version: 66.06
glider: 148
mission: 9
dive: 64
start: 11 19 110 18 38 38
data:
$ID,148
$MISSION,9
$DIVE,64
$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,-858768.81
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,182700,2252.638,-15754.861,34,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-66.3
$GPS2,183743,2252.616,-15754.803,9,1.0,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.008,0.260
$KALMAN_X,-37599.2,-38.1,-41.3,63592.7,-21.1
$KALMAN_Y,21877.7,-170.2,214.5,112765.8,376.0
$MHEAD_RNG_PITCHd_Wd,348.1,9977,-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,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.93,0.000,2,0.000,0.000,415,1851,3314,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.4,-5.0,11,132,11.57,2.72,-6.55,0.000,4,0.153,0.049,2613,182,3667,0,0,0,0,0,0
$GC,178,-1.28,-146.0,21.7,-15.7,21,187,0.00,2.50,0.00,0.000,6,0.000,0.020,2613,1762,3668,0,0,0,0,0,0
$GC,463,-1.20,-146.0,60.8,-14.2,51,468,0.10,2.55,0.00,0.000,4,0.129,0.031,2634,3354,3669,0,0,0,0,0,0
$GC,517,-1.27,-146.0,68.5,-11.7,55,522,0.00,2.50,0.00,0.000,6,0.000,0.023,2635,1766,3669,0,0,0,0,0,0
$GC,785,-1.33,-146.0,102.0,-11.3,79,790,0.10,2.55,0.00,0.000,4,0.078,0.030,2584,3354,3669,0,0,0,0,0,0
$GC,821,-1.33,-146.0,107.1,-13.4,82,827,0.12,2.47,0.00,0.000,6,0.107,0.023,2611,1783,3669,0,0,0,0,0,0
$GC,1083,-1.33,-146.0,137.4,-10.2,106,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1782,3670,0,0,0,0,0,0
$GC,1344,-1.40,-146.0,160.3,-8.6,130,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,1782,3670,0,0,0,0,0,0
$GC,1608,-1.50,-146.0,185.0,-8.5,155,1613,0.15,2.53,0.00,0.000,4,0.058,0.031,2551,3363,3670,0,0,0,0,0,0
$GC,1639,-1.50,-146.0,187.8,-10.1,157,1644,0.10,2.47,0.00,0.000,6,0.120,0.024,2572,1794,3670,0,0,0,0,0,0
$GC,1924,-1.50,-146.0,214.7,-9.0,172,1929,0.00,2.60,0.00,0.000,4,0.000,0.040,2572,186,3670,0,0,0,0,0,0
$GC,1958,-1.50,-146.0,218.5,-11.6,172,1963,0.00,2.50,0.00,0.000,6,0.000,0.021,2572,1808,3671,0,0,0,0,0,0
$GC,2207,-1.50,-146.0,245.6,-11.1,178,2212,0.00,2.42,0.00,0.000,4,0.000,0.031,2572,3353,3670,0,0,0,0,0,0
$GC,2244,-1.50,-146.0,249.7,-10.6,178,2250,0.00,2.47,0.00,0.000,6,0.000,0.023,2572,1790,3670,0,0,0,0,0,0
$GC,2493,-1.50,-146.0,275.5,-10.5,185,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1790,3670,0,0,0,0,0,0
$GC,2739,-1.50,-146.0,298.6,-9.5,191,2743,0.00,2.47,0.00,0.000,4,0.000,0.032,2572,3346,3670,0,0,0,0,0,0
$GC,2777,-1.57,-146.0,302.3,-9.0,191,2782,0.00,2.45,0.00,0.000,6,0.000,0.025,2572,1806,3670,0,0,0,0,0,0
$GC,3026,-1.57,-146.0,325.3,-9.2,198,3031,0.00,2.62,0.00,0.000,4,0.000,0.048,2572,196,3670,0,0,0,0,0,0
$GC,3056,-1.57,-146.0,328.1,-9.5,198,3060,0.00,2.53,0.00,0.000,6,0.000,0.023,2572,1800,3670,0,0,0,0,0,0
$GC,3310,-1.57,-146.0,351.6,-9.0,205,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1801,3669,0,0,0,0,0,0
$GC,3554,-1.57,-146.0,372.5,-8.8,211,3558,0.00,2.47,0.00,0.000,4,0.000,0.038,2572,3346,3668,0,0,0,0,0,0
$GC,3579,-1.63,-146.0,374.6,-8.9,211,3584,0.12,2.45,0.00,0.000,6,0.065,0.027,2516,1814,3667,0,0,0,0,0,0
$GC,3839,-1.53,-146.0,403.3,-11.2,218,3841,0.22,0.00,0.00,0.000,6,0.100,0.000,2564,1814,3666,0,0,0,0,0,0
$GC,4083,-1.53,-146.0,426.5,-9.5,224,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1814,3665,0,0,0,0,0,0
$GC,4327,-1.53,-146.0,452.3,-10.8,230,4332,0.00,2.53,0.00,0.000,4,0.000,0.047,2565,3347,3663,0,0,0,0,0,0
$GC,4346,-1.53,-146.0,454.5,-10.6,230,4350,0.00,2.45,0.00,0.000,6,0.000,0.029,2564,1815,3663,0,0,0,0,0,0
$GC,4610,-1.60,-146.0,479.6,-9.4,237,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,1814,3661,0,0,0,0,0,0
$GC,4854,-1.66,-146.0,499.5,-7.9,243,4859,0.12,2.58,0.00,0.000,4,0.069,0.051,2513,3346,3659,0,0,0,0,0,0
$STATE,4862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4862,begin apogee
$GC,4870,-0.31,0.0,500.4,7.7,243,4991,1.40,0.00,117.18,0.879,6,0.085,0.000,2827,1653,3070,0,0,0,0,0,0
$STATE,4992,end apogee,CONTROL_FINISHED_OK
$STATE,4992,begin climb
$GC,4994,1.28,146.0,504.4,0.0,246,5126,1.42,2.65,121.05,0.862,4,0.023,0.066,3181,177,2474,0,0,0,0,0,0
$GC,5392,0.75,146.0,468.0,13.1,254,5399,0.57,2.38,0.00,0.000,6,0.130,0.028,3067,1639,2466,0,0,0,0,0,0
$GC,5642,0.73,211.5,448.6,7.0,261,5703,0.00,2.60,55.12,0.834,4,0.000,0.059,3067,166,2206,0,0,0,0,0,0
$GC,5815,0.60,211.5,431.3,12.1,264,5821,0.17,2.42,0.00,0.000,6,0.126,0.028,3033,1656,2202,0,0,0,0,0,0
$GC,6066,0.63,236.5,409.1,8.9,271,6094,0.00,2.62,21.58,0.791,4,0.000,0.058,3032,178,2105,0,0,0,0,0,0
$GC,6118,0.63,236.5,403.4,11.7,272,6122,0.00,2.38,0.00,0.000,6,0.000,0.027,3032,1652,2104,0,0,0,0,0,0
$GC,6397,0.64,246.8,376.1,9.6,279,6413,0.00,2.67,9.30,0.703,4,0.000,0.048,3033,3228,2064,0,0,0,0,0,0
$GC,6444,0.78,285.9,372.0,8.2,280,6487,0.15,2.62,36.05,0.786,6,0.056,0.035,3098,1641,1904,0,0,0,0,0,0
$GC,6731,0.67,285.9,336.7,12.6,287,6736,0.25,2.53,0.00,0.000,4,0.108,0.064,3043,168,1897,0,0,0,0,0,0
$GC,6780,0.67,285.9,330.8,11.8,288,6784,0.00,2.38,0.00,0.000,6,0.000,0.025,3043,1652,1896,0,0,0,0,0,0
$GC,7061,0.67,285.9,301.3,10.2,295,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1656,1893,0,0,0,0,0,0
$GC,7305,0.74,342.6,281.9,7.4,301,7361,0.00,2.67,48.45,0.734,4,0.000,0.043,3043,3223,1671,0,0,0,0,0,0
$GC,7399,0.92,381.4,274.6,8.2,303,7440,0.25,2.62,34.65,0.713,6,0.041,0.033,3129,1641,1513,0,0,0,0,0,0
$GC,7724,0.79,381.4,220.2,18.0,311,7726,0.28,0.00,0.00,0.000,6,0.107,0.000,3072,1641,1506,0,0,0,0,0,0
$GC,7971,0.79,381.4,184.5,14.7,323,7976,0.00,2.62,0.00,0.000,4,0.000,0.038,3072,3229,1504,0,0,0,0,0,0
$GC,8021,0.87,381.4,177.3,15.1,327,8029,0.00,2.60,0.00,0.000,6,0.000,0.030,3072,1655,1501,0,0,0,0,0,0
$GC,8281,0.87,381.4,140.5,13.2,352,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1655,1501,0,0,0,0,0,0
$GC,8538,0.94,381.4,108.6,11.1,376,8543,0.12,2.55,0.00,0.000,4,0.067,0.034,3130,3229,1500,0,0,0,0,0,0
$GC,8565,0.94,381.4,104.7,14.3,378,8570,0.12,2.53,0.00,0.000,6,0.115,0.028,3104,1655,1499,0,0,0,0,0,0
$GC,8828,0.94,381.4,73.3,11.6,402,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1655,1500,0,0,0,0,0,0
$GC,9084,0.94,381.4,42.4,12.0,426,9089,0.00,2.53,0.00,0.000,4,0.000,0.033,3104,3227,1500,0,0,0,0,0,0
$GC,9128,1.02,381.4,37.3,12.1,429,9133,0.00,2.47,0.00,0.000,6,0.000,0.027,3104,1671,1499,0,0,0,0,0,0
$STATE,9394,end climb,SURFACE_DEPTH_REACHED
$STATE,9394,begin surface coast
$FINISH,0.6,1.010163
$STATE,9435,end surface coast,CONTROL_FINISHED_OK
$STATE,9435,begin surface
$SM_CCo,9455,37.95,0.387,1,0,1233,450.13
$SM_GC,1.43,0.00,0.00,37.95,0.000,0.000,0.387,411,1829,1233,-11.45,1.67,450.13
$IRIDIUM_FIX,2244.02,-15754.11,130200,151505
$TT8_MAMPS,0.026845
$HUMID,42.04
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.6,12.161
$10V_AH,10.5,10.208
$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,28.300,101.650,443.375,37.950,0.000,25.723,40.984,444.078,0.000,0.000,16.229,969.641,6110.366,486.054,1810.079,768.840,33.358,1224.559,0.000,1813.280,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,65.962,878.982,387.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.364,292.231,364.977,557.847,986.419,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38317,473
$CAP_FILE_SIZE,106451,0
$CFSIZE,260165632,168329216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191110,211804,2253.976,-15755.100,8,2.6,27,10.1