487.6,6.2,254,5542,0.00,2.62,56.85,0.835,4,0.000,0.059,3012,183,2213,0,0,0,0,0,0
$GC,5626,0.79,222.0,475.1,9.4,257,5630,0.00,2.45,0.00,0.000,6,0.000,0.029,3013,1678,2211,0,0,0,0,0,0
$GC,5894,0.81,246.2,453.8,8.0,264,5923,0.10,2.67,21.33,0.794,4,0.079,0.058,3060,180,2115,0,0,0,0,0,0
$GC,5959,0.67,246.2,447.2,11.6,265,5964,0.25,2.42,0.00,0.000,6,0.094,0.027,3007,1675,2115,0,0,0,0,0,0
$GC,6228,0.73,293.7,426.7,7.0,272,6277,0.00,2.78,42.47,0.806,4,0.000,0.052,3007,3250,1922,0,0,0,0,0,0
$GC,6295,0.89,359.7,422.4,6.3,273,6362,0.20,2.62,59.60,0.802,6,0.043,0.035,3086,1681,1653,0,0,0,0,0,0
$GC,6645,0.79,359.7,378.1,13.0,282,6652,0.25,2.62,0.00,0.000,4,0.097,0.064,3029,168,1644,0,0,0,0,0,0
$GC,6691,0.88,359.7,372.8,10.8,283,6695,0.00,2.42,0.00,0.000,6,0.000,0.026,3028,1674,1644,0,0,0,0,0,0
$GC,6978,0.94,359.7,343.4,10.3,290,6983,0.15,2.67,0.00,0.000,4,0.058,0.049,3098,3257,1641,0,0,0,0,0,0
$GC,7054,0.94,359.7,332.7,14.5,291,7060,0.15,2.65,0.00,0.000,6,0.102,0.035,3066,1671,1638,0,0,0,0,0,0
$GC,7311,0.94,359.7,300.7,12.2,298,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1671,1638,0,0,0,0,0,0
$GC,7555,0.94,359.7,270.8,12.4,304,7559,0.00,2.60,0.00,0.000,4,0.000,0.063,3065,162,1637,0,0,0,0,0,0
$GC,7575,0.94,359.7,268.4,11.7,304,7579,0.00,2.45,0.00,0.000,6,0.000,0.024,3066,1696,1636,0,0,0,0,0,0
$GC,7838,0.94,359.7,238.1,11.3,311,7843,0.00,2.60,0.00,0.000,4,0.000,0.046,3066,3254,1636,0,0,0,0,0,0
$GC,7881,0.94,359.7,233.2,12.0,312,7885,0.00,2.60,0.00,0.000,6,0.000,0.031,3065,1678,1634,0,0,0,0,0,0
$GC,8169,0.94,359.7,198.8,11.9,319,8174,0.00,2.55,0.00,0.000,4,0.000,0.054,3065,166,1635,0,0,0,0,0,0
$GC,8206,0.94,359.7,194.6,12.8,322,8211,0.00,2.42,0.00,0.000,6,0.000,0.024,3066,1692,1634,0,0,0,0,0,0
$GC,8473,0.94,359.7,167.1,10.3,346,8478,0.00,2.55,0.00,0.000,4,0.000,0.036,3066,3259,1634,0,0,0,0,0,0
$GC,8521,1.02,359.7,161.4,10.8,350,8527,0.00,2.55,0.00,0.000,6,0.000,0.028,3065,1682,1633,0,0,0,0,0,0
$GC,8787,1.02,359.7,131.9,11.2,375,8791,0.00,2.50,0.00,0.000,4,0.000,0.047,3066,171,1633,0,0,0,0,0,0
$GC,8816,1.02,359.7,128.6,11.8,377,8820,0.00,2.42,0.00,0.000,6,0.000,0.022,3066,1705,1633,0,0,0,0,0,0
$GC,9083,1.02,359.7,99.9,11.1,401,9087,0.00,2.55,0.00,0.000,4,0.000,0.048,3066,172,1633,0,0,0,0,0,0
$GC,9099,1.02,359.7,97.6,10.8,402,9103,0.00,2.42,0.00,0.000,6,0.000,0.021,3065,1712,1633,0,0,0,0,0,0
$GC,9366,1.10,364.6,74.4,8.8,426,9371,0.15,2.50,0.00,0.000,4,0.055,0.035,3125,3253,1633,0,0,0,0,0,0
$GC,9410,1.10,364.6,69.3,12.1,429,9415,0.12,2.53,0.00,0.000,6,0.107,0.027,3099,1689,1633,0,0,0,0,0,0
$GC,9673,1.10,364.6,41.0,10.6,453,9678,0.00,2.47,0.00,0.000,4,0.000,0.044,3098,173,1632,0,0,0,0,0,0
$GC,9748,1.10,364.6,32.9,11.6,459,9752,0.00,2.38,0.00,0.000,6,0.000,0.021,3098,1692,1633,0,0,0,0,0,0
$STATE,10039,end climb,SURFACE_DEPTH_REACHED
$STATE,10039,begin surface coast
$FINISH,0.7,1.011306
$STATE,10092,end surface coast,CONTROL_FINISHED_OK
$STATE,10092,begin surface
$SM_CCo,10114,33.20,0.354,1,0,1407,420.20
$SM_GC,1.64,0.00,0.00,33.20,0.000,0.000,0.354,408,1884,1407,-11.28,2.66,420.20
$IRIDIUM_FIX,2237.01,-15758.03,260300,202055
$TT8_MAMPS,0.026845
$HUMID,48.70
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.5,54.362
$10V_AH,10.2,47.447
$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,29.350,135.550,427.875,33.200,0.000,25.542,34.241,251.638,0.750,0.000,33.236,1069.720,6460.399,509.805,1976.137,599.531,33.396,1289.959,0.000,1955.167,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,65.962,869.011,354.354,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.039,314.720,397.350,598.309,1058.112,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,41411,511
$CAP_FILE_SIZE,115865,0
$CFSIZE,260165632,148955136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010111,015035,2246.930,-15758.893,40,1.7,50,10.1