version: 66.06
glider: 148
mission: 9
dive: 376
start: 12 27 110 6 38 36
data:
$ID,148
$MISSION,9
$DIVE,376
$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,-866042.69
$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,120
$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
$GPS1,062913,2248.193,-15803.185,78,1.4,84,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.9
$GPS2,063738,2248.104,-15803.156,13,1.1,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.019,0.250
$KALMAN_X,-33755.2,365.1,38.2,44887.7,-14.0
$KALMAN_Y,-35223.1,-345.5,-768.9,162671.5,-190.1
$MHEAD_RNG_PITCHd_Wd,354.3,3521,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.97,0.000,2,0.000,0.000,413,1814,3320,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.7,-4.9,10,124,11.45,2.35,-7.32,0.000,4,0.152,0.035,2597,3301,3717,0,0,0,0,0,0
$GC,255,-1.06,-146.0,36.9,-13.7,31,264,0.10,2.42,0.00,0.000,6,0.069,0.025,2626,1793,3719,0,0,0,0,0,0
$GC,522,-0.98,-146.0,69.8,-13.6,56,526,0.00,2.40,0.00,0.000,4,0.000,0.028,2626,3295,3720,0,0,0,0,0,0
$GC,600,-0.98,-146.0,79.8,-10.8,62,609,0.00,2.38,0.00,0.000,6,0.000,0.023,2626,1805,3720,0,0,0,0,0,0
$GC,864,-0.98,-146.0,109.4,-10.2,87,868,0.00,2.35,0.00,0.000,4,0.000,0.028,2626,3296,3720,0,0,0,0,0,0
$GC,899,-0.98,-146.0,113.4,-10.3,90,903,0.00,2.35,0.00,0.000,6,0.000,0.022,2626,1808,3721,0,0,0,0,0,0
$GC,1163,-0.98,-146.0,136.6,-8.9,114,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1807,3721,0,0,0,0,0,0
$GC,1427,-0.98,-146.0,158.1,-8.8,139,1431,0.00,2.38,0.00,0.000,4,0.000,0.028,2626,3302,3721,0,0,0,0,0,0
$GC,1477,-1.12,-146.0,162.5,-8.3,143,1482,0.00,2.33,0.00,0.000,6,0.000,0.022,2626,1815,3722,0,0,0,0,0,0
$GC,1739,-1.20,-146.0,186.5,-9.6,168,1741,0.12,0.00,0.00,0.000,6,0.062,0.000,2550,1815,3722,0,0,0,0,0,0
$GC,2008,-1.03,-146.0,224.1,-14.2,182,2013,0.35,2.35,0.00,0.000,4,0.079,0.028,2631,3294,3722,0,0,0,0,0,0
$GC,2060,-1.22,-146.0,229.9,-9.4,183,2065,0.15,2.33,0.00,0.000,6,0.051,0.024,2540,1827,3722,0,0,0,0,0,0
$GC,2340,-1.00,-146.0,269.4,-14.3,190,2345,0.50,2.33,0.00,0.000,4,0.081,0.031,2637,3294,3722,0,0,0,0,0,0
$GC,2397,-1.19,-146.0,274.8,-6.2,191,2402,0.17,2.30,0.00,0.000,6,0.046,0.025,2556,1835,3722,0,0,0,0,0,0
$GC,2672,-1.09,-146.0,300.9,-9.3,198,2679,0.25,2.67,0.00,0.000,4,0.084,0.046,2616,214,3722,0,0,0,0,0,0
$GC,2713,-1.26,-146.0,303.9,-5.7,198,2719,0.12,2.40,0.00,0.000,6,0.061,0.021,2525,1762,3722,0,0,0,0,0,0
$GC,2963,-1.09,-146.0,329.6,-11.1,205,2970,0.40,2.60,0.00,0.000,4,0.080,0.035,2620,3368,3721,0,0,0,0,0,0
$GC,3037,-1.27,-146.0,335.2,-6.7,206,3042,0.15,2.42,0.00,0.000,6,0.051,0.028,2533,1850,3721,0,0,0,0,0,0
$GC,3297,-1.12,-146.0,365.5,-12.5,213,3299,0.38,0.00,0.00,0.000,6,0.080,0.000,2615,1850,3719,0,0,0,0,0,0
$GC,3543,-1.23,-146.0,385.8,-8.1,219,3547,0.10,2.47,0.00,0.000,4,0.074,0.039,2551,3363,3718,0,0,0,0,0,0
$GC,3584,-1.23,-146.0,390.4,-10.5,219,3590,0.17,2.42,0.00,0.000,6,0.086,0.028,2592,1844,3718,0,0,0,0,0,0
$GC,3834,-1.23,-146.0,413.0,-9.0,226,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1843,3717,0,0,0,0,0,0
$GC,4079,-1.23,-146.0,433.6,-8.2,232,4084,0.00,2.50,0.00,0.000,4,0.000,0.043,2592,3365,3715,0,0,0,0,0,0
$GC,4103,-1.29,-146.0,435.8,-8.4,232,4107,0.00,2.45,0.00,0.000,6,0.000,0.029,2592,1848,3715,0,0,0,0,0,0
$GC,4362,-1.29,-146.0,454.3,-7.0,239,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1849,3713,0,0,0,0,0,0
$GC,4606,-1.36,-146.0,471.9,-7.4,245,4611,0.12,2.53,0.00,0.000,4,0.064,0.048,2530,3360,3711,0,0,0,0,0,0
$GC,4655,-1.27,-146.0,476.7,-10.4,246,4660,0.22,2.42,0.00,0.000,6,0.084,0.030,2582,1851,3711,0,0,0,0,0,0
$STATE,4936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4936,begin apogee
$GC,4941,-0.31,0.0,500.4,8.4,253,5062,0.93,0.00,117.45,0.866,6,0.074,0.000,2792,1668,3120,0,0,0,0,0,0
$STATE,5063,end apogee,CONTROL_FINISHED_OK
$STATE,5063,begin climb
$GC,5067,1.17,146.0,506.3,0.0,256,5197,1.33,2.70,120.47,0.848,4,0.031,0.071,3126,184,2524,0,0,0,0,0,0
$GC,5463,0.74,146.0,483.9,10.8,264,5469,0.50,2.40,0.00,0.000,6,0.104,0.027,3022,1677,2516,0,0,0,0,0,0
$GC,5714,0.81,206.6,467.0,6.5,271,5771,0.00,2.65,50.85,0.823,4,0.000,0.061,3022,183,2277,0,0,0,0,0,0
$GC,5795,0.71,206.6,460.7,9.5,272,5800,0.00,2.45,0.00,0.000,6,0.000,0.027,3021,1694,2274,0,0,0,0,0,0
$GC,6044,0.71,212.4,438.5,8.8,279,6056,0.00,2.62,5.20,0.585,4,0.000,0.060,3021,180,2253,0,0,0,0,0,0
$GC,6117,0.65,212.4,431.1,10.6,280,6122,0.00,2.40,0.00,0.000,6,0.000,0.026,3022,1680,2252,0,0,0,0,0,0
$GC,6377,0.67,228.7,408.9,8.3,287,6397,0.00,2.62,15.23,0.757,4,0.000,0.059,3022,185,2186,0,0,0,0,0,0
$GC,6450,0.67,228.7,402.5,10.2,288,6454,0.00,2.40,0.00,0.000,6,0.000,0.027,3022,1673,2185,0,0,0,0,0,0
$GC,6709,0.72,272.0,383.2,7.2,295,6749,0.00,0.00,38.92,0.785,6,0.000,0.000,3022,1673,2011,0,0,0,0,0,0
$GC,6993,0.72,272.0,358.7,9.2,302,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1673,2004,0,0,0,0,0,0
$GC,7236,0.72,272.0,335.5,9.7,308,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1673,2003,0,0,0,0,0,0
$GC,7480,0.72,274.8,313.7,8.9,314,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1673,2001,0,0,0,0,0,0
$GC,7723,0.76,302.9,294.0,7.8,320,7756,0.00,2.62,27.05,0.721,4,0.000,0.056,3022,187,1884,0,0,0,0,0,0
$GC,7804,0.76,302.9,287.2,9.9,321,7808,0.00,2.40,0.00,0.000,6,0.000,0.024,3022,1683,1883,0,0,0,0,0,0
$GC,8061,0.88,337.7,267.7,7.6,328,8095,0.12,0.00,31.60,0.699,6,0.064,0.000,3088,1684,1743,0,0,0,0,0,0
$GC,8306,0.80,337.7,238.1,12.6,334,8308,0.25,0.00,0.00,0.000,6,0.091,0.000,3034,1686,1737,0,0,0,0,0,0
$GC,8548,0.89,344.7,216.0,8.7,340,8557,0.00,0.00,6.53,0.542,6,0.000,0.000,3034,1686,1714,0,0,0,0,0,0
$GC,8797,0.99,368.1,195.0,8.0,349,8827,0.17,0.00,22.62,0.630,6,0.051,0.000,3111,1686,1617,0,0,0,0,0,0
$GC,9082,0.86,368.1,158.0,14.0,376,9087,0.28,2.50,0.00,0.000,4,0.091,0.044,3047,180,1614,0,0,0,0,0,0
$GC,9121,0.86,368.1,153.2,11.2,379,9125,0.00,2.38,0.00,0.000,6,0.000,0.022,3047,1679,1613,0,0,0,0,0,0
$GC,9388,0.95,378.0,128.4,8.6,403,9400,0.00,0.00,9.27,0.518,6,0.000,0.000,3047,1681,1579,0,0,0,0,0,0
$GC,9655,1.13,425.4,107.6,7.0,428,9711,0.25,2.58,42.47,0.563,4,0.038,0.032,3140,3252,1383,0,0,0,0,0,0
$GC,9738,1.06,425.4,98.3,13.9,435,9743,0.22,2.55,0.00,0.000,6,0.091,0.028,3091,1678,1380,0,0,0,0,0,0
$GC,10003,1.06,425.4,68.9,10.8,459,10008,0.00,2.47,0.00,0.000,4,0.000,0.044,3091,173,1379,0,0,0,0,0,0
$GC,10046,1.12,425.4,64.0,12.5,462,10050,0.00,2.38,0.00,0.000,6,0.000,0.021,3091,1686,1378,0,0,0,0,0,0
$GC,10312,1.12,425.4,33.1,11.0,486,10317,0.00,2.50,0.00,0.000,4,0.000,0.030,3091,3260,1378,0,0,0,0,0,0
$GC,10387,1.28,425.4,24.5,11.0,495,10397,0.15,2.58,0.00,0.000,6,0.024,0.029,3179,1688,1375,0,0,0,0,0,0
$STATE,10510,end climb,SURFACE_DEPTH_REACHED
$STATE,10510,begin surface coast
$FINISH,0.7,1.004295
$STATE,10538,end surface coast,CONTROL_FINISHED_OK
$STATE,10538,begin surface
$SM_CCo,10620,0.00,0.000,0,0,1373,428.29
$SM_GC,1.45,11.10,0.00,0.00,0.019,0.000,0.000,411,1855,1373,-11.18,1.81,428.29
$IRIDIUM_FIX,2237.01,-15802.37,220300,030351
$TT8_MAMPS,0.026845
$HUMID,47.67
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,50.012
$10V_AH,10.3,43.267
$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,30.075,98.775,487.675,0.000,0.000,30.022,34.070,291.580,0.000,0.000,14.741,1050.964,7013.367,507.583,1900.403,652.854,33.407,1278.525,0.000,1901.876,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,71.331,865.943,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.210,307.905,394.290,578.003,1021.434,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,41581,518
$CAP_FILE_SIZE,111544,0
$CFSIZE,260165632,151093248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271210,093645,2249.109,-15802.871,24,1.5,32,10.1