version: 66.06
glider: 148
mission: 9
dive: 69
start: 11 20 110 9 16 32
data:
$ID,148
$MISSION,9
$DIVE,69
$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,-858837.88
$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,29
$R_STBD_OVSHOOT,44
$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
$GPS1,090436,2256.688,-15754.629,39,2.0,44,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.6
$GPS2,091537,2256.662,-15754.619,9,0.9,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.063
$KALMAN_X,-40893.0,-212.1,-63.0,67402.4,-393.4
$KALMAN_Y,20383.9,-109.0,346.9,121557.9,-761.6
$MHEAD_RNG_PITCHd_Wd,93.8,25797,-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,-82.85,0.000,2,0.000,0.000,411,1834,3299,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.2,-4.2,11,132,11.68,2.67,-6.85,0.000,4,0.156,0.048,2612,184,3666,0,0,0,0,0,0
$GC,210,-1.39,-146.0,26.3,-13.1,26,218,0.00,2.50,0.00,0.000,6,0.000,0.020,2612,1773,3668,0,0,0,0,0,0
$GC,489,-1.31,-146.0,64.9,-14.1,53,493,0.00,2.50,0.00,0.000,4,0.000,0.031,2612,3357,3668,0,0,0,0,0,0
$GC,543,-1.31,-146.0,73.6,-13.2,57,552,0.00,2.53,0.00,0.000,6,0.000,0.023,2612,1773,3668,0,0,0,0,0,0
$GC,805,-1.31,-146.0,111.6,-12.7,82,809,0.00,2.53,0.00,0.000,4,0.000,0.030,2612,3350,3668,0,0,0,0,0,0
$GC,843,-1.31,-146.0,115.7,-10.4,85,848,0.00,2.47,0.00,0.000,6,0.000,0.022,2612,1781,3669,0,0,0,0,0,0
$GC,1110,-1.37,-146.0,139.3,-7.5,109,1114,0.00,2.47,0.00,0.000,4,0.000,0.029,2612,3350,3669,0,0,0,0,0,0
$GC,1147,-1.49,-146.0,142.5,-8.2,112,1152,0.15,2.45,0.00,0.000,6,0.051,0.023,2517,1793,3669,0,0,0,0,0,0
$GC,1412,-1.24,-146.0,181.5,-16.1,136,1421,0.55,2.55,0.00,0.000,4,0.089,0.036,2625,195,3670,0,0,0,0,0,0
$GC,1484,-1.46,-146.0,189.4,-8.0,143,1489,0.17,2.45,0.00,0.000,6,0.051,0.019,2546,1797,3670,0,0,0,0,0,0
$GC,1737,-1.36,-146.0,219.5,-12.0,155,1742,0.25,2.45,0.00,0.000,4,0.091,0.030,2604,3347,3670,0,0,0,0,0,0
$GC,1777,-1.48,-146.0,223.2,-8.3,155,1785,0.08,2.42,0.00,0.000,6,0.036,0.023,2520,1789,3670,0,0,0,0,0,0
$GC,2027,-1.33,-146.0,254.7,-12.8,162,2032,0.38,2.47,0.00,0.000,4,0.089,0.031,2607,3340,3670,0,0,0,0,0,0
$GC,2046,-1.33,-146.0,256.9,-10.5,162,2050,0.00,2.42,0.00,0.000,6,0.000,0.022,2607,1790,3670,0,0,0,0,0,0
$GC,2312,-1.44,-146.0,275.8,-7.1,169,2316,0.00,2.47,0.00,0.000,4,0.000,0.032,2607,3336,3670,0,0,0,0,0,0
$GC,2355,-1.61,-146.0,279.0,-6.6,170,2360,0.25,2.42,0.00,0.000,6,0.035,0.025,2500,1798,3670,0,0,0,0,0,0
$GC,2644,-1.45,-146.0,312.9,-11.9,177,2651,0.35,2.60,0.00,0.000,4,0.090,0.043,2580,196,3670,0,0,0,0,0,0
$GC,2675,-1.45,-146.0,316.6,-9.7,177,2680,0.00,2.50,0.00,0.000,6,0.000,0.024,2580,1797,3670,0,0,0,0,0,0
$GC,2930,-1.52,-146.0,340.8,-9.7,184,2934,0.00,2.50,0.00,0.000,4,0.000,0.038,2580,3343,3670,0,0,0,0,0,0
$GC,2969,-1.60,-146.0,344.8,-9.9,184,2975,0.12,2.42,0.00,0.000,6,0.064,0.026,2506,1814,3670,0,0,0,0,0,0
$GC,3219,-1.47,-146.0,376.9,-13.0,191,3221,0.32,0.00,0.00,0.000,6,0.091,0.000,2578,1814,3668,0,0,0,0,0,0
$GC,3464,-1.54,-146.0,400.5,-9.4,197,3469,0.00,2.72,0.00,0.000,4,0.000,0.056,2578,191,3666,0,0,0,0,0,0
$GC,3498,-1.64,-146.0,403.9,-9.3,197,3503,0.15,2.55,0.00,0.000,6,0.058,0.027,2515,1803,3666,0,0,0,0,0,0
$GC,3747,-1.54,-146.0,432.7,-11.6,203,3754,0.22,2.72,0.00,0.000,4,0.095,0.056,2564,198,3665,0,0,0,0,0,0
$GC,3765,-1.54,-146.0,434.6,-11.3,203,3770,0.00,2.60,0.00,0.000,6,0.000,0.029,2564,1818,3665,0,0,0,0,0,0
$GC,4034,-1.54,-146.0,457.4,-8.4,210,4038,0.00,2.53,0.00,0.000,4,0.000,0.048,2564,3347,3663,0,0,0,0,0,0
$GC,4066,-1.62,-146.0,460.2,-7.8,210,4071,0.00,2.47,0.00,0.000,6,0.000,0.031,2564,1817,3663,0,0,0,0,0,0
$GC,4318,-1.62,-146.0,481.2,-8.6,216,4322,0.00,2.78,0.00,0.000,4,0.000,0.064,2564,190,3660,0,0,0,0,0,0
$GC,4337,-1.62,-146.0,483.3,-10.0,216,4341,0.00,2.62,0.00,0.000,6,0.000,0.033,2564,1808,3661,0,0,0,0,0,0
$STATE,4557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4557,begin apogee
$GC,4563,-0.31,0.0,503.1,8.8,222,4684,1.17,0.00,117.30,0.881,6,0.078,0.000,2830,1632,3070,0,0,0,0,0,0
$STATE,4685,end apogee,CONTROL_FINISHED_OK
$STATE,4685,begin climb
$GC,4688,1.28,146.0,508.6,0.0,225,4819,1.42,2.83,120.95,0.863,4,0.028,0.052,3182,3232,2473,0,0,0,0,0,0
$GC,4963,0.90,146.0,490.5,14.5,231,4970,0.43,2.62,0.00,0.000,6,0.117,0.036,3098,1668,2466,0,0,0,0,0,0
$GC,5239,0.71,146.0,461.7,10.1,238,5244,0.20,2.62,0.00,0.000,4,0.120,0.072,3058,164,2463,0,0,0,0,0,0
$GC,5337,0.54,146.0,452.1,10.2,240,5342,0.20,2.38,0.00,0.000,6,0.114,0.028,3017,1645,2462,0,0,0,0,0,0
$GC,5620,0.66,244.5,434.4,5.5,247,5709,0.10,0.00,82.47,0.834,6,0.081,0.000,3060,1645,2073,0,0,0,0,0,0
$GC,5946,0.72,297.0,410.5,7.6,255,5999,0.00,2.55,45.92,0.806,4,0.000,0.055,3060,174,1857,0,0,0,0,0,0
$GC,6029,0.72,297.0,403.4,10.4,256,6035,0.00,2.38,0.00,0.000,6,0.000,0.027,3060,1633,1856,0,0,0,0,0,0
$GC,6279,0.73,304.9,379.7,9.7,263,6290,0.00,0.00,7.25,0.659,6,0.000,0.000,3060,1634,1825,0,0,0,0,0,0
$GC,6567,0.73,304.9,347.8,11.4,270,6572,0.00,2.67,0.00,0.000,4,0.000,0.048,3060,3225,1821,0,0,0,0,0,0
$GC,6629,0.73,304.9,340.6,11.9,271,6634,0.00,2.65,0.00,0.000,6,0.000,0.035,3060,1628,1819,0,0,0,0,0,0
$GC,6897,0.73,304.9,308.8,11.8,278,6902,0.00,2.47,0.00,0.000,4,0.000,0.063,3059,169,1818,0,0,0,0,0,0
$GC,6934,0.73,304.9,303.9,13.5,278,6940,0.00,2.35,0.00,0.000,6,0.000,0.025,3060,1642,1817,0,0,0,0,0,0
$GC,7185,0.73,304.9,274.7,11.7,285,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1645,1816,0,0,0,0,0,0
$GC,7427,0.73,304.9,245.8,11.8,291,7431,0.00,2.58,0.00,0.000,4,0.000,0.041,3060,3222,1816,0,0,0,0,0,0
$GC,7497,0.82,304.9,237.3,12.5,292,7501,0.00,2.60,0.00,0.000,6,0.000,0.033,3060,1635,1814,0,0,0,0,0,0
$GC,7757,0.82,304.9,204.3,12.9,299,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1635,1814,0,0,0,0,0,0
$GC,8009,0.82,304.9,169.9,13.8,320,8013,0.00,2.60,0.00,0.000,4,0.000,0.035,3060,3229,1814,0,0,0,0,0,0
$GC,8058,0.91,304.9,163.5,13.1,324,8067,0.12,2.60,0.00,0.000,6,0.030,0.030,3123,1640,1813,0,0,0,0,0,0
$GC,8323,0.80,304.9,125.4,14.3,349,8328,0.22,2.42,0.00,0.000,4,0.106,0.045,3076,167,1813,0,0,0,0,0,0
$GC,8404,0.80,304.9,113.2,13.2,356,8414,0.00,2.33,0.00,0.000,6,0.000,0.022,3075,1641,1813,0,0,0,0,0,0
$GC,8671,0.93,344.7,86.7,8.2,381,8711,0.12,2.47,32.95,0.570,4,0.068,0.045,3136,171,1663,0,0,0,0,0,0
$GC,8740,0.83,344.7,78.9,13.0,387,8749,0.22,2.33,0.00,0.000,6,0.087,0.021,3084,1626,1662,0,0,0,0,0,0
$GC,9006,0.93,363.8,55.0,9.2,412,9030,0.00,2.62,17.75,0.518,4,0.000,0.033,3084,3229,1584,0,0,0,0,0,0
$GC,9069,1.07,366.0,48.6,9.9,417,9075,0.20,2.58,0.00,0.000,6,0.045,0.027,3170,1627,1581,0,0,0,0,0,0
$STATE,9354,end climb,SURFACE_DEPTH_REACHED
$STATE,9355,begin surface coast
$FINISH,0.6,1.023523
$STATE,9381,end surface coast,CONTROL_FINISHED_OK
$STATE,9381,begin surface
$SM_CCo,9403,46.95,0.406,1,0,1235,450.13
$SM_GC,1.54,0.00,0.00,46.95,0.000,0.000,0.406,412,1860,1235,-11.44,2.54,450.13
$IRIDIUM_FIX,2251.04,-15755.40,140200,060614
$TT8_MAMPS,0.026845
$HUMID,41.84
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.6,12.823
$10V_AH,10.5,10.744
$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,30.225,121.975,424.600,46.950,0.000,22.986,34.889,471.773,0.500,0.000,15.624,961.923,6092.082,501.897,1780.779,780.333,33.357,1263.703,0.000,1774.421,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,72.098,881.283,405.743,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,307.049,269.732,345.168,529.082,933.764,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,35306,457
$CAP_FILE_SIZE,112843,0
$CFSIZE,260165632,168050688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201110,115456,2256.066,-15753.705,10,1.9,10,10.1