version: 66.06
glider: 148
mission: 9
dive: 391
start: 12 29 110 4 11 58
data:
$ID,148
$MISSION,9
$DIVE,391
$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,-866328.62
$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,30
$R_STBD_OVSHOOT,69
$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
$GPS1,035931,2248.408,-15802.856,64,1.1,64,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.0
$GPS2,041102,2248.356,-15802.808,11,1.5,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.024,0.249
$KALMAN_X,-36105.0,89.5,160.6,47988.3,-348.8
$KALMAN_Y,-56387.5,-25.5,446.9,182758.0,-1983.7
$MHEAD_RNG_PITCHd_Wd,355.3,3063,-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,19,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.28,0.000,2,0.000,0.000,411,1829,3307,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.7,-4.5,10,124,11.48,2.45,-7.60,0.000,4,0.152,0.044,2594,3350,3718,0,0,0,0,0,0
$GC,202,-1.02,-146.0,27.1,-14.3,25,211,0.15,2.53,0.00,0.000,6,0.074,0.023,2633,1786,3720,0,0,0,0,0,0
$GC,480,-1.02,-146.0,63.0,-13.3,51,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1786,3720,0,0,0,0,0,0
$GC,740,-1.02,-146.0,97.9,-13.4,76,744,0.00,2.47,0.00,0.000,4,0.000,0.028,2633,3349,3721,0,0,0,0,0,0
$GC,821,-1.12,-146.0,107.2,-11.2,83,826,0.00,2.47,0.00,0.000,6,0.000,0.022,2634,1791,3721,0,0,0,0,0,0
$GC,1087,-1.19,-146.0,129.8,-7.6,107,1092,0.12,2.47,0.00,0.000,4,0.063,0.028,2545,3346,3721,0,0,0,0,0,0
$GC,1126,-1.01,-146.0,133.9,-11.6,110,1138,0.43,2.42,0.00,0.000,6,0.084,0.021,2639,1795,3721,0,0,0,0,0,0
$GC,1389,-1.10,-146.0,154.6,-8.0,135,1394,0.00,2.45,0.00,0.000,4,0.000,0.028,2638,3347,3722,0,0,0,0,0,0
$GC,1447,-1.26,-146.0,159.0,-8.0,140,1452,0.22,2.42,0.00,0.000,6,0.038,0.022,2543,1809,3721,0,0,0,0,0,0
$GC,1708,-1.07,-146.0,194.5,-14.4,164,1710,0.38,0.00,0.00,0.000,6,0.082,0.000,2625,1809,3722,0,0,0,0,0,0
$GC,1966,-1.15,-146.0,215.9,-7.8,174,1971,0.00,2.45,0.00,0.000,4,0.000,0.028,2625,3353,3722,0,0,0,0,0,0
$GC,2013,-1.33,-146.0,219.7,-7.1,175,2019,0.22,2.45,0.00,0.000,6,0.036,0.024,2538,1809,3722,0,0,0,0,0,0
$GC,2298,-1.15,-146.0,253.0,-12.5,182,2300,0.32,0.00,0.00,0.000,6,0.081,0.000,2609,1809,3722,0,0,0,0,0,0
$GC,2541,-1.22,-146.0,271.0,-7.1,188,2545,0.00,2.47,0.00,0.000,4,0.000,0.030,2609,3350,3722,0,0,0,0,0,0
$GC,2597,-1.37,-146.0,275.4,-7.3,189,2602,0.20,2.40,0.00,0.000,6,0.041,0.025,2526,1831,3722,0,0,0,0,0,0
$GC,2872,-1.19,-146.0,308.7,-12.6,196,2877,0.30,2.45,0.00,0.000,4,0.083,0.034,2597,3340,3721,0,0,0,0,0,0
$GC,2901,-1.19,-146.0,312.2,-9.3,196,2905,0.00,2.38,0.00,0.000,6,0.000,0.025,2596,1840,3721,0,0,0,0,0,0
$GC,3157,-1.19,-146.0,332.6,-8.1,203,3161,0.00,2.42,0.00,0.000,4,0.000,0.036,2596,3348,3720,0,0,0,0,0,0
$GC,3189,-1.25,-146.0,335.7,-9.1,203,3193,0.00,2.40,0.00,0.000,6,0.000,0.026,2597,1841,3720,0,0,0,0,0,0
$GC,3443,-1.25,-146.0,357.5,-8.6,210,3448,0.00,2.42,0.00,0.000,4,0.000,0.037,2597,3345,3718,0,0,0,0,0,0
$GC,3474,-1.32,-146.0,360.1,-8.2,210,3479,0.10,2.40,0.00,0.000,6,0.073,0.028,2522,1839,3718,0,0,0,0,0,0
$GC,3729,-1.14,-146.0,392.5,-13.1,217,3734,0.38,2.45,0.00,0.000,4,0.083,0.038,2607,3343,3717,0,0,0,0,0,0
$GC,3753,-1.14,-146.0,395.2,-9.9,217,3757,0.00,2.40,0.00,0.000,6,0.000,0.028,2607,1841,3717,0,0,0,0,0,0
$GC,4014,-1.24,-146.0,414.8,-7.5,224,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1841,3715,0,0,0,0,0,0
$GC,4256,-1.35,-146.0,430.1,-5.9,230,4261,0.17,2.47,0.00,0.000,4,0.048,0.041,2521,3334,3714,0,0,0,0,0,0
$GC,4295,-1.23,-146.0,433.2,-7.5,230,4301,0.32,2.38,0.00,0.000,6,0.077,0.029,2593,1852,3713,0,0,0,0,0,0
$GC,4545,-1.30,-146.0,448.0,-5.9,237,4549,0.00,2.47,0.00,0.000,4,0.000,0.044,2593,3343,3711,0,0,0,0,0,0
$GC,4564,-1.36,-146.0,449.4,-6.8,237,4569,0.12,2.38,0.00,0.000,6,0.063,0.028,2525,1858,3711,0,0,0,0,0,0
$GC,4828,-1.22,-146.0,477.7,-11.3,244,4834,0.28,2.47,0.00,0.000,4,0.084,0.045,2589,3342,3710,0,0,0,0,0,0
$GC,4849,-1.22,-146.0,479.9,-10.4,244,4854,0.00,2.40,0.00,0.000,6,0.000,0.028,2589,1858,3710,0,0,0,0,0,0
$STATE,5111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5111,begin apogee
$GC,5116,-0.31,0.0,500.7,7.8,251,5237,0.90,0.00,117.30,0.871,6,0.074,0.000,2792,1678,3120,0,0,0,0,0,0
$STATE,5238,end apogee,CONTROL_FINISHED_OK
$STATE,5238,begin climb
$GC,5242,1.17,146.0,505.6,0.0,254,5368,1.33,0.00,120.82,0.854,6,0.037,0.000,3125,1678,2524,0,0,0,0,0,0
$GC,5611,0.87,169.8,489.5,8.0,263,5639,0.32,2.65,20.27,0.798,4,0.104,0.070,3054,184,2425,0,0,0,0,0,0
$GC,5751,0.66,173.5,477.8,8.9,266,5763,0.22,2.35,4.30,0.545,6,0.102,0.027,3007,1646,2412,0,0,0,0,0,0
$GC,6040,0.74,237.1,459.7,6.4,273,6101,0.00,2.60,55.50,0.831,4,0.000,0.059,3006,175,2152,0,0,0,0,0,0
$GC,6152,0.74,237.1,450.8,9.6,275,6156,0.00,2.42,0.00,0.000,6,0.000,0.027,3006,1672,2149,0,0,0,0,0,0
$GC,6408,0.77,263.7,430.6,7.9,282,6436,0.10,0.00,23.40,0.790,6,0.077,0.000,3058,1672,2044,0,0,0,0,0,0
$GC,6696,0.70,263.7,401.4,10.3,289,6702,0.20,2.58,0.00,0.000,4,0.095,0.056,3015,181,2038,0,0,0,0,0,0
$GC,6788,0.70,263.7,392.1,10.3,291,6792,0.00,2.40,0.00,0.000,6,0.000,0.026,3015,1667,2037,0,0,0,0,0,0
$GC,7075,0.72,277.3,367.5,8.4,298,7089,0.00,0.00,12.20,0.720,6,0.000,0.000,3015,1668,1989,0,0,0,0,0,0
$GC,7320,0.81,298.1,347.4,8.1,304,7346,0.00,2.60,19.95,0.741,4,0.000,0.057,3016,174,1904,0,0,0,0,0,0
$GC,7369,0.81,298.1,343.0,9.1,305,7373,0.00,2.40,0.00,0.000,6,0.000,0.025,3015,1660,1902,0,0,0,0,0,0
$GC,7648,0.89,299.8,318.8,8.9,312,7654,0.15,2.67,0.00,0.000,4,0.056,0.044,3087,3248,1899,0,0,0,0,0,0
$GC,7698,0.83,299.8,313.0,13.6,313,7705,0.22,2.62,0.00,0.000,6,0.092,0.033,3039,1672,1896,0,0,0,0,0,0
$GC,7983,0.83,299.8,283.8,10.0,320,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1672,1896,0,0,0,0,0,0
$GC,8226,0.83,299.8,260.1,9.5,326,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1672,1896,0,0,0,0,0,0
$GC,8472,0.83,300.0,237.7,9.0,332,8476,0.00,2.55,0.00,0.000,4,0.000,0.061,3039,164,1895,0,0,0,0,0,0
$GC,8500,0.83,300.0,234.6,11.3,332,8504,0.00,2.40,0.00,0.000,6,0.000,0.023,3039,1678,1895,0,0,0,0,0,0
$GC,8754,0.83,300.0,208.9,10.0,339,8758,0.00,2.55,0.00,0.000,4,0.000,0.052,3039,167,1894,0,0,0,0,0,0
$GC,8783,0.83,300.0,205.8,11.6,339,8787,0.00,2.35,0.00,0.000,6,0.000,0.023,3039,1665,1894,0,0,0,0,0,0
$GC,9048,0.85,314.7,182.8,8.4,358,9070,0.00,2.65,14.50,0.607,4,0.000,0.034,3039,3247,1836,0,0,0,0,0,0
$GC,9092,0.95,322.9,179.0,8.7,362,9111,0.12,2.62,8.65,0.555,6,0.064,0.029,3098,1639,1803,0,0,0,0,0,0
$GC,9361,0.86,322.9,148.4,11.3,388,9366,0.25,2.42,0.00,0.000,4,0.095,0.046,3041,170,1800,0,0,0,0,0,0
$GC,9402,0.86,322.9,144.9,9.6,391,9407,0.00,2.35,0.00,0.000,6,0.000,0.021,3041,1663,1800,0,0,0,0,0,0
$GC,9668,0.96,340.5,123.2,8.3,415,9691,0.12,2.62,16.42,0.560,4,0.064,0.033,3098,3256,1730,0,0,0,0,0,0
$GC,9727,0.96,340.5,116.6,11.1,420,9737,0.10,2.65,0.00,0.000,6,0.077,0.028,3071,1655,1727,0,0,0,0,0,0
$GC,9992,0.98,357.3,94.3,8.3,445,10014,0.00,2.47,15.88,0.529,4,0.000,0.051,3072,170,1661,0,0,0,0,0,0
$GC,10040,1.00,369.5,90.3,8.5,449,10061,0.00,2.33,12.52,0.510,6,0.000,0.020,3071,1655,1611,0,0,0,0,0,0
$GC,10315,1.00,369.5,64.4,9.9,475,10319,0.00,2.55,0.00,0.000,4,0.000,0.033,3071,3244,1608,0,0,0,0,0,0
$GC,10370,1.12,369.5,59.2,9.7,479,10375,0.12,2.55,0.00,0.000,6,0.063,0.027,3119,1655,1606,0,0,0,0,0,0
$GC,10640,1.12,369.5,26.4,11.8,505,10649,0.00,2.45,0.00,0.000,4,0.000,0.044,3120,177,1606,0,0,0,0,0,0
$GC,10728,1.06,369.5,16.3,11.7,518,10736,0.10,2.33,0.00,0.000,6,0.084,0.021,3094,1650,1606,0,0,0,0,0,0
$STATE,10848,end climb,SURFACE_DEPTH_REACHED
$STATE,10848,begin surface coast
$FINISH,0.7,1.023429
$STATE,10903,end surface coast,CONTROL_FINISHED_OK
$STATE,10903,begin surface
$SM_CCo,10923,30.65,0.341,1,0,1406,420.20
$SM_GC,1.68,0.00,0.00,30.65,0.000,0.000,0.341,416,1848,1406,-11.24,1.64,420.20
$IRIDIUM_FIX,2239.35,-15804.53,240300,040438
$TT8_MAMPS,0.026845
$HUMID,47.95
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.5,51.768
$10V_AH,10.2,44.948
$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,30.325,129.000,441.725,30.650,0.000,60.677,67.417,352.594,0.250,0.000,13.322,1122.864,7207.410,505.289,2012.428,804.739,33.405,1332.711,0.000,2019.665,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,69.797,871.312,341.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.520,330.458,419.843,623.116,1101.862,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,44459,545
$CAP_FILE_SIZE,127941,0
$CFSIZE,260165632,150220800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291210,071615,2249.042,-15802.769,37,99.0,56,10.1