version: 66.06
glider: 148
mission: 9
dive: 356
start: 12 24 110 17 58 39
data:
$ID,148
$MISSION,9
$DIVE,356
$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,-865578.5
$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,32
$R_STBD_OVSHOOT,97
$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
$GPS1,174954,2247.296,-15759.745,33,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.9
$GPS2,175744,2247.291,-15759.709,7,1.9,7,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.249,0.029
$KALMAN_X,-46046.2,188.4,-269.0,63597.2,475.1
$KALMAN_Y,-18872.1,674.7,-198.4,143212.4,-534.4
$MHEAD_RNG_PITCHd_Wd,266.5,5646,-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,-75.18,0.000,2,0.000,0.000,412,1844,3273,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-3.5,10,131,11.52,2.75,-8.40,0.000,4,0.154,0.051,2594,199,3718,0,0,0,0,0,0
$GC,208,-1.17,-146.0,25.8,-11.8,26,217,0.00,2.42,0.00,0.000,6,0.000,0.018,2594,1742,3720,0,0,0,0,0,0
$GC,483,-0.97,-146.0,67.7,-16.5,53,488,0.25,2.58,0.00,0.000,4,0.097,0.028,2652,3367,3721,0,0,0,0,0,0
$GC,571,-1.08,-146.0,78.3,-9.1,60,576,0.12,2.50,0.00,0.000,6,0.061,0.021,2565,1791,3721,0,0,0,0,0,0
$GC,835,-0.75,-146.0,123.6,-17.2,84,845,0.70,0.00,0.00,0.000,6,0.087,0.000,2694,1791,3721,0,0,0,0,0,0
$GC,1104,-1.01,-146.0,139.5,-4.5,109,1109,0.22,2.50,0.00,0.000,4,0.037,0.026,2577,3371,3722,0,0,0,0,0,0
$GC,1175,-0.93,-146.0,146.9,-11.0,115,1184,0.30,2.47,0.00,0.000,6,0.067,0.022,2651,1796,3722,0,0,0,0,0,0
$GC,1440,-1.05,-146.0,168.1,-7.5,140,1444,0.00,2.47,0.00,0.000,4,0.000,0.029,2651,3363,3722,0,0,0,0,0,0
$GC,1484,-1.26,-146.0,171.9,-7.0,144,1490,0.28,2.45,0.00,0.000,6,0.032,0.022,2549,1793,3722,0,0,0,0,0,0
$GC,1747,-1.09,-146.0,206.9,-13.8,165,1752,0.30,2.50,0.00,0.000,4,0.084,0.028,2619,3369,3722,0,0,0,0,0,0
$GC,1770,-1.09,-146.0,210.0,-10.5,165,1775,0.00,2.47,0.00,0.000,6,0.000,0.021,2619,1802,3723,0,0,0,0,0,0
$GC,2030,-1.15,-146.0,230.9,-8.1,172,2034,0.00,2.47,0.00,0.000,4,0.000,0.029,2619,3367,3723,0,0,0,0,0,0
$GC,2069,-1.26,-146.0,234.3,-8.5,172,2076,0.15,2.45,0.00,0.000,6,0.052,0.024,2530,1813,3723,0,0,0,0,0,0
$GC,2319,-1.05,-146.0,268.9,-14.2,179,2326,0.43,2.50,0.00,0.000,4,0.084,0.030,2628,3369,3724,0,0,0,0,0,0
$GC,2360,-1.18,-146.0,273.2,-8.4,179,2366,0.10,2.45,0.00,0.000,6,0.072,0.025,2568,1819,3723,0,0,0,0,0,0
$GC,2611,-1.11,-146.0,297.1,-9.6,186,2616,0.22,2.47,0.00,0.000,4,0.086,0.031,2619,3360,3724,0,0,0,0,0,0
$GC,2640,-1.18,-146.0,299.8,-7.9,186,2644,0.00,2.42,0.00,0.000,6,0.000,0.025,2619,1826,3724,0,0,0,0,0,0
$GC,2897,-1.28,-146.0,317.6,-7.1,193,2902,0.15,2.47,0.00,0.000,4,0.054,0.035,2527,3362,3722,0,0,0,0,0,0
$GC,2921,-1.19,-146.0,320.2,-10.5,193,2926,0.32,2.45,0.00,0.000,6,0.076,0.026,2600,1829,3722,0,0,0,0,0,0
$GC,3181,-1.19,-146.0,341.7,-8.2,200,3185,0.00,2.47,0.00,0.000,4,0.000,0.037,2600,3364,3721,0,0,0,0,0,0
$GC,3221,-1.27,-146.0,345.1,-8.7,200,3226,0.00,2.45,0.00,0.000,6,0.000,0.028,2600,1842,3721,0,0,0,0,0,0
$GC,3470,-1.27,-146.0,367.1,-8.7,207,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1842,3719,0,0,0,0,0,0
$GC,3714,-1.33,-146.0,386.9,-7.8,213,3719,0.12,2.47,0.00,0.000,4,0.064,0.039,2530,3358,3718,0,0,0,0,0,0
$GC,3731,-1.33,-146.0,388.3,-7.5,213,3736,0.17,2.40,0.00,0.000,6,0.091,0.028,2569,1852,3718,0,0,0,0,0,0
$GC,4000,-1.33,-146.0,411.1,-8.3,220,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1852,3717,0,0,0,0,0,0
$GC,4243,-1.33,-146.0,433.6,-9.4,226,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1852,3715,0,0,0,0,0,0
$GC,4488,-1.33,-146.0,456.2,-9.1,232,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1852,3714,0,0,0,0,0,0
$GC,4733,-1.33,-146.0,476.5,-8.1,238,4737,0.00,2.50,0.00,0.000,4,0.000,0.049,2569,3350,3712,0,0,0,0,0,0
$GC,4751,-1.33,-146.0,478.1,-8.1,238,4756,0.00,2.42,0.00,0.000,6,0.000,0.028,2569,1849,3712,0,0,0,0,0,0
$STATE,5013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5013,begin apogee
$GC,5020,-0.31,0.0,500.1,8.5,245,5141,0.98,0.00,117.72,0.860,6,0.074,0.000,2790,1666,3120,0,0,0,0,0,0
$STATE,5142,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5144,1.17,146.0,504.6,0.0,248,5275,1.33,2.78,120.28,0.844,4,0.026,0.051,3124,3234,2522,0,0,0,0,0,0
$GC,5296,0.89,187.5,505.4,7.3,251,5338,0.32,2.60,35.65,0.812,6,0.102,0.038,3057,1699,2355,0,0,0,0,0,0
$GC,5599,0.75,187.5,477.7,9.4,259,5606,0.15,2.72,0.00,0.000,4,0.116,0.074,3026,159,2346,0,0,0,0,0,0
$GC,5696,0.65,195.1,468.8,8.7,261,5709,0.12,2.42,6.62,0.653,6,0.114,0.027,3000,1652,2323,0,0,0,0,0,0
$GC,5986,0.73,260.2,450.1,6.3,268,6050,0.00,2.62,56.92,0.820,4,0.000,0.059,3000,166,2057,0,0,0,0,0,0
$GC,6070,0.75,279.4,443.7,8.2,270,6095,0.10,2.47,18.42,0.765,6,0.077,0.027,3048,1683,1979,0,0,0,0,0,0
$GC,6362,0.75,279.4,413.3,10.9,277,6367,0.12,2.62,0.00,0.000,4,0.110,0.058,3022,160,1971,0,0,0,0,0,0
$GC,6405,0.75,279.4,407.9,12.5,278,6409,0.00,2.45,0.00,0.000,6,0.000,0.027,3022,1674,1970,0,0,0,0,0,0
$GC,6693,0.75,279.4,379.0,9.8,285,6697,0.00,2.67,0.00,0.000,4,0.000,0.052,3023,3255,1968,0,0,0,0,0,0
$GC,6716,0.75,279.4,376.4,9.4,285,6721,0.00,2.65,0.00,0.000,6,0.000,0.035,3022,1664,1966,0,0,0,0,0,0
$GC,6975,0.76,288.6,353.5,8.6,292,6987,0.00,2.60,7.18,0.640,4,0.000,0.064,3022,166,1942,0,0,0,0,0,0
$GC,7035,0.76,288.6,347.9,9.2,293,7040,0.00,2.40,0.00,0.000,6,0.000,0.026,3022,1663,1942,0,0,0,0,0,0
$GC,7315,0.81,326.7,326.8,7.4,300,7357,0.00,2.72,35.03,0.742,4,0.000,0.048,3022,3249,1787,0,0,0,0,0,0
$GC,7367,0.91,349.0,322.5,8.1,301,7396,0.15,2.67,20.77,0.712,6,0.056,0.031,3086,1649,1697,0,0,0,0,0,0
$GC,7649,0.81,349.0,285.2,14.0,308,7654,0.22,2.55,0.00,0.000,4,0.097,0.061,3037,171,1690,0,0,0,0,0,0
$GC,7668,0.81,349.0,281.8,14.4,308,7673,0.00,2.40,0.00,0.000,6,0.000,0.024,3037,1672,1690,0,0,0,0,0,0
$GC,7933,0.81,349.0,252.7,10.3,315,7938,0.00,2.60,0.00,0.000,4,0.000,0.041,3036,3252,1688,0,0,0,0,0,0
$GC,7957,0.89,363.0,250.4,8.4,315,7975,0.00,2.62,12.73,0.641,6,0.000,0.031,3037,1662,1639,0,0,0,0,0,0
$GC,8219,0.96,363.0,226.2,9.5,322,8221,0.12,0.00,0.00,0.000,6,0.065,0.000,3099,1662,1636,0,0,0,0,0,0
$GC,8470,0.86,363.0,193.7,13.6,331,8475,0.25,2.53,0.00,0.000,4,0.091,0.051,3041,164,1635,0,0,0,0,0,0
$GC,8508,0.86,363.0,188.7,12.5,334,8512,0.00,2.35,0.00,0.000,6,0.000,0.022,3041,1671,1635,0,0,0,0,0,0
$GC,8775,0.93,363.0,162.1,10.1,358,8780,0.00,2.55,0.00,0.000,4,0.000,0.033,3041,3250,1634,0,0,0,0,0,0
$GC,8800,1.02,363.0,158.6,11.0,360,8805,0.17,2.58,0.00,0.000,6,0.049,0.028,3126,1664,1633,0,0,0,0,0,0
$GC,9061,0.87,363.0,120.8,13.2,384,9073,0.35,2.60,0.00,0.000,4,0.084,0.033,3051,3253,1633,0,0,0,0,0,0
$GC,9097,1.00,363.0,117.4,9.1,387,9102,0.10,2.55,0.00,0.000,6,0.075,0.028,3111,1681,1632,0,0,0,0,0,0
$GC,9364,1.00,363.0,87.8,11.9,411,9369,0.15,2.50,0.00,0.000,4,0.101,0.045,3077,173,1632,0,0,0,0,0,0
$GC,9424,1.00,363.0,79.8,11.4,416,9433,0.00,2.38,0.00,0.000,6,0.000,0.021,3077,1680,1632,0,0,0,0,0,0
$GC,9692,1.00,363.0,54.3,9.5,441,9696,0.00,2.55,0.00,0.000,4,0.000,0.031,3077,3258,1632,0,0,0,0,0,0
$GC,9724,1.09,363.0,50.6,9.1,443,9733,0.00,2.58,0.00,0.000,6,0.000,0.028,3077,1678,1632,0,0,0,0,0,0
$GC,9997,1.09,363.0,25.6,9.9,471,10006,0.00,2.50,0.00,0.000,4,0.000,0.044,3077,166,1631,0,0,0,0,0,0
$GC,10023,1.09,363.0,22.6,10.1,474,10032,0.00,2.38,0.00,0.000,6,0.000,0.020,3077,1684,1631,0,0,0,0,0,0
$STATE,10219,end climb,SURFACE_DEPTH_REACHED
$STATE,10219,begin surface coast
$FINISH,0.7,1.023406
$STATE,10274,end surface coast,CONTROL_FINISHED_OK
$STATE,10274,begin surface
$SM_CCo,10296,33.33,0.352,1,0,1406,420.20
$SM_GC,1.66,0.00,0.00,33.33,0.000,0.000,0.352,417,1873,1406,-11.24,2.37,420.20
$IRIDIUM_FIX,2241.69,-15757.16,190300,151554
$TT8_MAMPS,0.026845
$HUMID,47.28
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.80
$XPDR_PINGS,2
$24V_AH,23.6,47.678
$10V_AH,10.2,41.060
$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,30.750,136.575,431.325,33.325,0.000,25.793,33.252,280.511,0.500,0.000,9.272,1067.047,6659.114,509.579,1922.614,647.150,33.372,1308.051,0.000,1930.991,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,73.632,859.807,352.053,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.077,310.322,393.953,608.434,1076.070,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41591,513
$CAP_FILE_SIZE,120156,0
$CFSIZE,260165632,152231936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,241210,205207,2247.678,-15801.002,34,0.8,34,10.1