version: 66.06
glider: 148
mission: 9
dive: 392
start: 12 29 110 7 26 55
data:
$ID,148
$MISSION,9
$DIVE,392
$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,-866366.62
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,071615,2249.042,-15802.769,37,99.0,56,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.8
$GPS2,072558,2248.970,-15802.737,12,99.0,31,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.041,0.245
$KALMAN_X,-36368.6,9.9,362.7,48250.6,-901.7
$KALMAN_Y,-57130.0,-48.5,-415.8,185523.3,-811.8
$MHEAD_RNG_PITCHd_Wd,359.3,1959,-16.0,-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,-1.18,-143.4,0.0,0.0,0,95,0.00,0.00,-75.75,0.000,2,0.000,0.000,415,1849,3304,0,0,0,0,0,0
$GC,98,-1.18,-146.0,3.4,-3.8,10,123,11.43,2.42,-7.75,0.000,4,0.151,0.039,2594,3368,3716,0,0,0,0,0,0
$GC,222,-1.04,-146.0,30.4,-15.8,28,227,0.17,2.53,0.00,0.000,6,0.094,0.024,2633,1777,3717,0,0,0,0,0,0
$GC,489,-1.04,-146.0,64.2,-11.6,52,493,0.00,2.53,0.00,0.000,4,0.000,0.029,2633,3366,3718,0,0,0,0,0,0
$GC,522,-1.04,-146.0,68.2,-11.6,54,526,0.00,2.47,0.00,0.000,6,0.000,0.021,2633,1792,3718,0,0,0,0,0,0
$GC,784,-1.04,-146.0,99.0,-12.0,78,788,0.00,2.53,0.00,0.000,4,0.000,0.029,2632,3367,3718,0,0,0,0,0,0
$GC,864,-1.11,-146.0,107.8,-10.7,85,868,0.00,2.45,0.00,0.000,6,0.000,0.021,2633,1814,3719,0,0,0,0,0,0
$GC,1131,-1.17,-146.0,133.8,-8.9,109,1137,0.12,0.00,0.00,0.000,6,0.063,0.000,2552,1813,3719,0,0,0,0,0,0
$GC,1395,-1.01,-146.0,171.3,-14.9,134,1401,0.35,2.47,0.00,0.000,4,0.081,0.028,2635,3368,3720,0,0,0,0,0,0
$GC,1454,-1.19,-146.0,177.4,-8.4,139,1459,0.15,2.42,0.00,0.000,6,0.051,0.022,2538,1820,3720,0,0,0,0,0,0
$GC,1734,-0.95,-146.0,219.7,-15.8,156,1736,0.57,0.00,0.00,0.000,6,0.080,0.000,2650,1820,3721,0,0,0,0,0,0
$GC,1975,-1.12,-146.0,239.0,-7.3,162,1980,0.15,2.47,0.00,0.000,4,0.054,0.030,2561,3368,3721,0,0,0,0,0,0
$GC,2022,-1.12,-146.0,243.9,-10.8,163,2027,0.22,2.42,0.00,0.000,6,0.081,0.023,2614,1827,3721,0,0,0,0,0,0
$GC,2308,-1.20,-146.0,268.9,-8.7,170,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1828,3721,0,0,0,0,0,0
$GC,2549,-1.29,-146.0,288.2,-8.2,176,2554,0.15,2.50,0.00,0.000,4,0.054,0.032,2525,3369,3721,0,0,0,0,0,0
$GC,2614,-1.19,-146.0,296.0,-12.4,177,2620,0.35,2.42,0.00,0.000,6,0.081,0.024,2603,1833,3721,0,0,0,0,0,0
$GC,2881,-1.26,-146.0,319.5,-8.8,184,2885,0.00,2.45,0.00,0.000,4,0.000,0.035,2604,3361,3720,0,0,0,0,0,0
$GC,2937,-1.39,-146.0,324.4,-7.7,185,2942,0.20,2.40,0.00,0.000,6,0.043,0.026,2506,1850,3720,0,0,0,0,0,0
$GC,3213,-1.17,-146.0,360.8,-13.8,192,3218,0.40,2.47,0.00,0.000,4,0.084,0.039,2599,3364,3719,0,0,0,0,0,0
$GC,3241,-1.17,-146.0,364.4,-9.4,192,3245,0.00,2.42,0.00,0.000,6,0.000,0.027,2599,1855,3719,0,0,0,0,0,0
$GC,3498,-1.24,-146.0,383.1,-7.3,199,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1856,3718,0,0,0,0,0,0
$GC,3740,-1.32,-146.0,401.0,-7.4,205,3745,0.12,2.50,0.00,0.000,4,0.063,0.041,2533,3361,3716,0,0,0,0,0,0
$GC,3787,-1.23,-146.0,405.8,-10.6,206,3792,0.25,2.42,0.00,0.000,6,0.084,0.027,2590,1854,3715,0,0,0,0,0,0
$GC,4072,-1.23,-146.0,429.4,-8.3,213,4076,0.00,2.78,0.00,0.000,4,0.000,0.060,2590,215,3714,0,0,0,0,0,0
$GC,4100,-1.32,-146.0,432.2,-9.5,213,4104,0.00,2.62,0.00,0.000,6,0.000,0.028,2589,1847,3714,0,0,0,0,0,0
$GC,4355,-1.38,-146.0,453.3,-8.2,220,4360,0.12,2.50,0.00,0.000,4,0.063,0.048,2516,3359,3712,0,0,0,0,0,0
$GC,4404,-1.26,-146.0,458.6,-11.4,221,4409,0.30,2.40,0.00,0.000,6,0.081,0.028,2583,1856,3712,0,0,0,0,0,0
$GC,4687,-1.26,-146.0,481.8,-7.8,228,4691,0.00,2.50,0.00,0.000,4,0.000,0.049,2583,3361,3710,0,0,0,0,0,0
$GC,4732,-1.35,-146.0,485.4,-8.4,229,4736,0.00,2.42,0.00,0.000,6,0.000,0.030,2583,1864,3710,0,0,0,0,0,0
$STATE,4935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4935,begin apogee
$GC,4940,-0.31,0.0,503.1,8.7,234,5061,0.93,0.00,117.30,0.867,6,0.075,0.000,2793,1681,3120,0,0,0,0,0,0
$STATE,5062,end apogee,CONTROL_FINISHED_OK
$STATE,5062,begin climb
$GC,5064,1.18,146.0,508.3,0.0,237,5190,1.35,0.00,121.40,0.849,6,0.031,0.000,3134,1681,2524,0,0,0,0,0,0
$GC,5427,0.84,146.0,489.7,9.7,246,5429,0.43,0.00,0.00,0.000,6,0.098,0.000,3044,1681,2516,0,0,0,0,0,0
$GC,5668,0.81,208.2,473.6,6.4,252,5727,0.00,2.65,52.10,0.829,4,0.000,0.067,3044,183,2269,0,0,0,0,0,0
$GC,5799,0.68,208.2,462.6,10.2,255,5804,0.17,2.40,0.00,0.000,6,0.104,0.028,3008,1654,2265,0,0,0,0,0,0
$GC,6088,0.75,265.1,442.8,6.6,262,6144,0.00,2.78,49.17,0.815,4,0.000,0.053,3008,3260,2037,0,0,0,0,0,0
$GC,6174,0.90,292.2,436.4,7.9,264,6207,0.20,2.65,25.02,0.782,6,0.046,0.037,3081,1688,1928,0,0,0,0,0,0
$GC,6465,0.78,292.2,401.9,12.5,271,6472,0.25,2.62,0.00,0.000,4,0.094,0.067,3024,168,1920,0,0,0,0,0,0
$GC,6551,0.78,292.2,391.5,11.4,272,6556,0.00,2.42,0.00,0.000,6,0.000,0.026,3024,1670,1920,0,0,0,0,0,0
$GC,6800,0.78,292.2,367.7,9.6,279,6805,0.00,2.60,0.00,0.000,4,0.000,0.058,3024,160,1918,0,0,0,0,0,0
$GC,6833,0.78,292.2,364.0,11.3,279,6837,0.00,2.40,0.00,0.000,6,0.000,0.025,3024,1666,1917,0,0,0,0,0,0
$GC,7082,0.78,292.2,339.3,9.9,285,7086,0.00,2.65,0.00,0.000,4,0.000,0.048,3023,3259,1915,0,0,0,0,0,0
$GC,7101,0.84,292.2,337.2,10.3,285,7105,0.00,2.65,0.00,0.000,6,0.000,0.032,3024,1659,1914,0,0,0,0,0,0
$GC,7366,0.90,292.2,311.5,9.7,292,7368,0.15,0.00,0.00,0.000,6,0.057,0.000,3086,1659,1914,0,0,0,0,0,0
$GC,7609,0.80,292.2,282.5,12.1,298,7614,0.25,2.55,0.00,0.000,4,0.094,0.061,3027,168,1913,0,0,0,0,0,0
$GC,7654,0.80,292.2,277.5,10.9,299,7658,0.00,2.38,0.00,0.000,6,0.000,0.023,3027,1665,1913,0,0,0,0,0,0
$GC,7943,0.88,295.2,251.6,8.9,306,7948,0.10,2.62,0.00,0.000,4,0.077,0.042,3077,3244,1912,0,0,0,0,0,0
$GC,7971,0.88,295.2,248.4,11.0,306,7976,0.12,2.60,0.00,0.000,6,0.107,0.032,3051,1655,1911,0,0,0,0,0,0
$GC,8228,0.88,295.2,224.6,9.2,313,8232,0.00,2.50,0.00,0.000,4,0.000,0.058,3050,173,1910,0,0,0,0,0,0
$GC,8302,0.88,295.2,216.9,10.5,314,8306,0.00,2.35,0.00,0.000,6,0.000,0.023,3050,1659,1910,0,0,0,0,0,0
$GC,8558,0.89,295.9,194.7,9.0,324,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1662,1910,0,0,0,0,0,0
$GC,8814,0.90,309.8,172.7,8.4,348,8832,0.00,0.00,13.90,0.591,6,0.000,0.000,3050,1662,1857,0,0,0,0,0,0
$GC,9089,0.94,340.6,150.5,7.7,374,9122,0.00,2.58,27.65,0.600,4,0.000,0.048,3051,161,1730,0,0,0,0,0,0
$GC,9147,0.94,340.6,145.8,9.4,379,9151,0.00,2.35,0.00,0.000,6,0.000,0.022,3050,1652,1730,0,0,0,0,0,0
$GC,9413,1.03,340.6,121.9,9.3,403,9418,0.12,2.60,0.00,0.000,4,0.064,0.033,3110,3257,1727,0,0,0,0,0,0
$GC,9464,1.03,340.6,116.1,12.5,407,9469,0.12,2.62,0.00,0.000,6,0.110,0.028,3083,1630,1725,0,0,0,0,0,0
$GC,9727,1.03,340.6,89.3,9.8,431,9731,0.00,2.38,0.00,0.000,4,0.000,0.046,3083,176,1725,0,0,0,0,0,0
$GC,9793,1.03,340.6,82.4,11.2,437,9797,0.00,2.28,0.00,0.000,6,0.000,0.021,3083,1653,1725,0,0,0,0,0,0
$GC,10060,1.03,340.6,56.0,9.9,461,10064,0.00,2.58,0.00,0.000,4,0.000,0.031,3083,3251,1725,0,0,0,0,0,0
$GC,10149,1.12,340.6,47.4,9.6,468,10154,0.00,2.58,0.00,0.000,6,0.000,0.027,3083,1655,1724,0,0,0,0,0,0
$GC,10427,1.18,389.6,22.5,6.9,499,10482,0.15,2.50,43.20,0.490,4,0.057,0.044,3137,182,1530,0,0,0,0,0,0
$GC,10553,1.12,389.6,9.2,11.9,516,10561,0.12,2.30,0.00,0.000,6,0.076,0.022,3105,1624,1529,0,0,0,0,0,0
$STATE,10593,end climb,SURFACE_DEPTH_REACHED
$STATE,10593,begin surface coast
$FINISH,0.7,1.023403
$STATE,10632,end surface coast,CONTROL_FINISHED_OK
$STATE,10632,begin surface
$SM_CCo,10654,23.90,0.304,1,0,1406,420.20
$SM_GC,1.52,0.00,0.00,23.90,0.000,0.000,0.304,413,1821,1406,-11.26,0.90,420.20
$IRIDIUM_FIX,2241.69,-15802.37,240300,040430
$TT8_MAMPS,0.026845
$HUMID,47.71
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.5,51.895
$10V_AH,10.3,45.062
$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,30.400,125.625,449.750,23.900,0.000,22.274,47.846,347.120,0.500,0.000,37.345,1095.335,6935.727,510.559,1992.875,733.869,33.367,1303.095,0.000,1980.978,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,67.496,867.477,303.732,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.961,319.482,407.381,610.567,1078.932,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,41530,528
$CAP_FILE_SIZE,120134,0
$CFSIZE,260165632,150167552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291210,102607,2250.277,-15802.681,29,1.0,29,10.1