version: 66.06
glider: 148
mission: 9
dive: 62
start: 11 19 110 12 46 45
data:
$ID,148
$MISSION,9
$DIVE,62
$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,-858737.12
$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,19
$R_STBD_OVSHOOT,51
$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
$GPS1,123500,2249.449,-15754.898,8,1.7,18,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.8
$GPS2,124550,2249.419,-15754.854,14,1.3,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.036,0.252
$KALMAN_X,-37642.4,147.0,58.2,63260.4,-409.6
$KALMAN_Y,21812.1,-301.3,-410.7,107663.6,530.9
$MHEAD_RNG_PITCHd_Wd,358.1,15895,-18.0,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.30,-139.4,0.0,0.0,0,104,0.00,0.00,-82.45,0.000,2,0.000,0.000,410,1840,3285,0,0,0,0,0,0
$GC,108,-1.31,-146.0,3.1,-4.3,11,133,11.73,2.72,-7.30,0.000,4,0.159,0.049,2607,174,3667,0,0,0,0,0,0
$GC,210,-1.31,-146.0,25.3,-13.7,26,219,0.00,2.53,0.00,0.000,6,0.000,0.020,2608,1770,3669,0,0,0,0,0,0
$GC,485,-1.22,-146.0,64.9,-14.8,53,490,0.12,2.53,0.00,0.000,4,0.123,0.031,2633,3358,3669,0,0,0,0,0,0
$GC,529,-1.22,-146.0,71.3,-12.3,56,533,0.00,2.53,0.00,0.000,6,0.000,0.023,2633,1755,3669,0,0,0,0,0,0
$GC,795,-1.29,-146.0,99.9,-8.9,80,799,0.00,2.53,0.00,0.000,4,0.000,0.030,2633,3347,3669,0,0,0,0,0,0
$GC,824,-1.38,-146.0,103.4,-10.2,82,833,0.10,2.50,0.00,0.000,6,0.034,0.022,2572,1779,3670,0,0,0,0,0,0
$GC,1090,-1.38,-146.0,133.8,-10.9,107,1096,0.12,0.00,0.00,0.000,6,0.114,0.000,2599,1779,3670,0,0,0,0,0,0
$GC,1352,-1.38,-146.0,160.7,-10.1,132,1356,0.00,2.50,0.00,0.000,4,0.000,0.030,2598,3355,3671,0,0,0,0,0,0
$GC,1391,-1.47,-146.0,164.8,-10.0,135,1400,0.00,2.53,0.00,0.000,6,0.000,0.023,2599,1776,3671,0,0,0,0,0,0
$GC,1658,-1.54,-146.0,191.1,-9.5,160,1663,0.15,2.53,0.00,0.000,4,0.058,0.031,2537,3357,3671,0,0,0,0,0,0
$GC,1677,-1.54,-146.0,194.2,-11.2,161,1683,0.12,2.47,0.00,0.000,6,0.113,0.023,2563,1777,3671,0,0,0,0,0,0
$GC,1940,-1.54,-146.0,226.6,-12.5,172,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1777,3671,0,0,0,0,0,0
$GC,2183,-1.54,-146.0,254.5,-11.2,178,2187,0.00,2.53,0.00,0.000,4,0.000,0.032,2563,3352,3671,0,0,0,0,0,0
$GC,2225,-1.54,-146.0,259.2,-10.7,179,2230,0.00,2.45,0.00,0.000,6,0.000,0.025,2563,1791,3671,0,0,0,0,0,0
$GC,2513,-1.54,-146.0,289.7,-11.0,186,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1791,3671,0,0,0,0,0,0
$GC,2755,-1.54,-146.0,315.0,-10.1,192,2759,0.00,2.50,0.00,0.000,4,0.000,0.035,2563,3352,3671,0,0,0,0,0,0
$GC,2773,-1.54,-146.0,317.1,-10.8,192,2778,0.00,2.45,0.00,0.000,6,0.000,0.025,2564,1796,3671,0,0,0,0,0,0
$GC,3037,-1.54,-146.0,344.7,-10.6,199,3041,0.00,2.65,0.00,0.000,4,0.000,0.049,2564,192,3670,0,0,0,0,0,0
$GC,3110,-1.63,-146.0,351.7,-9.7,200,3114,0.00,2.50,0.00,0.000,6,0.000,0.024,2563,1786,3670,0,0,0,0,0,0
$GC,3369,-1.63,-146.0,375.7,-9.0,207,3373,0.00,2.55,0.00,0.000,4,0.000,0.041,2563,3356,3669,0,0,0,0,0,0
$GC,3427,-1.71,-146.0,380.5,-8.1,208,3432,0.15,2.47,0.00,0.000,6,0.057,0.028,2482,1799,3669,0,0,0,0,0,0
$GC,3700,-1.51,-146.0,417.8,-14.2,215,3708,0.38,2.67,0.00,0.000,4,0.095,0.055,2565,197,3667,0,0,0,0,0,0
$GC,3754,-1.63,-146.0,424.5,-10.7,216,3759,0.00,2.55,0.00,0.000,6,0.000,0.030,2565,1796,3667,0,0,0,0,0,0
$GC,4034,-1.69,-146.0,450.5,-9.3,223,4039,0.15,2.58,0.00,0.000,4,0.060,0.049,2506,3357,3666,0,0,0,0,0,0
$GC,4081,-1.69,-146.0,456.1,-11.1,224,4086,0.12,2.53,0.00,0.000,6,0.110,0.031,2533,1797,3665,0,0,0,0,0,0
$GC,4365,-1.69,-146.0,485.6,-10.6,231,4369,0.00,2.72,0.00,0.000,4,0.000,0.065,2533,190,3663,0,0,0,0,0,0
$GC,4388,-1.69,-146.0,488.6,-12.6,231,4393,0.00,2.58,0.00,0.000,6,0.000,0.035,2533,1788,3663,0,0,0,0,0,0
$STATE,4523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4523,begin apogee
$GC,4529,-0.31,0.0,503.0,10.7,235,4650,1.33,0.00,117.85,0.873,6,0.079,0.000,2830,1637,3070,0,0,0,0,0,0
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4655,1.31,146.0,507.8,0.0,238,4785,1.42,2.60,120.70,0.860,4,0.025,0.066,3187,193,2474,0,0,0,0,0,0
$GC,5050,0.79,146.0,471.9,14.4,246,5057,0.57,2.38,0.00,0.000,6,0.130,0.031,3075,1650,2466,0,0,0,0,0,0
$GC,5302,0.72,180.6,450.0,8.4,253,5338,0.00,2.60,29.52,0.812,4,0.000,0.058,3075,191,2331,0,0,0,0,0,0
$GC,5442,0.56,180.6,435.6,10.4,256,5447,0.25,2.38,0.00,0.000,6,0.114,0.028,3024,1649,2327,0,0,0,0,0,0
$GC,5726,0.64,247.7,415.3,6.8,263,5791,0.00,2.72,57.10,0.815,4,0.000,0.053,3024,3229,2058,0,0,0,0,0,0
$GC,5811,0.76,260.1,408.1,9.4,265,5829,0.17,2.62,11.90,0.727,6,0.052,0.036,3079,1654,2009,0,0,0,0,0,0
$GC,6100,0.76,260.1,375.0,11.6,272,6104,0.00,2.55,0.00,0.000,4,0.000,0.064,3079,167,2001,0,0,0,0,0,0
$GC,6128,0.67,260.1,371.3,12.5,272,6133,0.15,2.40,0.00,0.000,6,0.123,0.026,3049,1655,2000,0,0,0,0,0,0
$GC,6383,0.69,278.0,347.6,9.2,279,6403,0.00,0.00,15.62,0.735,6,0.000,0.000,3049,1659,1935,0,0,0,0,0,0
$GC,6671,0.71,295.5,320.9,9.2,286,6695,0.00,2.58,16.38,0.719,4,0.000,0.054,3049,171,1864,0,0,0,0,0,0
$GC,6729,0.71,295.5,315.0,11.0,287,6733,0.00,2.35,0.00,0.000,6,0.000,0.025,3048,1636,1863,0,0,0,0,0,0
$GC,7002,0.78,295.5,286.8,10.3,294,7006,0.00,2.65,0.00,0.000,4,0.000,0.045,3049,3222,1859,0,0,0,0,0,0
$GC,7085,0.90,295.5,277.7,10.2,295,7092,0.20,2.62,0.00,0.000,6,0.050,0.034,3109,1629,1857,0,0,0,0,0,0
$GC,7337,0.82,295.5,245.3,13.1,302,7341,0.15,2.45,0.00,0.000,4,0.120,0.055,3079,171,1856,0,0,0,0,0,0
$GC,7353,0.75,295.5,243.0,12.3,302,7357,0.00,2.33,0.00,0.000,6,0.000,0.022,3079,1659,1856,0,0,0,0,0,0
$GC,7622,0.75,295.5,214.4,10.8,309,7626,0.00,2.47,0.00,0.000,4,0.000,0.049,3078,171,1855,0,0,0,0,0,0
$GC,7640,0.75,295.5,212.0,11.7,309,7644,0.00,2.30,0.00,0.000,6,0.000,0.023,3079,1633,1855,0,0,0,0,0,0
$GC,7905,0.75,295.5,180.5,11.8,327,7909,0.00,2.58,0.00,0.000,4,0.000,0.038,3079,3230,1855,0,0,0,0,0,0
$GC,7924,0.75,295.5,178.7,11.9,328,7929,0.00,2.58,0.00,0.000,6,0.000,0.028,3079,1635,1854,0,0,0,0,0,0
$GC,8186,0.75,295.5,148.4,11.9,352,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1635,1854,0,0,0,0,0,0
$GC,8441,0.75,299.6,120.7,9.8,376,8446,0.00,2.55,0.00,0.000,4,0.000,0.034,3079,3225,1854,0,0,0,0,0,0
$GC,8461,0.76,306.2,119.1,9.7,377,8482,0.00,2.55,9.05,0.525,6,0.000,0.028,3079,1627,1820,0,0,0,0,0,0
$GC,8739,0.88,312.9,94.8,9.7,403,8748,0.00,0.00,7.15,0.479,6,0.000,0.000,3079,1627,1794,0,0,0,0,0,0
$GC,9007,1.02,348.3,71.0,8.3,428,9046,0.17,2.65,31.80,0.542,4,0.051,0.032,3152,3234,1648,0,0,0,0,0,0
$GC,9074,0.96,348.3,63.5,12.7,433,9079,0.20,2.58,0.00,0.000,6,0.101,0.028,3111,1634,1645,0,0,0,0,0,0
$GC,9341,0.96,348.3,32.3,12.4,457,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1634,1644,0,0,0,0,0,0
$STATE,9572,end climb,SURFACE_DEPTH_REACHED
$STATE,9572,begin surface coast
$FINISH,0.5,1.021256
$STATE,9610,end surface coast,CONTROL_FINISHED_OK
$STATE,9611,begin surface
$SM_CCo,9631,49.50,0.061,0,0,1234,450.13
$SM_GC,1.49,0.00,0.00,49.50,0.000,0.000,0.061,412,1840,1234,-11.45,1.98,450.13
$IRIDIUM_FIX,2244.02,-15754.11,130200,101012
$TT8_MAMPS,0.026845
$HUMID,40.19
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,11.891
$10V_AH,10.5,9.997
$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,28.700,116.975,417.075,49.500,0.000,30.016,35.211,464.840,0.250,0.000,16.313,1039.702,6061.083,490.757,1954.952,788.541,33.351,1289.683,0.000,1956.242,0.000,0.538,0.000
$DEVICE_MAMPS,158.769,65.962,872.846,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.360,316.665,392.775,595.609,1053.682,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,38369,499
$CAP_FILE_SIZE,113632,0
$CFSIZE,260165632,168435712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,152924,2250.869,-15754.761,23,1.1,40,10.1