version: 66.06
glider: 148
mission: 9
dive: 63
start: 11 19 110 15 40 39
data:
$ID,148
$MISSION,9
$DIVE,63
$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,-858751.94
$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,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
$GPS1,152924,2250.869,-15754.761,23,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.1
$GPS2,153944,2250.914,-15754.688,12,1.6,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,0.261
$KALMAN_X,-37525.4,65.3,-58.7,63626.4,-112.1
$KALMAN_Y,21947.3,-304.5,-278.7,110170.5,969.1
$MHEAD_RNG_PITCHd_Wd,349.2,13134,-17.5,-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,-1.27,-146.0,0.0,0.0,0,103,0.00,0.00,-82.82,0.000,2,0.000,0.000,412,1840,3297,0,0,0,0,0,0
$GC,107,-1.27,-146.0,3.3,-4.8,11,132,11.80,2.70,-6.90,0.000,4,0.161,0.054,2614,188,3667,0,0,0,0,0,0
$GC,202,-1.27,-146.0,24.4,-12.9,25,211,0.00,2.50,0.00,0.000,6,0.000,0.020,2614,1777,3668,0,0,0,0,0,0
$GC,478,-1.19,-146.0,61.6,-14.4,53,483,0.12,2.53,0.00,0.000,4,0.121,0.031,2638,3350,3668,0,0,0,0,0,0
$GC,523,-1.19,-146.0,68.6,-12.1,56,532,0.00,2.53,0.00,0.000,6,0.000,0.023,2639,1774,3668,0,0,0,0,0,0
$GC,790,-1.19,-146.0,98.8,-11.4,81,794,0.00,2.50,0.00,0.000,4,0.000,0.030,2639,3349,3669,0,0,0,0,0,0
$GC,827,-1.30,-146.0,102.9,-9.4,84,832,0.00,2.47,0.00,0.000,6,0.000,0.023,2639,1775,3669,0,0,0,0,0,0
$GC,1090,-1.40,-146.0,129.2,-9.4,108,1095,0.20,2.58,0.00,0.000,4,0.047,0.039,2561,187,3669,0,0,0,0,0,0
$GC,1130,-1.40,-146.0,133.3,-12.0,111,1135,0.15,2.47,0.00,0.000,6,0.103,0.019,2594,1796,3669,0,0,0,0,0,0
$GC,1390,-1.40,-146.0,161.1,-10.9,135,1395,0.00,2.42,0.00,0.000,4,0.000,0.030,2594,3342,3670,0,0,0,0,0,0
$GC,1427,-1.40,-146.0,164.9,-10.9,138,1431,0.00,2.47,0.00,0.000,6,0.000,0.023,2594,1774,3670,0,0,0,0,0,0
$GC,1689,-1.40,-146.0,194.3,-9.8,162,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1774,3670,0,0,0,0,0,0
$GC,1954,-1.40,-146.0,215.9,-7.6,173,1958,0.00,2.47,0.00,0.000,4,0.000,0.031,2594,3336,3671,0,0,0,0,0,0
$GC,1984,-1.40,-146.0,218.2,-7.7,173,1988,0.00,2.45,0.00,0.000,6,0.000,0.024,2594,1776,3671,0,0,0,0,0,0
$GC,2238,-1.40,-146.0,241.2,-9.4,180,2242,0.00,2.47,0.00,0.000,4,0.000,0.031,2594,3335,3670,0,0,0,0,0,0
$GC,2266,-1.47,-146.0,244.1,-10.2,180,2270,0.00,2.42,0.00,0.000,6,0.000,0.024,2594,1788,3670,0,0,0,0,0,0
$GC,2522,-1.53,-146.0,270.7,-10.9,187,2527,0.12,2.62,0.00,0.000,4,0.067,0.044,2538,189,3670,0,0,0,0,0,0
$GC,2541,-1.53,-146.0,273.5,-12.6,187,2546,0.12,2.45,0.00,0.000,6,0.113,0.021,2565,1785,3670,0,0,0,0,0,0
$GC,2805,-1.53,-146.0,303.2,-10.9,194,2809,0.00,2.47,0.00,0.000,4,0.000,0.034,2565,3347,3670,0,0,0,0,0,0
$GC,2844,-1.59,-146.0,307.0,-10.6,194,2849,0.00,2.47,0.00,0.000,6,0.000,0.026,2564,1795,3670,0,0,0,0,0,0
$GC,3093,-1.59,-146.0,332.2,-10.3,201,3097,0.00,2.62,0.00,0.000,4,0.000,0.048,2565,189,3670,0,0,0,0,0,0
$GC,3141,-1.59,-146.0,337.1,-10.5,202,3145,0.00,2.53,0.00,0.000,6,0.000,0.024,2564,1788,3670,0,0,0,0,0,0
$GC,3424,-1.59,-146.0,364.2,-9.6,209,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1788,3669,0,0,0,0,0,0
$GC,3667,-1.59,-146.0,385.8,-9.0,215,3671,0.00,2.53,0.00,0.000,4,0.000,0.042,2564,3349,3667,0,0,0,0,0,0
$GC,3710,-1.66,-146.0,389.5,-8.7,216,3715,0.12,2.50,0.00,0.000,6,0.067,0.033,2505,1794,3667,0,0,0,0,0,0
$GC,3999,-1.53,-146.0,424.5,-12.9,223,4007,0.25,2.70,0.00,0.000,4,0.100,0.057,2563,196,3666,0,0,0,0,0,0
$GC,4030,-1.60,-146.0,428.9,-12.7,223,4035,0.00,2.55,0.00,0.000,6,0.000,0.030,2563,1797,3666,0,0,0,0,0,0
$GC,4286,-1.60,-146.0,457.4,-11.3,230,4291,0.00,2.55,0.00,0.000,4,0.000,0.049,2563,3349,3664,0,0,0,0,0,0
$GC,4314,-1.60,-146.0,460.8,-11.0,230,4318,0.00,2.50,0.00,0.000,6,0.000,0.031,2563,1795,3664,0,0,0,0,0,0
$GC,4568,-1.60,-146.0,484.9,-9.1,237,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1795,3662,0,0,0,0,0,0
$STATE,4810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4810,begin apogee
$GC,4817,-0.31,0.0,501.0,6.3,243,4938,1.17,0.00,117.72,0.879,6,0.078,0.000,2831,1644,3069,0,0,0,0,0,0
$STATE,4939,end apogee,CONTROL_FINISHED_OK
$STATE,4939,begin climb
$GC,4941,1.27,146.0,504.0,0.0,246,5073,1.40,2.60,121.12,0.861,4,0.024,0.070,3178,184,2474,0,0,0,0,0,0
$GC,5339,0.75,146.0,467.3,13.0,254,5346,0.57,2.38,0.00,0.000,6,0.130,0.029,3066,1646,2465,0,0,0,0,0,0
$GC,5589,0.72,210.9,448.4,7.1,261,5650,0.00,2.60,54.65,0.834,4,0.000,0.059,3066,189,2209,0,0,0,0,0,0
$GC,5817,0.57,210.9,425.2,11.3,266,5822,0.20,2.35,0.00,0.000,6,0.119,0.028,3026,1642,2204,0,0,0,0,0,0
$GC,6100,0.64,263.6,402.8,7.6,273,6147,0.00,0.00,45.50,0.812,6,0.000,0.000,3026,1642,1995,0,0,0,0,0,0
$GC,6386,0.71,272.9,376.4,9.6,280,6402,0.12,2.72,8.82,0.690,4,0.065,0.051,3082,3227,1955,0,0,0,0,0,0
$GC,6412,0.64,272.9,373.0,12.0,280,6419,0.20,2.62,0.00,0.000,6,0.103,0.034,3040,1652,1954,0,0,0,0,0,0
$GC,6675,0.65,288.0,348.3,9.3,287,6692,0.00,0.00,14.62,0.736,6,0.000,0.000,3040,1652,1895,0,0,0,0,0,0
$GC,6917,0.65,288.0,321.2,11.7,293,6922,0.00,2.55,0.00,0.000,4,0.000,0.064,3040,168,1889,0,0,0,0,0,0
$GC,6940,0.65,288.0,318.1,12.4,293,6944,0.00,2.38,0.00,0.000,6,0.000,0.024,3040,1657,1889,0,0,0,0,0,0
$GC,7200,0.65,288.0,290.6,10.1,300,7205,0.00,2.50,0.00,0.000,4,0.000,0.054,3040,173,1888,0,0,0,0,0,0
$GC,7220,0.65,288.0,288.3,10.6,300,7224,0.00,2.33,0.00,0.000,6,0.000,0.024,3040,1635,1887,0,0,0,0,0,0
$GC,7485,0.72,291.1,261.6,9.9,307,7490,0.00,2.60,0.00,0.000,4,0.000,0.042,3040,3216,1886,0,0,0,0,0,0
$GC,7543,0.86,296.1,256.1,9.8,308,7556,0.20,2.60,6.72,0.597,6,0.049,0.033,3102,1635,1863,0,0,0,0,0,0
$GC,7821,0.78,296.1,221.9,12.2,315,7826,0.15,2.47,0.00,0.000,4,0.117,0.053,3071,166,1861,0,0,0,0,0,0
$GC,7841,0.70,296.1,219.4,11.3,315,7845,0.00,2.33,0.00,0.000,6,0.000,0.023,3071,1654,1860,0,0,0,0,0,0
$GC,8097,0.72,310.6,195.4,9.4,324,8115,0.00,0.00,14.15,0.635,6,0.000,0.000,3071,1658,1802,0,0,0,0,0,0
$GC,8371,0.72,310.6,167.8,10.1,350,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1657,1799,0,0,0,0,0,0
$GC,8627,0.73,314.6,140.3,9.9,374,8640,0.00,2.50,4.38,0.435,4,0.000,0.046,3070,174,1786,0,0,0,0,0,0
$GC,8671,0.73,314.6,135.6,10.8,378,8675,0.00,2.28,0.00,0.000,6,0.000,0.021,3071,1639,1786,0,0,0,0,0,0
$GC,8935,0.79,314.6,107.6,11.7,402,8939,0.00,2.53,0.00,0.000,4,0.000,0.033,3071,3220,1785,0,0,0,0,0,0
$GC,8954,0.86,314.6,105.6,11.2,403,8958,0.00,2.55,0.00,0.000,6,0.000,0.027,3071,1621,1784,0,0,0,0,0,0
$GC,9222,1.03,363.8,81.9,7.8,427,9278,0.22,2.67,43.75,0.561,4,0.044,0.032,3140,3217,1584,0,0,0,0,0,0
$GC,9316,1.03,363.8,70.4,13.9,435,9321,0.00,2.55,0.00,0.000,6,0.000,0.028,3140,1633,1581,0,0,0,0,0,0
$GC,9585,0.95,363.8,31.3,14.8,459,9594,0.15,0.00,0.00,0.000,6,0.113,0.000,3109,1633,1580,0,0,0,0,0,0
$STATE,9788,end climb,SURFACE_DEPTH_REACHED
$STATE,9788,begin surface coast
$FINISH,0.7,1.012349
$STATE,9827,end surface coast,CONTROL_FINISHED_OK
$STATE,9827,begin surface
$SM_CCo,9849,47.28,0.404,1,0,1235,450.13
$SM_GC,1.56,0.00,0.00,47.28,0.000,0.000,0.404,415,1851,1235,-11.43,2.29,450.13
$IRIDIUM_FIX,2239.35,-15757.16,130200,121242
$TT8_MAMPS,0.026845
$HUMID,40.86
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.90
$XPDR_PINGS,2
$24V_AH,23.6,12.024
$10V_AH,10.5,10.104
$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,28.200,116.025,431.450,47.275,0.000,22.411,33.697,432.246,0.500,0.000,14.211,1027.437,6355.156,518.915,1869.673,753.594,33.357,1286.863,0.000,1874.349,0.000,0.538,0.000
$DEVICE_MAMPS,161.070,69.797,878.982,404.209,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.776,296.408,384.419,571.432,1006.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38260,497
$CAP_FILE_SIZE,112192,0
$CFSIZE,260165632,168378368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191110,182700,2252.638,-15754.861,34,1.5,40,10.1