version: 66.06
glider: 148
mission: 9
dive: 369
start: 12 26 110 8 27 53
data:
$ID,148
$MISSION,9
$DIVE,369
$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,-865848.75
$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,20
$R_STBD_OVSHOOT,67
$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
$GPS1,081937,2247.361,-15757.863,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.9
$GPS2,082656,2247.354,-15757.789,15,1.3,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.248,0.035
$KALMAN_X,-38369.7,162.6,-418.0,59397.3,1255.7
$KALMAN_Y,-29963.9,-280.1,167.1,155008.2,-493.1
$MHEAD_RNG_PITCHd_Wd,267.9,8922,-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,17,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.70,0.000,2,0.000,0.000,412,1810,3313,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.8,-5.0,10,125,11.45,2.62,-7.15,0.000,4,0.151,0.046,2596,190,3717,0,0,0,0,0,0
$GC,178,-1.05,-146.0,24.6,-15.8,21,187,0.12,2.50,0.00,0.000,6,0.077,0.019,2629,1777,3719,0,0,0,0,0,0
$GC,455,-0.95,-146.0,59.3,-11.9,49,460,0.10,2.55,0.00,0.000,4,0.122,0.030,2650,3367,3719,0,0,0,0,0,0
$GC,532,-1.05,-146.0,67.7,-9.7,55,537,0.00,2.50,0.00,0.000,6,0.000,0.022,2650,1780,3719,0,0,0,0,0,0
$GC,801,-1.05,-146.0,97.0,-11.6,79,805,0.00,2.55,0.00,0.000,4,0.000,0.029,2650,3370,3720,0,0,0,0,0,0
$GC,862,-1.18,-146.0,104.3,-8.9,84,871,0.17,2.50,0.00,0.000,6,0.020,0.022,2559,1807,3720,0,0,0,0,0,0
$GC,1129,-1.00,-146.0,137.7,-12.3,109,1134,0.35,0.00,0.00,0.000,6,0.085,0.000,2641,1806,3720,0,0,0,0,0,0
$GC,1391,-1.09,-146.0,161.3,-8.5,134,1395,0.00,2.47,0.00,0.000,4,0.000,0.028,2641,3370,3722,0,0,0,0,0,0
$GC,1471,-1.28,-146.0,168.3,-8.0,141,1480,0.22,2.47,0.00,0.000,6,0.019,0.022,2538,1820,3722,0,0,0,0,0,0
$GC,1752,-1.07,-146.0,206.3,-12.6,165,1757,0.38,2.47,0.00,0.000,4,0.088,0.028,2624,3364,3722,0,0,0,0,0,0
$GC,1783,-1.07,-146.0,209.6,-8.8,165,1787,0.00,2.42,0.00,0.000,6,0.000,0.022,2623,1833,3722,0,0,0,0,0,0
$GC,2037,-1.14,-146.0,228.9,-8.0,172,2042,0.00,2.45,0.00,0.000,4,0.000,0.029,2624,3368,3722,0,0,0,0,0,0
$GC,2089,-1.29,-146.0,233.3,-8.6,173,2094,0.20,2.42,0.00,0.000,6,0.040,0.023,2538,1840,3722,0,0,0,0,0,0
$GC,2374,-1.11,-146.0,270.7,-13.5,180,2381,0.32,2.65,0.00,0.000,4,0.086,0.041,2613,204,3722,0,0,0,0,0,0
$GC,2402,-1.11,-146.0,273.8,-9.7,180,2406,0.00,2.55,0.00,0.000,6,0.000,0.021,2613,1848,3722,0,0,0,0,0,0
$GC,2663,-1.18,-146.0,292.6,-7.1,187,2667,0.00,2.40,0.00,0.000,4,0.000,0.034,2613,3362,3722,0,0,0,0,0,0
$GC,2728,-1.33,-146.0,297.4,-6.7,188,2733,0.17,2.42,0.00,0.000,6,0.046,0.026,2530,1849,3722,0,0,0,0,0,0
$GC,2995,-1.15,-146.0,329.0,-12.7,195,3000,0.32,2.45,0.00,0.000,4,0.085,0.035,2604,3359,3722,0,0,0,0,0,0
$GC,3029,-1.22,-146.0,332.7,-8.6,195,3033,0.00,2.40,0.00,0.000,6,0.000,0.028,2604,1867,3722,0,0,0,0,0,0
$GC,3279,-1.29,-146.0,353.6,-8.6,201,3281,0.12,0.00,0.00,0.000,6,0.062,0.000,2530,1867,3721,0,0,0,0,0,0
$GC,3524,-1.13,-146.0,382.4,-11.8,207,3529,0.35,2.45,0.00,0.000,4,0.085,0.040,2607,3367,3719,0,0,0,0,0,0
$GC,3539,-1.04,-146.0,384.3,-11.6,207,3544,0.12,2.40,0.00,0.000,6,0.098,0.027,2637,1871,3719,0,0,0,0,0,0
$GC,3808,-1.22,-146.0,399.4,-5.6,214,3813,0.17,2.45,0.00,0.000,4,0.048,0.041,2543,3357,3718,0,0,0,0,0,0
$GC,3834,-1.22,-146.0,401.6,-10.2,214,3839,0.22,2.40,0.00,0.000,6,0.083,0.028,2593,1868,3718,0,0,0,0,0,0
$GC,4093,-1.22,-146.0,425.4,-9.3,221,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,1868,3716,0,0,0,0,0,0
$GC,4337,-1.22,-146.0,446.6,-8.6,227,4341,0.00,2.47,0.00,0.000,4,0.000,0.045,2593,3359,3714,0,0,0,0,0,0
$GC,4367,-1.29,-146.0,448.9,-7.8,227,4371,0.00,2.40,0.00,0.000,6,0.000,0.035,2593,1876,3714,0,0,0,0,0,0
$GC,4622,-1.35,-146.0,469.3,-7.9,234,4627,0.12,2.47,0.00,0.000,4,0.064,0.048,2519,3352,3711,0,0,0,0,0,0
$GC,4641,-1.29,-146.0,471.4,-9.9,234,4646,0.28,2.38,0.00,0.000,6,0.083,0.028,2580,1883,3712,0,0,0,0,0,0
$GC,4906,-1.29,-146.0,492.7,-7.8,241,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1882,3710,0,0,0,0,0,0
$STATE,5025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5025,begin apogee
$GC,5031,-0.31,0.0,501.9,7.5,244,5152,0.93,0.00,117.68,0.865,6,0.072,0.000,2792,1670,3120,0,0,0,0,0,0
$STATE,5153,end apogee,CONTROL_FINISHED_OK
$STATE,5153,begin climb
$GC,5155,1.17,146.0,506.2,0.0,247,5286,1.33,2.67,120.93,0.848,4,0.027,0.071,3127,179,2522,0,0,0,0,0,0
$GC,5376,0.71,146.0,500.0,10.2,252,5384,0.52,2.42,0.00,0.000,6,0.101,0.028,3018,1660,2517,0,0,0,0,0,0
$GC,5662,0.80,220.1,483.1,5.9,259,5730,0.00,2.65,62.33,0.831,4,0.000,0.061,3018,183,2221,0,0,0,0,0,0
$GC,5780,0.80,220.1,473.1,10.8,261,5784,0.00,2.45,0.00,0.000,6,0.000,0.029,3018,1686,2219,0,0,0,0,0,0
$GC,6034,0.81,226.8,450.4,8.7,268,6041,0.00,0.00,5.82,0.626,6,0.000,0.000,3018,1686,2195,0,0,0,0,0,0
$GC,6278,0.85,259.2,431.4,7.7,274,6315,0.12,2.78,29.55,0.798,4,0.066,0.051,3073,3264,2062,0,0,0,0,0,0
$GC,6341,0.76,259.2,424.9,11.1,275,6349,0.22,2.65,0.00,0.000,6,0.093,0.036,3026,1696,2058,0,0,0,0,0,0
$GC,6612,0.76,259.2,399.1,9.3,282,6617,0.00,2.65,0.00,0.000,4,0.000,0.067,3025,167,2055,0,0,0,0,0,0
$GC,6692,0.76,259.2,390.8,10.5,283,6697,0.00,2.45,0.00,0.000,6,0.000,0.025,3026,1686,2055,0,0,0,0,0,0
$GC,6942,0.78,281.6,369.8,8.1,289,6967,0.00,2.67,19.60,0.751,4,0.000,0.059,3025,167,1971,0,0,0,0,0,0
$GC,7006,0.78,281.6,364.3,9.0,290,7011,0.00,2.42,0.00,0.000,6,0.000,0.026,3025,1666,1969,0,0,0,0,0,0
$GC,7272,0.83,318.2,344.2,7.5,297,7311,0.00,0.00,34.42,0.754,6,0.000,0.000,3026,1667,1820,0,0,0,0,0,0
$GC,7555,0.83,318.2,318.4,9.5,304,7559,0.00,2.55,0.00,0.000,4,0.000,0.056,3025,167,1815,0,0,0,0,0,0
$GC,7578,0.83,318.2,316.1,9.2,304,7582,0.00,2.42,0.00,0.000,6,0.000,0.024,3025,1678,1815,0,0,0,0,0,0
$GC,7839,0.89,318.2,291.4,9.4,311,7844,0.12,2.62,0.00,0.000,4,0.065,0.046,3081,3248,1813,0,0,0,0,0,0
$GC,7862,0.89,318.2,288.3,11.7,311,7868,0.12,2.65,0.00,0.000,6,0.109,0.033,3054,1654,1811,0,0,0,0,0,0
$GC,8124,0.89,318.2,258.3,11.8,318,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,1654,1811,0,0,0,0,0,0
$GC,8366,0.89,318.2,232.4,10.3,324,8370,0.00,2.53,0.00,0.000,4,0.000,0.067,3054,169,1810,0,0,0,0,0,0
$GC,8408,0.89,318.2,228.1,10.8,325,8413,0.00,2.35,0.00,0.000,6,0.000,0.023,3054,1668,1809,0,0,0,0,0,0
$GC,8696,0.89,318.2,200.5,10.4,332,8701,0.00,2.58,0.00,0.000,4,0.000,0.036,3054,3247,1809,0,0,0,0,0,0
$GC,8734,0.96,318.2,196.1,11.5,332,8739,0.00,2.60,0.00,0.000,6,0.000,0.030,3054,1659,1807,0,0,0,0,0,0
$GC,8996,0.96,318.2,168.5,10.9,357,9000,0.00,2.60,0.00,0.000,4,0.000,0.036,3054,3258,1807,0,0,0,0,0,0
$GC,9018,0.96,318.2,166.1,10.4,358,9023,0.00,2.58,0.00,0.000,6,0.000,0.028,3054,1669,1807,0,0,0,0,0,0
$GC,9283,0.98,327.0,139.8,8.6,383,9296,0.00,2.53,6.45,0.491,4,0.000,0.047,3054,174,1786,0,0,0,0,0,0
$GC,9335,0.98,327.0,134.5,10.4,388,9339,0.00,2.38,0.00,0.000,6,0.000,0.021,3054,1684,1786,0,0,0,0,0,0
$GC,9597,1.04,327.0,108.2,9.4,412,9602,0.12,2.55,0.00,0.000,4,0.064,0.034,3135,3253,1785,0,0,0,0,0,0
$GC,9617,1.04,327.0,106.3,10.3,413,9623,0.22,2.53,0.00,0.000,6,0.097,0.028,3087,1682,1785,0,0,0,0,0,0
$GC,9885,1.04,327.0,79.1,9.7,437,9889,0.00,2.50,0.00,0.000,4,0.000,0.046,3086,166,1785,0,0,0,0,0,0
$GC,9980,1.04,327.0,69.0,10.2,445,9989,0.00,2.38,0.00,0.000,6,0.000,0.021,3087,1677,1785,0,0,0,0,0,0
$GC,10249,1.04,330.0,45.4,8.9,470,10264,0.00,2.53,4.53,0.370,4,0.000,0.043,3087,173,1773,0,0,0,0,0,0
$GC,10291,1.04,330.0,41.2,10.0,473,10295,0.00,2.33,0.00,0.000,6,0.000,0.020,3086,1668,1773,0,0,0,0,0,0
$GC,10580,1.04,330.0,14.7,10.0,510,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1669,1773,0,0,0,0,0,0
$STATE,10695,end climb,SURFACE_DEPTH_REACHED
$STATE,10695,begin surface coast
$FINISH,0.7,1.010349
$STATE,10757,end surface coast,CONTROL_FINISHED_OK
$STATE,10757,begin surface
$SM_CCo,10777,42.25,0.061,0,0,1406,420.20
$SM_GC,1.50,0.00,0.00,42.25,0.000,0.000,0.061,414,1848,1406,-11.25,1.64,420.20
$IRIDIUM_FIX,2241.69,-15759.32,210300,060641
$TT8_MAMPS,0.026845
$HUMID,46.96
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.6,49.128
$10V_AH,10.3,42.472
$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,29.750,135.725,401.300,42.250,0.000,31.114,32.349,244.798,0.750,0.000,16.626,1125.424,6994.738,502.226,2032.860,607.651,33.372,1309.408,0.000,2035.396,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,70.564,865.176,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.155,324.009,412.564,641.365,1134.328,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41616,537
$CAP_FILE_SIZE,121056,0
$CFSIZE,260165632,151502848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261210,112930,2247.420,-15759.013,36,1.2,38,10.1