version: 66.06
glider: 148
mission: 9
dive: 70
start: 11 20 110 12 7 10
data:
$ID,148
$MISSION,9
$DIVE,70
$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,-858898.94
$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,32
$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
$GPS1,115456,2256.066,-15753.705,10,1.9,10,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.7
$GPS2,120616,2256.016,-15753.756,39,99.0,58,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.071
$KALMAN_X,-42010.8,-181.8,9.7,69903.5,-753.7
$KALMAN_Y,20282.4,-140.4,-101.4,120937.5,-409.6
$MHEAD_RNG_PITCHd_Wd,95.7,23908,-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,17,-1.28,-146.0,0.0,0.0,0,110,0.00,0.00,-90.55,0.000,2,0.000,0.000,411,1860,3552,0,0,0,0,0,0
$GC,115,-1.28,-146.0,4.5,-8.6,12,140,11.68,2.75,-1.88,0.000,4,0.156,0.045,2613,182,3669,0,0,0,0,0,0
$GC,223,-1.35,-146.0,35.5,-13.4,26,232,0.00,2.50,0.00,0.000,6,0.000,0.020,2613,1770,3670,0,0,0,0,0,0
$GC,490,-1.29,-146.0,73.7,-13.4,51,494,0.00,2.50,0.00,0.000,4,0.000,0.031,2613,3348,3670,0,0,0,0,0,0
$GC,550,-1.29,-146.0,83.1,-13.1,56,554,0.00,2.47,0.00,0.000,6,0.000,0.022,2613,1769,3671,0,0,0,0,0,0
$GC,813,-1.29,-146.0,117.5,-11.7,80,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1769,3671,0,0,0,0,0,0
$GC,1065,-1.29,-146.0,146.1,-10.6,104,1069,0.00,2.53,0.00,0.000,4,0.000,0.028,2613,3353,3673,0,0,0,0,0,0
$GC,1104,-1.41,-146.0,149.4,-9.3,107,1108,0.00,2.47,0.00,0.000,6,0.000,0.023,2613,1774,3673,0,0,0,0,0,0
$GC,1368,-1.49,-146.0,173.6,-9.2,131,1373,0.17,2.55,0.00,0.000,4,0.049,0.041,2539,196,3673,0,0,0,0,0,0
$GC,1397,-1.49,-146.0,177.0,-13.2,133,1403,0.17,2.47,0.00,0.000,6,0.100,0.020,2576,1793,3673,0,0,0,0,0,0
$GC,1678,-1.49,-146.0,209.9,-11.8,153,1683,0.00,2.45,0.00,0.000,4,0.000,0.031,2576,3341,3673,0,0,0,0,0,0
$GC,1725,-1.56,-146.0,215.7,-10.9,154,1729,0.00,2.45,0.00,0.000,6,0.000,0.024,2576,1781,3673,0,0,0,0,0,0
$GC,2008,-1.56,-146.0,249.1,-12.0,161,2012,0.00,2.55,0.00,0.000,4,0.000,0.041,2577,195,3674,0,0,0,0,0,0
$GC,2026,-1.56,-146.0,251.7,-12.9,161,2031,0.00,2.47,0.00,0.000,6,0.000,0.021,2576,1789,3673,0,0,0,0,0,0
$GC,2290,-1.56,-146.0,280.7,-10.8,168,2294,0.00,2.45,0.00,0.000,4,0.000,0.033,2576,3340,3673,0,0,0,0,0,0
$GC,2366,-1.65,-146.0,288.5,-9.8,169,2371,0.15,2.42,0.00,0.000,6,0.054,0.025,2488,1803,3673,0,0,0,0,0,0
$GC,2621,-1.45,-146.0,322.7,-13.0,176,2628,0.43,2.62,0.00,0.000,4,0.091,0.044,2578,193,3673,0,0,0,0,0,0
$GC,2689,-1.58,-146.0,329.7,-9.2,177,2694,0.00,2.50,0.00,0.000,6,0.000,0.025,2578,1787,3673,0,0,0,0,0,0
$GC,2955,-1.64,-146.0,352.0,-8.6,184,2960,0.15,2.53,0.00,0.000,4,0.059,0.039,2511,3349,3672,0,0,0,0,0,0
$GC,3007,-1.54,-146.0,358.3,-11.8,185,3012,0.22,2.47,0.00,0.000,6,0.093,0.027,2562,1805,3672,0,0,0,0,0,0
$GC,3287,-1.54,-146.0,385.8,-9.9,192,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1805,3671,0,0,0,0,0,0
$GC,3529,-1.54,-146.0,409.9,-9.8,198,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1805,3669,0,0,0,0,0,0
$GC,3773,-1.54,-146.0,432.9,-9.3,204,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,1805,3668,0,0,0,0,0,0
$GC,4018,-1.54,-146.0,454.7,-8.6,210,4023,0.00,2.58,0.00,0.000,4,0.000,0.046,2562,3351,3666,0,0,0,0,0,0
$GC,4041,-1.54,-146.0,456.9,-8.7,210,4046,0.00,2.53,0.00,0.000,6,0.000,0.031,2562,1795,3666,0,0,0,0,0,0
$GC,4301,-1.54,-146.0,479.1,-8.7,217,4305,0.00,2.58,0.00,0.000,4,0.000,0.048,2562,3348,3664,0,0,0,0,0,0
$GC,4340,-1.62,-146.0,482.4,-8.4,217,4345,0.00,2.50,0.00,0.000,6,0.000,0.032,2562,1799,3664,0,0,0,0,0,0
$STATE,4587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4587,begin apogee
$GC,4593,-0.31,0.0,503.3,8.2,224,4715,1.20,0.00,118.15,0.881,6,0.076,0.000,2834,1636,3070,0,0,0,0,0,0
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4718,1.28,146.0,507.3,0.0,227,4851,1.40,2.78,122.28,0.862,4,0.027,0.054,3182,3222,2473,0,0,0,0,0,0
$GC,4875,0.87,146.0,504.1,12.8,230,4884,0.45,2.62,0.00,0.000,6,0.117,0.037,3093,1654,2469,0,0,0,0,0,0
$GC,5129,0.69,146.0,477.2,10.4,237,5135,0.20,2.62,0.00,0.000,4,0.120,0.072,3052,166,2465,0,0,0,0,0,0
$GC,5149,0.53,152.8,475.0,9.7,237,5162,0.17,2.40,5.57,0.624,6,0.118,0.028,3018,1646,2446,0,0,0,0,0,0
$GC,5417,0.64,236.8,457.2,6.1,244,5496,0.00,0.00,73.78,0.838,6,0.000,0.000,3018,1646,2103,0,0,0,0,0,0
$GC,5742,0.76,286.4,433.2,7.7,252,5792,0.20,2.72,43.28,0.814,4,0.049,0.052,3085,3225,1902,0,0,0,0,0,0
$GC,5811,0.66,286.4,425.2,12.2,253,5817,0.20,2.62,0.00,0.000,6,0.105,0.035,3044,1651,1898,0,0,0,0,0,0
$GC,6068,0.66,286.4,396.9,11.0,260,6072,0.00,2.55,0.00,0.000,4,0.000,0.067,3044,172,1893,0,0,0,0,0,0
$GC,6091,0.66,286.4,393.6,12.1,260,6095,0.00,2.40,0.00,0.000,6,0.000,0.025,3044,1662,1892,0,0,0,0,0,0
$GC,6349,0.66,286.4,364.1,11.3,267,6354,0.00,2.62,0.00,0.000,4,0.000,0.048,3045,3221,1890,0,0,0,0,0,0
$GC,6388,0.74,286.4,359.6,11.3,267,6394,0.00,2.60,0.00,0.000,6,0.000,0.035,3044,1651,1890,0,0,0,0,0,0
$GC,6638,0.74,286.4,332.6,10.8,274,6642,0.00,2.62,0.00,0.000,4,0.000,0.043,3044,3226,1889,0,0,0,0,0,0
$GC,6686,0.83,286.4,327.5,11.8,275,6691,0.15,2.58,0.00,0.000,6,0.061,0.034,3099,1665,1888,0,0,0,0,0,0
$GC,6971,0.72,286.4,288.8,14.2,282,6976,0.20,2.55,0.00,0.000,4,0.106,0.061,3058,164,1887,0,0,0,0,0,0
$GC,7022,0.72,286.4,281.7,12.7,283,7027,0.00,2.38,0.00,0.000,6,0.000,0.024,3058,1663,1887,0,0,0,0,0,0
$GC,7303,0.72,288.5,252.7,9.9,290,7307,0.00,2.55,0.00,0.000,4,0.000,0.040,3058,3225,1885,0,0,0,0,0,0
$GC,7335,0.79,288.5,249.3,10.9,290,7340,0.00,2.58,0.00,0.000,6,0.000,0.031,3058,1654,1884,0,0,0,0,0,0
$GC,7584,0.79,288.5,224.4,10.1,296,7589,0.00,2.58,0.00,0.000,4,0.000,0.036,3058,3223,1884,0,0,0,0,0,0
$GC,7603,0.79,288.5,222.3,10.9,296,7607,0.00,2.53,0.00,0.000,6,0.000,0.030,3058,1658,1884,0,0,0,0,0,0
$GC,7859,0.79,288.5,196.1,10.4,305,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,1658,1884,0,0,0,0,0,0
$GC,8112,0.79,289.9,171.0,10.0,329,8117,0.00,2.55,0.00,0.000,4,0.000,0.034,3058,3226,1883,0,0,0,0,0,0
$GC,8149,0.87,290.6,167.4,10.0,332,8155,0.12,2.53,0.00,0.000,6,0.068,0.029,3107,1662,1883,0,0,0,0,0,0
$GC,8410,0.79,290.6,133.9,12.0,356,8415,0.17,2.47,0.00,0.000,4,0.108,0.048,3071,168,1883,0,0,0,0,0,0
$GC,8491,0.79,290.6,125.5,10.5,363,8496,0.00,2.35,0.00,0.000,6,0.000,0.022,3071,1672,1882,0,0,0,0,0,0
$GC,8757,0.92,331.5,104.3,8.1,387,8800,0.12,2.55,36.25,0.578,4,0.068,0.033,3133,3230,1716,0,0,0,0,0,0
$GC,8807,0.83,331.5,99.0,10.8,391,8813,0.25,2.55,0.00,0.000,6,0.097,0.027,3081,1668,1714,0,0,0,0,0,0
$GC,9074,0.91,331.5,72.7,10.9,416,9078,0.00,2.45,0.00,0.000,4,0.000,0.044,3080,175,1712,0,0,0,0,0,0
$GC,9094,0.98,331.5,70.2,11.0,417,9099,0.15,2.35,0.00,0.000,6,0.055,0.020,3138,1681,1712,0,0,0,0,0,0
$GC,9358,0.90,331.5,36.6,13.3,441,9363,0.20,2.47,0.00,0.000,4,0.105,0.035,3097,3219,1711,0,0,0,0,0,0
$GC,9381,0.90,331.5,33.6,11.1,442,9390,0.00,2.50,0.00,0.000,6,0.000,0.025,3097,1669,1711,0,0,0,0,0,0
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FINISH,0.6,1.022816
$STATE,9707,end surface coast,CONTROL_FINISHED_OK
$STATE,9707,begin surface
$SM_CCo,9728,61.50,0.424,1,0,1234,450.13
$SM_GC,1.48,0.00,0.00,61.50,0.000,0.000,0.424,412,1833,1234,-11.44,1.78,450.13
$IRIDIUM_FIX,2251.04,-15755.40,140200,090920
$TT8_MAMPS,0.026845
$HUMID,40.11
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,23.6,12.953
$10V_AH,10.5,10.850
$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,29.100,126.800,399.300,61.500,0.000,29.052,33.955,442.261,0.500,0.000,60.429,1011.738,6307.398,542.847,1831.748,783.460,33.353,1251.752,0.000,1801.810,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,72.098,880.516,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.343,297.478,384.142,570.462,1008.139,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38237,492
$CAP_FILE_SIZE,112388,0
$CFSIZE,260165632,167993344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201110,145131,2255.490,-15752.999,8,1.8,26,10.1