version: 66.06
glider: 148
mission: 9
dive: 61
start: 11 19 110 10 11 57
data:
$ID,148
$MISSION,9
$DIVE,61
$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,-858720.19
$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,33
$R_STBD_OVSHOOT,49
$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
$GPS1,100030,2249.852,-15753.738,38,1.6,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-66.0
$GPS2,101102,2249.847,-15753.672,14,1.6,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.181,-0.050
$KALMAN_X,-37620.9,237.4,181.3,65057.8,-477.1
$KALMAN_Y,21554.5,-239.2,82.3,108162.0,-152.9
$MHEAD_RNG_PITCHd_Wd,244.6,2357,-25.2,-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,15,begin dive
$GC,18,-1.67,-73.6,0.0,0.0,0,103,0.00,0.00,-82.95,0.000,2,0.000,0.000,411,1830,3317,0,0,0,0,0,0
$GC,107,-1.73,-122.4,3.5,-5.6,11,132,11.27,2.67,-4.72,0.000,4,0.162,0.044,2514,196,3570,0,0,0,0,0,0
$GC,272,-1.73,-122.4,43.4,-19.8,32,276,0.00,2.45,0.00,0.000,6,0.000,0.021,2513,1773,3572,0,0,0,0,0,0
$GC,535,-1.73,-122.4,97.7,-21.3,56,539,0.00,2.53,0.00,0.000,4,0.000,0.038,2513,3360,3572,0,0,0,0,0,0
$GC,554,-1.73,-122.4,101.0,-18.7,57,559,0.00,2.53,0.00,0.000,6,0.000,0.026,2513,1768,3572,0,0,0,0,0,0
$GC,819,-1.73,-122.4,144.6,-16.9,81,824,0.00,2.55,0.00,0.000,4,0.000,0.037,2513,183,3572,0,0,0,0,0,0
$GC,850,-1.81,-122.4,150.2,-15.6,83,856,0.00,2.45,0.00,0.000,6,0.000,0.019,2513,1786,3573,0,0,0,0,0,0
$GC,1112,-1.91,-122.4,186.3,-13.1,108,1118,0.12,2.58,0.00,0.000,4,0.070,0.038,2466,194,3574,0,0,0,0,0,0
$GC,1229,-1.91,-122.4,205.3,-16.4,117,1233,0.00,2.42,0.00,0.000,6,0.000,0.020,2466,1770,3574,0,0,0,0,0,0
$GC,1496,-1.91,-122.4,248.9,-16.7,124,1501,0.00,2.55,0.00,0.000,4,0.000,0.038,2466,196,3574,0,0,0,0,0,0
$GC,1549,-1.91,-122.4,257.7,-16.7,125,1553,0.00,2.42,0.00,0.000,6,0.000,0.021,2466,1761,3575,0,0,0,0,0,0
$GC,1826,-1.91,-122.4,300.6,-15.8,132,1830,0.00,2.55,0.00,0.000,4,0.000,0.039,2466,195,3574,0,0,0,0,0,0
$GC,1844,-1.91,-122.4,304.0,-17.5,132,1848,0.00,2.45,0.00,0.000,6,0.000,0.021,2466,1760,3574,0,0,0,0,0,0
$GC,2109,-1.91,-122.4,343.2,-14.9,139,2113,0.00,2.58,0.00,0.000,4,0.000,0.046,2466,196,3575,0,0,0,0,0,0
$GC,2210,-1.91,-122.4,360.7,-16.4,141,2215,0.00,2.42,0.00,0.000,6,0.000,0.023,2466,1738,3575,0,0,0,0,0,0
$GC,2483,-1.91,-122.4,397.8,-12.8,148,2487,0.00,2.58,0.00,0.000,4,0.000,0.054,2466,194,3574,0,0,0,0,0,0
$GC,2527,-1.97,-122.4,403.4,-13.0,149,2532,0.00,2.47,0.00,0.000,6,0.000,0.028,2466,1744,3574,0,0,0,0,0,0
$GC,2814,-2.04,-122.4,441.6,-13.7,156,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1745,3572,0,0,0,0,0,0
$GC,3059,-2.12,-122.4,473.9,-12.9,162,3064,0.12,2.65,0.00,0.000,4,0.072,0.061,2418,203,3571,0,0,0,0,0,0
$GC,3074,-2.12,-122.4,476.2,-12.7,162,3078,0.00,2.47,0.00,0.000,6,0.000,0.033,2418,1731,3570,0,0,0,0,0,0
$STATE,3258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3259,begin apogee
$GC,3264,-0.31,0.0,502.9,14.1,167,3368,1.90,0.00,99.80,0.862,6,0.096,0.000,2830,1644,3070,0,0,0,0,0,0
$STATE,3369,end apogee,CONTROL_FINISHED_OK
$STATE,3369,begin climb
$GC,3373,1.73,122.4,505.8,0.0,169,3487,1.83,2.75,101.93,0.850,4,0.022,0.053,3320,3232,2570,0,0,0,0,0,0
$GC,3607,1.33,122.4,494.1,14.2,175,3615,0.68,2.62,0.00,0.000,6,0.142,0.037,3191,1668,2564,0,0,0,0,0,0
$GC,3889,1.20,127.6,465.9,9.6,182,3901,0.15,2.65,4.35,0.548,4,0.141,0.073,3163,168,2549,0,0,0,0,0,0
$GC,4073,1.00,127.6,445.4,10.4,186,4078,0.22,2.40,0.00,0.000,6,0.146,0.028,3122,1650,2547,0,0,0,0,0,0
$GC,4362,1.02,141.3,420.1,8.8,193,4382,0.00,2.58,12.62,0.755,4,0.000,0.058,3122,165,2493,0,0,0,0,0,0
$GC,4474,1.02,141.3,408.8,10.1,195,4479,0.00,2.40,0.00,0.000,6,0.000,0.027,3122,1646,2490,0,0,0,0,0,0
$GC,4738,1.05,166.7,387.9,7.7,202,4766,0.00,2.62,22.25,0.782,4,0.000,0.058,3122,166,2390,0,0,0,0,0,0
$GC,4891,1.05,166.7,372.6,11.1,205,4895,0.00,2.35,0.00,0.000,6,0.000,0.025,3122,1628,2386,0,0,0,0,0,0
$GC,5161,1.13,166.7,345.3,10.3,212,5166,0.10,2.53,0.00,0.000,4,0.086,0.057,3160,160,2384,0,0,0,0,0,0
$GC,5431,1.02,166.7,311.9,10.8,217,5438,0.17,2.33,0.00,0.000,6,0.139,0.025,3127,1620,2382,0,0,0,0,0,0
$GC,5681,1.14,197.0,292.5,7.3,224,5714,0.00,2.55,25.55,0.731,4,0.000,0.053,3127,166,2265,0,0,0,0,0,0
$GC,5732,1.14,197.0,288.1,10.2,225,5737,0.00,2.33,0.00,0.000,6,0.000,0.023,3127,1620,2264,0,0,0,0,0,0
$GC,6011,1.25,197.0,255.6,12.2,232,6016,0.20,2.47,0.00,0.000,4,0.051,0.050,3193,157,2260,0,0,0,0,0,0
$GC,6120,1.10,197.0,239.7,13.7,234,6125,0.28,2.33,0.00,0.000,6,0.134,0.024,3141,1619,2259,0,0,0,0,0,0
$GC,6390,1.18,197.0,211.3,10.2,241,6395,0.00,2.45,0.00,0.000,4,0.000,0.049,3141,154,2257,0,0,0,0,0,0
$GC,6547,1.18,197.0,193.6,11.7,246,6555,0.00,2.30,0.00,0.000,6,0.000,0.023,3141,1599,2257,0,0,0,0,0,0
$GC,6814,1.27,197.0,166.1,10.9,271,6819,0.15,2.40,0.00,0.000,4,0.064,0.048,3194,159,2256,0,0,0,0,0,0
$GC,6970,1.15,197.0,143.2,15.0,286,6975,0.20,2.28,0.00,0.000,6,0.129,0.023,3155,1605,2256,0,0,0,0,0,0
$GC,7231,1.24,200.9,118.6,9.7,310,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1605,2256,0,0,0,0,0,0
$GC,7488,1.37,217.4,92.9,8.5,334,7511,0.17,2.47,17.08,0.551,4,0.057,0.045,3215,160,2182,0,0,0,0,0,0
$GC,7673,1.25,217.4,73.5,10.3,351,7678,0.20,2.25,0.00,0.000,6,0.125,0.020,3176,1609,2180,0,0,0,0,0,0
$GC,7937,1.34,220.7,49.0,9.7,375,7950,0.00,2.42,3.60,0.333,4,0.000,0.044,3176,166,2170,0,0,0,0,0,0
$GC,7957,1.35,226.4,46.7,9.5,376,7969,0.00,2.25,7.12,0.446,6,0.000,0.020,3176,1598,2145,0,0,0,0,0,0
$GC,8254,1.45,236.4,17.4,9.1,412,8270,0.17,0.00,10.07,0.457,6,0.056,0.000,3235,1599,2104,0,0,0,0,0,0
$STATE,8357,end climb,SURFACE_DEPTH_REACHED
$STATE,8357,begin surface coast
$FINISH,0.8,1.023199
$STATE,8395,end surface coast,CONTROL_FINISHED_OK
$STATE,8395,begin surface
$SM_CCo,8415,105.45,0.449,1,0,1234,450.13
$SM_GC,1.48,0.00,0.00,105.45,0.000,0.000,0.449,411,1840,1234,-11.45,2.01,450.13
$IRIDIUM_FIX,2241.69,-15751.94,130200,070723
$TT8_MAMPS,0.026845
$HUMID,39.36
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,23.6,11.764
$10V_AH,10.4,9.887
$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,29.575,99.400,304.375,105.450,0.000,22.786,32.433,445.308,0.500,0.000,16.432,953.360,5087.586,459.720,1918.890,740.054,33.349,1223.801,0.000,1910.171,0.000,0.538,0.000
$DEVICE_MAMPS,161.837,78.234,862.108,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,292.883,266.328,337.975,527.340,932.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,35271,433
$CAP_FILE_SIZE,105551,0
$CFSIZE,260165632,168497152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191110,123500,2249.449,-15754.898,8,1.7,18,10.1