version: 66.06
glider: 148
mission: 9
dive: 396
start: 12 29 110 20 20 17
data:
$ID,148
$MISSION,9
$DIVE,396
$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,-866427.5
$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,66
$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
$GPS1,200607,2249.566,-15757.562,29,1.1,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.2
$GPS2,201920,2249.372,-15757.646,13,1.1,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.142,0.171
$KALMAN_X,-35325.9,254.9,240.9,55849.2,-463.8
$KALMAN_Y,-61602.0,-158.0,-700.6,191143.3,-736.4
$MHEAD_RNG_PITCHd_Wd,29.7,1603,-18.5,-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,-1.29,-111.3,0.0,0.0,0,94,0.00,0.00,-74.97,0.000,2,0.000,0.000,411,1819,3319,0,0,0,0,0,0
$GC,99,-1.33,-146.0,3.7,-4.5,10,124,11.32,2.45,-7.12,0.000,4,0.152,0.039,2563,3357,3718,0,0,0,0,0,0
$GC,171,-1.23,-146.0,24.6,-18.6,20,180,0.10,2.53,0.00,0.000,6,0.077,0.025,2590,1792,3719,0,0,0,0,0,0
$GC,452,-1.23,-146.0,65.2,-14.8,48,456,0.00,2.50,0.00,0.000,4,0.000,0.031,2591,3344,3719,0,0,0,0,0,0
$GC,507,-1.23,-146.0,73.8,-14.1,52,511,0.00,2.42,0.00,0.000,6,0.000,0.021,2591,1795,3719,0,0,0,0,0,0
$GC,770,-1.23,-146.0,114.0,-14.2,76,775,0.00,2.50,0.00,0.000,4,0.000,0.031,2590,3351,3720,0,0,0,0,0,0
$GC,831,-1.23,-146.0,122.0,-12.4,81,835,0.00,2.45,0.00,0.000,6,0.000,0.021,2590,1800,3720,0,0,0,0,0,0
$GC,1091,-1.23,-146.0,152.6,-10.0,105,1095,0.00,2.53,0.00,0.000,4,0.000,0.038,2591,217,3721,0,0,0,0,0,0
$GC,1128,-1.32,-146.0,156.1,-10.2,108,1133,0.00,2.42,0.00,0.000,6,0.000,0.018,2590,1799,3721,0,0,0,0,0,0
$GC,1391,-1.38,-146.0,180.3,-9.7,132,1396,0.15,2.50,0.00,0.000,4,0.056,0.030,2525,3364,3721,0,0,0,0,0,0
$GC,1458,-1.31,-146.0,189.0,-13.2,138,1463,0.22,2.42,0.00,0.000,6,0.090,0.022,2575,1825,3721,0,0,0,0,0,0
$GC,1722,-1.31,-146.0,220.1,-11.7,151,1726,0.00,2.47,0.00,0.000,4,0.000,0.031,2575,3367,3721,0,0,0,0,0,0
$GC,1770,-1.39,-146.0,225.6,-11.2,152,1774,0.00,2.42,0.00,0.000,6,0.000,0.022,2575,1820,3721,0,0,0,0,0,0
$GC,2052,-1.46,-146.0,257.3,-11.0,159,2057,0.15,2.50,0.00,0.000,4,0.056,0.032,2507,3364,3721,0,0,0,0,0,0
$GC,2109,-1.38,-146.0,265.2,-13.8,160,2114,0.22,2.40,0.00,0.000,6,0.091,0.022,2558,1834,3721,0,0,0,0,0,0
$GC,2384,-1.38,-146.0,295.0,-10.6,167,2388,0.00,2.47,0.00,0.000,4,0.000,0.035,2558,3363,3721,0,0,0,0,0,0
$GC,2430,-1.47,-146.0,299.9,-10.1,168,2435,0.00,2.42,0.00,0.000,6,0.000,0.025,2558,1844,3721,0,0,0,0,0,0
$GC,2714,-1.47,-146.0,328.2,-10.1,175,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1843,3720,0,0,0,0,0,0
$GC,2956,-1.47,-146.0,351.8,-9.7,181,2960,0.00,2.47,0.00,0.000,4,0.000,0.041,2558,3361,3719,0,0,0,0,0,0
$GC,3007,-1.58,-146.0,357.0,-9.1,182,3012,0.17,2.38,0.00,0.000,6,0.049,0.028,2464,1866,3718,0,0,0,0,0,0
$GC,3287,-1.36,-146.0,397.2,-14.8,189,3294,0.45,2.75,0.00,0.000,4,0.088,0.054,2559,222,3717,0,0,0,0,0,0
$GC,3304,-1.27,-146.0,399.8,-13.1,189,3309,0.10,2.58,0.00,0.000,6,0.115,0.027,2582,1843,3717,0,0,0,0,0,0
$GC,3574,-1.40,-146.0,421.4,-8.1,196,3579,0.12,2.47,0.00,0.000,4,0.063,0.046,2516,3347,3715,0,0,0,0,0,0
$GC,3650,-1.40,-146.0,430.0,-11.0,197,3655,0.17,2.35,0.00,0.000,6,0.095,0.027,2555,1871,3714,0,0,0,0,0,0
$GC,3905,-1.46,-146.0,456.5,-10.1,204,3910,0.00,2.45,0.00,0.000,4,0.000,0.048,2554,3349,3712,0,0,0,0,0,0
$GC,3958,-1.56,-146.0,462.0,-10.4,205,3963,0.15,2.38,0.00,0.000,6,0.057,0.028,2475,1879,3712,0,0,0,0,0,0
$STATE,4234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4234,begin apogee
$GC,4240,-0.31,0.0,506.0,16.2,212,4361,1.45,0.00,117.28,0.863,6,0.082,0.000,2790,1680,3120,0,0,0,0,0,0
$STATE,4362,end apogee,CONTROL_FINISHED_OK
$STATE,4362,begin climb
$GC,4366,1.33,146.0,512.4,0.0,215,4493,1.48,0.00,120.78,0.847,6,0.026,0.000,3157,1680,2524,0,0,0,0,0,0
$GC,4732,1.03,146.0,491.5,10.5,224,4739,0.32,2.62,0.00,0.000,4,0.113,0.067,3087,184,2516,0,0,0,0,0,0
$GC,4793,0.80,146.0,485.5,10.8,225,4798,0.25,2.40,0.00,0.000,6,0.107,0.027,3036,1662,2516,0,0,0,0,0,0
$GC,5066,0.86,192.9,467.2,6.4,232,5112,0.00,2.62,39.17,0.819,4,0.000,0.059,3035,194,2332,0,0,0,0,0,0
$GC,5159,0.86,192.9,459.7,9.2,234,5164,0.00,2.40,0.00,0.000,6,0.000,0.027,3035,1679,2330,0,0,0,0,0,0
$GC,5441,0.88,207.8,436.6,8.2,241,5456,0.00,0.00,13.10,0.750,6,0.000,0.000,3036,1680,2273,0,0,0,0,0,0
$GC,5685,0.91,233.8,417.8,7.6,247,5714,0.10,2.75,23.35,0.782,4,0.079,0.057,3083,3261,2166,0,0,0,0,0,0
$GC,5727,0.92,241.1,414.3,8.6,248,5741,0.10,2.62,7.93,0.670,6,0.123,0.035,3061,1690,2137,0,0,0,0,0,0
$GC,6016,0.95,264.8,391.1,7.7,255,6044,0.00,2.65,21.33,0.764,4,0.000,0.066,3060,172,2040,0,0,0,0,0,0
$GC,6097,0.95,264.8,383.9,9.3,256,6101,0.00,2.45,0.00,0.000,6,0.000,0.026,3060,1684,2039,0,0,0,0,0,0
$GC,6346,0.95,264.8,361.5,9.2,262,6351,0.00,2.62,0.00,0.000,4,0.000,0.058,3060,164,2036,0,0,0,0,0,0
$GC,6380,0.95,264.8,357.8,12.4,262,6385,0.00,2.42,0.00,0.000,6,0.000,0.025,3061,1672,2035,0,0,0,0,0,0
$GC,6630,0.95,264.8,332.6,10.1,268,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1672,2033,0,0,0,0,0,0
$GC,6873,0.95,264.8,308.0,10.0,274,6877,0.00,2.58,0.00,0.000,4,0.000,0.057,3060,163,2032,0,0,0,0,0,0
$GC,6949,0.95,264.8,299.6,11.4,275,6953,0.00,2.40,0.00,0.000,6,0.000,0.024,3061,1665,2032,0,0,0,0,0,0
$GC,7203,0.95,264.8,275.1,9.7,282,7207,0.00,2.55,0.00,0.000,4,0.000,0.055,3060,166,2031,0,0,0,0,0,0
$GC,7237,0.95,264.8,271.1,11.5,282,7241,0.00,2.38,0.00,0.000,6,0.000,0.024,3060,1660,2031,0,0,0,0,0,0
$GC,7488,1.02,264.8,247.5,9.2,288,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1663,2030,0,0,0,0,0,0
$GC,7730,1.10,268.5,226.0,8.8,294,7736,0.15,2.62,0.00,0.000,4,0.058,0.041,3134,3245,2029,0,0,0,0,0,0
$GC,7750,1.10,268.5,223.8,10.6,294,7755,0.15,2.62,0.00,0.000,6,0.117,0.031,3102,1644,2028,0,0,0,0,0,0
$GC,8007,1.10,268.5,195.9,10.8,303,8011,0.00,2.47,0.00,0.000,4,0.000,0.054,3102,170,2028,0,0,0,0,0,0
$GC,8055,1.04,268.5,190.5,12.4,307,8059,0.00,2.35,0.00,0.000,6,0.000,0.022,3102,1660,2028,0,0,0,0,0,0
$GC,8320,1.04,268.5,161.7,10.8,331,8325,0.00,2.47,0.00,0.000,4,0.000,0.047,3102,164,2028,0,0,0,0,0,0
$GC,8351,0.96,268.5,158.0,11.1,333,8359,0.12,2.38,0.00,0.000,6,0.091,0.022,3072,1659,2028,0,0,0,0,0,0
$GC,8613,1.07,282.7,135.1,8.2,358,8635,0.00,2.55,14.95,0.569,4,0.000,0.048,3072,163,1966,0,0,0,0,0,0
$GC,8721,1.08,284.1,126.5,8.9,368,8726,0.00,2.35,0.00,0.000,6,0.000,0.021,3072,1660,1965,0,0,0,0,0,0
$GC,8984,1.25,312.6,107.1,7.5,392,9018,0.25,2.60,27.67,0.561,4,0.037,0.031,3189,3250,1843,0,0,0,0,0,0
$GC,9086,1.15,312.6,94.9,14.2,401,9095,0.38,2.58,0.00,0.000,6,0.102,0.034,3112,1656,1839,0,0,0,0,0,0
$GC,9353,1.15,312.6,68.1,9.9,426,9357,0.00,2.42,0.00,0.000,4,0.000,0.044,3111,171,1839,0,0,0,0,0,0
$GC,9392,1.15,312.6,63.5,11.0,429,9401,0.00,2.35,0.00,0.000,6,0.000,0.021,3111,1660,1839,0,0,0,0,0,0
$GC,9656,1.15,312.6,36.7,9.8,454,9661,0.00,2.47,0.00,0.000,4,0.000,0.043,3111,162,1838,0,0,0,0,0,0
$GC,9711,1.15,312.6,31.0,11.6,458,9715,0.00,2.33,0.00,0.000,6,0.000,0.021,3111,1662,1838,0,0,0,0,0,0
$STATE,9978,end climb,SURFACE_DEPTH_REACHED
$STATE,9978,begin surface coast
$FINISH,0.7,1.017608
$STATE,10030,end surface coast,CONTROL_FINISHED_OK
$STATE,10030,begin surface
$SM_CCo,10052,56.88,0.403,1,0,1406,420.20
$SM_GC,1.68,0.00,0.00,56.88,0.000,0.000,0.403,412,1841,1406,-11.26,1.44,420.20
$IRIDIUM_FIX,2241.69,-15759.32,240300,202019
$TT8_MAMPS,0.026845
$HUMID,47.79
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.60
$XPDR_PINGS,1
$24V_AH,23.5,52.392
$10V_AH,10.2,45.531
$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,29.100,129.775,385.550,56.875,0.000,60.127,71.189,433.154,0.250,0.000,14.820,1059.254,6519.316,499.393,1936.790,891.963,33.367,1263.861,0.000,1945.388,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,67.496,862.875,402.675,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.400,313.384,397.903,600.498,1061.327,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38460,508
$CAP_FILE_SIZE,117000,0
$CFSIZE,260165632,149938176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,291210,231004,2249.734,-15756.911,13,5.6,32,10.1