version: 66.06
glider: 148
mission: 9
dive: 59
start: 11 19 110 4 19 40
data:
$ID,148
$MISSION,9
$DIVE,59
$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,166
$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,450
$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,-858690.19
$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,2900
$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,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3070
$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
$GPS1,041037,2251.408,-15751.522,37,1.2,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.8
$GPS2,041844,2251.474,-15751.444,11,1.7,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.177,-0.191
$KALMAN_X,-37282.6,127.7,-81.1,68926.4,-173.1
$KALMAN_Y,20876.5,156.1,-25.2,111558.2,744.5
$MHEAD_RNG_PITCHd_Wd,212.7,7086,-17.6,-10.040
$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,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,110,0.00,0.00,-89.88,0.000,2,0.000,0.000,416,1865,3544,0,0,0,0,0,0
$GC,113,-1.28,-146.0,4.6,-8.7,12,138,11.65,2.75,-2.08,0.000,4,0.156,0.051,2614,191,3670,0,0,0,0,0,0
$GC,197,-1.36,-146.0,29.8,-13.8,24,206,0.00,2.50,0.00,0.000,6,0.000,0.021,2614,1771,3671,0,0,0,0,0,0
$GC,464,-1.27,-146.0,65.9,-13.9,49,468,0.00,2.53,0.00,0.000,4,0.000,0.031,2614,3361,3672,0,0,0,0,0,0
$GC,518,-1.27,-146.0,74.0,-12.4,53,527,0.00,2.55,0.00,0.000,6,0.000,0.023,2614,1770,3672,0,0,0,0,0,0
$GC,780,-1.27,-146.0,107.3,-10.8,78,785,0.00,2.55,0.00,0.000,4,0.000,0.030,2614,3363,3672,0,0,0,0,0,0
$GC,800,-1.27,-146.0,109.7,-10.9,79,808,0.00,2.47,0.00,0.000,6,0.000,0.021,2614,1782,3672,0,0,0,0,0,0
$GC,1065,-1.33,-146.0,134.1,-8.7,104,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1782,3673,0,0,0,0,0,0
$GC,1327,-1.41,-146.0,161.3,-9.5,129,1331,0.00,2.53,0.00,0.000,4,0.000,0.030,2614,3364,3674,0,0,0,0,0,0
$GC,1406,-1.57,-146.0,168.2,-9.1,136,1411,0.22,2.47,0.00,0.000,6,0.041,0.024,2521,1786,3674,0,0,0,0,0,0
$GC,1677,-1.37,-146.0,206.4,-14.3,158,1684,0.32,2.58,0.00,0.000,4,0.093,0.038,2596,184,3674,0,0,0,0,0,0
$GC,1700,-1.37,-146.0,209.6,-13.1,158,1704,0.00,2.50,0.00,0.000,6,0.000,0.020,2596,1799,3675,0,0,0,0,0,0
$GC,1964,-1.37,-146.0,235.9,-9.7,165,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,1803,3675,0,0,0,0,0,0
$GC,2208,-1.44,-146.0,260.0,-9.8,171,2212,0.00,2.42,0.00,0.000,4,0.000,0.031,2596,3342,3675,0,0,0,0,0,0
$GC,2252,-1.57,-146.0,264.6,-9.9,172,2257,0.17,2.45,0.00,0.000,6,0.048,0.025,2500,1786,3675,0,0,0,0,0,0
$GC,2540,-1.36,-146.0,307.3,-14.8,179,2547,0.47,2.47,0.00,0.000,4,0.089,0.031,2599,3339,3675,0,0,0,0,0,0
$GC,2557,-1.28,-146.0,309.5,-11.9,179,2561,0.00,2.45,0.00,0.000,6,0.000,0.024,2599,1780,3675,0,0,0,0,0,0
$GC,2827,-1.40,-146.0,329.7,-7.5,186,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1779,3674,0,0,0,0,0,0
$GC,3069,-1.52,-146.0,348.0,-7.6,192,3074,0.12,2.55,0.00,0.000,4,0.067,0.038,2539,3337,3674,0,0,0,0,0,0
$GC,3098,-1.52,-146.0,351.0,-10.6,192,3103,0.12,2.47,0.00,0.000,6,0.107,0.028,2566,1792,3674,0,0,0,0,0,0
$GC,3354,-1.52,-146.0,375.9,-9.8,199,3359,0.00,2.53,0.00,0.000,4,0.000,0.041,2566,3334,3672,0,0,0,0,0,0
$GC,3387,-1.59,-146.0,379.0,-9.3,199,3392,0.00,2.47,0.00,0.000,6,0.000,0.028,2566,1796,3672,0,0,0,0,0,0
$GC,3638,-1.59,-146.0,401.1,-9.2,205,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1796,3670,0,0,0,0,0,0
$GC,3881,-1.59,-146.0,425.2,-9.9,211,3885,0.00,2.55,0.00,0.000,4,0.000,0.045,2566,3334,3669,0,0,0,0,0,0
$GC,3919,-1.67,-146.0,429.0,-9.5,211,3925,0.12,2.47,0.00,0.000,6,0.067,0.030,2494,1806,3668,0,0,0,0,0,0
$GC,4170,-1.51,-146.0,461.5,-13.3,218,4172,0.35,0.00,0.00,0.000,6,0.093,0.000,2570,1806,3667,0,0,0,0,0,0
$GC,4413,-1.58,-146.0,483.0,-8.4,224,4417,0.00,2.75,0.00,0.000,4,0.000,0.067,2570,196,3665,0,0,0,0,0,0
$GC,4432,-1.65,-146.0,484.8,-8.6,224,4437,0.12,2.58,0.00,0.000,6,0.067,0.031,2523,1784,3665,0,0,0,0,0,0
$STATE,4613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4613,begin apogee
$GC,4620,-0.31,0.0,501.6,9.3,229,4742,1.38,0.00,118.10,0.879,6,0.081,0.000,2829,1637,3070,0,0,0,0,0,0
$STATE,4742,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4745,1.28,146.0,504.8,0.0,232,4876,1.40,2.58,120.88,0.861,4,0.024,0.064,3179,184,2473,0,0,0,0,0,0
$GC,5144,0.76,146.0,468.7,11.8,240,5150,0.57,2.40,0.00,0.000,6,0.128,0.028,3066,1659,2466,0,0,0,0,0,0
$GC,5394,0.74,211.9,450.5,7.0,247,5454,0.00,2.60,55.40,0.829,4,0.000,0.059,3066,188,2205,0,0,0,0,0,0
$GC,5575,0.61,211.9,429.7,12.3,251,5580,0.15,2.38,0.00,0.000,6,0.125,0.028,3035,1647,2201,0,0,0,0,0,0
$GC,5858,0.63,232.9,402.9,9.1,258,5878,0.00,0.00,18.58,0.774,6,0.000,0.000,3035,1647,2120,0,0,0,0,0,0
$GC,6103,0.63,232.9,377.2,10.8,264,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1647,2115,0,0,0,0,0,0
$GC,6345,0.66,256.6,354.4,8.9,270,6368,0.00,0.00,20.98,0.759,6,0.000,0.000,3035,1647,2023,0,0,0,0,0,0
$GC,6589,0.71,291.6,333.7,8.4,276,6626,0.00,2.58,31.70,0.764,4,0.000,0.056,3035,181,1880,0,0,0,0,0,0
$GC,6660,0.71,291.6,326.8,11.5,276,6664,0.00,2.38,0.00,0.000,6,0.000,0.025,3035,1653,1879,0,0,0,0,0,0
$GC,6915,0.79,298.5,301.9,9.7,283,6928,0.15,2.67,6.60,0.609,4,0.058,0.048,3101,3213,1852,0,0,0,0,0,0
$GC,6965,0.79,298.5,295.6,12.6,284,6970,0.12,2.55,0.00,0.000,6,0.117,0.034,3075,1672,1850,0,0,0,0,0,0
$GC,7249,0.79,298.5,261.9,12.1,291,7253,0.00,2.58,0.00,0.000,4,0.000,0.038,3075,3225,1848,0,0,0,0,0,0
$GC,7272,0.79,298.5,258.6,12.8,291,7276,0.00,2.58,0.00,0.000,6,0.000,0.031,3075,1655,1847,0,0,0,0,0,0
$GC,7532,0.79,298.5,230.3,10.5,298,7536,0.00,2.58,0.00,0.000,4,0.000,0.035,3075,3227,1846,0,0,0,0,0,0
$GC,7561,0.79,298.5,227.0,10.5,298,7565,0.00,2.58,0.00,0.000,6,0.000,0.031,3075,1654,1845,0,0,0,0,0,0
$GC,7815,0.79,298.5,198.8,11.6,305,7819,0.00,2.45,0.00,0.000,4,0.000,0.048,3075,171,1845,0,0,0,0,0,0
$GC,7873,0.79,298.5,192.3,12.9,310,7877,0.00,2.35,0.00,0.000,6,0.000,0.023,3075,1666,1844,0,0,0,0,0,0
$GC,8138,0.79,298.5,163.5,10.5,334,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1667,1844,0,0,0,0,0,0
$GC,8404,0.79,298.5,133.6,11.3,359,8408,0.00,2.53,0.00,0.000,4,0.000,0.035,3075,3234,1844,0,0,0,0,0,0
$GC,8433,0.79,298.5,129.4,11.9,361,8439,0.00,2.55,0.00,0.000,6,0.000,0.028,3075,1647,1844,0,0,0,0,0,0
$GC,8695,0.93,348.4,102.8,7.7,386,8748,0.10,2.65,42.33,0.580,4,0.081,0.035,3141,3223,1649,0,0,0,0,0,0
$GC,8763,0.93,348.4,95.2,12.9,392,8773,0.15,2.60,0.00,0.000,6,0.082,0.028,3104,1646,1647,0,0,0,0,0,0
$GC,9029,0.93,348.4,68.0,10.1,417,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1646,1645,0,0,0,0,0,0
$GC,9295,0.93,348.4,38.7,11.2,442,9299,0.00,2.55,0.00,0.000,4,0.000,0.032,3105,3226,1645,0,0,0,0,0,0
$GC,9337,1.01,348.4,33.2,11.6,445,9346,0.00,2.58,0.00,0.000,6,0.000,0.028,3104,1645,1644,0,0,0,0,0,0
$STATE,9596,end climb,SURFACE_DEPTH_REACHED
$STATE,9596,begin surface coast
$FINISH,0.5,1.010335
$STATE,9635,end surface coast,CONTROL_FINISHED_OK
$STATE,9635,begin surface
$SM_CCo,9655,55.17,0.413,1,0,1234,450.13
$SM_GC,1.38,0.00,0.00,55.17,0.000,0.000,0.413,413,1849,1234,-11.44,2.23,450.13
$IRIDIUM_FIX,2244.02,-15748.90,130200,010121
$TT8_MAMPS,0.026845
$HUMID,40.27
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.6,11.523
$10V_AH,10.4,9.673
$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,28.475,106.675,414.550,55.175,0.000,27.371,35.485,297.982,0.250,0.000,12.929,994.438,6244.278,518.155,1841.867,607.504,33.364,1267.534,0.000,1841.918,0.000,0.538,0.000
$DEVICE_MAMPS,156.468,66.729,878.982,412.646,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.970,304.007,379.799,583.120,1031.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38438,490
$CAP_FILE_SIZE,106309,0
$CFSIZE,260165632,168603648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191110,070236,2250.745,-15752.671,12,1.7,22,10.1